You don't say what generation of controller, I'm assuming XRC or newer. INFORM LIST, CONTROL. The language level needs to be either STANDARD or EXPANDED. Main menu, SETUP, TEACHING COND., LANGUAGE LEVEL.
Posts by 95devils
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When you say editing a job, were you jogging the robot around or just pressing buttons on the pendant?
The red 24v light on the CPS indicated that one of the 24Vdc power supplies is being pulled down. Something shorted.
Alarm 4109 is a blown fuse on the NIO board.
Alarm 1302 could be a blown surface mount fuse on the NTU board.
Alarm 4118 if the circuit breaker isn't tripped, then it is a voltage problem.
Basically, everything is point to a short. This matches with you saying there is no power to the sensors. A cable could have been pinched between the robot arm and something else or an axis to another axis.
Replacing the fuse after finding the short, life could be good. It might require replacing the NTU if the smd fuse is blown and you don't want to attempt to change it.
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You will have to write a model script for this. Tie the model script to an output number. When the output turns on or off in the job the script will execute.
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This Encoder battery backup procedure might have been done before, i have a CD with probably a complete backup of the robot(it was delivered with the robot), what is the name of that file and how can i restore it?The Encoder Battery Backup procedure is not a file. It is a way to have the controller rewrite the abso data mathematically when you lose voltage to a encoder. When you powered the controller up you would have gotten Alarm 4311: Encoder Back-up Error and Alarm:4107 Out of Range Abso Data. That is the time to do the recover procedure.
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Contact your local Yaskawa office. They may be able to fix the problem remotely.
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The Abso.dat file has the original encoder values from the time the file was saved. Since you have jogged the robot around the turns counter is off, this file is no longer good. You should have done an Encoder Battery Backup procedure. Since it is too late for that, it is down to re-calibrating again, touching up points, or parallel shifting the jobs in pulse for those two axes.
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Yaskawa can change the number for you.
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The fuses they are talking about are from wherever the welder gets its power from. Main Disconnect or up on the buss.
Is your welder turned on and communicating with the robot controller?
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Yaskawa is the only people with the software. The bigger question is; what happened to give this alarm? Boards swapped? Removed and re-installed?
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You DO NOT want to use servo float IF the robot is moving with the grinder ON the robot. Turning on servo float and having the robot move with FLOATON will turn the robot into a servo paint shaker. The arm will start oscillating. If the oscillations continue they will get bigger and bigger and rip the robot out of the floor or tear the arm apart.
I am making assumptions based on the OP that the robot has the grinder and is carrying it to the part.
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I have used a few force sensors for deburring. The ones that I have used are PushCorp out of Texas.
Some of them are quite heavy (7 Kg-28 Kg). Mounting on the robot could be a problem depending on the robot size.
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Sorry, my mistake. I was trying to break it down farther. Yes I would set the contents of the B into a D first then multiply by 256.
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DIN B000 IG#(1)
DIN B001 IG#(2)
MUL B001 256
SET D000 EXPRESS B000 + B001or
DIN B000 IG#(1)
DIN B001 IG#(2)
SET D000 EXPRESS (B001*256) + B00032-bit just continue on read into 4 B variables. Multiply out and reassemble.
or
16-bit signed into a M-Register
GETREG I000 M-REG #(xx)
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So the problem followed, if I read right. The problem is either the motor/encoder assy or mechanical drive damage.
Try running the motor while not connected to the drive. Is it smooth or jerky? Does it hunt and peck excessively?
Try moving the axis manually without the motor in. Does the axis move smoothly?
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This would be done in the ladder. Depending on where you got your system from, it may already in the ladder. To check run a job in play not hooked to a plc. Runs, you don't have. Alarms you have.
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Sure, grab your positions and use the MFRAME instruction.
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No parameters that I can think of. Using SMOVs + MOVJ instead of MOV+MOV during the Comarcing?
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Is the job that you are trying to run this instruction a master/slave control group? R1+S2:S2 or R1+S3:S3. The SCOMARC only works in a coordinated motion job.
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Yes, it is possible. Define a tool such as 00 with whichever you want to call its weight. Define another tool such as 01 with the other weight. In the job when teaching the servo command positions use the correct tool. You can change which tool is active by holding SHIFT and pressing the COORD key in any COORD except user. That will remain the active tool until something changes it. I would also go to SETUP, TEACHING CONDITIONS and change TOOL NO. INTLK FOR STEP ENTRY to PROHIBIT so that someone can not insert, modify, or delete in the wrong tool.
Position variables can be done the same way if you are teaching the position variables. If doing calculations then using REFP or the CNVRT instruction can set your tool. If using position variables I would set under SETUP, TEACHING CONDITIONS, CHECK AT P-VAR TOOL CHANGE to valid.