Industrial robots in a car assembly line

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Trunnion on robot external axis does not turn sometimes.

I have a 2 sided trunnion external axix on a Fanuc robot. It has 4 set positions on one side and 3 set positions on the other side. Trunnion is controlled by macros in robot commanded by PLC. Sometimes, the trunnion is stuck at a specific position and doesnt not turn. The DI from PLC to run theat specific macro is ON. And the trunnion turns when the DI is turned OFF and ON manually. I am planning to put a flasher in the PLC to flash the DI but doesnt sound like a good plan. Any other ideas?

3 comments

Comments (3)

Albin

Dec 29, 2023

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Check if you are commanding 2 macros from PLC at the same time.

Edited

Bryan

Feb 08, 2024

Replying to

Thats what i think too. Probably 2 DO are coming from PLC and those are assigned to 2 different macros. If its is a trunnion, probably you are commanding the next position before reaching the first position you commanded. Try making the tolerance angle window of in position signal smaller. Or, put a timer for in position signal.

Andy

Dec 29, 2023

Hey Mathew, did you check the DI on the teach pendant? Is it ON?

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Trunnion on robot external axis does not turn sometimes.