Posts by Robodoc

any variable with an "L" is local to that job only and must be setup in the job header before you can use it.

Any variable with "[ ]" is for array addressing.

Variables without an "L" are global so any job can have access to them.

no, no, no, you don't use relative job in Motosim.

With Motosim you open a project with the original robot, load the job and move that robot to the first position, then open a second robot in the same project using the new robot. do not shift the base and OPL snap the new robot TCP to the old robot position and record the step. Move the original robot to the next step and OPL snap the second robot to it and record the step (keep doing this to record all the steps). Takes time. Takes patients.

add a second robot.

It's not a Kuka. There is no inline position addressing.

It's probably your main CPU or the CF card in it. Either way you're going to have to call for service.

Use the DIN command to read an input group and the DOUT command to write data to an output group.

This robot is so old and has probably been off for a long time and lost it's mind, or who ever you bought it from loaded whatever parts they had to fill the slots. Either way you are going to have to call Yaskawa service in to look at what is going on.

The old RM2 single motor positioners had a air pressure switch in them. The servo motor was on a pneumatic slide, so the air pressure was monitored. You'll have to look at the electrical drawings to see where the pressure switch is wired into.

is this a PX robot?

can you boot in Maintenance mode (hold the main menu key and turn the power on. Keep holding the key until you get the maintenance screen or 2 minutes)

Could be your power supply. Swap it with another robot and see if the problem follows the power supply.

You'll have to contact your local Yaskawa office. Not all Profinet cards work with the controllers. You need one that has the software that the robot will see as a card.

What batteries did you change. The MRC has three. On in the base of the robot and two in the controller. The two that are in the controller plug into a battery board. If there is a problem with one of these battery boards you will get this problem.

You design the rack and pinion, you have the diameter of the pinion.

Sounds like a 24 volt short. This can be in the I/O attached to the robot, any cabling or the internal harness.

Management security, Under Setup/Operating condition, the last item in the list can change to allow servo to stay ready. HOWEVER, this will go back to normal every time the power is cycled.

The best thing to do is line up the witness marks for the 6 axis.

You can use another source for 24 volts, but your MUST link the two 24 volts sources by bonding the zero volt line. You you do not, one source is "floating" to the other.

Can you force the output on and test to make sure it's not burnt out?

Did you change just the encoder or the whole motor assembly?