Posts by Robodoc

    The power coming into the robot cell main disconnect comes from somewhere in your plant. This could be a power distribution panel or a power buss. On a bower buss a switch plugs into the buss. The contacts on the buss can be loose or not making good contact. The wire in the terminal from the buss switch or power distribution could be loose.


    You may have another piece of equipment in the plant pulling the voltage down (large DC drive on startup) or electric heaters that are ground faulting.


    Get an electrician to put a chart recorder on the three phases to see if the voltage is fluctuating.


    You can also have a bad transformer in one of the robots.

    What is the plant voltage you are supplying to the DX100 controller? Did you check the connections on the transformer in the two DX100 controllers to make sure they are set to the correct incoming voltage. If this is all correct, you are probably dropping one phase of your supply causing the other two phases to go high and blow the fuse.

    Sorry, my mistake, the 24 volts comes back on CN7 pin 2 (pin 1 is the source). So if you have 24 volts on pin 1, great. Please check pin 2. If there is no voltage, a wire is open. If you have 24 volts and still have the alarm, something is wrong with the board in the NTU.


    Sorry, maintenance mode is not for troubleshooting.

    Make a user frame of the pallet. Start in one corner of the pallet for the ORG. Use the edge of the pallet to guide you to the XX position and then move over the pallet to program XY (this will define the plain of the frame).


    Now teach a second user frame on the left pallet using the same points and path as the right pallet.


    Take your taught job (in what is known as command position) and make it relative to the first user frame you made. Copy this relative job and go into the header of the copied job and change the frame number it is relative to, to the new (left) user frame number.

    On an NX100 robot there is a normally closed circuit for the overrun (4101). If this circuit is open you will get this alarm. +24 volts leaves the NTU on CN07 pin 1 and goes out to the robot arm via the 1BC cable. In the robot arm this +24 volts gets split off for the servo on light, shock sensor and over travel switches. Not all NX100 robots have over travel switches so the wires are jumped in the base of the robot and comes back to the NTU CN07 pin 1.

    TB is the Teach Box or as we now call the teach pendant. With this alarm it can be the teach pendant, the pendant cable, or the card in the CRT (the pendant plugs into the CRT and you can blow this card up).

    Sorry, don't know anyhthing about the Jokab Safety Modules you are talking about.


    All the external safety is wired into the MXT card on an NX100. You'll have to look at the wiring diagrams to figure out what connection points are for e-stop, gate (Yaskawa calls SAF) hold, etc.

    Yaskawa robots work on an octal system, you can only send eight bits at a time. You need to brake the value of your D variable into smaller numbers (divide by 255) and send these smaller numbers to B variables that can then be sent to external outputs. In the PLC you need to then rebuild the numbers back into the value of the D variable.

    The memory in the robot is pooched (no good, corrupt, gone, scrambled...). The only way to fix this is to initialize the robot.


    To do this, power the robot off, open the door, on the CP11 card there is a three position toggle switch. It should be in the middle position. One position is maintenance and the other is Initialize (sorry I don't remember up or down). When you put the switch in the initialize position and turn the power on you will see a list of things you can initialize. Type the number 11 and press enter, cursor up once to initialize the whole robot. Once it's done, turn the power off, put the switch back in the center position and turn the power on. The first time it comes on you will need to choose the application (Welding, Hand...). Once you have done this you can load your backup.

    1) Turn off the PC, reboot the robot, make sure the robot is in remote mode, power on the PC and start the software.

    2) There are RS parameters that need to be set for VDE or DCI. If you know what these parameters are, boot the robot in maintenance mode, under file, initialize the RS parameters and reboot the robot normal then set the RS parameters for VDE or DCI.

    The NWAIT command tells the robot NO to WAIT for the robot to finish it's current motion and do the following non-motion instructions.


    Example;

    MOVJ VJ=25

    DOUT OT#1 ON

    TIMER 0.5

    DOUT OT#1 OFF

    TIMER 0.5

    DOUT OT#1 ON

    TIMER 0.5

    DOUT OT#1 OFF

    TIMER 0.5

    DOUT OT#1 ON

    TIMER 0.5

    DOUT OT#1 OFF

    TIMER 0.5


    In the above code, the robot will get to the position and then flash the output 3 times before continuing.


    Now the same code with a NWAIT

    MOVJ VJ=25 NWAIT

    DOUT OT#1 ON

    TIMER 0.5

    DOUT OT#1 OFF

    TIMER 0.5

    DOUT OT#1 ON

    TIMER 0.5

    DOUT OT#1 OFF

    TIMER 0.5

    DOUT OT#1 ON

    TIMER 0.5

    DOUT OT#1 OFF

    TIMER 0.5


    In the above code the robot moves to the position AND flashes the output at the same time (provided the move takes longer than 3 seconds).

    Sorry, no. You need to have ALL the axis controlled by one processor to do what you are trying to do. Having an external drive will never work the way you want it to.