Hi
My boss bought an old MRC robot with a RM2-250 SE2 positioner. We have connected the robot and it works (there are only two errors 5040 robot 1 and station 1 out of range) I can move the robot, but I can not turn the whole positioner, only half of the robot. One time i turned the whole positioner, but now I can not. I do not know why. Maybe it's some stupid thing, but I'm just learning these robots, please help me.
MRC and Positioner RM2-250 SE 2
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mankaw -
March 22, 2018 at 6:31 PM -
Thread is marked as Resolved.
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To check the Specified Point, perform the following steps:
1. Press RESET (F5) on the Programming Pendant to reset the “Out of Range” alarm.
2. Press TEACH on the Playback Box.
3. Press the CUSTOMER key on the Programming Pendant.
4. Press SPEC PT (F3) on the Programming Pendant. The display shows a data screen
5. Press the SERVO POWER ON button.
6. Press PSN CHG (F1). The display flashes “HOME POSN CHANGE.”
7. Press the ENABLE key on the Programming Pendant.
8. Ensure the pendant is in JOINT coordinates.
9. Set manual speed to MED or FST.
10. Ensure a clear path, then press and hold the FWD key to jog the robot to the Specified Point. “HOME POSN CHANGE” stops flashing when the point is reached, and the data display changes to all zeros in the DIFFERENCE column.
11. Press CHECK (F4). The soft key selection CHECK (F4) and “HOME POSN CHANGE” display disappear, and the message line displays “!Home position checked.”
12. Press QUIT (F5). This returns the soft key labels to the original CUSTOMER soft key menu.
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HI
Thank you very much for your help, I do not have any alarms anymore. But I have another problem. The robot and the positioner have a bad home position. I changed the position of the robot, and he is ok. But positioner...wrrr...When I started the old program which remained after the previous owner in the test mode, the positioner changed the A side to B, but he did it not precisely (he hit the shield-based pins). When I corrected the home position of the positioner and started the old program, the positioner changes from A to B but does not block pins and can not rotate the table. What could be to blame? How to check whether the positioner is in the correct position homework? There are no characters on it.
What function or command blocks the table (presses the Servo drive unit).
Thank you in advance for your help -
These old positioners are very complex in the timing of the servo motor rolling over and sliding in and out. There are three taper lock couplings that could have slipped that will cause timing issues and calibration issues. You need special training before you start working on this positioner. Unless you are willing to hire someone who knows anything about this positioner you can do damage to the positioner or yourself. It's MRC so most Yaskawa offices won't look at it anymore. Where are you located?