Alarm codes 5011 and 5053

5053- Laser Tracking processing error (An error occurred at the end point search processing)- Adjust the vision sensor to do the steady detection.

5011(0001_0101) Transmission error is occurred between the controller and laser sensor unit.
Reset the alarm
Turn off the power of controller and Laser sensor unit, and turn on.
Check the connection between connector on control board and the cable from laser sensor unit.
Replace control board board and the cable.

5053(80) Data error is occurred in sensor process.
Turn the power OFF then back ON.
If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative

Quote from asgary64

Hello

We are connecting laser tracking sensor. we have problem with it and when we start robot we have alarm codes 5011 and 5053 same as bellow picture.
what is problem?

5011:
Meaning - Transmission error
Cause - Transmission error is occurred between DX200 and laser sensor unit.
Remedy - (1)Reset the alarm, and then try again.
(2)Turn off the power of DX200 and Laser sensor unit, and turn on.
(3)Check the connection between connector on JANCD-YCP01 CN104 and the cable from laser sensor unit.
(4)Replace JANCD-YCP21 board and the cable.

5053:
Meaning - Synchronized timer error between DX200 and laser sensor unit
Cause - Software operation error occurred
Remedy - (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure).

Quote from asgary64

We solve problems. we are calibrate robot and sensor. in calibration job there are SKILLSND command. when we run calibration job it to be run and when it receive to SKILLSND command it stay in this line. what is matter?

I don´t know what this, SKILLSND. I don´t remenber this. Sorry. I will find about this.

Cya

Quote from David Casella

I don´t know what this, SKILLSND. I don´t remenber this. Sorry. I will find about this.

Cya

Please, contact the representative for the manual about this.

1 MotoFit Function
1.1 Overview of MotoFit Function
1-1
DX200 MotoFit
1
MotoFit Function
1.1
Overview of MotoFit Function
The MotoFit function
1)
achieves a precision fit
by a robot by detecting
external forces acted on the tool coordinate home position with the 6-axis
force sensor to correct for the manipulator position. The 6-axis force
sensor, which can detect three tran
slational forces and three axial
moments, is installed at the manipulator's tip in order to detect external
forces in the job involving "Touch".
Normal control is a position contro
l which retains position even when
external forces are applied. The MotoFit function, on the other hand,
achieves a precision fit, with a force
control, correcting position to match
the force acted on the tool coordina
te home position, based on the force
feedback.
The MotoFit function incorporates the following four special commands
suitable for the positioning of precisi
on parts for a clearance from approx.
10μm to 100μm.

• SKILLSND "TCH: • • • " : TOUCH (TOUCH)
• SKILLSND "FIT: • • • " : Search (FIT)
• SKILLSND "INS: • • • " : Insertion (INSERT)
• SKILLSND "IOF" : Finish Force Control (IMPOFF)
Besides, in order to adapt to the hardness of various kinds of workpiece,
such as plastic, wood, and metal, the force condition file, in which optimal
parameters can be set according to
the hardness of a workpiece, is
prepared. Use the MotoFit Function Engineering Support Tool for the
settings in the force condition file.
(Refer to DX200 MotoFit Function
Engineering Support Tool.)
Besides the above command the four force sense basic commands.

• IMPON (Macro Instruction)
• FREF (Macro Instruction)
• FDET (Macro Instruction)
• IMPOFF (Macro Instruction)

I thinking that this is a Skill Command for Macro with parameters. I checked in manuals and not founded. In manual has this information.

do not change anything in the macro commands. also the calibration is done automatically with one point.
read the manual for laser tracking and do several tests to understand it