Posts by Nddwind

Good afternoon, I had a question regarding changing the payload configuration on a yaskawa robot that has already been in service for a while.

We have a YRC1000 controller with FSU and a GP180 material handling robot that has been in service for a couple of years. This robot has a lot of spare idle time but I need to squeeze a little more out of it for another application . I mostly work with fanuc so I'm not as versed with yaskawa / motoman. I started by speeding up some moves but noticed that even with MOVJs with VJ set to 100% and a 100% override the robot was still moving slower than it seems like it should be. I discovered that the payload for the tool file we are using was set to 0kg. I believe the robot defaults to the full payload capacity of 180kg with a zero set for the payload?

My question was if I could simply add the 90ish or so kg payload the robot is actually using without it affecting any of the moves that are already taught. Also not sure how FSU works with payload settings.

Am I good to just populate the payload field under the associated tool file, or will points taught with the 0kg need to be adjusted?

Thanks

Good afternoon, I have multiple Fanuc R30iB controllers talking to CompactLogix PLCs using Ethernet/IP and are networked to our plant network such that I am able to view the Error Logs and Application logs in a text format (.LS file) pretty easily from my laptop.

My goal is to parse Arc Start and Arc Loss Detect faults into some type of graph that I can hand out to maintenance every morning but I am not sure the best way to achieve this. I have seen this used in the past but I don't know how they managed to do it, or if there is even just a software option that can do this.

A few of the robots have RSS feeds but several others do not, is the RSS feed on the web server a software option as well?

Curious what the best way to go about this is or if anyone had any insight. Thank you

I was able to get it to backup by booting into management mode and backing up system file + cmos.bin. (cmos.bin option by itself still wouldn't work, this time with a 3430 error) The manuals literally say nothing to reference these errors. Starting to miss fanuc

I do have a question about backups.

Is cmos.bin by itself a sufficient backup to take to protect against mainboard failure and replacement? Like, will it have everything I need equivalent to an image taken from a fanuc? Or should I do system files + cmos?

Thanks

Additional info: I select the device from the DEVICE tab but as soon as I select the SAVE tab all of the files (including cmos.bin) have asterisks next to them.

I am logged into Administrator

Hello, I am having an issue backing up a yrc1000 controller (ar1440 manipulator) and unable to complete a cmos.bin backup.

I have attempted to backup to a FAT32 formatted (known good) USB memory stick using USB pendant slot and I get the following message (Error 3080: I/O error on the media)

We have several of the same model controller and I am able to select the USB device and backup the CMOS to it without issue.

I have also tried the SD card slot using a 1GB FAT32 formatted SD card on the SD slot of the pendant with no luck. I then tried a FAT32 formatted (8GB flashdrive) on the USB1: Controller port of the main board and also was unable to backup. (I do not get an Error 3080) It just says that backup failed.

Not sure whats going on with this one specific controller. Has anyone else seen this?

Thanks

Good morning, im having an issue thats pointing to the main board being bad and i just wanted to see if anyone else has seen this and maybe has another idea.

I have fanuc r30ia controller and after cycling power the robot will load the following screen on the teach pendant and then fail to advance any further. (Attached image)

There is also a #2 alarm code displayed on the main board. I could not find the correct manual for this controller but i have seen elsewhere that this references a bus error with the corrective action being to replace the main board. Is this correct?

I attached a couple images. Thank you

thanks

weld button was lit and interlock plus test start did not initiate the weld. You mentioned that I may have to be in management mode, unsure how to achieve this.

I did log into an administrator account but I'm not sure what permissions it has or even how to check that out

Thanks

Thank you gentlemen

Hello, I had a couple simple questions that I couldn't seem to find the answers to in the manuals.

How do I insert a blank line in an existing program that I can later go back and add to.

Also, is there a way to weld from the teach pendant? When Im running the program from the pendant I hold down and interlock and test start but the arc on commands appear to be ignored.

I'm using a AR1440 manipulator with a YRC1000 controller.

Sorry for the dumb questions, I have zero experience with yaskawa/motoman and come from a fanuc background.

Thanks

Wondering about this

IF DI[60]=OFF, JMP LBL[1]
PAUSE
LBL[1]

J P[1] 40% FINE
Arc Start[1]

Thanks for the suggestion. That would probably be the simplest solution.

I could be wrong, but doesnt the robot actually stop for a brief second while it examines the WAIT statement?

The program I plan to scale it up to has 34 welds per robot

Not 100% sure on that tho

Hello, I have a Fanuc ArcMate 120iC with an R30iB controller and I was interested in seeing the various methods I could use to stop the robot @ the start of a weld to enable easy reteaching for our Weld Technicians.

As a kind of proof of concept, I created an HMI display with 8 push buttons which correspond with 8 welds on a part. For each push button selection a digital input is sent to the robot, for example, DI[60]-DI[67].

I would like to see what people thought the best method for stopping the robot might be, right now I am considering $SSR.$SINGLESTEP=1 or PAUSE but I am not sure how to implement on the teach pendant side which will result in the robot stopping @ the arc start of the weld or an approach point right before the weld.

In theory what I would like to do is this,

IF DI[60: Weld Select from HMI]=ON, PAUSE or STEPMODE

J P[1] 40% FINE
Arc Start[1]

PULSE DO60 to reset Weld Selection, or Reset at end of program so it doesn't keep stopping.

As far as I know, there isn't a way to PAUSE or set a System Variable at the end of an IF statement is there?

Open to any ideas or suggestions.

Thank you for your time.

Quote from Racermike123

Look at the axis one motor. Are there 3 connectors at the motor or two? If there are only 2 connectors you have a 2 axis brake model.
You cannot change a variable to "enable" the brakes on this type of robot. The motors, internal harness, and software DO NOT have the provisions to make it a six axis brake robot. It would not be cost effective to convert it even if you could. You could buy used robots cheaper.

Yes, I have established that it only has brakes on j2 and 3.

Also I was never asking if there was a "variable to enable the brakes" on the axes that don't have brakes as that is impossible and ridiculous lol. I realize that my question in the preceding post was somewhat ambiguous but I was asking if there was a way to keep torque or power supplied to a servo contingent on a set of conditions without violating OSHA safety requirements. I realize that killing servo power under the conditions I listed are a fundamental safety design meant not to be bypassed. My question was aimed more or less at discussing the possibility of there being a set of circumstances in which it wouldn't be unsafe or violate regulations to keep servo power supplied when a safety circuit or a deadman switch is open.

Im not 100% as I dont have the exact model / version type in front of me and I'm not 100% up to date on OSHA regulations but Id imagine its US spec.

Im surprised that they even make 2 axis brake models tbh. Seems like brakes on every servo would be a requirement..

Im very curious if there is any way around this, maybe like some type of system variable or delay? What about some type of program that is constantly running in the background looking for some type of condition like SingleStep being toggled.

Any ideas appreciated. Thanks

Is there anyway to keep power / torque supplied to the J1,4,5 and 6 axes when the teach pendant is first initially turned on or a safety gate is opened.

Alright thanks man.

Hello, Im having an issue with a Fanuc ArcMate 100iB Robot with a R-J3 controller.

Upon Teach Pendant activation, the arm drops until I depress shift + deadman. All axis brakes are disengaged and I can move any axis around freely including J1, this also occurs if I pop the safety gate open and the robot is in hold. Other than that everything works fine, its more of an annoyance issue, especially when trying to stop the robot in a specific location.

I can hear the brakes engage when shift+deadman has been held in for a few seconds and the servos are ready but I often have to jog the robot out of whatever position the arm fell into.

Also, if I release deadman or shift while the TP is on the arm instantly releases brakes.

I have seen this issue on 3 different ArcMate 100iBs so I'm guessing its fairly common but I have been unable to find anything on this forum or any documentation online.

Any help or ideas would be greatly appreciated. Thank you.