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2.7 Robot in cold environments

2.7.1 Start of robot in cold environments

Introduction

This section describes how to start the robot in a cold environment if it is not starting

the normal way.

Problems with starting the robot

Event message from Motion Supervision

Use this procedure if an event message indicates a problem with Motion supervision

at start-up. More information about Motion Supervision is found in Technical

reference manual - System parameters.

NoteAction

Turn off Motion Supervision.1

Start the robot.2

When the robot has reached normal working temper-

ature, the Motion Supervision can be turned on

again.

Robot stopping with other event message

Use this procedure if the robot is not starting.

NoteAction

The speed can be regulated with the

RAPID instruction VelSet.

Start the robot with its normal program but

with reduced speed.

Adjusting the speed and acceleration during warm-up

Depending on how cold the environment is and what program is being used, the

speed might need to be ramped up until reached maximum. The table shows

examples of how to adjust the speed:

Speed/velocityAccSetWork cycles

v100 (100 mm/s)20, 203 Work cycles

v400 (400 mm/s)40, 405 Work cycles

v600 (600 mm/s)60, 605 Work cycles

v1000 (1000 mm/s)100, 1005 Work cycles

Max.100, 100More than 5 Work cycles

If the program consists of large wrist movements, it is possible that the reorientation

velocity, which is always high in predefined velocities, needs to be included in the

ramping up.

Product manual - IRB 2600 103

3HAC035504-001 Revision: Q

2 Installation and commissioning

2.7.1 Start of robot in cold environments

ABB IRB 2600 Series User Manual

Questions and Answers: