Just curious what the CHK option does when I select it in a Mov instruction. All I know is when it is selected it seems to skip that line in the program.
CHK instruction
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Noob1982 -
June 18, 2019 at 8:13 PM -
Thread is marked as Resolved.
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are you on DX100?
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Its a YRC1000. Don't really need it for anything but just curious what its for. All I know right now is that if I select it the robot skips that move.
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I check on the documentation of yaskawa for dx100 nothing is motionned i don't how you enable this function.
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Its a standard function on the YRC1000. Its an option that pops up with position variables.
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Just getting ready to reply on that. Found the same manual.
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IDK Motoman is pretty good about adding functions that don't work. Sometimes it seems like they started something got halfway done and said fuck it were done here lol. Lets see you have the multi-window on the NX that never happend. You have the jet table that if you tell it to call a job only if something is true it faults out for a zero being in the variable. The user inputs that if you use the whole group it flips the last number to be a negative which is stupid. then this chk function that even motoman can't explain what it does. Oh well.
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I found the following information and it might help you:
(I guess this function is good to check that the robot can reach to the point that maybe is an outcome of some computations)Position Check Function (Option)
Outline: Robot controller checks whether P variable can move to a specific position.
Function Specification: Add “CHK” tag to “MOVJ”
Robot controller save result into system variable
Robot does not move while this instruction is running (Only check).
Result System variable $B050
Status
- Possible to move ”0”
- Impossible to move : Out of range “1”
- Impossible to move : Pulse Limit over “2” -
Lets see you have the multi-window on the NX that never happend.Wasn't on the XRC or earlier, so nothing gained, nothing lost. Customers would be more upset if Yaskawa had released a pendant without the button, then released another pendant on the same controller for this functionality.
You have the jet table that if you tell it to call a job only if something is true it faults out for a zero being in the variable.What would you like it to do on an invalid entry? A simple range check of a maximum of 3 instructions (YRC less) cures a 0 entry and a undefined Jet Table entry.
The user inputs that if you use the whole group it flips the last number to be a negative which is stupid.Love this. Don't have to read in multiple groups for vision, re-assemble, and then check for a negative. One instruction vs. six instructions. Don't have to re-wire when an EE has wiring going into different groups for something like, part number selection, etc.
then this chk function that even motoman can't explain what it does. Oh well.Still exploring this. I really need a bigger arm. Tells me if the robot can get there or not. Looks great for calculated palletizing where I am often close to the envelop. Rather be able to tell someone the problem as opposed to getting alarming out in the motion.