What should be paid attention to when starting industrial robots in winter

In the early winter of the welding workshop, especially in the morning when the production line is started, the industrial robot frequently issues "joint load is too high" "motion monitoring" alarms. The actual torque of the robot joint ROB_X (X represents the robot joint axis, ROB1_2 is the second joint axis of robot 1) is too high. This may be due to incorrect load data, excessive acceleration, excessive internal process force, high temperature hardware failure.

After the technicians conducted on-site status confirmation, the robot did collide with objects such as equipment workpieces, ruled out excessive torque load caused by jamming collision. The robot motion monitoring was triggered, the movement of the robot mechanical unit was immediately interrupted. The robot was abnormal. In the early winter of the workshop, the air conditioner was turned on, the ambient temperature of the workshop was below 10°C. Especially in the morning when the line was turned on, the robot frequently reported "exceeding the maximum hysteresis error (X)". Working in a low temperature environment will cause the grease viscosity inside the robot to be higher. When the robot starts running, the high viscosity of the grease will cause greater resistance to the operation of the equipment, resulting in increased friction in the gearbox, so a larger motor torque is required to overcome the resistance.

For this reason, the motor current of one axis ( multiple axes) will reach the maximum value. At the same time, when the temperature is low, the circuit board of the robot control system will also be affected, because the circuit board is mainly made of semiconductor materials, the semiconductor does run stably in a high temperature environment, which may cause the robot control system to freeze the robot to take a long time to start.

(1) Temperature characteristics of industrial robots The storage temperature of the main body is -25～55℃. The maximum temperature that can be accepted when the storage time is less than 24h is 70℃. The maximum humidity that the robot body can accept at room temperature is 95%. The operating temperature range of the robot body is 5～50℃. The maximum humidity that the robot IRC5 can accept at room temperature is 95%. The storage temperature of the robot IRC5 is -25～55℃. The maximum temperature that can be accepted under storage conditions is 70℃. The maximum humidity that the robot body can accept at room temperature is 95%. The operating temperature of IRC5 is 5～45℃. The maximum humidity that the robot IRC5 can accept at room temperature is 95%.

(2) Temperature characteristics of industrial robots The storage temperature of the robot is -40 to 60°C, the operating temperature of the robot is 10 to 55°C. The storage temperature of the robot KRC4 is 5 to 45°C.

In winter, when the robot is turned on, it is recommended to run it at a low speed for 20-30 minutes to increase the temperature of the lubricating oil in each axis of the robot before running it at full speed. If the workshop has heating equipment, it is also recommended to turn it on.