yrc1000 HC10

    Hi everyone,

    I have a robot YRC1000 with HC10 controller. I want to use LT-TEACH Function ( Lead- Through Teach)

    When I enter this function and turn on servo, robot display error 8006,8007

    I dont know with YRC1000 HC10 controller. Ro?bot can use LT- Teach?

    And if can, How to use it?

    Thank you very much!

    Code
    <img src="https://www.robot-forum.com/attachment/31529-err-8006-autoscaled-jpg/?thumbnail=1" class="woltlabAttachment" data-attachment-id="31529" id="wcfImgAttachment0">
  • Go to Best Answer

    Yes, you can use LT- Teach. How you do it depends on if the robot, to a certain degree, is a DT (buttons at the T-axis flange) or a non-DT robot. Looks like you have some ancient software on that system. I tend to put too much force on the arm vs. the manual speed that I have set when I get those alarms.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    • Best Answer

    Teaching of direct teach function

    (1) In TEACH mode, display the GUI screen with press the [EASY] button which is implemented

    on the right right-bottom of the programming pendant screen.

    (2) Display [HAND GUIDING] tab on the GUI screen.

    (3) Select operation mode of hand guiding by pressing the [MODE] button. Selected operation mode is shown with image and description on the above area of button.

    (4) Enable hand guide function by pressing the [Turn Hand Guiding ON/OFF].

    (5) Exit GUI screen by pressing the [EXIT] button on the right-bottom of screen.

    (6) Select “Job” from main menu and display the teaching job which is selected from “Job selection”

    of “Main menu.“

    (7) Move the cursor to any line.

    (8) Press the “Servo ON/Ready” button on the programming pendant. Hold the enable switch

    to servo ON.

    (9) Move robot to teaching position with hand.

    (10) Teach the operation with “INSERT”, “ENTER”, etc. button on the programming pendant

    same as normal teaching.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Thanks with this step for direct teach,

    I followed this step but this application on my my robot is LT-TEACH. IT dont [TURN HANDING GUID ON/OFF]

    When I turn on servo. robot not display error but use hand move it. Robot don't move.

    I have check D variable from 205-350. It still correct. I think need change a parametter ??

    Hi,

    Before, when on servo in LT-TEACH mode, the green collaborative light is in but Robot display error 8006,8007

    After I disnabling the PLT Function and when the servo is on in LT mode, the green collaborative light not on, white light also not on and robot don't display error 8006,8007

    I check force in arm. It "0" and manual speed still default.

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