Nope you're looking at the wrong thing. Scan the I/O to see how many points the robot thinks it sees. Must be a multiple of 8.
Posts by Robodoc
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Motoman blocks this is to stop someone from buying one robot with all the bells and whistles and loading the CMOS into another robot with no purchased options.
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If you boot the robot into maintenance mode (hold main menu and turn the power on), under setup, go to I/O and see what the robot sees as I/O in slot 4 (Station number).
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You need an option called pause weaving. This allows the robot path to be one spot and weave while a positioner moves the part. Unfortunately this only works with coordinated motion so you would need to replace the non-Motoman positioner with one from Motoman that works with the XRC controller.
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You can't control 1012. This is a universal output (#3). If you hit the instruction DOUT OT#3 ON (or any of the DOUT OG combinations) this internal bit will be on. Normally this bit is assigned to turn on an External output (I would need to see your ladder program to tell you what the address is). You need to find that address and change the ladder logic so that Universal output #1012 only trips this External Output to come on if the servos are on and the e-stops are okay and you are in play and all the other conditions you need for your cell.
This is still not safe because the ladder logic is single channel.
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The only fan in an XRC that is monitored is the two that are in the CPU rack (you have to take the rack out to get at or replace the fan). You have to replace this fan with the same make and model to get the signal back that the fan is running at the correct speed. Sometimes the trace in the rack gets burnt off and the signal does not get to the main processor. I have also seen the XCP01 fail and five this alarm even though a new rack was installed.
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You were told. You just don't listen.
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You can't check the CMOS.BIN file. It's a file that is written to your CF card at the time you do the backup. It either loads or doesn't load. If it's corrupt because your CF card is bad the robot will not load it. There is nothing to check.
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Don't know what the "H" is. The "5" is a startup verification error. The memory is not the same as the last time the power was on. Probably from a low battery and power off for some time.
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Alarm 5880 is Undefined position for arc on. This means the robot is not at a command position. You must have a MOV.... command just before a ARCON command to make sure the robot is in a real position before you start an arc.
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Some things you need to know.
The XRC has two RS232 ports, one in the pendant and one in the XCP01. You can only have one active (on the same protocol) at the same time.
Parameter RS0 is for the pendant and RS1 is for the XCP01. If you are not using the pendant port, set RS0 to 0 and make sure RS1 is set to 2.
As well set the following parameters;
RS3=2
RS6=1As well when using the port in the XPC01 you can set RS33 to 8 for 19200 Baud
And the kicker is there is an FD parameter (that I can't tell your because it's a purchased option) that must be turned on to allow data transmission.
What is it you are trying to do through the RS232 port?
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Try replacing the NTU unit.
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Every XRC robot has to have a WRCA card. The WRCA card can talk to 9 axis, 6 as it is and 3 more with the addition of the WRCF. The WRCF, just like the WRCA, has a big 50 pin connector that can talk to 3 encoders (on the WRCA that would be S, L, U on one port and R, B, T on the second port). The XFL03 card splits the on 50 pin connector into 3 so you can add one external axis at a time using direct to controller cables.
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Mflux_gamblej,
You are still not listening to what people are telling you. Motoman told you that you can not control a non Yaskawa Robot motor with a robot controller. You admit you have read posts (from me) say it's not possible. Roboprof told you you need an external servo pack for an XRC. Potis told you "everything must be Yaskawa" but you still continue down this path of self destruction.
Here it is in a nut shell. Yes all servo motors are the same (or work on the same principle), however, what is different is the number of poles in the motors and the encoder that tells the controller the positional data. Yaskawa has Drives and Robotics. Two divisions. They do not talk to each other. You cannot take an Yaskawa drive motor and connect it to a robot and you cannot take a robot motor and connect it to a Yaskawa drive. The encoder for the robot motor is unique to Yaskawa robots. The robot encoder has a special communication protocol that will only talk to the robot servo system. When you add an axis to a Yaskawa robot you must pick from a list the converter, amp and motor you are using. At startup the communication protocol checks to make sure this is what is connected. If you do not have the same amp, converter, and motor you will get alarms at startup.
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There is no option for shaving. This is something you would have to develop your self. With MotoSIM 2015 you can drag and drop STEP or IGES files into the cell you have made in MotoSIM. Not sure if that was an option you had to buy, I was under the impression this was why they came up with a new version. Talk to your Yaskawa rep about your version of software and what you are trying to do.
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MotoSim 2015. But I would wait, a new version is coming out this fall. The current version does not run on Windows 10.
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Sounds to me like you are confusing three things.
First there is a difference between and interference zone and the cubic limit of the robot. From the picture you attached you are looking at an interference zone. this simply turns on a bit when the current tool is in that zone. You can tie this bit to make an alarm but it would not tell you X, Y, or Z direction. If you are getting a MAX XYZ and one of the XYZ is highlighted this is cubic limit. The cubic limit of a robot is set is the S3C parameters. For R1 the limits are;
S3C000 X+
S3C001 Y+
S3C002 Z+
S3C003 X-
S3C004 Y-
S3C005 Z-
Also you must have S2C001 set to 1 (for on) to have the limit active. This will give you a MAX:XYZ (and highlight what direction) if you try to make the robot move beyond the limit set. There is a default limit programmed into the robot that you cannot change and the status of S2C001 does not affect it. I would check S2C001. If it's off (set to zero) you are driving the robot beyond it's limits, if it's on (set to 1) turn it off and try again. If turning the limit monitoring off helps then adjust the S3C parameter to make your cube bigger.The third thing is overload. Interference cube and cubic limit have nothing to do with the load on the robot. If you are overloading the robot you have other issues. If the load on your robot is pulling it outside it's working range you will have to reduce the load on the robot or put in a bigger robot.
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XFB cards can only be set to a maximum of 15 for the robot card station address. Station 16 and 17 are the PCI slots in the rack for the Woodhead/Molex PCI cards. Why do you think you need to set it to 17?
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You need very special (and that means very expensive) software from Yaskawa.
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The robot will hold or move it's maximum payload throughout the full reach of the work work range.