Yes, to do this correctly you need the high level code.
Posts by Robodoc
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The ARCO signal is an output from the robot that tells the welder to turn on. From what you said you are getting this signal because the robot does strike an arc for a second before giving you the alarm. The signal you may be missing is arc established. This is an output from the welder to an input on the robot to say yes the arc is established.
I'm sorry I don't remember the input address for arc established on a DX200. Do you have another robot you can swap the analog card?
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It's not that simple. There is no documentation on how to install external axis on a Motoman robot. Motoman uses (internal only) work instructions for each type of installation. You are best to call Motoman and have them quote on adding external axis to your robot.
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need to know what power source.
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Witch PC card? There are two in an XRC controller. One at the top that is rally a PCMCIA slot but most people use a PCMCIA to CF card adapter. The other card is like the hard drive for your PC. If that one is missing you will have to call Motoman to get a service tech to burn a copy of the operating system on it and initialize the robot to start over.
Then again, if you have this alarm and no backup you will have to call Motoman to have them come out and initialize the robot to get you going. Be sure to mention if you are missing the main CF card.
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Motoman has a whole bunch of precanned touch jobs, inside corner, outside corner, circles. Call then they will send them to you and then all you have to do is call the touch rob you want as you need it.
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Okay, so now we know your robot is Mig welding. This alarm comes up when the robot tries to strike an arc and does not get the signal from the weld power source saying the arc is established. This an be cause by lots of things.
Does the robot strike an arc? If not you have to look at the weld circuit.
If there is an arc, it can be the welder is not sending the arc established signal, try swapping the weld power source with one you know works.
If you know the arc established signal from the welder is good, there is a cable that runs from the weld power source to the controller. Unless someone has been working on or around this cable it is probably not the problem but it is some thing to look at.
The arc established signal comes into the controller and may go through a weld interface (PWF, HUWI, UWI, ROB5000) depending on the vintage of the robot and the power source you have. The problem can be on any of these interface boards. Once again try swapping the interface with one you know works.
The arc established signal goes into the analog card. You can try swapping the analog card with one you know works. -
any alarm starting with a "9" is a user alarm. Someone somewhere made this alarm come up on your robot. It can be no/low air pressure or missing arc established signal when mig or tig welding.
What is the text that comes up with this alarm?
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First of all the Comarc function will only work if you are weaving. Do you weave in your TIG process? If not, Comarc will never work for this application.
Second, the Comarc box is only used for current. There is no way to convert that signal to voltage. You should be able to get the voltage off the positive and negative posts of the power source. I don't recommend this as a direct input to the robot, if something went wrong you would get full TIG power into the robot processor (can you say melt down?). Most TIG welders have a voltage reference output that you can tap into. If it does not you will need to design a filter or bridge to take the power source voltage and convert it to something the robot can see safely.
Comarc is an option on the YCP02 board. You can have Yaskawa (Motoman) change the software on this board from Comarc to height sensing, this way you will not have to weave and your voltage sensing can go directly into height sensing. It's the same boad, just differnet software and parameter setup so yes you need to call them in. -
There is your problem. This is a Major alarm so you will not be able to do anything until you fix this alarm. Try to initialize the sensor function parameters and reload your backup. If you have the sensor function manual there is a section on how to setup the sensor function.
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The hold circuit has nothing to do with servo power. The hold circuit only stops the robot from moving. Please check to make sure you don't have another message about an e-stop or servo off signal is on.
Also check 40170 to 40177 and 40180 to 40187 and 70022 and 80015 and 80035 and 80060 to see if any of these are on.
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No the SIO test is for something else. This test was to test the function of the button. If the button works each time you press it on the button test, the keyboard is working. If you are still having problems the problem can be in the MSP02 (on the back of the playback box), or the MIF01 card. Be very careful with the MIFo1 card. It has all your programs and robot data (like the hard drive in your computer) and is software specific.
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1) Yes, if you have system jobs in your job list you have the purchased option of system jobs and it is activated and working.
2) Not sure if you need the jump and label in a system job to make them loop (haven't worked with any yet). Call Yaskawa and ask them. -
This is a MRC robot not DX100. You will have to initialize the robot and reload your backup to get this to work. Call Yaskawa and tell them you need a service call.
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CIO is dependent on the application of the robot (Handling, welding...). You should have gotten a copy of drawings with the IO structure so you can make your PLC connection list. If you don't have a set of drawings contact Yaskawa. Make sure you know the application and any other add on (I/O cards, external axis...). There should be a warranty ID number on the controller. Yaskawa should be able to look up what they sold from that number and provide drawings.
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Alarm 200 meant the parameters are scrambled. You will have to initialize the robot and load your backup.
And by the way, cph5140, there are no "authorized Motoman partners".
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I hope you did a backup before you initialized the robot. If you did, reload the "ALL.PRM" & "CIO.LST" file. If you have no backup you will have to call Yaskawa to help you put it back to the way it was.
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This servo pack is specific for the RX L106 only. The "KBTY8" doesn't mean anything to an end user. If there was a short in the harness you can blow up the encoder power supply in the servo pack (for witch you would need a new or replacement servo pack) or the encoder communication circuit in the servo pack (once again you will have to replace the servo pack) or the encoder it's self can be damaged and could need replacing. There are no replacement encoders for this robot, you have to replace the whole motor assembly.
Seeing as how Yaskawa stopped making the parts for this robot in the late 80's you will have a very hard time trying to find parts.
Best solution, push this old robot off the dock and buy something new (or newer) that has replacement parts and support from Yaskawa.
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The external hold circuit is normally closed. So if the external hold circuit is open you can put a jumper in the circuit. I would need to know what controller you have to tell you where to start looking.
Also are you sure it's an external hold and not a hold because the PLC is not on line or a welder is not on line?
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Please remember there was no internet or Adobe when the ERC robots were in production. There are no electronic versions of these manuals only scanned paper versions. I would have to look in my archive to see if I have this manual. Also with ERC there are separate manual for the applications of welding, painting, handling... What are you planning on doing with this robot?