ABB XVC517AE10 3BHB004744R0010 converter signal interface

Description

Before replacing the motor, back up the original program of XVC517AE10.
If a robot needs to replace multiple servo motors at the same time, the XVC517AE10 needs to be replaced one by one — corrected — replaced — corrected again, so as to prevent multiple motors from being replaced at the same time and the accumulated error cannot be adjusted for the motor offset value.

2. Before replacing the motor, use the robot to make a point-to-point program against a TIP point to verify the accuracy before and after replacing the motor.
XVC517AE10 uses two registers (reg4, reg5) to make two FUNCTIONs at the same time to read the actual value of the tip point when running the TIP program after replacing the motor and the value when manually moving to the tip to tip point. The difference between these two values is the motor offset value to be compensated after replacing the motor.
Various — Select 1 sign value instruction:
=- Select 1num in select datatype – select reg4+ok – enter in<exp>- function key Func – select ReadMotor() – select IRB – select which axis – OK+OK – run this line.
PROC TIP()
MoveAbsJ [[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]\NoEOffs,
v1000,z50,tWeldGun;
Instruction method for setting absolute zero:
PROG window － Instr key － IPL2 － 5 Motion Adv － 9 more － MoveAbsJ generates command, move cursor to * － Edit － 8 Value － rax_ The value of 1-6 is changed to 0-OK. At this time, running this command will move the robot to the calibration point of each axis.
MoveJ pHome,v1000,z50,tWeldGun;
MoveJ *,v1000,z50,tWeldGun;
MoveJ *,v1000,z50,tWeldGun;
MoveL ptip,v1000,fine,tWeldGun;
reg4:=ReadMotor(\MecUnit:=IRB,1);
reg5:=ReadMotor(\MecUnit:=IRB,1);
ENDPROC
3. Before replacing the motor, make a tip point in the Route RTIP. This point is a tip to tip point, which is generated by teaching.
Replace the motor, such as changing an axis, and move the robot to the calibration point;
For example, change the two or three axes to move the robot to the dead point;
After replacement, make a fine calibration and record the motor offset value at this time. Run the RTIP subroutine to the tip point, which will be slightly offset from the original tip to tip point. Run function reg4, find the value of reg4 in View Datatype num, and record the value at this time.
Lock the other two axes of the joystick, manually move the robot to the point-to-point point with a single axis, run function reg5, find the value of reg5 in View Datatype num, and record the value at this time. The difference between reg4 and reg5 is the compensation value of the motor offset value after fine calibration needs to be compensated (the difference between reg5 and reg4 plus the motor offset value after fine calibration).
Compensation method:
MISC System Parameters Manipulator-Type1 (or 2) – Motor Calibration – Modify the Calibration offset value for each axis. Select the Cal offset valid value as Yes. After compensation, update each modified axis again, and the hot start system takes effect.
4. Use workpiece welding to verify whether the original program can be used normally, and back up the new program.
matters needing attention:
Before tightening the screws for each motor replacement, the gear clearance shall be adjusted. The method is: first, manually push the motor to the gear direction, pre tighten the four screws with 2N/m force, knock with a rubber hammer to ensure the gear clearance, connect the external 24V power supply and use the clearance adjustment tool to test the clearance (the robot body motor holding brake is connected with two thin blue lines, and the external shaft motor is connected with L-24V, M-0V). After confirming that there is no problem, use 15N/m force to tighten the four motor screws.
Motor replacement steps:
1. Teach a point with the Mov command before removing the old motor.
2. Replace with a new motor.
3. Fine calibration of new motor
4. Execute the previous Mov command again
5. Read the motor value a with ReadMotor
6. Then move the robot to the previous actual point, and read the motor value b with ReadMotor
7. Subtract the second value from the first value b-a=c
8. Add the values of c and calibration offset.

details: if you need an urgent delivery order, please feel free to contact us, and we will do our best to meet your needs.

Price problem: if you find that other suppliers offer cheaper prices for the same product, we are also willing to provide you with reference prices and give you further discounts.