You use the SHIFTON and SHIFTOF instructions to temporarily shift the positions in a job.
Posts by Robodoc
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Alarm 0060 comes up when the robot boots and does not see an I/O card that was there at the last boot. The [1] indicates it is the I/O card with address 1. This is most likely the analog card.
Check to make sure the analog card has 24 volts, if necessary replace the analog card.
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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.
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Best to hire an integrator to make it do what you want.
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Sounds like you have the European version of an MRC. These special built controllers had an extra board installed to monitor the pendant being in place (and to simulate dual channel on a robot is only single channel). Too bad MRC was built before there was the internet and PDF files to make electronic manuals and drawings.
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Yes, You need the parallel job function and run the two jobs at the same time. One that welds and one that checks the status of the inputs and does something if it's not correct.
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You'll have to call your local Yaskawa service department to get a service person to come and un brick this robot.
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You would need to know the link lengths and gear ratios for each axis. That's all proprietary information.
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someone has turned on prohibit servo on from external device. It's under condition one or Condition two.
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run your input through a relay
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hook it into your e-stop circuit.
Only one question, if said circuit goes open how do you turn the servo on to move the robot back to allow servo to come on?
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These connectors are under license to Yaskawa in Japan. They are the only ones who can get them and they don't sell them separately.
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Yaskawa Canada and Yaskawa in Ohio have touch macros for inside and outside corners.
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Yes, the unbalanced voltages on the secondary of your transformer are casing this.
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The alarms point to the stop motion monitoring. If the brakes are slipping (it may be new to you but DX200 was replaced by YRC1000 5 years ago), or the axis is overloaded causing it to take too long to come to a stop.
Either way, call Yaskawa for service.
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no that's another issue.
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If it was a dual and you are trying to make it a single, you will need to call for service to do this.
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You can watch the B variable and see if the data changes. If it does not, it's probably free.
Make a backup of what you have now (before your edits) and then do the edits. If something changes unexpectedly reload the backup.
You can also use a local B variable.
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Problem 1
Sounds to me like you don't have the coordinated motion option. Just because you have an external axis does not mean you have the coordinated motion option. A service tech would have to come and see the robot to see what options are active.
Problem 2
Sounds like the home position is not correct. Drive the robot to a displayed position of all zeros and make sure the witness marks on the arm line up.