HC10 + YRC1000: Change robot orientation from program

  • If I read this correctly, a robot mounted on the floor and then the same robot mounted on the ceiling? If so there is more to setup than anything in a job, especially with a HC10.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

  • Not easy with or without a co-bot, but anything is doable with enough time and money. This would not be quick change over between jobs. This would require human intervention.


    A) Any Yaskawa robot made within 20+ years, excluding JRC, assumes it is floor mounted unless you tell the controller otherwise. On a floor mounted robot when you turn on servo power, gravity will pull down on the upper arm. The controller is looking for the encoder to change values a certain direction. When the robot is mounted upside down when servo power is turned on, gravity is still pulling the upper arm down. But to the controller it is going up. The pulse count when the wrong direction and the controller freaks out.


    B) The R-axis on most robots has a range of 180 degrees plus or minus. This is from the mechanical home which is on top. The dead zone is underneath. When you flip the robot upside down the dead zone is on top. This makes programming more challenging. On a robot that is known to be upside down the R-axis is removed and mounted upside down, the mechanical home is changed so the dead zone is on bottom.


    This could be done but you would want a documented setup procedure. This would not be on the fly. The easiest way would be to have a cmos.bin file for right-side up and another for up-side down. Jobs would be saved out. The appropriate cmos loaded then as a minimum the appropriate jobs loaded.


    This doesn't even get into a structure strong enough, roughly 1000 lbs (robot and plate), to support the robot and a track (assuming to flip), and a motion controller, servo motor, encoder to flip the robot.


    The only item that would be different non co-bot vs. co-bot would be I would calibrate the sensor on the co-bot every time the posture is changed. With a Yaskawa co-bot you are calibrating the sensors anyway. I would just be doing it more often.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

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