Sounds like you are dropping servos when in the light curtain. It can take 2.75 sec from the time you command servos ON to when the MCC pulls in due to the servo amp pre-charge. I doubt this can be adjusted. You may have to find another safe way to keep servos ON. Are you utilizing DCS?
Posts by cunaf
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What alarms are you getting? if just servo tracking error / collision try the below.
Check both ends of the 2BC cable. Pretty sure this carries the brake power. I have seen pins get pushed back inside the harting connectors. Usually easy to fix.
If OK, make sure all base cable connections are tight at robot base and controller. Also assure connections at S-axis motor are tight.
I like to put a screw-driver tight to my ear and the other end on the brake coil and enable servos listening for a nice solid click. Compare sound with L-axis.
If that checks out could be a seized bearing on motor.
If other over current related alarms occurring, you could have a short in the cables. -
If you are trying to load Jobs (.jbi) if there is a syntax error it will tell you which line number on the bottom of the pendant screen. Open the job in notepad and count to this line from just after the NOP instruction. It could be an instruction from a special option on the donor robot that does not exist on the donee. If you don't need the instruction you can delete in notepad and try reloading. If you do need the instruction/option than do a notepad++ file compare of the FD.PRM file to isolate the option. You may need Yaskawa mode to enable option.
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The parameters are the same for DX100 & DX200.
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Is there a PLC controlling the cell?
How are robots stopping? Hold, alarm etc. -
Likely easiest to feed 4-20mA to PLC and do logic to send to robot % speed override byte. Search forum for speed override.
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You can use notepad. Just really watch syntax. Make sure to backup CMOS.bin prior.
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Here is a very brief powerpoint showing how to simulate robot picking off a conveyor and running in a new part when robot clear. You have to put outputs in the conveyor and robot programs assigned to scripts for this to work. Also need to use IO connection manager to link signals.
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Are there any end users out there utilizing Allen Bradley safety PLC with DX200 Ethernet safety?
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If you do get the FSU working in VRC just be aware there are some issues with how VRC displays the Tool Interfere model. The Y-axis seems to be skewed as shown in the attachment, but if loaded into a real world robot seems OK. I my attachment I drew a model in grey then overlayed it with an FSU Tool Interfere. They Y dimension is way off.
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Yes they do.
NX100 speed override enable=S2C563, I/O group S4C153. -
It works quite well on DX100 & 200. Not sure of NX100. No one has responded to this post....
https://www.robot-forum.com/robotforum/yas…57015/#msg57015
Let us know if you can get it to work on NX100.
Thx
I can show you how I control speed via PLC on DX100/200.
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It has been a long while but I wanted to set the record straight on this because it was VERY plaguing for a long time.
With the help of my friendly neighborhood Yaskawa tech (thanks Guru!) we were able to determine the root cause......
In the robot ladder which controls the vision light and incoming conveyors I had logic that would trigger the camera via the Cognex discrete trigger wire (green wire). When a part was sensed in the vision area and the conveyor motor stopped, I would pulse the trigger. (There were a bunch of other conditions but that is basically how it worked). The issue was when the robot job was also at the point when it runs the INSPECT macro the Motosight app would lock up because it was expecting signals it was requesting but because the camera was triggered in the middle of this protocol it would send back location and inspection data. This would lock up the otherwise solid Motosight app and require a robot reboot. This would directly cause the exact same issue due to discrete camera trigger and INSPECT macro simultaneously upon boot up and putting in auto. Eventually, the scan times and timing etc would eventually let this go as luck would allow.
The reason for the double trigger was to save approx 1 sec cycle time. When it worked properly the robot already had a good inspection due to the discrete trigger so all it had to to was adjust and pick.
To achieve the same results I was advised to P-start the INSPECT macro sometime during the routines where the robot was no where near the vision area making SURE not to double-trigger. -
I have 2 NX100 robots that are setup with individual usernames and passwords. No one seems to know how to get into Management Mode. The only known User & P/W gets 2 key editing mode. Is there a way to wipe out user accounts/passwords like all the other robots? Is there a file that can be browsed to reveal the usernames / passwords?
Thx -
I wish this was a standard option on all robots. PLCs have Find All / Cross Reference tool that instantly scans all routines so you can be sure if a bit is used or not.
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Thanks Somar, I am more concerned with how this is handled on the factory floor.
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Greetings my esteemed colleges:
I am curious how different companies handle the FSU safety password? In the event of lost abso data, for instance, who is qualified to recover? What guidelines does Yaskawa recommend? What are the JHSC/ safety rules/procedures for this?Thanks
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I've had this before and after swapping boards with working robots found all circuits must be OK I just did a cold start and all was good.
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Which robot & controller? (always)
Fanuc calls it mastering, Motoman calls it setting home position. Same deal, drive to scribes, and set home position. Motoman home position is pulse counts only, not joint degrees. Sometimes the 0 pulse position of the robot may not be normal so you may need the manual to shown you. (Sometime B axis (axis 5) points down). Batteries are in the base of the robot, but need to know which type or robot.For the servo gun looks like you need to boot up in maint mode and initialize the the system as a MH robot. (Again, need controller & robot type)
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If you have lots of money you should buy a brand new DX200 lol.