Posts by roboprof

Is the robot receiving the External Hold signal from the PLC during execution of the program?

I'm not sure I understand the question. Can you please elaborate on what you are asking? Thank you

You actually have to hold down the CUSTOMER key while you power up to go into the mode specified. However, this is somewhat pointless as you require the Yaskawa code to be able to initialize the robot. So I would still recommend that you contact your local Yaskawa Motoman representative and they may be able to come out and help you.

I would contact your local Yaskawa representative. Just be aware that MRC dates back to 1994 so there is extremely limited support for these old robots. They may need to initialize the controller for you so you can load in your backups. Personally I think the RC parameters are scrambled and that's why it won't let you boot up.

You will need to buy FDE for Windows from Yaskawa Motoman. Please contact your local Yaskawa representative.

For COMARC you need to be at the leading edge of the puddle. I would suggest a 15 degree push angle to guarantee that this is the case.

What kind of wire are you using - solid wire, flux-cored wire, metal-cored wire?

Send me a privage message please and I'll see if I can help you out. Thanks

Press the MOTION TYPE key in the bottom left hand corner of the pendant.....

If you want to store your jobs in XYZ rather than pulse, convert them to relative jobs using the RELATIVE JOB software option

You've lost the encoder data. Change the batteries in the back of the robot. You will then need to recalibrate the axes so you can move in RECT, TOOL or USER.

Use an IMOV command. Set up the amount you want to move in the P variable you want (ie. P020) and then program

IMOV P020 TF V=200

This should accomplish want you want to do. Just make sure you choose to do it in TF (tool frame) on the IMOV command

You have to use the MOTION TYPE key for regular taught positions. You should use the INFORM LIST - MOTION only for programming with Position variables.

If it's XRC you will need to
- press SERVO ON READY on the controller so it flashes
- press TEACH LOCK on the pendant
- pull in the enable/deadman switch

Please don't turn off the controller until you change the encoder battery pack for RBT in the base of the robot. If you power down the robot you may lose the abso data for RBT.

Pull off the back cover to get access to the batteries. Good luck!

Can you please post a screenshot of the alarm/error please? Thank you

No you don't need to reboot. Yes, it should work identical on EG/VRC as it does on the real robot.

That's strange. Where are you located? I would suggest contacting your local Yaskawa representative.

It's talking about the internal shock sensor, not the external shock sensor. From the MAIN MENU, go to ROBOT and then choose SHOCK SENSOR LEVEL. Make sure it is set to VALID. Once that is done, you will be able to run your job.

Hope this helps!

You got it. And it wasn't a dumb question!

I would teach regular command positions for your start, approach and weld start points and then use IMOV commands to incremental linear moves for your weld duration and your 20mm move. You will need to set these up in P variables.

We have a customer who has exactly that. His torches are mounted 180 degrees opposite each other. They use it for welding both sides of small parts. It works well but it's a pain to have to reteach as you have to keep in mind the position of both torches when you reteach. But other than that, it works well!