How to get the robot only go to the closed（nearest） configuration？

[avboy]

Yesterday，I got a big trouble with the configuration.

I received orders to optimize a waterjet program，but I found the axes6 turned a redundant  360° in most secton.

ie.the positon can be accomplished in -90°~0°，but actually it was 270°~360°，this will obstruct the waterline！

For I am familiar with ABB robot，I usually use the confL/J instruction to limit the configuration.

But I am a freshman of MOTOMAN，I do not know the corresponding command.

In addition,I even do not know how to excite a signal in manual mode,I could not to find the simulation interface.

I am very eager to receive your favor to fix these two problem,thank you in advance!

[motomaniaco]

Avboy,

In order to activate an OUTPUT (XRC and NX100):
1. Press TOP MENU (XRC on NX100 is not neccesar)
2. Select IN/OUT
3. Select UNIVERSAL OUTPUTS
4. Move the cursor to the desire OUTPUT Number
5. Move the cursos to the status indicator (circle)
6. Press at the same time the keys INTERLOCK and SELECT.
7. The status for the OUTPUT changes from OFF to ON.

As you have the water jet application, it could be possible that for security resasons the output could not be activated on teach mode, check it.

There are a list of parameters that can help yuo on the position for the first problem, I will check those parameters and I´ll send you later.
What kind of controller and robot do you have?
Are you using Relative Job?

[motomaniaco]

This parameters applies if you are using Relative Job.
 S2C260: RELATIVE JOB OPERATION METHOD
This parameter specifies how to operate a relative job. A conversion method to convert a relative
job into a standard job (pulse),and a conversion method to calculate the aimed position
(pulse position) when a relative job is operated can be specified.
0: Previous step with Priority
1: Form With Priority.

[somar]

AVboy:

You want "to optimize a waterjet program"

Make faster ? Copy the prog to another robot ? Invert the prog to another fixture   What exactly do you have to do ?

If you don't mind, can yo tell us what company the cell ?

As far as the output for the jet, usually is programmed to work only on play or remote mode

Somar

[avboy]

Avboy,

In order to activate an OUTPUT (XRC and NX100):
1. Press TOP MENU (XRC on NX100 is not neccesar)
2. Select IN/OUT
3. Select UNIVERSAL OUTPUTS
4. Move the cursor to the desire OUTPUT Number
5. Move the cursos to the status indicator (circle)
6. Press at the same time the keys INTERLOCK and SELECT.
7. The status for the OUTPUT changes from OFF to ON.

As you have the water jet application, it could be possible that for security resasons the output could not be activated on teach mode, check it.

There are a list of parameters that can help yuo on the position for the first problem, I will check those parameters and I´ll send you later.
What kind of controller and robot do you have?
Are you using Relative Job?

It is very interesting that we have one ERC,one MRC,one XRC,one NX100,

but the one referring above is a NX100/up-20.

And I do not very know the "relative job",is it the "concurrent move "by two robots?

Ours is two robots with two controllers.

[avboy]

AVboy:

You want "to optimize a waterjet program"

Make faster ? Copy the prog to another robot ? Invert the prog to another fixture   What exactly do you have to do ?

If you don't mind, can yo tell us what company the cell ?

As far as the output for the jet, usually is programmed to work only on play or remote mode

Somar

Because our application is waterjet,so there are some supply lines (water/air/electric) adhered to the arm.

For the former programmer is a newcomer，as a result the program is  in much disorder，

the supply lines  were often injured by the rotation of the arm.

Our cell is from Flow company.

[somar]

AVboy:

I installed and programmed waterjet cell from Flow for 15 years all over the world.

I'm sorry to tell you , but its very hard to "fix" somebody elses program specially water jet.

I would write the program again.   I dont't know what you're cuttting but let me tell you few hints


1) Ttry to view/think/imagine/anticipate   few motions ahead. Waterjet cutting is really fast, you can not do sudden motions. You have to start moving the arm few deegres on every motion instead or one big motion


2) If you are cutting for example, a rectangular shape, program the for corners first and look at the location of the high pressure lines and see if you can achieve  the cut.

3) Take the opportunity when you go from one hole to another or similar situation to unwind the pressure lines


4) Customer don't understand but sometimes you can not fit the cutting head in one part where they want a cut out. Talk to the customer.


5) DO NOT, DO NOT use a speed for every single motion. Use global speed per routine. That will make your life easier when modifying points

6) Are you using vacuum to hol the part ? Do the small cut outs first



If you need more help, give more details and I'll give a hand

Somar