K6SB Erc Motoman: Problem when calibrating in OP2 and Teach-mode error

[Vezku-]

Hi,

I finally got the teach pendant for my Motoman K6SB ERC robot.
The orginal pendant for this robot was with deadmanswitch (and the new one didn´t have it) so I had to jumpwire that connection.

These are the problems now:
The only way to calibrate this robot is through OP2? How I can get there? I have the master password, do I need to input that somewhere? When I press OP2 sofykey - nothing happens.


The second one... I´m trying to move axis is "REMOTE" mode, but nothing happens. Do I need to calibrate first?
Also there is somekind of safetyswitch on, because when the servo is on, and I press "TEACH", error occures and servos go off. In "PLAY" and "REMOTE" mode everything works fine...
Is this also because the robot is not calibrated?

Thanks!!

[Pcarbines]

Hello Vezku,  excuse quality of some hand scanned manuals , but they are better than nothing right! 
I have sent you ERC operators manuals (three parts) and K6SB & K10S ,the latter manual explaining how to resett "Absolute Data from OP2 " . The K10S manual is same for K6SB. I'm not sure whether you have already been sent these manuals , however, I'm out of my office & country over next 2 weeks . So if no one else has been answering you , please wait till I'm back. Operators manual should show you how to drive machine , As memory serves me "Remote" is not part of driving robot from panel & teach pendant" it's function is same as later MRC & XRC etc. models and is only for external start etc. & is not normally active is standard ERC system.
Please read operators manual carefully.

[Vezku-]

Hello Vezku,  excuse quality of some hand scanned manuals , but they are better than nothing right!  
I have sent you ERC operators manuals (three parts) and K6SB & K10S ,the latter manual explaining how to resett "Absolute Data from OP2 " . The K10S manual is same for K6SB. I'm not sure whether you have already been sent these manuals , however, I'm out of my office & country over next 2 weeks . So if no one else has been answering you , please wait till I'm back. Operators manual should show you how to drive machine , As memory serves me "Remote" is not part of driving robot from panel & teach pendant" it's function is same as later MRC & XRC etc. models and is only for external start etc. & is not normally active is standard ERC system.
Please read operators manual carefully.

Thanks!
I did the calibration, now when I start the robot  - no errors!
The only problem is now with the teach-mode. In the memory there are few programs and the robot starts to run them in the play mode. But in play-mode pendant is not active, the pendant only works in the teach mode?

When I press the teach mode - error #0210 external servo error occures (when servos on). There must be somekind of safety switch still on... that doesn´t allow to power up servos in the teach mode.

[Vezku-]

Finally got the teach pendant working. I had to jumpwire the Jokab safety box to get servos on in teach mode.
Everything is okay, but I have to calibrate every time the axes so I can invidually move them with pendant. Is this normal?

The only problem is now with error code 0252 in L-axis. Mayby broken encoder, have to look up that later.

[Vezku-]

Now everything works!
The L-axis had loose connector and now when I do the calibration in OP2- mode the robot remembers it.
I dont have to calibrate it every time after start to get the axis moving.

I have to check from the manual why I cant access "EDIT"... probably I´m not doing it right.

[Pcarbines]

I take it your AOK & working your way through it, let me know if your still in need.

[novatop]

Hello Pcarbines,

I have one more question about this.

Can you tell me which is the correct torch position (R, B, T axes) in the second home adjust.?

And

Can you tell me how can i set the tool data? i have a 500 mm calibrated bar, but when i made the process which i found in some manuals, the TCP do not match with the wire point.
I think this is because i don´t know which coordinates type must i use in each step.
 
Best regards

Alfonso
 

[Pcarbines]

I will take pictures over next couple of days to show what we used to do & for what, photos tells a million words.
Regards TCP , page 351 of appendix A of manual I sent you should show you most of what you need ,
Remember - a good and accurate record of home origin position helps , you see the words in this forum " robot calibration  " and how important it is for latest models . You probably will not get great TCP as alignment arrows have probibly fallen off or moved on your machine ,so A ruler ( metric) is the name of the game for loading position of tip Center with regards to the T axis & its Center .

[Pcarbines]

See attachments , K10 shown is same as your K10S or K10SB.

[novatop]

Thank for your info,

I will try it next week and give any feedback...

Alfonso