Fairly basic info needed here. Can anyone help me out?
Posts by Nortech
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Any Mitsubishi expert out there?
Any help would be much appreciated.
thanks.
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Hi All,
I am currently doing onsite automation support for a company and they have a Mitsubishi robot with a CR750-D controller. I am experienced with some robotics but almost no experience with Mitsubishi.
Essentially all I want to know is how do I connect to the controller with my PC in order to, most importantly, make a complete system back up, but also make the occasional change.
1) What software do I require?
2) What cabling do I require (LAN or rs232)?
3) Can I connect to the robot while its running?these may seem like silly questions to someone more experienced with these robots but would save me a lot of time and research if anyone could help.
Thanks in advance.
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I'm having the same issue. Does anyone have any suggestions?
Thanks in advance.
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Quite impressed with it at the moment, very smooth and repeatable (set up a repeatability test).
I’ll find a spot for it and bolt It down in the coming days and let her go flat out and see what we have
I’ll let it run for a few hours non stop tomorrow and see if I get any errors.
Then I suspect an oil change would be necessary.
I’ll try to acquire an I/O card. (Will probably need your help with installing)
In the meantime I suppose I’ll just get to grips with programming it. Maybe teach a tcp.
Also, thanks for welcoming me to the forum. I’ve brushed over this site in the past but I never realized the wealth of knowledge here! And if everyone else is as willing and able to help as you are then it will be my first stop with any issues from now on! Hopefully I can help out a bit too. Now that this robots up and running I suspect I’ll have many more questions for you!!
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I was able to take the switch apart and actuate it manually for now so all good!
Please follow the link if you would like to see it running!
https://www.dropbox.com/s/3c4suvrczfmo…9%2015.mov?dl=0
Did you say that JLR remove the I/O board from these? Meaning I have no inputs/outputs?
Just wondering if I can get one as even the most basic job will require I/O and I most likely won't be using this robot on a bus.
Any suggestions?
Thank you.
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Yes great to see it running indeed!
While I’m getting used to running it in teach mode, I can see my next issue. There is no key in the switch for teach/repeat.
What’s the best way around this? Can I replace it with simple N/O toggle switches or should I try to find a key online?
Is there any other way around this?
Thank you!
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Success!
It’s up and running with no issues!
Thanks a million. You’re a weatlh if knowledge!I suppose my next step is to figure out how to write a simple program to check the repeatability of the robot and to leave it running to see if any issues/errors occur.
Any pointer on this?
Thanks again!
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Once again, that worked!
The robot is now moving!
However, The movements are restricted. It will only let me jog some axis in one direction. Also giving me some errors "Cannot move along straight line JT2 in this configuration" and "Position envelope JT3" (See photo)
I assume this is related to either the fact that it needs to be zeroed or the position of the parallelogram of axis 2 & 3.
Can you give me a brief outline of the zeroing procedure please?
I only have the robot on a pallet don't really want to stretch out the robot incase it tips over. Will i need to secure it before zeroing?
Thank you!
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Got the batteries replaced and no more encoder batteries low error. Only error I have now is 'no I/O board installed' on startup which you mentioned and I'm not worried about for now.
So, on to the external hold. On inspection of TB2, I see that someone had inserted jumper wires before me. They are inserted as well as the X15 wires you mentioned so probably no need to remove the X15 wires for now.
As per the attached wiring diagram and photos, The following loops are inserted:
Terminals 3 and 4: looped
Terminals 5 and 6, 7 and 8, 9 and 10, 11 and 12 are all looped and I believe they are all external E-Stops.
Terminal 13 and 14 are NOT looped and are not mentioned in the wiring diagram
terminal 15 and 16, 17 and 18 are looped and are for external fences
terminals 19 and 20 are looped and are for an external hold
Terminals 21 and 22, 23 and 24 are looped although not listed in the wiring diagram.
Terminals 25 and 26, 27 and 28 are looped and are for external triggers
Terminals 29 and 30 are looped and is for external motor power on
Terminals 33 and 34, 35 and 36 are looped and are for internal 24VDC and 0VDC to manipulator.
This all looks correct to me?
You mentioned there may be a setting change required?
Thanks!
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Hi Kwaskisaki,
I assume this to be the encoder batteries (See photo). I have power on the controller and the umbilicals are connected, am I ok to disconnect the batteries with out losing any configuration settings? I assume it's ok if the power is on the unit. The batteries are probably dead anyway!
Thanks.
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Photos continued from previous post.
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Hi Kawakisaki,
I did as you said and the mismatch error is gone!! Many thanks for that!
Now the red fault light on the front of the controller is no longer lit and i can turn my motor power on! (Or as least the light for motor power is on, I can't hear the motors kicking in and brakes releasing as I would expect, same as ABB)
Attached are some images from the inside of the controller. they are just general images as I don't know the location of boards Etc so if you need me to take better images let me know.
I am getting an encoder battery low error so I will locate and replace that now, I assume they are located somewhere in the base of the robot unit.
Also an abnormal encoder data for joints 1, 2, 3, 4, 5. I assume I have to zero them. Is this a simple process, any pointers? I saw a function for this in the AUX functions I assume its done there?
If I want to jog the robot, Is this done in "Block teaching" where I can see the joints and arrows etc? (See photo). My motor power light is on, no faults but nothing is moving. (Obviously im holding in the deadman switchs)
I've attached a photo of the front of the panel to show the switches etc. I believe they are set correctly.
Also see photo of the 'Status' screen. The switch on the right of the screen indicates 'Release EXT hold'. Is this indicating that an element of the safety circuit is not made? Perhaps I have to loop out some of the safety circuit for testing?
(Some of the photos are attached in the next post, max of 10 allowed)
Once again, many thanks for sharing your expertise!
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I can take a photo tomorrow but the inside of the controller is quite clean and intact. No dodgy wiring etc. My quess is that this robot had only one installation in Land Rover factory and was sold at auction after being removed and the RAM batteries discharged in the meantime.
I have no experience with Kawasaki. My experience is almost exclusively with ABB robots.Is there anything else I can do or do you think it’s a lost cause?
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I thought that might be the case. No. I’ve never seen it run. I know it ran in a Landrover plant until at least 2010 maybe more recent that that. I am trying to get it running before we purchase it. It’s not expensive and we haven’t bought it yet. Surely it’s possible to get it running though?
Thanks again for your help
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Yes, you can use P1-P4 to set digital outputs on/off. Not so sure about analogue outputs. Heres a video on how to configure them on an IRC5 pendant.
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I don't know much about this robots previous life but inside the controller where the manual brake release buttons are, there is a button to release J7. Do you think that I should try the 'ZROBOT' again but input 7 axis instead of 6?
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Hi kwakisaki,
Many thanks for taking the time to reply.
I done as you said but now i am getting "ERROR (-1909) Servo type mismatch. check the settings" (As per photo attached)
I think the wording of the error has changed slightly from before.Just to be clear, on the keyboard I typed zrobot, then typed 3 for UX series, then 7 for UX150-C001, then 6 for the number of axis, then typed the serial no. of the robot (Not controller). Is this correct?
I then was prompted to reboot the controller but still getting servo type mismatch.
I have also attached a photo of the new 'aux90'.
I notice that the 'Servo type' in the aux90 is 1, does this need to be changed?Here are some photos that may provide some info.
Once again many thanks for your reply, all help is much appreciated!
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Hi All,
I have a Kawasaki UX150 (S/N 1068R0535) with a C42F-A001 controller. I am getting a robot-servo mismatch error. I have researched the forum and see that a few others have encountered this problem but I still have no idea where to start.The robot has been out of production for a few years i'm guessing and the RAM batteries most-likely died. I have replaced those now.
The robot would not boot for me so I did a 'dip switch 8 initialisation' as per my reading of this forum. This allowed the robot to boot up but I now have a robot-servo mismatch error among some others.
I am entirely new to Kawasaki robots and so have no idea where to start. I don't have any backups (Unless they're stored somewhere in the robot that I dont know about) nor do I have any idea how to connect to the controller with my PC or even what software I would need.
Attached is an image of my 'AUX90' screen. As you can see, there is some info here and I am of the understanding that this should be blank after 'dip switch 8 initialisation'. Is this a good sign?
The robot came out of a Land/Range rover factory somewhere in the UK if that info is of any benefit.
Any help would be appreciated as I am lost!
Many thanks in advance.