Using the S-controller, I am trying to create a simple test program that executes step 1 and 2 five times before going on to step 3. After step 2, I am trying to insert a FN 26, which is the counter step jump. I can not get the program to execute, and I believe it may be a issue with the registry number (1-200) that the FN requests. Any advice on the programming attempt, or insight as to what these registry values represent. Please and thanks!
Posts by mike.stotts
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Looking to acquire a USB cable to communicate with the toyopuc PLC in the S52 kawasaki controller. Any ideas where to purchase or a wire diagram so that I can make one?
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I am trying to program the tool position in my S52 controller. I go through auxillary data settings, and attempt to program my tool coordinates. This does not seem to change where my robot is recogonizing the tool position. The function is listed in the controller operation manual, but not really a procedure. I am attaching a couple pictures of the TP and a picture just to make sure that my understanding of the coordinate system is correct. I am unsure about the meaning of OAT coordinates. Maybe Euler's coordinate transformations? If that is correct would my O angle be 90 degree > rotated 90 degree about the x-axis? Please and thanks!
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Attempted to execute the procedure. I wrote the simple calibration program, but when I went to run the program, I am still getting error E5005 Weld schedule setting data is abnormal.
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Separate thread for different issue involving the S52 controller set up.
I am attempting to perform two tasks. The first being servo gun tip force adjustment. I believe I am following the directions correctly.
I go to the force adjustment screen, scroll to set 1 insert 1000 N, deadman/enable/clamp, record force of 980 N in measured column, current calc., complete. I go to record for 2000N, I type 2000 in the set column, enter, deadman/enable/clamp, but i only get 980 N. Unless I go to the servo weld gun condition screen, and adjust my teach force to 2000 N am I able to get a higher force when in the tip force adjustment screen. I should not have to go back and forth between these two screens and change the teaching force should I?
Second task, I am attempted to program a weld...
1. I attach the weld gun, gun status 4,1, deadman/clamp/gun status. The gun connects fine
2. Program a simple open position record,
3. Deadman/enable/clamp. Gun closed, record position. Open gun, record position.
When I attempt to run the program, I get weld schedule setting data is abnormal.
If I record the step 2 with a gun status of K (workless reference). The program runs.
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- I checked the TOYOPUC, yes the leds are green for power and run
- Making sure I am getting the ocrrect file save. Functions>Aux: Save/Load:Save 1. All Data ***
- I am able to look at the I/O monitor screen. I currently have 24V across Y050 and COMY. Output 80 does not change status. I checked all Output numbers. I have turned off all outputs. I am unable to turn off outputs for 121-124, 131-134, 141-144. See picture below.
These are outputs I turned on yesterday. I had the same line of thought. Again I was looking for 24V across Y047 and COMY, so I went through and manually turned on/off all signal numbers. Starting at output 100 I began to receive E1078, illegal signal number. I was then able to turn on the remaining Outputs, but only in the pattern shown in the image. At maybe Output 200 all output number were illegal.
I turned on 121-124 in this manner yesterday, but I am unable to turn them off today. Output monitor screen, deadman+enable+off does not turn these off. Manual output, 0 (turn all off) does not turn these off.
*** I have tried to save the files to a PC Card. It was giving me errors that it can not read the PC that the PC Card is not formatted. I removed the card, reformatted it, and tried again with no success. I am attempting to retrieve the files using the serial port on the front of the controller, but can not figure out how to do it.
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Response...
- I recognize the Hexadecimal to decimal - Why the +1?
- Yes I have 24V between COMX and COMY
- I do not know if these signals have been allocated, please confirm from the photo if I am even looking in the correct location?
- I do not know that the TOYOPUC is running, how would I check?
- I have checked between Y050 and COMY, I have 24V constant. Forcing output from 81 in the TP does not change this 24V status.
- For inputs, when I apply 24V to X023, I do get an input signal at I42. 23 > should correspond to 36 (35+1)?
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That was my thought before I even started. I was skeptical if the terminal board numbers actually corresponded to the TP output numbers. Once I placed my multimeter in the circuit, I then proceeded to turn on all outputs, hoping that one would give me 24V. Out of the 256 selectable outputs, I was only able to force maybe the first 100 outputs on. The rest said they couldn't be turned on. Let me know if this is uncommon?
Anyways, after seeing your reply, I went and checked Y047 with output 72. I still was not forcing a signal. I have attached pictures. Please advise.
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Still working on setting up a robot cell using an S52 controller with a ZB150S robot. Most of my communication errors have been resolved once I was able to get a Toyota spec welding timer.
Now I am attempting to connect a ATC and ATD (tip changer/dresser) units. I am able to figure out how to send the output signal to the units.
I have looked at the wiring diagram for instance, and see that Y047 from the toyopuc is a spare. So I attempt to use that. I go to the Output monitor screen, force 47 on, but I am still not getting any signal. I am using a multimeter to monitor between COMY and Y047.
I have attached pictures
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Update:
So I have been able to connect the switch box, although I still think I may have it wired incorrectly for Auto mode. At this point I am able to put the robot into teach mode on the switch box, the controller, and the teach pendent. I am able to get motor power and manipulate the robot in teach. When I switch the switch box to auto, controller to manual, and the teach pendent to repeat (?), I am able to clear all faults, and get motor power. When I press start, the robot makes makes part of the first programmed move, and then stops and give the protection unit fault. Hit fault reset, start, robot makes the same move without returning to the orgiginal start position and then faults. I am unable to get the robot to do anything with the switch box in auto, the controller in auto.
I have connected the XAPL1 cable to the AC timer that was sent to us with the system. This initially cleared the protection unit fault.
I am unsure what the issues are remaining that are keeping me from running in auto mode. Here are some pictures of the switch box that we have made, and some of the corrections that I attempted to make based on the wire diagrams I was recently provided.
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