Hello,
I have a DX200 with an Accufast II. I want to take a value from a PLC and cause the robot to shift a corresponding amount, then use the Accufast II with a macro to find the exact position and issue a second shift amount. I contacted Yaskawa and they said the macro could not shift from a shift, only from a programmed point. Is it much to edit the macro? Is there special software for it or will a text editor will do? My other choice is to have many many programs with different taught starting points, and call the appropriate one from the value of the plc data.
Thanks in advance,
Jeff
DX 200 Shift within a shift
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tiredold -
February 28, 2018 at 12:06 AM -
Thread is marked as Resolved.
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Is it much to edit the macro? No, other than you have to be in at least Management security level.
Is there special software for it or will a text editor will do? Can be done in the pendant or a text editor.
You can SFTON on a SFTON. The key (or complication) is if the Position Variables are in the same frame of reference the second SFTON will cancel the first. If the frame of references are different then they are additive. Either way it can get messy.
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One possible way is: create a robot job where the calculations will be done (Ex: Shift_Calculation (where you get shift amount from SPS)) check for the signal and make jump to calculation program and start with shift.
Looks like:
*SPRUNG
CALL: Shift_Calculation
SFTON P001 FRAME
MOVL
IF(IN(SENSOR)=ON)
JUMP *SPRUNG
ELSE
ENDIF
MOVL
IF(IN(SENSOR)=ON)
JUMP *SPRUNG
ELSE
ENDIF
MOVL
IF(IN(SENSOR)=ON)
JUMP *SPRUNG
ELSE
ENDIF
SO I think for each jog check for signal and jump to the calcluation step and travel with new shift
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Thank you for the suggestions. Can I clarify one point? When you say that the position variables are not in the same frame of reference. Do you mean that I can have a program shift the amount that the plc sends me, and then call another program that has the accufast II generated shift, and thus they are additive?
Thanks again,
Jeff -
If both P-variables are in Pulse, Base, Robot, etc.. then the second cancels the first. If one is in Pulse and one in Base, they are additive. If one is in Base and one in Robot, they are additive.
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Hello,
Could you please detail how to set the P in different frames?
Thanks,
Jeff