Posts by bsrr

Not sure but could try using combination of Socket Communication-Usertask to send Integer Variable data to AX from PC and then converting this information to logical signal

H axis is JT 2 axis
This error could be due to faulty Motor or Drive unit.
To check motor, Remove CNP2 connector on Drive unit to see whether Short circuit occur with ground for cable U,V,W

You need to Enable the Output in Constant-> Signal-> Hardware Settings with PLC Through settings

Does the concerned arm move with brake release, if it does not move then most likely cause could be failure of motor/actuator .

Usually this Information is displayed,when External Play Start Input is given while robot is already operating in Playback

What is Function Number used for LET P1001,P[1]

Yes,Controller does not like if a Pose is called for, which has not been defined

You will need to store Zero value in P[3], like P[3]=(0,0,0,0,0,0)

You can then maybe have Program like below
REM "Pose File"
DIM Prog1000_posn[3] As POSITION
L1% = 0
USE 1000
*CONTINUE
L1% = L1%+1
POSE2POS 0,P[L1%],Prog1000_posn[L1%],0,1
OPEPOSE 0,P[L1%],V1!,1,0
IF V1!<0 THEN *STOP ELSE *CONTINUE
*STOP
STOP

Check Register value where FN52 ( SHIFTR) for User Coordinate is defined .All points between Start and End will be shifted by value received from Vision
Or else post robot program where FN52 is used in program

Check relation of robot User coordinate ,and Vision coordinate with respect to Pick up .

Contact local nachi support

Below is Homing routine example

MOVEX A=2,AC=0,SM=3,M1J,P,P*,R=20.0,H=1,MS
IF O31=1 THEN *Home_Pos ELSE *Check Current Angle
*Check Current Angle
GETANGLE V80!
IF V80!<>45 THEN *GO_up_in_Z ELSE *Home_Pos
*GO_up_in_Z
R5 = (0,0,50,0,0,0)
MOVEX A=8,AC=0,SM=3,M1J,P,P*+R5,R=20.0,H=1,MS
*Home_Pos
MOVEX A=2,AC=0,SM=1,M1J,P,(89.06,130.38,-54.35,0.42,14.08,201.49),R=20.0,H=1,MS 'HOME
END

Check whether collision Input signal has been assigned in Constant->Signal Attribute->Input signal assignment ->Standard input

check attached

Maybe try moving H axis after release of brakes

check attached

1. Carry out Encoder Reset .
2. Move Robot to Zero Posiiton
3. Carry out Encoder Correction

E21 can happen if Center of Gravity setting is not correctly set for Tool and Product

Problem can occur when Motor is switched ON from controller, when Setting is for External Start,
Setting available in SERVICE->Teach Play Condition ,Motors ON /START Select Source

File protected have Red Symbol.Protection can be released from Service->File Manager->Memory->Release protect the appropriate file

Create a program with 10 move steps to have tool tip touch stationary point . TCP can then be automatically calculated using Easy setting for tool length setting ,function in Constant-Machine Constant-Tool constants