you have FC1 boxes? Those belong in a museum...
Email me I may have some old docs that might help
Put FC1 in subject line
The docs are written on clay tablets and are covered in dust.
you have FC1 boxes? Those belong in a museum...
Email me I may have some old docs that might help
Put FC1 in subject line
The docs are written on clay tablets and are covered in dust.
SOUT#(56) is OT Release. This bit turns on when you go to ROBOT, OVERRUN& S-SENSOR and press RELEASE. As soon as you exit that screen the bit turns off.
This process is for recovery of the robot when either:
The overtravel limit switch on the S-axis (could be others) has been tripped.
or
if a shock sensor is installed between the T-axis flange and the tooling and has been tripped.
Has this been running before with that line of instruction in it?
Is there a possibility that the job has been changed to where that line of instruction should be WAIT SOUT#(57)=ON? SOUT#(57) is cube or axis interference #1. That would make a lot more sense that the table should not rotate unless the robot was in a known position. The I/O in the job lines up with a older sweep/rotate job.
We just got a demo unit HC10 and need to set it up with a gripper.
If it is a demo unit, then does it not have to go back to Yaskawa? I would not hack anything off.
Yaskawa uses simulation computers where an XRC pendant will be connected, no need of the arm or controller, Check with them
The VRCs are long gone also. Would be more expensive than just having an instructor come to California. Additional costs with shipping a VRC and rental. Talking about a controller 15-20 years old. The office in Canada evidently is an option. Doc's suggest is also valid. While you are in Ohio taking NX Basic, someone could go over some of the differences.
Ohio does not have any XRC controllers in training. As far as the Irvine office, I don't remeber the last time a class was conducted there. Was at least 12 years ago and I believe longer. An instructor from Ohio can come to you. It will be pricey though, roughly $12k, for a 4, 4.5 day course. You could call the Ohio office and see if they could have a local/regional service tech come in. That could be cheaper as the person is local/somewhat local.
SSGW-337 is Ethernet IP PCI card setup for DX100. SSGW-222 is Ethernet IP PCI for a NX100 controller.
Is it error 0320 Can not operate Check-run or Alarm 0320 Verify Error (IO Module)? I am assuming Alarm 0320.
Are the boards identified in maintenance mode under option board? Did you answer "Yes" to "Modify?"
Do you see the boards identified under IO Module in maintenance mode? If so, what ST#?
Do you have the correct controller software for the boards that you have installed?
4224 | MEMOPLAY FILE ERROR | An error occurred in memory play file. | -1 | An error occurred in control process for memory play file. | Software operation error occurred | (1)Reset the alarm, and then try again. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). |
-2 | The arrangement address information is destroyed for memory play file system. | Software operation error occurred | (1)Reset the alarm, and then try again. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). |
-3 | Software operation error occurred | (1)Reset the alarm, and then try again. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). | |
-4 | Software operation error occurred | (1)Reset the alarm, and then try again. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). | |
-5 | Software operation error occurred | (1)Reset the alarm, and then try again. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). | |
-6 | (1)Reset the alarm, and then try again. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). | ||
-7 | Software operation error occurred | (1)Reset the alarm, and then try again. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). | |
-8 | Software operation error occurred | (1)Reset the alarm, and then try again. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). | |
-9 | Software operation error occurred | (1)Reset the alarm, and then try again. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). | |
-10 | Software operation error occurred | (1)Reset the alarm, and then try again. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). | |
-11 | Software operation error occurred | (1)Reset the alarm, and then try again. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). | |
-12 | Software operation error occurred | (1)Reset the alarm, and then try again. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). | |
-13 | Software operation error occurred | (1)Reset the alarm, and then try again. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). | |
-14 | Software operation error occurred | (1)Reset the alarm, and then try again. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). |
Not easy with or without a co-bot, but anything is doable with enough time and money. This would not be quick change over between jobs. This would require human intervention.
A) Any Yaskawa robot made within 20+ years, excluding JRC, assumes it is floor mounted unless you tell the controller otherwise. On a floor mounted robot when you turn on servo power, gravity will pull down on the upper arm. The controller is looking for the encoder to change values a certain direction. When the robot is mounted upside down when servo power is turned on, gravity is still pulling the upper arm down. But to the controller it is going up. The pulse count when the wrong direction and the controller freaks out.
B) The R-axis on most robots has a range of 180 degrees plus or minus. This is from the mechanical home which is on top. The dead zone is underneath. When you flip the robot upside down the dead zone is on top. This makes programming more challenging. On a robot that is known to be upside down the R-axis is removed and mounted upside down, the mechanical home is changed so the dead zone is on bottom.
This could be done but you would want a documented setup procedure. This would not be on the fly. The easiest way would be to have a cmos.bin file for right-side up and another for up-side down. Jobs would be saved out. The appropriate cmos loaded then as a minimum the appropriate jobs loaded.
This doesn't even get into a structure strong enough, roughly 1000 lbs (robot and plate), to support the robot and a track (assuming to flip), and a motion controller, servo motor, encoder to flip the robot.
The only item that would be different non co-bot vs. co-bot would be I would calibrate the sensor on the co-bot every time the posture is changed. With a Yaskawa co-bot you are calibrating the sensors anyway. I would just be doing it more often.
If I read this correctly, a robot mounted on the floor and then the same robot mounted on the ceiling? If so there is more to setup than anything in a job, especially with a HC10.
You would have to refer to the manual for your specific arm. Big difference in repeatability between a GP8 and MH900.
Do you mean Ladder Editor? Editing the ladder that runs in the background of the controller.
Check the bolt on the drive shaft at the T-axis side. The T-axis motor pulley turns the belt. The belts turns a pulley that on the other side is a beveled gear. The beveled gear turns a shaft. At the end of the shaft is a course tooth gear (8-10 teeth?). The bolt that secures the gear to the shaft can loosen up. The course tooth gear turns the T-axis drive. You would need to remove the torch. Remove the bolts on the gray metal piece around the gold flange. This will give you access to the bolt.
Since it is a software option those instructions are in their own manual.
It is a case by case basis. The original intent was for a die cast machine. But once an option is learned, the end user can use it however they want.
In most die casting, I would want tool orientation on. But depending on how the ejector pins extend I might want the tool orientation to float and not care where the tool ends up.
Enables or disables the tool orientation control for linear servofloat operations.
When the tool orientation control is enabled:
Keeps the tool tip in the same orientation during the linear servofloat operation as that at the start of the operation.
When the tool orientation control is disabled:
Does not keep the tool tip in the same orientation during the linear servofloat operation as that at the start of the operation. “ON” indicates that the tool orientation control is enabled. “OFF” indicates that the control is disabled.
I use MULMAT and INVMAT with a vision system when I need to do a three dimensional shift using the SFTON3D instruction. I also use INVMAT to create a camera tcp on a robot mounted camera. Kind of a poor man's external reference point software option.
PSTART (and PWAIT) are a software option (Concurrent Job software option). Been available on most Yaskawa controllers since MRC days. Some Yaskawa offices have this option turned on as a standard such as the US.
The Sandisk with the PCMCIA adapter is nice and cheap.