In the MRC controller there are two racks. One has the main processor, memory, high speed math card and the servo control card. At the end of the rack is a power supply. If there is a read light on this power supply there is a problem. On the front of the power supply there are three cables plugged in. One has two black wires, this is the 220 volt input. You know this is good because you can read a message on the pendant. The other two cables are the power out. One is for the pendant and one is for I/O. If you unplug the pendant cable the pendant will not light up (be sure to turn the power off any time you unplug or plug anything back in). If you unplug the I/O cable and the power supply still has a red light, replace the power supply. If the red light goes out with the I/O unplugged the problem is in your I/O.
This brings us to the second rack. It's for I/O and always has the MRY01 card for e-stop, hold... on the left side. If there was no red light on the power supply, check the fuses on this rack. Also there is a jumper (CN7???) for internal or external power supply. Also check the shock sensor/over travel/servo on light connection (CN6 of MTU board).
Posts by Robodoc
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Questions, are you teaching jobs and need to rotate around another TCP or are you running jobs? What controller do you have? Do you have an FSU? Did you buy the tool change option?
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I'm not sure if the LOAD JOB and DELETEJ instructions will allow variables or not. If they do, you must name your jobs numerically, then;
SET B001 1
SET B002 2
LOAD JOB B001
*LOOP
LOAD JOB B002 NWAIT
CALL JOB B001
DELETEJ B001
INC B001
INC B002
SWAIT
JUMP * LOOPIf you like you can add a counter and the IF statement to the jump command to limit how many times this loops.
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Sorry, no. there is no way for the robot to output the load on the arm that you could use as some kind of weight measurement. The only thing you can do is put some kind of second party weight measurement tool on your gripper to check the weight.
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Looks like Delmia does not recognize robot jobs in JBI format. You will probably have to run the job through some kind of translator to turn it into a format Delmia knows. You best bet is to find a Delmia help forum.
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You will have to call your local Motoman office. They can get you the correct push button assembly for the hold button you are looking for.
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Sorry, no. If you loose more than one axis it is next to impossible to get the calibration back (unless you motocal) because of how the robot calculates positions in three dimensional space.
B and T are the worst to loose on a Motoman robot because these two axis always move together. Even in joint, T counter rotates when B is moved.
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Gamma,
That's a good one. I'd have to try your example to get an answer.
And your right, I don't think anyone at Yaskawa studied the Denavit-Hartenberg rules.
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Autech,
I keep telling you it is not a parameter. The problem you are having is with the welder, how it is connected and the CIO. There MUST be a arc established signal from the welder connected to the analog card. You said it's 2173. I would have to look at some very old manuals it confirm this, but you have also said it's MRC and MRCII. There are big differences between these controllers. If there is a Arc established connection this input (2173?) would come on only when the welder sends the arc established signal.
If you really need to get this running, the best way is to have someone who knows old Motoman robots come and see you. Trying to fix this through email and the robot forum will take a very long time.
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MRC is the worst for software. You need a matching set of MMM02 and MMM04 boards that have the system ROM and language options (they are made for a robot size so not any set will do) and you need the matching proms for the MIF01 and SMV01/02 cards.
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In your original post you said you had the Anybuss card. This card has dip switched on the front to set the I/O rack position, the number of robot I/O groups to be used, the PLC node, baud rate... With this card in maintenance mode the robot looks at the I/O address and size. With no alarms on the robot, this sounds like it is set ok.
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There is no output that comes on when the robot gets into a position. Unless you have a PL 0 on a move the robot normally does not get to the position (depending on speed and direction change, the robot can miss up to 4mm from the programmed spot). If you have to know when a robot gets to a position, you can put in a DOUT command and monitor the value of the output group.
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As long as your other SK6 is the same (same I/O, same application, same welder...) then yes you can make a backup of that robot and load it into the broken robot. After you have loaded the data into this robot you will have to re-calibrate the ABSO data and delete the jobs.
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Here is the section of the basic training manual that shows you how to check the specified point.
If you don't have "check" in the F4 position the point has been checked and yo may have another problem.
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I will have to try and find an ERC that works so I can get the exact key strokes or an old ERC basic manual (as rare as an RX robot). Give me a few days and I'll see what I can find.
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By choosing the MIF01 board in maintenance mode you have initialized the MIF01 card. So yes, you have blown away the jobs, settings... If you have a full backup you can load the CMOS file. If not you may have to call Motoman to come in and initialize the system and get your robot going, then re-teach all your jobs.
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If there are no alarms on the robot, then the robot is talking to the card fine. It could be the device net communications is not right or the device it is talking to is not working correctly.
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Thanks to Motorobot for saving me having to look this up and taking the time to type all the RS parameter in. You are 100% correct.
For those of you who are using the 25 pin port on the playback box the numbers Motorobot put in are the same value only the 30 series address become 50.
All these parameters are under the "Customer" key.
Customer
more
F5
Not so secret password (0000000)
F1(?) Parameters -
sounds like the arc established bit in the concurrent I/O (CIO) is not coming on. You need to see the electrical drawings for the MRCII analog card and find the arc established input. This will go to an addressed input 2???. You have to check to make sure this is coming on when the welder strikes an arc.
If it is coming on and the robot still does not move, reload your CIO backup.
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any alarms on the robot?