Posts by gameshadows

A while back I posted about this, but I never continued the thread due to business at school and graduating.

I was a part of a senior design team tasked with using a robot that was made in a joint project between yaskawa motoman and denso japan in the early 2000s. There was an aggressive split between these companies and neither company takes responsibility for the robot so most files for it were lost to the past. I was able to retrieve some over time as I found someone at motoman who found the original folder for the robot. The model number is ERCJ-HME4BA-BN and it has a controller that uses wincaps 2. We were able to get it setup, connected, and go all the way through calset and were prepared to program it, however we ran into the robot stop issue.

From what we understood we needed to have some sort of security measure attached to the robot so that it knows it's safe to operate. We ordered a connector so that we could bridge the pins that tell the controller that security is hooked up. We proved that the connector worked because the auto turned on when we bridged the pins for the auto, however, we never got power going through the pins for the robot stop and when we bridged the power from the auto it never triggered the robot stop either.

The only other information I gained overtime was that the robot is one that is in "special" configuration. I have robot manuals I can attach if needed to show which one it is. I just need advice on what we could possibly due to get the robot stop to be disabled so we can get the motors moving. We already tried going through the hardware and we never saw anything that looked damaged. If needed I can get photos and attach those as well.

Thank you for anyone that can give advice.

Quote from panic mode

in that case lean on manufactures for documentation. This site has Motoman subforum and i am sure someone will have the manuals. Mot sure if they can be shared but there should be someone able to help with this.

When you say manufacturers do you mean motoman and denso themselves? Cause neither of them have any documentation or manuals. Hopefully someone on here might so I will try on the subforum.

Quote from Cwany

Than that would be the first thing to start with. As panic mode mentioned, you need documentation; without it, and without prior knowledge, there is not much you can do.

Perhaps if you at least have the electrical diagram for the controller, then at least that would be the first step to wiring safety to the controller.

What about afterwards, i.e. do you know how to program the robot? **Documentation!

We know how to program it, just don't have a way to start the bot moving due to the robot stop. We also were told by denso that the controller is supposedly equivalent to a RC5 and that's about it for now.

Quote from panic mode

you are not telling where the robot is so one cannot recommend you someone closer by.

doing first time startup on a 20 year old system with no documentation is a perfect way to ruin project. if you cannot get someone familiar with the system to show up, test it and confirm what is going on, this is to be considered a dead end or you are going to wait really really long time. i would say sell it and go for a new(er) one with proper support.

We dont really have the option to sell and get a newer one, we’re located in Asheville, nc. We are sure it’s a robot stop issue. It is definitely not a great way to do our project, just was the route we had to take at the time. We’re only students and the advisers didn’t give much options.

Quote from Cwany

What is the message?
You said you checked E-stops, but only on the teach pendant and the controller itself?
I believe on the controller there is a slot for wiring "Output/E-Stop". If you do not have an E-stop wired to that, that may be the issue.

Love your profile pic btw.

The message was error 6008 I believe which is “robot stop on”. There is an output/estop spot with nothing wired to it at the moment. How do I wire that to make it work?

Hello everyone. I am apart of a senior design group that is trying to use a 20-year-old controller and robot but have never done this before and are running into some issues so I was hoping someone on here might be able to help me cause the companies who made this aren't able to help at all.

So we have gotten a hold of of a teaching pendant, controller, and robot that Denso Robotics Japan and Yaskawa Motoman made together back in the early 2000s. We have not been able to get ahold of a manual for the controller but supposedly it is equivalent to an RC5. It runs Wincaps II 1.985 which we have not been able to get ahold of and are currently only able to program/interact through a free trial of Wincaps II and directly through the controller with a keyboard with a ps2 connection (the mouse does not work for some reason).

The controller is "ERCJ-HME4BA-BN" and the robot is a "HM-40853E2M" and is a type a configuration. The teaching pendant is "ERCJ-PP-1".

Neither Denso or Yaskawa have been able to help and say it's the other company's problem. We have managed to get the robot connected and powered and retrieved data from it. We have calset the encoders and the fuses, e-stops, et cetera seem to be fine. However, we still have a robot stop preventing us from being able to turn on the motors and we aren't sure how to get it to move. This is the first time any of us have worked on a scara robot and I'm sure we aren't aware of something so I was hoping someone could help.

I think the only thing we don't know is Denso said we might need to attach some sort of safety hardware to make it think the robot stop is closed.

This is kind of a last shot for me for finding information and I have never used this forum so if I am drastically in the wrong place or anything please let me know.