Posts by LordEgra

Thanks.

Hi,

maybe someone knows could a UP130-T00 work as UP130-A00? I know that they have different "L-axis Driving Unit (2)".

Well, in my case, after one more series of endless manual reading, i found out recommendations for CF. It is described in Yaskawa's Automatic Backup Function Instruction Manual for XRC

But when i started to search for described types.... well...

So finally I end up with Sandisk SDCFBI-64-201-80. Genuine one works perfect.

Quote from Robodoc

this can save the system software on the XCP01, WRCA XCP02(optional) and MSP (teach pendant).

Does it mean that one may save SYS SOFT on Teach Pendant and take it to another XRC? Is it then the CF card needed at all?

Maybe it is somehow related to outside outputs. When You test a program with Interlock FWD, The MRC turns up OUT's and reacts to IN's. When You move robot axis by hand or even push FWD on MOV instruction selected inside program MRC only drives a robot - I/O is inactive. So it seems that when You start test program MRC turns up something outside and that something gives back a signal to interrupt welding. I suppose it can be something about Safety (because external Hold takes place). Or maybe there is some outside CPU connected that monitors welding station (for instance) and indicates Error/Stop for MRC?

Hello Everyone,

maybe someone knows about Motoman XRC FTP(SAVE) function? I have made all adjustments on both XRC and PC, I can see "ls" or even "get ***.jbi; ***.prm; ***.dat". This is at PC side. But i can't see any "FTP(SAVE)" or "FTP(LOAD)" under "Floppy DISK/PC CARD" in Pendant screen . If I select 'FD/PC -> DEVICE -> FTP', then in the FD/PC section become visible only two selections 'DEVICE' and 'FTP PROFILE'. And it is strange, because "FTP Function Instruction Manual No. 145603-1" clearly shows me that there is a possibility to FTP SAVE. What I'm missing? Is there some special parameter that needs to be enabled?

Here is info from my XRC SYSTEM.SYS

//SYSTEM NO : X5.2KA(US/DE)-00

//PARAM NO : 3.78

//APPLI : HANDLING

//REVISION

XCP01 : 5.2K, 5.00

XSP01 : 2.12, 1.02

WRCA#0 : 5.31-ML, 2.00

XCP01 : ST#15 ,XCI01 , 3.01-00/ 3.01-00

XCP02#1 : XCP02 , 3.10, 2.00

SL1 : ----------------- ,--------

SL2 : ----------------- ,--------

NET1 : ETHERNET , 3.10

B.T.W. I was trying to communicate with XRC thru FileZilla client... connection was ok, but Zilla could not retrieve XRC's folder info. It opens empty and control window shows warning that 'CWD command is not implemented'. I do not know why it is so. Anyway, i did not bother my self about that and simply connected thru CMD - works perfect!

So, i looked to a manuals that i have, and yes - there are several tools for calibration. I do not know what type of robot You are speaking about, but f.e. for UP165 You need one Pin, two different Jigs, two different Knockout Pins. For UP200 You need three different Pins, two different Jigs and two different Knockout Pins. And if You wish to have full calibration set with Fixing Jigs that are needed for changing motors, there are more tools. More than that, for each type of robot they are different...

P.S. sorry for grammar - English is not my native language.

Quote from Rafael Schroer

Motoman robot have a red arrows in each axis, this arrows is to align the axis in the home position.

After this alignment go to menu [Robot]--> [Home Position] and set the new home position.

But BE VERY CAREFULL.

Well... with calibration tool one must be more careful than with red arrows. I have suspicion that until robot does not reach MAX or MIN value that is set in parameters, it goes until "Servo Tracking Error" shows up from mechanical jam. I did not have tried it yet, but i will, because each time i setup new home position, pulse value is changing for the same axis. So, if f.e. i had abso for "S" 14651 pulse, and battery goes down, each time i set new home position without changing battery i get different pulse value for axis "S".

There are manuals where it is mentioned about this tool. I have even found measurements of it. More than that - few tools exists for calibration purposes (there is different tool for B and T axis as i have understand from those pdf's)). Tomorrow i can look for manual that you need.

I think it is percentage of limited maximum.

Hello Everyone,

after reading tons of manuals I have run in to doubts about two search functions SRCH and NSRCH. So, how does SRCH work I know, but what about NSRCH? Is it working with multiple RIN's in one MOVL or it only can search multiple coordinates with one RIN?

I am asking, because I need to understand main differences between those two.

Thanks in advance for Your replies.

Well according to this, it is hard to find in these days PC CARD of 16 or 32mb size. I was trying 512mb - no use... ( More than that, XRC goes with error 3080 on any operation with card inserted ( i'm using Transcend 512mb)). By the way, is there passibility to format it with XRC controller? Or it must be done on PC? Or maybe there is no other way than finding this ultra rare 32mb card?

Hello once again, Colleagues Engineers,

maybe i can not turn on this SRCH function by my self, but still i have question about how it works. For example: I need to search a product with two sensors (if/when product comes from other machine with a little displaced position), how can i tell manipulator that when signal from one sensor is TRUE, he must search for second sensor, keeping in mind that he must not loose signal from first one? It is like position correction. For example: i have one layer of product that is going on conveyor (lower product). According to conveyor coordinate system where are only X and Y axis it stops somewhere under the manipulator (let's say it will by 'Start At' X=-? 'ConvPoint' and 'Stop At' X=0 'ConvPoint=Exact Position In Robot Working Area') and with manipulator i must put the second layer (upper product) in exact place of the first one, finding Y coordinate of conveyor by two points (because i can have a minor product displacement on Y axis).

OK. I understand. Thanks anyway...

Hello everyone,

maybe someone knows how (or where, if to be exact) can i enable SRCH on XRC. In "Inform II" language manual i have find out that this is 'Optional function that can be enabled'. So i understand that it already exists on XRC, or am i wrong?
Please help me someone if You can. I'm really running out of time. I was trying to contact Yaskawa (by letters, by phone in few different offices... Now left only to go to them in person, but they are far from me and i have no time for that), but to wait for any answer 2,5 months is not a deal. I even asked to send me pricing list to order some software - usless... I'ts like

Hello, Robodoc

Frst of all - Thank You For Reply. I did everything as You have told. It did not helped, but now I know that I do not have problems with servo on lights By the way, last time I did not correctly explained. Alarm name is "4102 [1] SYSTEM DATA HAS BEEN CHANGED" (maybe this will tell more about problem) and there is no explanation about it in error list. Maybe it is some how connected with "LOAD BATCH-CMOS file" warning (well, yeah - when I started reanimation of this "dinosaur" batteries were down). According to this warning, maybe You know how to restore this CMOS (or even create a new one, because Yaskawa is not answering me one month already...)

Hello, everyone.

So here is the problem (i will try to do my best at writing about it because English is not my native language). I have Motoman UP165 with XRC 2001 connected to it. There was bunch of errors on first start, but somehow I have dealt with them. Only one left - 4102... Everything is happening in this way: Power On (XRC goes to TEACH mode and PP loads normally), next step - pushing Servo On button (it starts to blink), next - pushing TEACH LOCK on PP (it goes ON). And here, when I squeeze DeadMan button, i have Error 4102...
I'm not advanced in this so do not know what to do next.
Maybe someone can help me. Thanks in advance.

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