If you have the option there is SAVEVAR and LOADVAR (along with SAVEJOB and LOADJOB, I think the option is VDE???). The SAVEVAR, saves the variable table as a file, you can then get data from it and do what you like with it.
Posts by Robodoc
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Replace both harnesses. If the robot is on a rail, replace the 1BC cable as well.
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Check your TCP (tool control point). If it is not accurate it will not do circles very well.
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In TEACH mode, with the servo ready flashing you have to enable the pendant with the TEACH LOCK button on the pendant then pull in the enable switch (dead man) also on the pendant. The enable switch only has to come into the first position, if you pull it too much it goes to the second position and turns the servos off.
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Press CUST, MORE, ORG (F5). The normal password is 00000000, Enter. Then ORG SET (F2), ALL (F3), EXECUTE (F5).
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Robots are not built to do CNC milling. The back force of the cutting makes the robot wander and loose accuracy. Motoman does have a short arm robot called the DX1350 made for milling but please remember it's a robot not a CNC machine.
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If you are not using parity I would suggest turning parity checking off.
Please set S2C117, 118and 119 to zero for inputs and S2C122, 123 and 124 to zero for outputs. This will make the inputs and outputs work "normal" and no more parity errors.
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Purchased option. You have to call Motoman.
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The only one I know of who uses parity checking is Honda. Did you get your robot from Honda or do your work for Honda?
Parity checking looks a an input or output group group to make sure the correct number of bits are on. For example if you had a command
Wait IG (1) 2
The robot would normally wait for input group 1 to have a value of 2 (or 00000010 in binary). This would be a odd count and the parity check would have to be off. If you had the same command but with a different value,
Wait IG (1) 6
The robot would look for the input group to be 00000110. With this binary pattern the count would be even and the parity would be on and the robot would really be looking for 10000110 (Parity uses the last bit in a group to check or not check even/odd count).
The same thing happens with the output group commands. If the binary count is odd the last bit is not turned on, if it's even the last bit is automatically turned on, for example;
DOUT OG (1) 4 would give 00000100 binary with or without parity because the binary count is odd
DOUT OG (1) 36 would give 10010100 with parity check because the binary count of 36 would be even, the last bit comes on for the parity check.This all comes down to the PLC you are communicating with. Some PLC's use parity check on inputs and outputs, so the robot has to match (they are assuming you have a broken wire or something is wrong if the parity does not match).
One last note. Because parity check uses the last bit in a group you can no longer count to 255, the last bit in a group. You can now only count to 127 because you loose the last bit.
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You are reading the message wrong. It's not "send" to home position, it's SET home position. This means one of the encoders does not have the ABDO data registered in the controller.
Make sure your are in management security level, tap the Robot button from the main menu, then tap "HOME POSITION" (not second home, not work home, home position). There should be a number for each axis in your robot. If there is an asterisk (*) in place of a number, this is the axis that has lost it's data. If you have more than one robot or external axis you will have to press the page key to go to the next group.
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Manual brake release is a purchased option in NX. Canada turns it on for free because of the Canadian safety rules, so it really depends on where you bought the robot.
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Is your XRC single channel or dual channel?
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MotoSim is the software you are looking for. It's a keyed software (you have to plug in a USB key to unlock the software on the PC you are using). Aske the professor from your school to contact Yaskawa Robotics in Ohio to see if he can get an educational copy of the software.
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You have to have the CMOS.BIN file on the root of your CF card in the pendant. It cannot be in any folder. You can look at the data on the CF card from the pendant in any PC.
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The only thing that will stop the robot moving at the end of each move is having a PL=0 in the instruction. The PL is a Position level and the value of zero make the robot hit all six encoder counts before moving on. Remove the PL=0 from the instruction and try it agan.
Sorry, there is no access for and end user to change the default Accel/Decel. You can change the ratio on the command line for that move (under detail edit).
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You need the wiring diagrams for the cell. The external I/O is an open architecture. Any external input can be programmed to do a specific command (like start, alarm reset, go to remote mode...) or be a universal input or not be programmed at all.
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Boot in Maintenance mode and look under tools.
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The alarm 9000 Air pressure lowered is a user alarm. There will be a air pressure switch connected to the robot and will set on input on when there is enough air pressure. This will probably go away once you fix the major alarm 1350 Power on Mismatch. This has to do with the TU board (or XTU board for XRC). There are single channel and dual channel version of this board and are not interchangeable. If you haven't changed this board it can be someone set your safety spec to on when it should be off (or the other way around). This is not an easy fix. You will have to call Motoman to have someone come in and look at it.
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Yes it's the sensor function software.
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The broken PG line is the cable that does to the encoder. It can be the servo pack in an MRC or the base cable or the internal harness or the encoder on the motor.