alplus

Send reverse commande plc to drive

11 posts in this topic

Hi Guys,

 

I'm trying to help my husband  :)  We have Kinetix 300 drive and plc Micrologix 1100. The  "robot" go left to starting sequence. For some reason since last week, the guy stop the job by emergency stop in the middle of the job (by sql software) and the plc stop and have a fault ... ok reset the fault, put the "robot" in manual, return to "start or first position", do a home axes and ..... when we return to automatic and start a new job, the plc send (or i don't know if the drive) a reverse command and the robot try to go RIGHT SIDE (no left side!!!) and the drive have a fault "off position field"

FAULT CODE

E16 Software overtravel. Programmed overtravel limit has been exceeded. • Verify motion profile.
• Verify overtravel settings are appropriate.

 

we trying close everything .. nothing change ...  

it looks like it's trying to send a polarity reversal command

My question is:

- Where i can find the "bit status table" for kinetix 300?

- How plc micrologix and kinetix exchange information or can i see setup between us ?

 

Next step, is remove program in plc, reset et put again the program...

 

Sorry my english ... And all ideas is welcome because we are completly in the blind....

 

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This might sound dumb, but did you reference the axis on the wrong side? 

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Hi

 

we are in front of robot now, when we start the sequence to « auto » , the robot go up and after that normally it go left but for some reason it go right

 

into kinetix the negative polarity is uncheck. We have micrologix 1100 and i think a negative value is push on the exchange table

 

guys where is this exchange table between micrologix and kinetix for pushing, i think, a negative value and redirect the drive right side...

 

help all suggestion will be good...

Edited by alplus

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Hi,

Is the servo connected to the plc via ethernet cable?
If this is the case please, post the plc program

Is the servo being referenced by an analog signal?

Is the servo being commanded by means of step and direction signals?
If this is the case then check the direction signal

Honestly I haven't worked with k300 but I may be able to help you if you send more information.
The electric diagram may  be helpful also.

bye

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Hi,

This is the program that i receive (no comment, no detail) from the guy... if you can help me ... The sequence normally

 

homing

start sequence go up and when you are front the robot, it go left

 

now, go up and try to go right, it stop and i have E16 fault on the drive (normal, wrong side)

 

 

 

RobotiquePlacage.RSS

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Dear alplus,

I am working on the problem but still unable to figure out what is happening.

Please let me know if I am right or wrong. Your robot has two servos, one to move up and down and the other to go left and right. The homing sequence is being completed with success but when you turn the robot to auto it moves up correctly but then moves right instead of left. Am I right?

It would be very helpful if you send  me the plc’s connections so that I see where the auto signal is connected and also another picture of your program taken when the servo is faulted so that I have the information that I need.

Bye

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Hi chantecler,

 

 

about your question, you are right. I send you a new version of program that we found with some tags.. and i send you drive configuration kenetix 300... i dont have a photo when the drive fall… display E16 on the Kinetix drive.

 

we continue to investigate...

 

All ideas from everyone is welcome ...

 

Many thanks

 

 

pb.RSS

ServoKinec300Avant_Arriere.dcf.xml

ServoKinec300Haut_Bas.dcf.xml

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Hi,

I apologize for my English, with a "picture of your program taken when the servo is faulted" I meant a copy of the program uploaded when the servo were faulted (not a photo).

I am glad to help

Hope we can work it out

Bye
 

Edited by chantecler

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Sorry i dont have it and the guys is over an hour to go with car..

 

we have question:

where i can find word exchange table between plc and kinetix drive?

 

 

Edited by alplus

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Hi,

The input assy object (to read information from the servo) corresponds in your program to:

data file L208

words L208.0 to L208.15 for drive 192.168.2.8

and

words L208.16 to L208.31 for drive 192.168.2.9

The output assy object (to write to the servo) corresponds in your program to:

data file L210

words L210.0 to L210.12 for drive 192.168.2.8

and

words L210.13 to L210.25 for drive 192.168.2.9

See attached example and tables explanation from rockwell


You can find more information and manuals in the rockwell automation site under literature, sample code library and knowledgebase
 

K300 ML1400 EnetIP Example v1_0.zip

Edited by chantecler

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