Hello Experts,
I have an issue when changing parameter S4C240 on some of my Motoman DX100s. It seems all the robot type MS00*** and MH00*** do not work as desired. So far about 20 robots are malfunctioning. I can find no differences in parameters between functioning robots and malfunctioning ones. Motoman has sent issue to Japan a few weeks ago. See below information.
Here is the only sentence I can find in documentation on this parameter. 8.5.0.7 S4C240: User output No. when manipulator drop allowable range error occurs. This parameter specifies the user output number to output the manipulator
drop allowable range error alarm occurrence externally.
When this function is not used, set “0.”
I can find no other information on this parameter
Correct Function:
On the majority of my robots changing the parameter to 47 accomplishes the following. The output OT47 is only on when the Drop Amount Counter is greater than zero. Upon Zeroing the Drop Amount Counter on the Drop Amount screen the output is turned off.
Problem Robot Function
Upon changing Parameter to 47 the output is set on and can not be turned off regardless of the Drop Amount Counters.
The CIO only shows [GSTR #10060 GOUT #30120] which means #10066 "OT#47 is tied to #30126 "OT#47. #30126 is me DNET to PLC.
I can picture how they are probably doing this in the Yaskawa section. There must be a register that is counting the Drop Allowable Range alarms then an indirect address of the Parameter is turned on if the counter is >0.
Anyone seen this? Or know what register this is?