Yaskawa DX200 Analog Read

  • Greetings to everyone.


    This is my first time using a motoman robot, and i´m trying to acquire an analog input from a sensor into the robot, to control the motion of the robot depending on the value of the analog input.


    I´ve seen that DX200 has analog inputs, which can be consulted via M600-M639 registers. Also, the YEW01, which is for welding purposes, has analogic inputs that i could use.


    My problem is that I need pretty fast analog processing, and I´m not sure that the analog inputs provided by the DX200 controller are fast enough for my application, and i didn´t find the specs of the AD converter in the DX200 controller.
    The YEW board datasheet says that the analog input conversion cycle is about 2ms, which is fast enough for my application, but I couldn´t access the analog input values through the YEW board because i don't know in what register the analog input values are stored in.


    So my question is if someone knows the sampling time for the DX200 converter with the analog inputs in registers M600-M639 or how can I access the analog value read by the YEW board.


    I´ve motoplus IDE available for DX200, so if needed I can make an application to get the data, but I still need the registers where the analog input data is stored with YEW board to access that values.


    Any assistance will be really helpful.


    (Sorry for my bad english, is not my mother language)

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  • If you want to do it in a JOB the instructions are:


    SETREG (to write something in a register)
    GETREG( to read something from a register)


    So in your case: GETREG Ixxx MREG#600 ; if you are using channel 1, if you use channel 2 MREG#601
    (you have to store in a I variable)


    If you want to do it in LADDER, there is the MOV(for writing), for reading is little bit complicated.
    Using ladder way is dangerous if you have no experience.

    Edited once, last by Motouser ().

  • Thank you for answering.


    I can do that to access de data of the analog input in the robot, but i dont know if it is fast enough converting the value to my application.


    Do you know if there is any equivalent function in MotoPlus?

  • There is no information about the value of the registers M600 to M639, in MotoPlus i cannot reference the registers with "M600", in has to be a value like #1000559, which is the last of General Registers, so i cannot use mpReadIO, i've tried, but that was a good shot.


    I have to get the analog Value to a PC, and i´m not sure if the robot can handle it fast enough in a JOB, so i was trying to use MotoPlus to get the value, but i can´t access to that value.


    Do you know how to access the analog input value with the YEW board? Those are fast enough for my application, but i can´t find where it stores the data read from those inputs.


    Thank you for answering.


  • There is no information about the value of the registers M600 to M639, in MotoPlus i cannot reference the registers with "M600", in has to be a value like #1000559, which is the last of General Registers, so i cannot use mpReadIO, i've tried, but that was a good shot.


    I have to get the analog Value to a PC, and i´m not sure if the robot can handle it fast enough in a JOB, so i was trying to use MotoPlus to get the value, but i can´t access to that value.


    You can write in the ladder a MOV instruction to put the value of M600 register to one readable by mpReadIO(ex, M550).
    EX.
    STR #XXXxx
    MOV 600,550


    Be careful the signal of the STR line must be a signal like ROBOT in PLAY, SERVO ON, ETC


    In that way every time the robot will be in play or servo on it will move you value from the M600 reg to the readable register.

  • The problem is that i need a fast response to that analog input. I´ve been told that yaskawa DX200 controller has real time analog inputs, those used in with sensors like real-time path correction function, which use analog values.


    i need to know which registers those analog values are stored in, i dont know if those are stored in M600-M639 registers. For what i saw, those functions access the data by specifying the channel of the sensor connected, but i wasn't able to find where those channels store the data read from the sensor. I can't test right now cause i dont have a robot available, but i´d like to know if i can access that channels to retrieve the analog value. Do you think that using the GETREG or the MOV instruction in LADDER i would be able to geta that value?


    If you have any info on how i can get the data from the channels i'll be very grateful.


    Thank you for your help so far, your answers were very useful.

  • hello sergio ,


    "i need to know which registers those analog values are stored in,"
    you have cable your sensor on the analog terminal card , each port of the terminal have an adress thaht you can find on the documentation of the analog card YEW1 .


    so when you knwo your input adress you have to create in the ladder part "Analol input adress #XXXXX_______> Register whatever you want.

  • i've searched in the documentation of YEW1 board, and I didn't found the adres for that inputs, at least, the logical number to reference as #XXXXX as you have indicated,. I attached a JPEG of the documentation where it indicates the logical number for the YEW1 card, and it lacks the number for the analog inputs.


    If you know that info, could you share it with me? it would be very helpful, to have all the info of the alternatives to read an analog input.


    Thank you in advance.

  • in the documentation its written Analog input Analog output
    M600: Channel 1 M560: Channel 1
    M601: Channel 2 M561: Channel 2


    so check your register if the data change when you move your analog sensor.


    and for have the right value you have to create a macro job for transform the data byte in mini metre or inch .
    you will need to make a rool on the bytes register .


    i hope that will help you

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