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Posts by 95devils

    Does it squeal when you move it by hand? High pitch when you give it a jerk. That’s not a very big robot. Doesn’t take a huge amount of force to move it by hand at the end effector. I prefer to release the brake and listen for the click at the motor.

    Need help please!!!!

    Can anyone tell me if it’s possible to Mshift a XRC Robot ???

    If so does anyone have a PDF file on this

    Thanks in advance

    Yes, it is in the INFORM LIST under SHIFT. You also need to be in at least STANDARD Language Level.


    The MSHIFT command takes the difference between 2 P variables and stores the result in a 3rd P variable. For example:


    MSHIFT PX001 BF PX002 PX003


    Stores the difference between P002 and P003 in P001 in Base, Robot, Tool, or User Frame. Which ever you decide when you write the instruction. You don't have to store the result in a 3rd position variable unless you want.

    Now we're cooking. Okay, my directions for left and right will be from standing behind the robot looking towards it. The T-axis side is the left; the B-axis the right. With the right side cover off. Move the B-axis by hand. What do you see?


    Is the belt staying stationary and just the casting moving? If so continue on through this.


    Disclaimer 1: If you follow this you WILL have to grease and recalibrate the B-axis.


    On the right side, remove the belt. Disclaimer 2: Removing the belt the casting with flop around since there is nothing holding it. Make sure if it flops nothing or no one is in the way. Someone could hold it in place. You can do this several ways. Remove the pulley from the B-axis motor, remove the pulley from the B-axis drive, or remove the bolts from the B-axis motor (this would be done from the left side).


    On the right side looking at the pulley opposite the motor (B-axis drive side) the pulley mounts on a shaft. On the back side of the shaft is a bearing that fits into a land in the casting. Important for removing the wave generator section. Still looking at the same area, there are roughly 8-12 bolts that are either M3 or M4, going of the top of my head. Some of those bolts go through a inner piece (circular spline) into the casting. Some of the bolts are on an outer piece (an additional piece of metal that sits on the inner piece, wave generator section). Remove the bolts ONLY for the outer piece. There should be two threaded holes 180 degrees apart. These are the jack bolt holes. Using the correct size bolt slowly jack the outer piece out. The bearing is on the back side so 1/2 turn to 1 turn max on each at a time. Don't want to cock or damage the bearing.


    Once that piece is out, you can look inside after wiping up the grease. There is a circular piece of metal with 12-14 bolts in it and a hole. The bearing goes through that hole. This is the flex spline cup. Move the B-axis by hand.


    What do you see? 1) The 12-14 bolts could be loose. 2) The sides of the flex spline cup should be straight. In a crash the cup will start to develop wrinkles or a fracture. That is no good. If there are wrinkles, complete drive unit needs to be replace.

    Could you elaborate on this? Where are you see this backlash at? I'm confused, excessive play on the L-axis but talking about an axis that is 3 axes away.


    The L-axis is a rotary vector drive. Any backlash is from the manufacturer of the drive plus any crashes over the years. The only thing you can do is replace the drive. That requires separating the L-axis from the S-axis.


    The T-axis is a harmonic drive. It is driven by the shaft you are probably talking about. Course tooth gear at the drive. Fine bevel gear at the arm. Bevel gear is driven by a pulley.

    Sure, in the SETTM SETUP there is an additional output. You could output 2 groups or 4 groups. You could also store in an M-Register or 2 M-Registers. Any of these could be mapped in the ladder to the plc.

    Can you post a screen shot of the alarm and the posture of the robot at the time this alarm occurs? I have run into this on the older controllers where an axis wants the go the wrong direction from what I want. This causes the alarm. The position is reachable but the axis simply goes the wrong direction.

    The YPP02 is a NX100 Paint non-intrinsically safe programming pendant. The programming pendant software mismatch simply means that the software on the pendant and the software in the controller are not compatible. If the pendant is connected to a NX100 controller and you answer "yes" on the screen, the controller will rewrite the pendant software to match. Once done the pendant reboots.


    This mismatch function is automatic on most newer controllers.


    Could it be a normal DX100 pendant? Yes, the process though can be painful. I have had times when going backwards (DX100 pendant (YPP04) to a NX100 controller), I had to do the process multiple times. Hours spent doing this. NX100 pendant (NPP04) on a DX100 controller to seemed to be fairly quick and easy.

    You have to have the coordinated motion software option turned on. When you calibrate a robot to another robot or a robot to an external axis the master tool frame will be available.

    You need to initialize the controller with the robot and a base. Tell the controller it is linear rail, amp, converter, gear ratio, etc. The base will automatically be included in the robot job. This will add a frame for the base with no modeling data.