After the robot YK400XE device is installed, it will show a 2.352 horizontal multi-joint lateral CP forbidden scale alarm when it is found, and how to deal with this alarm?
YK400XE This robot was pushed out in about 2020, and the new robot is mainly used to replace YK400XR Publicity, 10% faster than the old YK400XR, the actual test difference is not too big, about 1%-2% faster, basically no change, but the load is 1KG heavier than the previous 3KG, and the new robot can load 4KG.
The base of the robot is no different from the old model.
The scale of operation of the robot is slightly different from the old model, and there are slight differences.
The new YK400XE presents a performance area, that is, the entire operating area is reduced by 10mm, in this area, the robot can move as much as it wants, if it is outside the performance area, the action CP may vibrate, and it cannot perform arc and line interpolation actions.
When the robot is run to the limit position, the inch movement will show 2.352 SCARA outside CP forbidden scale, the inch can only use pulse inch movement, the millimeter coordinate can not be moved, and the inch movement will alarm.
Please see the picture for the detailed area:
The millimeter coordinate inch in this area will alarm and will alarm. It can only be used with caution and caution.
The millimeter coordinate inch in this area will alarm and will alarm. It can only be used with caution and caution.
The millimeter coordinate inch in this area will alarm and will alarm. It can only be used with caution and caution.
Therefore, the way to deal with this problem is to use it with caution at the limit position, and use it with caution, which is the case with product design, and there is no other way to deal with it for the time being.
But when you see this, you find another problem, when the robot adds the east-west coordinates (the front end of the east-west coordinates will exceed the scale of the robot) in the future, although the robot's R axis running area is within the scale, it still alarms 2.352 The bottom cannot be moved, how to deal with it?
Solution:
1. Make sure that the robot controller is higher than V1.75 (at least V1.76 is required).
2. If the robot version is lower than 1.76, please ask for the promotion document (you can find the robot manufacturer or the local requirement to buy the robot).
3. Upgrading to a higher version of the system will handle the problem.
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