You have to be in "safety" security level (or sometimes called FSU security).
Posts by Robodoc
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You don't really have to do anything if you don't want to. You can use the same digital outputs to control your gripper using the DOUT commands. I would suggest doing the same thing as the arc on in welding, make a job called close and one called open. Put all the I/O commands in these jobs to make the grippers do what you want, then call these jobs as needed in your program.
If you want to make the robot "handling" as the application you can initialize the robot and at the first boot in normal mode choose handling as the application. this gives you the HANDON and HANDOF commands (gone are the ARCON and ARCOF).
Either way, please use the outputs to drive a relay and have the contacts of the relay turn the valve on or off. This way if something goes wrong you would only do damage to relays that can be replaced and save the IO03 card.
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Most parts like this are proprietary to Yaskawa. You would be better off sending the board to Motoman or buying a new one. Is there any output (battery alarm) you are not using you can swap the parts with?
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This is an FSU function;
From the FSU maual;
When the IMMEDIATE STOP is set to VALID, the stop category of the robot and external axes is set to 0. Be sure to return the IMMEDIATE STOP to INVALID after measuring the coasting value.
• If the start operation is performed when the IMMEDIATE STOP is VALID, a confirmation dialog box appears. Select [YES] and perform the start operation again to perform playback.How to Change the Stop Category
To measure the coasting value, the stop category can be changed.
In the COASTING VALUE SETTING screen, select IMMEDIATE STOP to show INVALID and VALID. Select one of them to display the READBACK screen in the same way when editing the coasting value. Check that the READBACK VALUE is the same as the value shown right next to the selected item of INVALID or VALID. Then press [YES] to switch between INVALID and VALID.That's all I know.
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It also looks like you have the Ethernet IP for safety. If these bits are off or you are not connected to a Safety PLC that activates the correct bits you can have problems.
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In a Motoman robot that is setup for Welding 99% of the time there is a analog card per robot. On this analog card is a 500ma power source that goes through a normally closed relay contact and out to the welder Positive and Negative posts. The relay opens when welding, but when you are not welding "sitting in the home position not doing anything" there should be 500ma of power. If there is not, it is assumed the wire is stuck and you get the message "wire sticking".
Trouble shooting this is very easy.
1) Unplug the grey "honda" connector on the analog card. If the wire sticking is still there replace the analog card. If it goes away, plug this connector back in and go to step 2.
2) Unplug the connection cable at the welder that comes from the controller. If wire stick is still there but went away in step 1 replace this cable (Called the Weldco cable). If the wire stick goes away, plug this connector back in and go to step 3.
3) Take the weld positive cable off the welder. If the wire stick is still there but went away in steps 1 and 2 replace the welder. If the wire stick goes away put the weld positive back on and go to step 4.
4) Take the weld positive off the feeder. If the wire stick does not go away but did in step3, replace the weld positive cable. If it did not go away, put the weld positive back on the feeder and go to step 5
5) remove the weld wire from the feeder. If the wire stick goes away, check the input of the weld wire to make sure it is not touching ground anywhere.
6) If removing the weld wire does not remove wire stick, remove the weld torch. If there is an integrated shock sensor you have to remove tis as well. If the wire stick is gone after removing the weld torch replace the weld torch if it did not go away after doing all these steps I can garentee you have R1 and R2 wires crossed and you have to straighten that out first then do these steps again. -
Sorry no. You have to use the explosion proof pendant on an explosion proof controller.
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This is data from an SK45 and has CP01 and CP02 and IF boards, therefore it's an MRC.
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Yes there is a shift instruction. It uses a P variable. Put your offset values in a P variable and insert the instruction SHIFTON and the P variable at the top of the job and SHIFTOF at the bottom of the job.
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Questions;
1) is the wire feeding out of the torch and hitting your work?
2) is the Motoweld turning on (put a meter on the + and - posts and see if you have voltage)?
3) if the welder is turning on can you adjust the voltage up and down?
4) did you check the weld positive out to the wire feeder and weld negative to the work?
5) are you using an analog card in the robot and the ARCON commands? -
Sorry, no there is no single point calibration you can do. If you had done your programs in Motosim you could build a filter to make the simulated robot into a real world robot.
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I have never seen this before, but it sounds like the gate input is opening. The gate input is the only thing that is not used in teach but is used in play.
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Sorry, no. The CIO does not have access to half groups.
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Sounds like the contactors are chattering in the NTU unit. If you have a robot that does not have this problem swap the NTU unit (has to be the same size). If this is not an option buy an NTU from Motoman and swap it or open the NTU and replace the contactors (have to be the same size and shape with a 220 volt coil).
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You can change the wrist from one robot to another. Be careful taking the harness out. No it does not have to be sealed but you will have to recalibrate the B and T axis on the new arm.
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Sounds like Slow Speed or Low Speed is on. Are there any messages on the pendant about low speed?
You could initialize the SC parameters to put it back to the factory default.
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Short answer, no.
Long answer, relative job is not turned on for a cell. It is an option that can make your jobs relative to a plane in space. This plane can be like the Base of the robot or your tool or a custom frame you make called a user frame. All these frames are static. They do not move with an axis unless you redefine them. For example, if you have a fixture on your external axis and teach a user frame and make your jobs relative to that user frame and then move the fixture, all you have to do is re-define the user frame and the jobs will move with it. If you turn the external axis or "slip and axis" on the robot you can re-define the user frame and the jobs will follow, but now your robot is out of calibration and other things will go wrong.
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Yes Motorobo you are correct. The address 0 is a whole number in a octal system. This is why when you set up a serial I/O card and set the groups to 8 the I/O scan comes out to 72. Most new comers think this should be 64 and think they have done something wrong. by setting the groups size to 8 you are really setting it to 9 in an octal system.
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I can't find an alarm 1520 in my MRC alarm book. What is the text that goes with the alarm? Are you sure it's MRC and not MRC II?
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With the MEW card blowing up you probably have damaged the I/O rack. You say you initialized the MIFo1 card, if you did this from the menu item in maintenance mode, the robot will be looking for you to reload the backup. If you initialized the robot it should have scanned the I/O and you would not have the alarm 0090 unless the I/O rack is blown up.
Good luck with this project.