what controller do you have this Lincoln welder attached to?
Posts by Robodoc
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you will have to edit the parameter SV2G8. If the axis is disabled it will be set to 1, you will have to set this zero (0). You need the Yaskawa level password to do this that I can't provide, or export the ALL.PRM file and look for the SV2G parameters and count over eight (remember it starts at zero).
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and to add to Potis's post, a move J is and air move and more likely to deviate than a move L, or C, or S.
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When you first had the cell and it had the two external axis (before you removed them) did you do a full backup? Check to see if you have the CMOS.bin file. If you do, load it in, delete you old jobs and load in your current jobs.
Adding an external axis to a Motoman robot is not plug and play. Without knowing what was done to disable the old external axis you may have to call Motoan in to initialize the system to add the external axis back in.
Was the external axis removed or just disabled? -
Yes, the manipulator manual is all you need to find what kind of grease, how much grease, where to shoot the grease and remove the exhaust plugs, always remove the exhaust plug.
You should also replace the batteries. The instructions for this are in the same manual. -
Sorry, no, Motoman never did a manual on all the inform instructions for ERC. There are a lot in the advanced training manual if you can find one.
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you will have to map the signal from the Lincoln to a physical output and wire that output to the search input.
Two things to note:
1) the search input board is not standard with a DX, there are parts that come with the search option. If you didn't buy the search function you will not have the parts.
2) doing this will make the touch 20 ms late (scan time of CIO), so you will have to limit the speed you search at. -
In teach, edit lock off with servo power on, press OP1. Look for SPEC POINT. Press MOV/MODIFY and then press FWD to move the robot to the taught Spec point or press the axis keys to move the robot to the spec point, either way the difference coulomb must be as close to zero as you can get. Then press check.
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You can hunt through this link
https://www.robot-forum.com/robotforum/man…motoman-robots/
or call Motoman. They'll sell you any manual.
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The motor part is easy. Pins 1,2,3 are the three phases 220v AC. Pin 4 is ground and 5 and 6 are the 90 v DC break.
The encoder is another thing.
Pin Description
1 Channel A
2 Channel A not
3 Channel B
4 Channel B not
5 Channel C
6 Channel C not
7 0 volt to encoder
8 + 5 volt to encoder
9 Frame ground
10 Battery -
11 battery +
12 reset
The problem you will have is the encoder requires a start up protocol to send the internal pulse count before it starts working. You will never get this from Yaskawa. This encoder is meant to go on a robot only. -
Jasper,
Are you getting ALARM 3210 or ERROR 3210. There is a difference between alarms and errors. I was not able to find alarm 3210 in any of my books but that's not to say it does not exist, however there is a error 3210 that matches what you are talking about. If you are getting error 3210 when loading a job the problem is the job is using a position variable that has not bees set up (declared) in the controller (has no data in it yest). You will have to open the job on your PC using notepad and look for position variables. In you controller make sure any position variables in you job are usable in the controller.
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what do you mean by "joint value"? Are you looking for angle in degrees? If so you have to the math. There is no table for the joints and the axis of all the robots to get the pulse counts per degree. The best way to do this is look at the pulse limit in the S1C parameters for each axis and the degree of motion in the manipulator manual. Doing some basic math will tell you the pulse counts per degree.
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I think I know what is wrong with your robot. There is a dead short in the R axis motor wiring, most likely in the internal wire harness, or the R motor. By moving it to the B port on the servo pack you have killed the B section of the servo pack. You now need a new R/B/T servo pack. You need one with the same number as the R/B/T servo pack you have. I would also replace the internal wire harness in the robot and the R motor before doing anything else.
Good luck finding these parts.
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I am assuming there is a speed tag after MOVL P003 EX001.
The instruction MOVL P003 EX001 is to move the robot to position variable 3 (P003) and the external axis to the external axis position variable 1 (EX001). If the robot is at P003 or very close to it and the external axis is far from EX001 the robot will move very slow and the external axis very fast so they both end up in position at the same time.
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Brunomotter,
Glad to hear you got your pendant to display. Overcurrent can come from a bad servo pack, bad motor or bad cables.
To find the problem, go to the controller and look at the two servo packs. The one on the left is for S/L and U, the one on the right is for R/B and T. I remember the B axis is in the middle, but I don't remember if R is at the top or bottom (I think it's the bottom). Anyway, swap the black four wire motor connector and the grey encoder connector (leave the silver one in place) between R and B. When you turn the power on you will get an alarm about "out of range" that's ok and to be expected. Clear these alarms and in teach, turn your servo power on. In Joint coordinates you can press the R+ and R- buttons and the B axis will move. If you get the same overcurrent alarm, the servo pack is bad. If you can move B, now attached to the R section of the servo pack, try moving the R axis by pressing the B+ and B- buttons. The R should move. If you now get the overcurrent, the problem is in either the motor or the cables.
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Doublewai,
Have a look at the cable that comes from the XEW-01 and goes to the Miller PS. From the XEW card, the cable comes from a grey connector with "Honda" on the sides. This cable, before it leaves the controller should split to two other connectors. One of these connectors should be round and black. The round and black connector is the schedule select that has to go to the I/O block. This is an optional cable and is not always in a controller. If the cable is there, follow it to the I/O block and make sure it's connected to CN08.
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Well said BwillieS, well said.
As for general rules, yes there are a bunch.
1) can't fill a gap bigger than the weld wire diameter
2) the process is the process, it can't go any faster.
3) parts MUST be repeatable
4) Just because an engineer can get his pen into a space to point at the weld location it does not mean a weld torch will fit in the same spot.
5) maintenance is key. Keep liners, torches, weld cables in good working condition
6) remember the whole coil of weld wire is live with weld voltage when welding. Make sure the input guide and coil are not touching ground. -
To answer your question, yes and no. Yes there is laser tracking for seam finding (find the seam before it starts welding) and no the XRC can not adjust the path through "laser tracking" as it's welding.
Also, getting parts for XRC is getting harder and harder every day. To do this you will need an XCP02 board for seam tracking. This card is very old and does not work with all laser devices (no Ethernet at all). This card is very expensive. As well, only certain versions of software will work with this card.
You will have to contact Motoman to come and see your robot and see if they can get the parts to make something go.
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Hi Stan,
The 1380 alarm always comes up with the graphic "SLURBT" on (or more) of these letters will be highlighted. That is the axis you are having problems with.
Also need to know some more information. Does the alarm come up as soon as you turn servo power on or can you move the robot a bit before you get the alarm? Can you move any other axis (in joint) or does this alarm come up as soon as you try and move something? Does the controller have brake release buttons? Was the robot running before and this alarm just came up?
Send me a PM and I can try to walk you through how to trouble shoot and fix this problem.
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Any alarm starting with a 9 is a user alarm. These alarms are programmed by the end user or the integrator and will come up when things are not right (low air pressure, sensor fault, no PLC communication....) without knowing what is wired to the cell and who edited the user alarms it will be next to impossible to fix this.
Have you called whoever you bout the robot from to get the manuals that were shipped with the robot and ask them about these alarms.