Posts by Shearzy

    Upon some more testing, I have found that this problem is likely due to using FPL position levels. I have changed most of the position levels to PL and I haven't been able to recreate this problem yet.

    I was unaware that FPL is meant to be used in certain collaborative robot applications although the glossary on the Yaskawa website doesn't really specify exactly what situations it is to be used.

    Check it in manual also. Go forward through it after it bugs out (INTERLOCK + FWD key).

    When I am in teach it does a similar thing where sometimes its gets to a point and acts like it is still moving but wont continues to the point afterwards even if I am still holding interlock and test start.

    Have you used really low FPL values like this before?


    I accidentally got a collision detect on robot with a YRC controller that I cannot clear. If i clear the alarm and then attempt to move again I get a collision detect right away.

    Is there an easy way to move the robot slowly while it detects a collision?

    Thanks for the help

    Edit: I found the solution, Collision detect can be disabled in the shock sens level menu

    The speed override is set to 30% for testing purposes and was moving a that speed until it was put on hold for an unrelated alarm. Upon restarting is when this situation occurs.

    No I am not using Motologix, all programming is done straight on the pendant.

    I believe that FPL is compatible with MOVL as nothing has suggested otherwise. The vast majority of moves are using some value of FPL and don't create any problem until restarted.

    The pendant allows me to edit the FPL value so I would assume that means its compatible..

    Are you also running software version FS3.30A-00? A new release of FS100 software was recently released.

    Any messages like "Program Sequence Wait?" Are you sure the controller isn't inside a small loop? Or scanning through to see what to do and there is nothing to do. The refresh rate of the pendant isn't that good. I've had plenty of times where it looks like the pendant is frozen. But there is a reason.

    Thanks for the response Devil, I wanted to respond once I had some more information to share. Attached is a photo below.

    To me it appears that the robot is indeed in auto and running however it just sits and waits at this movement line. I could understand if it was stuck in a loop somehow that it could do this however the next command after this one is also a move command so it should at least move back and forth or something. The exact scenario that this occurs is still a bit vague, sometimes it restarts no problem, other times it does this. Is it possible that it is trying to achieve this exact point but isn't close enough for it to be satisfied? The FPL is quite low on this movement.

    A photo of the Version Screen is also below.



    Where does the Panel switch in run input come from on a Kawasaki Controller?

    Currently, in order to get the robot to start, I have to hold A and the "run" button on the pendant. Previously I was able to start the robot remotely but for some reason this run input is no longer being received. I didn't have very much luck finding any information in the manual about this run input.

    Any help would be appreciated.

    I've been having a similar issue to this but it is not a specific instruction.

    When the robot is running in auto and then is interrupted and has to stop (gate broken/ estop etc) when it is restarted the pendant shows that it is running, green light is lit and there are no errors however it does not move through the program, it just stays on the current line but does not move.

    Am i missing any steps on resuming production?



    I am looking to use Auxiliary relays in the safety logic circuit but even when the auxiliary relay is on, it doesn't show it as on in the safety logic circuit.

    I am using address 70055, which I want to use to turn on a safety output. Is there somewhere the auxiliary relay has to be configured first?

    I have confirmed that this relay is not being used anywhere else in the ladder program.



    I am trying to take a backup of a controller that I have not worked on before to compare certain routines.

    However when I put my USB in the front of the controller, it doesn't regognize it.

    In the save/load menu it shows me files that were on the usb stick that the previous person used.

    I can still attempt to create a save file but it does not appear on my USB stick.

    Am I meant to force the controller to scan the new usb somehow?


    That is understandable and I totally agree. We were provided a backup of an existing robot to base our code on and unfortunately the timeline was has been too short to explore all of the options available so I've just stuck with what was previously there until I've needed to change it.

    I've also got a Motorman material handler in the same cell. Both of which I have not used in the past so learning two different robots at the same time has certainly been a challenge.

    I appreciate the feedback and if I figure out what is creating this error I will post it here.

    Yes you are correct. Step 7 is a pre dress. 12 is the dress position and 18 is a post dress. The pre and the post positions could indeed be the same positions. The reason they are not is simply because this is the first day of reteaching on this robot so I touched up the pre and post steps rather quickly just to get it going and then I ran into the tip dressing problem.

    I was unaware that clearance offsets were being applied.. I assume the clearance offsets are the values shown in red in KTools? "CL1=0.980,10.0,10.0,10.0,10.0,10.0,10.0".

    I will do some reading on what these are used for.

    I will remove these offset values and try it again.

    The error occurs at the same step as the command for doing the tip dress. After the tip dress has ran it is still executing the tip dress step, it hasn't moved to the following step where it should be retracting the weld tip to clear the tip dresser. This leads me to believe there is something I am missing for setup on the dresser/weld modes through the spot weld option.

    I have attached a robot backup in a text file. I am trying to get a video of the error happening as well

    Sorry about that.

    E1123 Speed Error jt 7. is the fault I am receiving.

    Yes, I have looked through the troubleshooting manual for this error and it is attached.

    By the sounds of what is written here, I think #4 describes what is happening to me however nothing I have tried has provided a good result. Changing the speed values don't seem to make any change in the speed of axis 7.

    I have been having an issue where when teaching or in auto, some weld points receive an axis 7 speed fault (weld tip) after the weld is completed.

    The 7th axis does indeed move very quickly for some reason at these points but I am having trouble figuring out why this is happening.

    I have compared the move commands with other points and they appear to be identical.

    Is there a setting in the spot weld option that I am missing here? I haven't been able to find anywhere that specifies how fast the tip retracts after a weld or tip dress is complete.

    In our shop there was only one weld point where this was occurring, I got around the issue for the time being by decreasing the speed on the move from 9 to 1.

    Now we are onsite doing the install and my tip dress point is doing the same thing. After the dressing is done, it retracts very quickly and faults out.

    Any ideas would be very helpful.

    I am trying the above method and I have verified that RPS is ON. (It indicated it is on to the right side of the screen). When the External program reset is input I get an error "P1038 Program does not exist"

    I created pg0 and copy pasted my main program logic to is but it doesn't seem to recognize pg0 as being valid. Any ideas on what I can try?