Posts by Robodoc

T.L.D.R.

shift on the tool frame.

Just my $0.02

If the two external axis are the same model, swap them to see if the alarm moves with the servo pack.

Sorry, no. The USB port is not for I/O communication. You will need to connect it via hard wire or Ethernet and then develop a pendant app to control the welder.

Sounds like a configuration issue. Some integrators change the max speed of a motor to make the cell meet cycle time, however, when you tell the external axis to go at full speed it can sometimes give this alarm.

Normally you only get the 9001 alarm (missing arc generation) when you have executed an arc start command and did not get the arc established signal back from the welder within a set time (normally 3 seconds). As you said, you are using a Fronius welder that does not have "arc established" but "Process active" there are special edits within the CIO to make a Fronius welder work with a Yaskawa robot.

You'll have to call your Yaskawa rep to see if you have the correct CIO in the robot.

There is an output that comes on when there is a error or alarm. Use this output from the robot to make a message come up on the HMI saying "go look at the pendant".

There are over 9000 alarms that come out of the box from Japan, plus any alarms you or the integrator have put in. There is no easy way to move this data to a PLC. You would need to map each of the alarms to outputs to the PLC then write the alarm data in each of the messages. Then there is the problem of identifying the axis that has a problem (IE Collision detect SLURBT) there is no data out that identify the axis when there is this kind of alarm, so you have to go look at the pendant anyway. Many have tried to this, all have failed.

Go to the second home page and press the page down key to get to the external axis and then press the data button.

do you have an external axis?

If you are bending the wire doing touch sensing you need to slow the robot down.

Resetting the MRC encoders is dependent on the robot/motor size. Don't know what robot you have. Normally it's RST and 0bat

Check the baud rate in the FDE software. You have RS53 set to 6. I know RS53 set to 7 is 9600, setting to 6 is the baud rate before 9600.

Robots are not very good at cutting small circles. You're better off drilling such a small hole.

If you have to cut this with the robot, make sure the TCP and tool weight are correct and SLOW the robot WAY down.

Auto lock out (password protection) is a purchased option. If you don't want it any more you will need to call Yaskawa service to have it turned off.

If you want to keep it, you need the password for Management security level and change the setting to how you want it to work or add you as a user.

The alarm is a result of at least two bits. One is the alarm request (need to know what controller you have to tell you the address, but you can find it in the CIO manual) and the binary bit or bits to set what message is to come up, once again look in the CIO manual for the controller you have to fine the user alarm bits. Depending on who programmed this alarm to come on, there could be a common bit to make the request and the selection come on, or there could be rungs and rungs of data to make the robot do what the engineer wanted it to do. You will have to work backwards to find what makes this alarm come on.

look at your wiring diagrams or back trace it in CIO

It may be part of a group or a MOV instruction.

You can replace the R casting, but in my opinion you are better off replacing the whole wrist unit.

The fixed end of the B drive is attached to the R axis casting. If the R axis casting is bent, the B drive will not have a correct alignment to rotate on and as it turn it will cause the R axis to torque back to the correct alignment and cause this shake as it moves. If you don't believe me , make a job that only moves the B drive, slow, and then fast. you will see the 'shake' will correspond with the speed of the B drive motion. Thus, the B drive is pushing the bent R casting.

It may be your R axis casting is bent. Did the robot crash?

Replace the wrist.