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Payload error after new calibration

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Camila Vera

Hi,

I have a CRX 25iA cobot for welding, and I'm having some issues because it seems the Z-axis has become misaligned (I think), and the robot moves on its own when I press the button to activate free movement; for example, it starts moving forward when I press the button, or if I try to set points for circular welding, the J6 starts rotating outward (something it didn't do before). Someone recently modified some DCS parameters, and we don’t know exactly what was changed, because since then the robot seems to have gone haywire and is doing things it didn’t do before; another problem is that a payload alarm triggers when running a program (SYST-325), also for some movements it says something about a singularity. Can anyone help me? I don’t have any information beyond the basic manuals and some YouTube videos on certain movements.

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    Gabriel Hallée
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    Hi Camila,

     

    The first thing I would check is the payload setting. If the robot moves on its own when activating free movement, it usually means the payload is not configured correctly. The alarm you mentioned (SYST-325) supports that.

     

    Regarding the singularity issue, this typically occurs during linear movements when J4 and J6 become aligned or nearly parallel, which can cause the robot to behave unexpectedly.

     

    These are two separate issues:

    • Payload configuration (likely causing the drifting and alarm)
    • Path programming / robot posture (causing the singularity warnings)

    To configure the payload, I recommend using the PRX Payload Setup tool. You can find a tutorial here:
    https://techtransfer.fanucamerica.com/tech-transfer/crx-payload-setup
    (You’ll need to sign up, but it’s a very useful resource.)

     

    Another helpful resource is the CRX training portal:
    https://crx.fanucamerica.com/training
    Module 5 in particular covers payload setup.

     

    I hope this helps, and feel free to reach out if you need further guidance.

     

    Have a great day,


    Gabriel

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