Error or Alarm? What generation of controller?
Posts by 95devils




How is the camera talking to the controller? Ethernet I/P, Ethernet, Profi, etc.
You will have more signals than you listed. Typically, I have for inputs:
Inspection Complete Inspection Pass (Data Ready) X Data is Negative Y Data is Negative X Coordinate Data Bit 0 X Coordinate Data Bit 1 X Coordinate Data Bit 2 X Coordinate Data Bit 3 X Coordinate Data Bit 4 X Coordinate Data Bit 5 X Coordinate Data Bit 6 X Coordinate Data Bit 7 X Coordinate Data Bit 8 X Coordinate Data Bit 9 X Coordinate Data Bit 10 X Coordinate Data Bit 11 X Coordinate Data Bit 12 X Coordinate Data Bit 13 X Coordinate Data Bit 14 X Coordinate Data Bit 15 Y Coordinate Data Bit 0 Y Coordinate Data Bit 1 Y Coordinate Data Bit 2 Y Coordinate Data Bit 3 Y Coordinate Data Bit 4 Y Coordinate Data Bit 5 Y Coordinate Data Bit 6 Y Coordinate Data Bit 7 Y Coordinate Data Bit 8 Y Coordinate Data Bit 9 Y Coordinate Data Bit 10 Y Coordinate Data Bit 11 Y Coordinate Data Bit 12 Y Coordinate Data Bit 13 Y Coordinate Data Bit 14 Y Coordinate Data Bit 15 Theta Coordinate Data Bit 0 Theta Coordinate Data Bit 1 Theta Coordinate Data Bit 2 Theta Coordinate Data Bit 3 Theta Coordinate Data Bit 4 Theta Coordinate Data Bit 5 Theta Coordinate Data Bit 6 Theta Coordinate Data Bit 7 Theta Coordinate Data Bit 8 Theta Coordinate Data Bit 9 Theta Coordinate Data Bit 10 Theta Coordinate Data Bit 11 Theta Coordinate Data Bit 12 Theta Coordinate Data Bit 13 Theta Coordinate Data Bit 14 Theta Coordinate Data Bit 15 Outputs I typically have:
Camera Change of State 0=Neutral State 1=Acquire Camera Command 100=Acquire on Change of State Vision acquire enable 
Hi,
I'm having a similar problem. I changed the battery, but I cannot get out of "maintenance mode". It is an old robot (Yaskawa Motoman XRCSV3X Series) and we do not have a backup file. Is there any way to do this? It doesn't matter if our user files are deleted, we just want to be able to run the robot properly again.
Thanks..
If it only boots in maintenance mode then the memory is gone. With no backups the system will have to be initialized and reprogrammed.

I would expect alarms with amplifier mismatch. These alarms won’t even allow you to jog the robot.
This is assuming the controller believes it is attached to a HP20. If it believes it is attached to a HP6 then I wouldn’t expect alarms. But the kinematic models would be different and the arm not jog properly much less calculate motion properly. 
The manufacturer may have a cmos.bin file but you have other issues that would make it unusable.
The controller you show in the picture is for a HP6 but the robot you mentioned is a HP20. Other than the Raxis and Taxis, the amplifiers are different. The amps would need to be verified and possibly be swapped out.

You have as mismatched system as you can get. Controller from one model. Pendant from another and a HP20 robot.

First item that jumps out at me is that is not the standard pendant for the NX. That is a newer DX pendant. That pendant will work if the system software is newer than NS5.00 but it appears that the pendant software is for a DX. NS5.00 came out after the DX100 controller generation was in production by a few years.
The pendant is where I would start. It is the wildcard.
I see the weak battery light. If you get it to boot up the system will have to be initialized. 
Alarm 9067 is a User Alarm. Someone has written logic in the Concurrent IO ladder program to trigger this alarm. If you post the ladder we can help you out.

In the Main Menu (column on left side of screen) go to JOB. In the submenu you should see either MASTER JOB or CTRL MASTER. Touch the one you have.
The cursor should be on a line of asterisks.
Press the SELECT key.
In the dropdown go to SETTING MASTER JOB.
Press the SELECT key.
In the Job List go to the job you want.
Press the SELECT key. 
It would be very, very difficult in MotoSim EG. It would need to be done in some text editor and you’d need to the parameter addresses for ones that are not user available.
It would be easier in MotoSim EGVRC.

GETS PX000 $PX000
CNVRT PX000 PX000 RF
$PX000 is current position in pulse. You could also use $PX001 which is base. 
The tool position relative to what? Robot or User Frame or another tool. The tool position to itself is always 0, 0, 0.

As far as I have seen MotoSim doesn’t support the endless software option.

On YRC the WAIT can have up to 15 conditions. You can also write a rung in the ladder with the conditions and output to the General Purpose Input.

So, you are looking for a chemical? Not an actual seal like your first post. The only chemicals on the Laxis would be grease, Molywhite or Vigo, and silicone, Threebond 1206C.

I don't see that part number. Here is what I see assuming the robot is a standard A0

What is the part number you are looking for? The items I see have separate part numbers.

Your local Yaskawa office.
Here is an example: