A lot of times this happens if the robot is greased incorrectly (someone forgets to remove the exhaust port for the axis in question) and then grease gets past the seals of the motor and into the motor... something to check to make sure the same scenario does not happen again....
Posts by roboprof
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Which country are you in? You should be able to call a local Yaskawa Motoman branch and they can point you in the right direction. Let me know what country you are in, and I'll get you contact info for the most local Yaskawa Motoman branch.
By the way, each Yaskawa Motoman branch has their own local people and service department. So if you're in the U.S., you will be talking to U.S. technicians and if you're in Canada, you'll be talking to Canadian technicians.
Most NX100 were manufactured between 2004 and 2010, so the robot you have purchased could be anywhere between 6 and 12 years old.... the sticker on the controller and plate on the back of the robot will tell you when it was manufactured.
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Are you using FWD and BWD? It won't weave with these. It should weave with Interlock and test start.
What weave file are you using? What type of weave, and amplitude/frequency?
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I know that a college in Toronto offers a distance learning program for robots. I'm not sure what the program is like, but here is the link:
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If it's a 5040 alarm (Out of Range - ABSO DATA) you will need to send the robot to Specified Point.
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It is possible that the robot slows down because you are in a singularity point, where U axis and B axis are co-linear or parallel? And that's what causes the R axis to slow down.... something to check.
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Try going in the MAIN MENU to ROBOT, and there should be an option for MANUAL BRAKE RELEASE. If not, contact your local Yaskawa representative for more assistance.
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I would contact Yaskawa in your local office (Canada, U.S., Brazil, etc) and the Engineering department there will be able to get you the drawings you need. You can then also specify if you need drawings for ROB5000 or for Weldcom. Not sure which one they use in your location.
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Most newer welders have a built in "hall-effect" sensor that means the touch sense box is no longer needed. You will need to see if this is the case with your welder. It definitely works with the standard Miller Auto Axcess and Fronius but not the Auto Axcess DI.
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Can you post a pic of what your pendant looks like, without the cursor on the screen?
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This may be a dumb question, but why don't you use PSTART instead? Especially if you already have the concurrent job option....
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Go into MAINTENANCE mode.
You should find it under the option to do a CMOS.BIN (under TOOL or EX MEMORY, then SAVE). You will be able to save the EDS file from there.
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Could be singularity issue. Wondering if the PLs make any difference also. Are the speeds consistent if there are no PL levels? I would check both issues. If U axis and B axis are parallel at any point during the circular moves, and R starts rotating, then I would assume singularity.
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Where is the speed being set? On an earlier SPEED command?
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Just be aware that Yaskawa Motoman in the U.S. no longer supports MRC. MRC is 1994 technology.
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You should be using the WVON, WVOF commands (under INFORM LIST, DEVICE) to weave. Set the amplitude, frequency and angle in the weave file.
Usually put
ARCON ASF#XXX
WVON WEV#XXX
MOVL V=100
WVOF
ARCOF AEF#XXXHope this helps!
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It should be in the MRC User Function and I/O Structure Manual.
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Check to see if someone has removed the jumper wire off the External Hold circuit on the MRY01-B board.
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A couple of questions -
What messages are you getting at the bottom of the pendant? Is one of your e-stops on?
Are you trying to turn the servo power on in teach or in play? Does it alarm out when you try to turn the servos on?
Does your pendant have a deadman switch? Or is it non-deadman?Let us know the answers to the above so we can assist you further.
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You need to go into MAINTENANCE mode on your robot. Either hold down MAIN MENU while powering up (NX100/DX100/DX200), or TOP MENU (XRC). Go into Management mode and you will find an icon called TOOL or EXTERNAL MEMORY. It allows you to do a CMOS.BIN backup from there.