Posts by Robodoc

If it was a dual and you are trying to make it a single, you will need to call for service to do this.

Use IMOV.

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.

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.

You need the COMARC function to do this on a Yaskawa robot.

Manuals can be found at motoman.com

You can use indirect addressing.

SHIFTON P[B001]. This will shift the value of the P-variable. The P-variable is determined by the value of the B001 variable.

Sounds like a taper lock is slipping. The older these positioners get, the more apt they are to having the taper locks slip. If the taper lock slips once or twice, the shaft gets polished and it will slip even more.

can you shift?

I/O cables you can build yourself. Internal or Yaskawa communication cables normally have a connector that is licensed to Yaskawa only.

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.