Posts by Robodoc

    On the encoder plug you short zero volt and rst. If the encoder connection does not have labels on the wires, you have to look closely at the plugs. For this motor there should be two plugs for the encoder, one white, one red. On the red connector, short 2 & 6 (see picture attached). You may have to keep it shorted over night to get the encoder to reset.

    In your first pot you say "PS Motoman NX100 HP20". Is this the same robot or are you working on a new robot?

    You also say you have unplugged the 2BC, but if this robot is a ES165N it will also have a 3BC. Have you unplugged that?

    Did you do the brake release test?

    Editing CIO is not for people new to Yaskawa robots. Most times at a point in the CIO there will be a block move to cut down on the lines in the CIO. You may need to break out the CIO and change these lines to access more I/O to edit. You will also need the CIO book to get the coil numbers for e-stop, play...., but basically it's like this;


    OR X (New input number used based on your CIO)

    AND Estops

    AND servo is on

    AND play mode

    AND-NOT Y (an output you pulse at the start of the program you run with input 1)

    OUT X

    In your master job were it says IF INPUT 1 ... change to INPUT X

    With the above code, when input one comes on it is held on with the coil of the new input (X). In the job you call you need to pulse an output to reset the circuit (Y) and if something goes wrong (e-stop, teach...) it will also reset.

    The best way to do this is edit the CIO. Take the input "A" 00010 and make it latch an input near the end like 02560. The unlatch would be the program is running output AND servo on, e-stop.... to reset the bit is something goes wrong. Then use this input in your program.

    You'll have to contact the Canadian office with the serial numbers of the controller to see if they can find the original drawings. Robot could have been sold to Rumble or the original end user who used Rumble as the integrator.

    There is no pulse per degree parameter. This is simple math. You need to know the controller type to know the pulses per revelation on the encoder, you need to know the manipulator type to get the turns ratio (this is proprietary information so most people will not give this up). Only then can you do the math.

    Connect the two robots to a PLC and use outputs to tell the PLC where the robots are on the rail. The PLC can then use logic to determine what robot has priority over the other.

    You can't just make a robot "back up", you would need to have "job interrupt" to call another program to make the robot go where you want, then return to the original program.

    Of course this only works if you don't have any button pushers in your plat that will jump over the out on or off instructions.

    You can also put switches on the rail to tell the PLC where the robot is.