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  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Members
  3. Jerryl859

Posts by Jerryl859

  • SRVO 062 and SRVO 075 Alarms

    • Jerryl859
    • November 22, 2024 at 5:30 PM

    We have a used RJ31ib welding robot which came with bad batteries. After changing the batteries, we are getting the SRVO 062 and 075 alarms. We have done the RES_PCA reset and subsequent power cycle. We have also set the variable Master_Enable to 1. The robot is in joint mode but we are unable to get any joint to move. We are able to reset the alarms for joints 5 and 6, but they are remaining for the other 4 joints. We have referenced the comments on the forum but are still having no luck. Any suggestions would be greatly appreciated. Thank you.

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  • Nachi firmware

    • Jerryl859
    • March 15, 2024 at 7:58 PM

    Does anyone know where to find the firmware version on a nachi cz10. Thanks.

  • Return to home issues

    • Jerryl859
    • February 5, 2023 at 11:56 PM

    Thanks for all the info. I greatly appreciate it

  • Return to home issues

    • Jerryl859
    • February 5, 2023 at 11:24 PM

    In manual, I mean in repeat mode but initated by a button to send the robot home after it has stopped operation during a program. A continuation of same program isn't ideal, so we would prime another program and send it hone. Sorry for the confusion

  • Return to home issues

    • Jerryl859
    • February 5, 2023 at 11:11 PM

    I thought RPS didn't play well with AS language. So I was unsure if it would be better

  • Return to home issues

    • Jerryl859
    • February 5, 2023 at 10:55 PM

    The button would only work in manual operations and not in automatic.. or repeat. Would a PCTASK abort the current program and call and run the return program. Would RPS be an easier way for this situation. I wouldn't need a main routine in that case.

  • Return to home issues

    • Jerryl859
    • February 5, 2023 at 9:54 PM

    yes sir exactly. This would be needed in a situation that stopped the robot, a restart from where it was stopped wouldn't work. We would need to abort the current program it was in and call the return home program until the robot was at home. We could just load a return program in teach and step in through, but a manual button could do the same except not being in teach mode.

  • Return to home issues

    • Jerryl859
    • February 5, 2023 at 6:34 PM

    So, in a faulted condition, I want to go to manual mode without going into teach and by pressing a button have the robot load pg4 into the stack and as long as i am holding the button, have the robot step through the return home prg. At that point I could prime main and continue on. Sorry if I am not explaining very well.

  • Return to home issues

    • Jerryl859
    • February 5, 2023 at 4:22 PM

    Here is the code for the main prg.

    100 HOME

    WAIT SIG(1020,1030) ; OK TO START

    TWAIT 0.2

    pg= BITS(1041,4) ; PROGRAM VARIABLES

    IF pg ==1 THEN

    CALL pg1

    END

    IF pg ==2 THEN

    CALL pg2

    END

    IF pg ==3 THEN

    CALL pg4

    END

    GOTO 100

    As you can see, the main prg. is very basic with only a few programs. If anything went wrong in pgs. 1/2 , I would want to go to manual and call up prg. 4 to return the robot home. Again, I would want to do this as a manual return to home . Currently if there is a fault in prgs. 1/2, after clearing the fault the robot will continue on with the same program. I will need to call up prg. 4 while in manual and return the robot in this manner. Thanks again, sorry for any confusion.

  • Return to home issues

    • Jerryl859
    • February 5, 2023 at 1:42 AM

    Thanks for the information. I will try the recovery from the main program.

  • Return to home issues

    • Jerryl859
    • February 4, 2023 at 6:48 PM

    I am working with an RS010, F controller and having issues with a manual return to home program. I am using a basic AS language main program with BITS and IF commands to call selected programs. This routine is working well, the issue is trying to call a return to home program in the event there is an issue while running a current program. In that event, I will go to manual and press a button to call up the return to home program. I am never getting the return to home program to load into the robot queue. I have looked at manuals and tried different plc logic changes, but still struggling. Any ideas would be greatly appreciated. Thanks in advance.

  • EXT_IT input signal

    • Jerryl859
    • January 11, 2022 at 4:30 PM

    OK. Thanks for all the info.

  • EXT_IT input signal

    • Jerryl859
    • January 11, 2022 at 3:18 PM

    I may try turning off RPS at some point later, not practical at the moment. I did notice in D controllers that the EXT_IT is used as a hold.

  • EXT_IT input signal

    • Jerryl859
    • January 11, 2022 at 1:34 PM

  • EXT_IT input signal

    • Jerryl859
    • January 11, 2022 at 1:29 PM

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  • EXT_IT input signal

    • Jerryl859
    • January 11, 2022 at 1:17 PM

    The error code was (#213) Cannot execute a program because of EXT_IT. I would have to recreate to get screenshots and unable to do so currently. In AUX. 111 EXT_IT is set to reset.

  • EXT_IT input signal

    • Jerryl859
    • January 10, 2022 at 6:37 PM

    I recently wanted to run a program by using the EXECUTE command. When I try to do this, I get an error message. Basically, cannot execute because of EXT_IT. This is a C controller FS10 series robot. We do use RPS for signals back and forth from plc to robot. Searching for the error hasn't produced any results. Any help would be greatly appreciated,

  • Tool coordinates questions

    • Jerryl859
    • October 22, 2021 at 7:44 PM

    Thanks again for your help

  • Tool coordinates questions

    • Jerryl859
    • October 22, 2021 at 3:54 PM

    Sorry for the confusion. The values for the current tool assembly are , 0,535,725,90,90,90. The new tool assembly will actually extend in the Z direction(tool) and not extend as far in the Y(tool)

    direction. So I could just use the TOOL command and change the transformation values without doing any TCP reteaching. The new tool would be something like, 0,300,900,90,90,90. If that is correct, I wouldn't need to use QTOOL or any of the AUX functions above.

  • Tool coordinates questions

    • Jerryl859
    • October 21, 2021 at 8:12 PM

    I thought I would use aux 0405 to teach the new tcp. I can see the advantages of using QTOOL now, thanks for the explanation. So, on a different train of thought...If I use the same tool and end up using a different arm to attach it to joint 6, what would be the best way to change the values. The current arm is straight out of joint 6 and then angles down to the tool. The new tool arm would be just straight out of joint 6 without a 90 bend.

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