Hi I will sometimes get an arithmetic error on my NX100. There are as bunch of coordinates sent from outside which create a userframe that I send the robot to, like
Movl p01 (userframe 1 Z50)
Movl p02 (userframe 1 Z30)
Movl p03 (userframe 1 Z0)
Sometimes P01 will be out of reach in which case I would like to jump a little bit ahead in the program. Is this possible?
Kind regards & thank you.
Posts by AMCloin
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To have an extra form of safety I would like the NX100 to check if he is in a certain area, before he continues his program and if not jump to an other part of the program. Is this possible?
Is it also possible to make it impossible to go outside certain angles for certain axes?Thank you
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It was SHIFT Coordinate (which makes it Tool Select)
Problem solved. Thank you for looking out for it. -
Dear Robot-forum,
I am trying to callibrate a new tool in a Motoman EA1400 controlled by an NX100.
When I am done using the tool callibration utility pointing with this tool at the same point in space for 5 times after having all axis moved I get new readings that seem to be right in comparison to the tool I've been working with before (that has a great 'position lock' when I move around the tool with R, B and T).
To check the new tool I changed the physichal tool (took the old one off and put the new one on). I moved it to a position telling it is the new tool that the robot is working with now and paused the program. When I move the R, B and T axis the tip of the tool doesn't stand still.
After a few tries and recallibration I tried it with the old tool, and this way I found out that it keeps using the offset of the first tool.
How can I change this?Thanking you in advance, Mathew
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[img]Thank you very much for this support.
Friday I've had contact with a Yaskawa representative who had told me that these last three pointers weren't what I needed, as it seems I am working on an older version where there is no AXA or AXB board, and I was also not about to screw off an encoder in fear of doing more harm than good.
He suggested that I check the cables from the encoders up to the cabinet (especially between the robot and the cabinet) for propper connections and press on the cables if necessary when they will make a CLICK if previously not correctly inserted (see picture).
The robot is still not fixed, but I have noticed a couple connections that indeed made a clicking sound, indicating that a connection was made (better).Update on the alarms:
Alarm 1105 [32807]
System errorAlarm 1325 [SLRB]
Communications error (encoder)Alarm 4311 [U]
Encoder Backup errorAlarm 4314 [U]
Serial encoder battery error -
Hi Tony,
Thank you for your quick message, it is much appreciated.
You mention that I could remove the L axis. This sounds to me like disconnecting that part of the robot. Making sure it is not bound up is already not a problem; there is nothing physical restricting the robot to move.
Also, there seems to be no way to override so that I can move the robot into a place where the encoders can see where the servo is at (because when you say that the alarm should clear when it 'is free' I understand that this must be the issue.)
One more thing, there seems to be no sheet of data in the cabinet door. In the meantime I've looked through a manual to see if it is there, but I found nothing that seemed to be it. What does it look like?Many thanks, Mathew
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Slightly irritated that I am unable to fix it myself I went ahead and looked what would happen if I rebooted the NX100 with the data connectors unplugged.
The new alarms are now:
Alarm 1105
System error (servo)
[32807]Alarm 1325
Communication error (encoder)
Robot 1 [slurbt] (only u not)Alarm 4107
Out of range (abso data)
Robot 1 [slurbt] (only L)When I looked for the current position of the robot I got a
S 0
L 0
U 28313
R 0
B 0
T 0Still no way of resetting the alarms.
Additional question: Did I make it worse? -
Hello everybody,
I googled about an error I'm currently dealing with with a couple of different terms and several times it led me to this forum but each time I see a similar question I see no answer to the question so if you say there is already a point where this was solved I beg your pardon and will gladly accept any and all links to what will help me.
I am working with a NX100 controlling a Motoman robot with six axes.
The alarms state:Alarm 1105
System error (servo)
[32807]Alarm 1325
Communication error (encoder)
Robot 1 [slurbt] (only L)Alarm 4107
Out of range (abso data)
Robot 1 [slurbt] (only L)prior to this error I had sent the robot in the position where it already was for one exception; the head T was turned in such a way that the pneumatic tubes were wrapped around the head. With the teach lock on I turned the head until I thought it looked alright. I went to the robot position to look up the new position. The axis that corresponds with the T was on -79,somethingº (-80 degrees). I called up the information of the old position which was at -90,somethingº (-90 degrees) I edited this to a round -80º. I went back to the program that simply brings it to the current position. When I ran the program the alarm sprang up and I couldn't reset the alarm. When I rebooted the NX100 the alarm was still there and reset still won't press it away.
Can anyone tell me where I should go from here?
Thanks, Mathew