MRC SK16 Second starting position

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.

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.

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.

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.

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.

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.

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