MRC SK16 Second starting position

valkamar · March 25, 2024 at 10:24 AM

Yasnac Motoman Sk16 MRC

Second starting position - why is it done, how is it done and where should the robot be?

95devils · March 25, 2024 at 10:36 AM

Thread

Second home position

I know that the second home position must be done after error 4107 and I know that this position can be set manually, i.e. modified. What is its purpose and benefit? we have to have a point in space or can it commute anywhere while checking?

Kate Harris

May 12, 2023 at 8:43 AM

valkamar · March 27, 2024 at 7:33 PM

Robot in the Main Menu.

How to find : Robot in the main menu:

TSGIR · March 28, 2024 at 6:36 AM

The MRC controller is very old and Yaskawa don't support it.

I attached a document for MRS+SK16, i hope it can help you.

valkamar · March 28, 2024 at 6:57 AM

How do I find a second starting position?

Where is this main menu?

95devils · March 28, 2024 at 10:43 AM

Quote from valkamar

How do I find a second starting position?
Where is this main menu?

See starting at page 132 of the manual TSGIR posted above.

You don’t have a Main Menu. Only controllers in the past 20 years have it.

valkamar · March 28, 2024 at 5:44 PM

ОК

Robodoc · March 31, 2024 at 2:28 PM

in MRC it's called "Specified point". The alarm is not 4107 in MRC, 4107 only comes up on robots with an Main menu or top menu button. I don't remember what the alarms is for "Check specified point". The 'F' key for 'Spec Point' is either under Customer or function. You can change it to anything you like, it does not effect the running of the robot or the calibration of the arm to the controller.

valkamar · March 31, 2024 at 3:52 PM

Thanks Robodk,

Where is the SK16 battery located, when should it be replaced, so as not to lose memory and require a reinstallation. I know about the robot, but I don't know where it is on the CONTROLLER.

roboprof · April 1, 2024 at 4:27 PM

There are 2 batteries inside the controller. One for SYSTEM DATA, one for ABSO DATA. They are labelled on the gold plate. There is also an encoder battery inside the base of the robot arm.

valkamar · April 1, 2024 at 11:10 PM

When are the batteries changed when the controller is on or off?

It is known where the robot's battery is, but not clear about the controller.

Does it indicate that it is due for replacement?

roboprof · April 2, 2024 at 2:07 PM

You will get messages saying "MEMORY BATTERY WEAK" or "ENCODER BATTERY WEAK". You can use a multimeter to check battery voltage. If it drops below 3v, change the batteries.

Recommend that you change the batteries every 3 years. Also change batteries with power on.

valkamar · April 2, 2024 at 6:57 PM

When I turn on the pendant I should get these messages without looking at any menu. at the top right end of the pendant. The batteries have not been changed for more than 5 years!

Can you detail how to locate these batteries in the controller.

roboprof · April 3, 2024 at 1:32 PM

No the messages will show up in the message line at the bottom of the pendant.

The two batteries in the controller are easy to replace. Just keep the controller power on and replace the batteries. They have a 5 pin system.

The controller battery in the base of the robot is trickier. With power on, you need to take the back cover off the base, find the old battery, find the connections for the new battery, and plug in the new and replace the old. Then put the cover back on.

valkamar · April 4, 2024 at 5:46 PM

Hi ROBOPROF,

There is an inscription on the dashboard

SYSTEM

bat

alm

there is a light diode available that does not light up.

Is the battery in this board?

roboprof · April 5, 2024 at 3:22 PM

Yes, there should be a battery there. You may need to take off the cover to get to the batteries.

valkamar · April 5, 2024 at 9:01 PM

ОК!

valkamar · April 9, 2025 at 7:23 AM

What are the battery specifications: voltage. milliamps for charging /do not overload the charger/

roboprof · April 11, 2025 at 3:54 PM

3.6 volt Toshiba Lithium batteries. You can buy directly from Yaskawa.

Robodoc · April 12, 2025 at 2:11 PM

These are not rechargeable batteries.

There is a resistor and a diode in the battery case to avoid dead short problems.

Use ONLY batteries from Yaskawa for your robots!

MRC SK16 Second starting position

Second home position

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