This is dependent on what controller you have. Most controllers have an option to prohibit "master job change" and "master job call" so you would have to select your master job in teach before changing to play or remote. Some people use the "at top of master job" output as input to the PLC and prohibit the ability to start the cell remotely unless they are at the top of the master job.
Posts by Robodoc
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Could be you have miss matched software. Some people believe you can just swap parts around with no knowledge of what is really involved. With the XRC series robots there is embedded software on the XCP01 (main processor) and WRCA (servo control board). If someone has swapped either of these boards and not done a software upgrade to make everything match you can run into stupid alarms. The newer robots (NX100, DX100, DX200...) load the software to the cards in the robot at boot (this is why these models take so long to boot and the XRC boots in seconds).
I would get your local Yaskawa Robot (Motoman) rep to come in and check the software version, may be initialize the robot and reload your data to make sure it is set up correctly.
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In a Yaskawa robot you need to have servo disconnect. This is a second contactor to remove power to the gun servo so you can uncouple the ATC and not have errors. The servo disconnect option also makes the encoder mute so you don't get encoder errors.
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Cubes are found under 'CUST', 'MORE', F3 (Intrf)
All the cubes are there. Use F1 and F2 to go up and down through them.
There are two ways to teach them. 1) Min Max where you move the robot to the X+, Y+ and Z+ position and record it and MAX and then move the robot to the X-, Y- and Z- position and record that as the MIN position. Or 2) teach the center of the cube and define how big a box you want around that point.Please be aware that all the cube are not tied to the outputs in CIO. You may only have two cubes that will give you outputs to the real world. The other cubes you can use in your programs.
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Short answer, it's a programming issue.
Long answer.
The alarm 4406 comes up when you are running two robot programs on a common base (R1+S1, Sub 1 and R2+S1, Sub 2). In this example the two programs MUST have the same number of lines and steps AND the external axis MUST be in the EXACT same position in each job.For example, if R1+S1 is on line 14 and the external axis is told to go to 27000 pulse counts and at the same time the R2+S1 job on line 14 tells the external axis to go to 27100 pulse counts the processor can't figure out how to get one axis to get to two places. I have see this problem come up with as little as 5 pulse count difference between recorded positions.
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The error 2110 is over soft limits. You can't teach a point beyond the limits of the robot, as well, if you have released the limits to move the robot as needed you can't teach a point with the limits released.
If the robot is in the normal range of motion someone could have set the soft limits, or the home calibration is not correct and the robot thinks it is beyond it's limits.
Check the home position (whiteness marks on each axis should line up when the pendant displays zero in the current position) or initialize the SC parameters
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First thing that comes to mind is remote mode. Check to see if the robot is in remote mode. If it is, the play back box servo on and start buttons may not work (there is a parameter to allow them to work in remote mode).
If the robot is not in remote mode, check parameter S2C56. It should be set to zero. This is servo on prohibit. Set to a 1 is external servo on prohibit, set to 2 is play back box servo on prohibit, st to 4 is play teach pendant servo on prohibit. you can have more than one on at a time, for example if it's set to 3 is both external and play back box prohibit (it's a binary thing).
If the robot is in remote and you have to run it in remote you can set parameter S2C57 to allow things that normally don't work in remote to still work in remote. This too is a binary selection (you can have more than one item on at a time)
1 play box servo on
2 Pendant servo on
4 play box mode switching
8 master job call
16 cycle switching
32 play box startIf you need to use the play box servo on and start in remote mode you would set it to 33 (32+1=33).
If the parameters are not set "right" don't think someone has gone in and changed them. You can set these from options screens on the pendant, I just can't remember where they are in a MRC II
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Short answer, no.
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In RECT coordinates the R/B/T keys roll the arm around the TCP. If your TCP is not correct the arm will move "funny". With a dual you have to watch what arm you are controlling and what arm you are assigning a TCP to.
This should have nothing to do with the robot in play mode. The coordinate systems are for teaching the robot. Each time the enter key is pressed to record a position, the 6 encoder values are recorded regardless of the coordinated system. The exception to this is if you are using relative job.
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The problem you are having is not with the MSV card but with the servo pack. You will have to replace the servo pack with one that works. Look for a flashing red LED for the one that is not working.
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What you have done is send the weld return (ground) through all the motor ground cables and encoder shield cables. The MRC controller uses the chassis ground as a voltage reference. Depending on how long you were welding like this you could have done damage to any internal harness, the base cables, the servo packs and the MSV cards. Long and short (no pun intended) it's time for a new robot.
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No matter what orientation of the robot, the X, Y and Z direction of the "world" coordinate system is from the base of the robot (under the S axis). The only setting in a Motoman robot is under the robot icon and arm control. put -180 in the orientation for a robot upside down. The tells the controller the robot is upside down and will allow gravity to pull the robot "up" when servo power is on. It DOES NOT change how the robot moves in wold coordinate nor does it change any job path.
If you want to drive the robot in real world X, y, Z orientation you need to make a user frame and drive your robot in that coordinate system.
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You may have to press the SHIFT+EXT AXIS button to change what you are driving. Watch the status area on the pendant, the left most icon tells you what you are driving (R1, R2, S1, S2...)
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Setting a large robot like this to Category 0 is not recommended. By doing this the brakes are applied as soon as an e-stop is pressed and although it does make the robot stop faster it will cause the brakes to wear out sooner and can cause damage to the speed reducers. You should contact Motoman and see if they will send you the stopping distance chart for the NX robots. You can use this plus the reaction time of the light curtains (and safety PLC if you have one) to calculate the location of the light curtain.
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If you are getting the message "turning on servo power..." the system side is responding to the request to turn on the servo power. This command would close a small relay on the XSU02 card in a dual channel controller (sorry don't remember the name of the single channel board). This relay completes a 220 volt circuit that makes the main contactor(s) come on. It could be this control circuit or the coils for the contactors are not getting the 220 volts ac (broken/burnt wire).
I would need to know if your unit is single channel or dual channel to be able to help you more.
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With the servo tracking happening on both B and T axis, I would start by looking at the brake power.
Use the manual brake release to see if you can hear the brakes releasing (you should hear a click) and you can try to turn the axis by hand. If you can then the brakes are releasing. If not there is something wrong in the brake release circuit.
The brake power comes from the NTU card and does not have anything to do with the servo system (amps, servo control card...) The brake power goes into the robot through the 2BC cable and there is a single wire for each axis and two commons. The first common is for S and L. the second common is for U/R/B and T. This common wire snakes up the arm to the U/R area and splits off for the U, R and B/T axis. The B/T axis are in a separate harness that passes through the R axis into the B/T motor area.
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Alarm 4335 is a ground fault. One phase of one motor has gone to ground. This problem can be in the controller, the base cable, the robot internal harness or in a motor. To find the location of the problem, turn the controller off, unplug the 2BC cable from the controller and then turn the controller on. If the alarm is still active, the problem is in the controller, if it is gone, turn the power off, plug the cable back into the controller and unplug the other end at the robot. Turn the power on and if the alarm comes back the problem is in the 2BC cable. If you still have no alarm, turn the power off, plug the 2BC cable back into the robot and unplug the motor power connector on each motor. Turn the power back on. If the alarm comes back, the problem is in the harness. if it does not come back, plug each motor in one at a time to find what motor is causing the ground fault.
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You will have to call Motoman for this one.
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This could be a user message. Like user alarms only they don't stop the robot, just puts up the message. Next time you see this, check the specific input 4013 for user message request. If that is on, something is requesting a user message and you will have to look at the CIO to find out what is making this bit come on.
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The only way to do this is to make a axis interference zone for the positioner. Make a very small zone in the area where the operator loads and unloads the parts. Then in part 2 of the CIO if you are in play and not in the zone and don't have the clamps closed make and alarm. The robot will stop because of the alarm. Once you put the cell in teach you can clear the alarm and close the clamps, fix the wiring, move the external axis...
Hope your having a good weekend Rob!https://www.robot-forum.com/robotforum/Smi…forum/zwink.gif