Issue #4: "Tooling Mismatch" alarm in Task Canvas. This alarm occurs if an end-of-arm tool is
attached to the robot, and you have not completed the Tool Loading Procedure.
Issue #5 The robot hits an unnecessary protective stop when jogging.
If the
Target Device
is set to read an SD card (
SD: Pendant
), change the field to
USB:Pendant.
2
If the Target Device is set to USB and you continue getting this alarm, contact Yaskawa Support.
3
Make sure a USB drive is connected to the Yaskawa pendant and reapply the Device Configuration in
Forge/OS. Then re-run the Tool Loading Procedure.
1
If you continue getting this alarm, make sure the following are true:
▪
The Yaskawa software is in the SAFETY operating mode.
▪
The Yaskawa pendant key switch is in TEACH position.
▪
CRC checks for uploaded files is set to disabled.
2
Check if you set the correct active payload correctly in Forge/OS. Make sure the Device Configuration
provides accurate payload mass and center-of-mass settings for the tool.
1
If using a custom tool, calculate its tool center point offset and rotation, and label the tool with these values.
Incorrect values will lead to the robot not moving accurately relative to its tool center point.
2
For collaborative robots:
If the Device Configuration and active payload are accurate, check the maximum
collaborative force permitted. The Yaskawa “Collaborative Robot Password Agreement” indicates that the
default maximum force threshold is set to 50N. Update the maximum force permitted setting in accordance
with safety assessment.
3
VERSION 5.3.0
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