I have a 1985 Motoman L106 weld robot that has generated speed and pulse generator alarms for the "T" axis.
we found some broken wires in the base cable assembly and found a fellow who had a spare harness in his goody pile. The harness he sent me was a later edition with smaller connectors than my original. I had to graft all of my upper ends to match my upper arm harness.
When I was checking the circuits, I noticed that all of the pulse generator circuits go through the connector board and the CPU board that hangs with the "math" board on the control cabinet door. My paper work keeps telling me to check a "rigicon" unit for proper operation. I am assuming this "Rigicon must be some sort of F/V unit to convert optical encoder pulses to a modified tach signal for the servopack to read. I have no specific info on my servopack unit as it doesn't match any of Yaskawa's literature. Model CPCR MR 021 KBTY8
I was hoping to find out what the "KBTY8" specified in the model number. And a call to Yaskawa ended with the answer: "Were very sorry, but we don't even support these units and the internet forums would be your best bet".
SOOOOO...... can anyone guide me as to which corner in the round room is for me stand in now?
yasnac RX system for MOTOMAN L106 pulse generator issues
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gamoose -
December 23, 2015 at 3:40 PM -
Thread is marked as Resolved.
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This servo pack is specific for the RX L106 only. The "KBTY8" doesn't mean anything to an end user. If there was a short in the harness you can blow up the encoder power supply in the servo pack (for witch you would need a new or replacement servo pack) or the encoder communication circuit in the servo pack (once again you will have to replace the servo pack) or the encoder it's self can be damaged and could need replacing. There are no replacement encoders for this robot, you have to replace the whole motor assembly.
Seeing as how Yaskawa stopped making the parts for this robot in the late 80's you will have a very hard time trying to find parts.
Best solution, push this old robot off the dock and buy something new (or newer) that has replacement parts and support from Yaskawa.
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Merry Xmas
as Robodoc says , they can make good Anchor buoys.
We still have a brand new CRT display and CP05 & CP06 pcbs
( I should rephrase that - never installed ;-))
but they are not worth any hassle as board replacement with these
old machines was/is not very friendly. -
Merry Xmas
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Merry Xmas
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to Robodoc and Pcarbines
thanks for even reading my post
the situation with me and this "dock jumper" L106 is sticky at best. It is slated for replacement later on down the line but not just yet.
Mechanically it is in fairly good condition.
however, I do have to try and get it running electronically for the moment. I have 90,023 different hats to wear here, so I am spread a little thin. My research time is rather nill, so let me try to explain what I have and don't have. I started with a PG alarm that was intermittent and slowly got worse. Then we had the "T" axis speed error.
and now we don't power up the second time at all.
First thing I checked(as best I could) was whether or not I had pulse count using diagnostic screen... sitting at 129-bouncing to 130. I rtwisted the T axis and count stayed the same.
I pulled the covers and ran simple continuity check from the T axis motor connector all the way through the base cables back to the board in the RX controller. They seemed to be OK with the exception of one being around 10 ohms. so I yanked every cover and found two wires broken in the harness that goes around the s axis pivot.- they appear to be some sort of acc spares - not leading to anything but an empty terminal strip mounted on the side box of manipulator.
Didn't matter -one broke - prolly more, so I found a good harness and replaced the original (base section only).
same issue - same t axis pulse count. Someone sent me a used motor and pulse gen to try - exact same issue - I even bought a used RX controller and tried swapping it out to no avail.
the second controller wont even finish booting--- comes up with "MM06 not connect" error.
I looked that up in my manual and MM06 was an optional memory board. I was told I may havwe to reinitialize the memory to get the controller to stop looking for it and something about a system switch.
what is the procedure to tell the RX it doesn't have an MM06, and where is this system switch located?!
Moose -
I wanted to mention that I bought a NEW old stock motor with same pulse count and same minertia motor part number in its original box figuring I must have misdiagnosed the motor and PG assembly - I had hooked up the second control cabinet and swapped the CP06 board (complete with Eproms ) from original control cabinet and fired the unit up with the new motor wired in.
exact same count on "T" axis and same speed error.
that leads me to believe the problem may be in the CP06 or somehow Eprom related(doesn't seem likely unless some scaling parameter has been changed). Anyway I cannot tell because the spare RX controller wont even get passed the internal diagnostics looking for MM08.
does any one remember the procedure for installing - uninstalling the MM08 option? or should I swap the Eprom chipds from the original CP06 to the spare one -- and yes I realize I will have to do even more work to get that re initialized and the parameters changed from default to what they are now.
I now realize how ignorant I am about this unit.
I will continue- even though this is getting very costly - timewise.
is there a place in the manuals the cover all of the diagnostic bits and parameters found using the RX controller?