Try using COORD+POSTURE to get both X,Y,Z and Rx,Ry,Rz values. Teach TC1 in perfect parallel alignment to the TCP fixture. Then teach the rest of the TC points.
Posts by roboprof
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What is the group set of each of the two jobs?
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Yes, there should be a battery there. You may need to take off the cover to get to the batteries.
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No the messages will show up in the message line at the bottom of the pendant.
The two batteries in the controller are easy to replace. Just keep the controller power on and replace the batteries. They have a 5 pin system.
The controller battery in the base of the robot is trickier. With power on, you need to take the back cover off the base, find the old battery, find the connections for the new battery, and plug in the new and replace the old. Then put the cover back on.
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Please send me a PM. Thanks!
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You will get messages saying "MEMORY BATTERY WEAK" or "ENCODER BATTERY WEAK". You can use a multimeter to check battery voltage. If it drops below 3v, change the batteries.
Recommend that you change the batteries every 3 years. Also change batteries with power on.
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There are 2 batteries inside the controller. One for SYSTEM DATA, one for ABSO DATA. They are labelled on the gold plate. There is also an encoder battery inside the base of the robot arm.
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If you go to the last group (512) of your general purpose outputs, there should be an output there named SERIAL CHECK RELEASE. Force the output on and it should allow you to proceed. You will need to continue doing this every time you power up your robot until it is connected to your PLC. The output is in the 4089 to 4096 range.
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No, you need concurrent job to do this. It's a purchasable software option.
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All command positions on a Yaskawa robot are stored in encoder pulse counts.
If you want to work in XYZ, you either have to use Position Variables in XYZ or use RELATIVE JOB (purchasable software option) to convert your positions from pulse to XYZ.
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MRC started to be built in the mid 1990's.... around 1994.... so it's possible that your robot may be up to 30 years old. More likely between 25 and 30 years old.
You can contact Yaskawa but be aware that support may be limited for this older legacy controller.
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Switch between SINGLE mode and MULTI mode. Either hold down SHIFT and press 4, or go to SETUP - TEACHING CONDITIONS and switch between SINGLE and ALL there (near the bottom of the screen)
If you are in SINGLE mode, nothing will happen when you do INTERLOCK+TEST START. You have to be in MULTI mode instead.
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If the input never comes on, then the robot will complete the move (go to P011).
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Press SELECT twice on the IF command. It will take you to the detail edit screen where you can go in and set up multiple conditions
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Try looking in the Arc Start File beside the ARCON command. You can access this file by putting the cursor on the ARCON command and pressing the DIRECT OPEN key.
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It can be a little tricky to install the PCMCIA card properly. Try pulling it out and inserting it again. Make sure it makes full contact with the backplane of the CPU rack.
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Agreed, relative job is probably the best option, if you have it.
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What version of Motosim EG/VRC are you using? I have not had any issues with the multi-window option on newer versions of EG/VRC. Currently running 2023 version.
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Have you tried using SWITCH - CASE for this option? Under INFORM LIST, use the SWITCH command.
SWITCH I000 CASE 1
then you can do options like
CASE 2
CASE 3
CASE 4
and put all of your shifts under the cases that you want.
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No. Since you are having multiple issues with your robot, it is best to contact your local Yaskawa office directly to determine why you are having problems with boot up, and for them to format your CF card properly.