Try the IMOV command. Put -100 in a position variable and IMOV on the position variable, assuming you want to move -100 mm in the X direction.
Posts by Robodoc
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If you have changed the pendant and pendant cable with one you know is good the only thing left is the XCP01.
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You need to buy the teaching head and application from Motoman.
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Let me put it to you another way. The RS232 port on the XRC processor is for talking to a PC (not a PLC) with Motoman software.
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Sounds like a sort in your "custom built welding machine" Try unplugging the welder connection to the robot and see if you keep blowing fuses.
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Asgary64, you need to take a basic programming course to learn how to drive and program your robot.
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Under the JOB button on the Main Menu there is an item for jab capacity. You can look at that to see how much memory you have used and how much you have free. Can't say how manu programs because each program is a different size.
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There is no list of these codes. Any alarm that comes up means the servo pack is pooched and needs to be replaced.
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There is no communication with I/O and the RS232 port in an XRC robot. You need to have an Anybuss card (JANCD-XLF01B) with the PLC serial communication (CC-Link, Profi-Buss, Device-net...) to get I/O signals to a PLC on XRC. The RS232 port is only for data communication IF you bought that option.
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If you have the Check position alarm (4107) the collision detect is automatically turned off. Try doing the check position procedure.
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You can use MotoSim, however, Yaskawa does have job editor software for each controller. It's just like the CIO editors, but for jobs. This way the syntax and structure can be checked before you try to load it in a controller. I'm old school and still use Notepad to do my edits, but run it through an editor to check for errors (oh's and zero's get me every time).
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Two things
1) Make sure the device is set to CF card
2) XRC robots will only use 32 meg (yes Meg not Gig) and cards made by Sandisk. Some of the newer processors and newer software can use up to a 64 Meg card but good luck finding any of those.Did you rty your 6 cards in any other XRC robot to see if it's the robot or the cards.
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If your error is in the header of the job (number of steps not matching, external axis not matching...) you will not get a line number. Not to sure on DX200 and syntax errors is the body of the job.
If you buy Job editor software it can check your job for errors and show you where they are.
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Call Yaskawa. For a small fee they will activate it for you.
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Try you tube. There's lots of movies.
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Here are the documents and drawings I have on the European safety board.
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You will have to take the P variable used with Tool sight and extract the elements one at a time into B variables and then move the value of the B variable to an output group attached to your PLC.
Please note. P variables are recorded in Microns (three decimal places) so you should move the element value to a D variable first and divide by 1000 to get the whole number AND, B variables are only good to a value of 255. So if your tool shifted .7mm in X, you would have to get element 1 for X, divide this number by 1000, multiply that number by 1000 then subtract this number from the original number to get only the three places after the decimal (should be 700 in this example). 700 is bigger than 255 so you would have to send 255 twice to the PLC then add 190 to the value in the PLC (255+255+190=700).
In other words, it can be done, but it's a lot of math to record data that no one will ever look at.
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Check the I/O address 2303. This is the arc established input address. It should only be on when you are welding. If it does not come on it can be the welder not sending the arc established output or the analog card input not responding to the welder.
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The only time I have seen "load batch-cmos file" is when someone has cleared the MIF01 board memory or someone has replaced the MIF01 board. This can also come up if the memory on the MIF01 is scrambled. If you don't have the batch CMOS file to load, the only way to get over this alarm is to have the robot initialized and start over.
In earlier posts you have said you just got this robot. What I'm afraid of is someone swapped the MIF01 card and you now have a software miss match. The MRY01 card you were asking about is a very special European safety board and goes along with the MTU board you are asking about. I may have some drawings and documents on this that I can send you. Give me a few days to look for them.
As for the 4690 alarm, this too can be from scrambled memory or software miss match.
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The RS232 port on the processor is for data (jobs, parameters, alarm history...) there is no connection to I/O in this port.
Yes you can get a XFB01B board. This is known as an any buss card and can be adapted to work with Divice-net, CC-Link, Profi Buss and some others I don't remember off the top of my head. Or you can hard wire the I/O points from the robot to the PLC. Depending on how many I/O points you want or need it may be cheaper to go with this option than buying, installing and configuring a XFB card