Hello
The main problem in your robot is ALARM 1050.
if you have CMOS.bin, please load it on the controller in first step,
you can check below items:
take out CF card and take in it again in power OFF.
check the PP cable (internal and external cable)
change YCP21 board.
Posts by TSGIR
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1. there are several job in robot. i can open only main program and i couldn't open other programs.
- That makes no sense......explain more please.as you know there are several job on the robot. we can see all of those in program page but we couldn't open subsethighpos or same as these job. we can open only main job. maybe we must open those from other way. for example in Yaskawa robot there are normal job, Macro job and system jobs that open from different menu.
2. when i run main program, i go to line HOME and stay in it without moving robot. i think this position must become modify and it set in program with set home instruction not in home 1 page. please say me where in program must become to change.
- Why do you need to change?
- If so, move robot to new desired home location and goto AUX 0402 and place tick in current pose (values will change) and press enter.I did these method (AUX 0402) before but in program there are SET HOME instruction and the home position become change to default by program. i don't know what position must be change in program.
3. i don't know the zeroing data is correct or not.
- Neither do I, but looking at those, robot joints are not at 0 degrees as setting represents 0 and current represents current position.
- Locate data sheets that were supplied with robot, they have zeroing values from factory.
- Compare those values with values in AUX 050102.
- Setting value and Offset Value (next page) should read same as data sheet, unless someone has re-zero'd since delivery from factory.
- If no mechanical disconnection/encoder/motor/gearbox/belt has changed, the values from data sheet can be entered to return to factory zero.The robot had a problem in J2 axis encoder. we open encoder cable and close it again. after that we did zeroing only for this axis.
4. i think in program we must change all of position that robot will move to those. which and how positions?
- How do you know, have you checked any of them?
- In backup you don't have many positions stored.
- Search for them in backup, then move to them to see where they are, if need adjusting then use procedure I wrote down using teach pendant to change.We write a simple program for move robot. robot can move with our program but it couldn't move with old program.
5. there are some call instruction with tags. i don't understand about those. for example "CALL subsethighpos(&p[0,0],&p[0,1],ht)" what is it and how can work?
- Why do you need to understand these before fixing robot?If i understand all lines of program, i can solve the problem better. yes you said correct maybe without this understand i can solve problem too.
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Please see attached file. it is full backup from robot.
also, there are two picture from Zeroing data and Home 1 position. maybe you can check the backup and say what must i do.
i have below problem:
1. there are several job in robot. i can open only main program and i couldn't open other programs.
2. when i run main program, i go to line HOME and stay in it without moving robot. i think this position must become modify and it set in program with set home instruction not in home 1 page. please say me where in program must become to change.
3. i don't know the zeroing data is correct or not.
4. i think in program we must change all of position that robot will move to those. which and how positions?
5. there are some call instruction with tags. i don't understand about those. for example "CALL subsethighpos(&p[0,0],&p[0,1],ht)" what is it and how can work? -
Hello Alexandru
yes you say correct. i don't connect to controller via PC yet because customer is far from us and i will take all information and go to customer site after that. (for modify program and positions). in first step we did zeroing and solve the problem and robot don't have error now.
I take this backup with USB and SAVE menu. i couldn't find program file separate to save. now, the problem in robot is modify some of position because we did zeroing before and the last positions don't work.
i see in *.as file there are program but i don't know for modify it. can i modify program in it and load it again or i must take other program file for modify? -
Where can I download (KRTerm/KCWin)? Is it free?
What is jobs format in Kawasaki robot? I save several file from controller. Which is for job and I must modify it and load on controller after modify?
The file format that I save:
*.as , *.au , *.Bas , *.el, *.if , *.pg , *.rb , *.sy -
Hello.
Thank you for your explain.
Where can I define or modify position variables?
In which menu I can do? -
yes it is first time i am seeing the array in Kawasaki robot. it is first time i am using Kawasaki robot and i don't know about it and programming in it.
i am professional in other robot brand but i din't use in those. -
Hello
Thank you for answer but I don't understand about it. Is it give me more explain?
Can you give me what means p[0,1]?
Is it position var p0,and p1? -
Hello
Can any one say me about attached program?
i will know what is means in lines 36, 39 and 40.
please explain about those. -
Do i need change security for this works?
in some other brand there are security modes that it can do special setting. are there in Kawasaki too? (operator , Editing, Management)after save file we have single file or several file? in Yaskawa there are a CMOS file that have all setting. if the robot have problem we can load it and controller come up. also there are separate files (parameters, IO names, System files , ...) how is in Kawasaki?
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thanks.
is it possible send me full manual for it?
can you tell procedure for take backup? -
hello
is it possible give me contact info about KRG?
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Hello
do any person how much is the price for K-Roset software?
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Hello Alexandru
thank you. i check the value and for axis - 5 isn't correct.
it need zeroing. i find the procedure for JT5 but it is first time i will do. can you explain me for it?
i don't know what value must input for "Current angle" and "Encoder Value".
what must i do before this setting? -
Hello
I am new in Kawasaki robots, our robot have Error code E6007. i think it occurred after disconnect encoder cable from axis - 5 .
maybe the problem is from zeroing of robot in axis - 5.
i don't know about zeroing in this robots. can you explain how can i do?
robot model is: 3CX210L-BC02best regards
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Hello
You couldn't do it by yourselves. It can do by Yaskawa technicians.
Contact with Yaskawa. -
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Hello
Do you install Sentinel driver?
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Hello
Servo ON signal in YRC controllers are different from DX controllers. in the YRC controller use I/O terminal. it is one of external inputs.
input number (#20014) is for servo ON. it is B3 in CN308 connector. -
Hello,
I know it is option and will active with S2C parameter but where is queue?
How can store job in it?