Destination Pulse Limit in DX200

Hi everyone,

So I changed D variables from my computer and then I am trying to do following to create a position variable out of 6 :

NOP

SETE POO2(1) DOO1

SETE POO2(2) DOO2

SETE POO2(3) DOO3

SETE POO2(4) DOO4

SETE POO2(5) DOO5

SETE POO2(6) DOO6

MOVJ P002 VJ=50.00

END

and also I tried:

NOP

SETE POO2(1) DOO1

SETE POO2(2) DOO2

SETE POO2(3) DOO3

MOVJ P002 VJ=50.00

END

But I am having same error:

ALARM 4980: DESTINATION PULSE LIMIT

[R1: MIN SLURBT, MAX SLURBT]

I think its because of Rx, Ry and Rz as I read in this forum. But I have no idea how to fix that any help would be appreciated.

Best Regards

Gurtej Singh

Hi,

thanks for your response .. i checked the type of P002 it is BASE type .. i tried changing the type to ROBOT and then MOVJ P002 didn't got inserted in INFORM code.. so now i switched it back to BASE type and i will try with this code line now

I tried the code and now i can see P002 variable changed to ROBOT type but I am still having an error:

ALARM 4980: DESTINATION PULSE LIMIT

[R1: MIN SLURBT]

But last time before changing it to ROBOT type it was coming :

ALARM 4980: DESTINATION PULSE LIMIT

[R1: MIN SLURBT, MAX SLURBT]

BR

I can change them from PC but right now the values are 1,2,3,4,5,6,7,8 from D000 to D007

Can you give me a little idea about what values should I try.?

Quote from 95devils

Not knowing what size robot you have makes this difficult. Go to ROBOT, CURRENT POSITION. Change the format to the same as your position variable. Write down the numbers. In the D-variables you need to account for decimal places. 5000=5 mm on XYZ. 10000=1 degree on Rx, Ry, and Rz. Put those numbers into your D-variables. Jog your robot somewhere. Then move to your P-variable to test.

Quote from TSGIR

For best test,

Step1: go to P variable, move robot to any position do you want, change the type to ROBOT and press MODIFY + ENTER, the value of robot show in X, Y, Z , Rx, Ry and Rz in position variable.

Step 2: move the robot to any position,

You can give value in the P variable that you set in Step1, the value in X of P variable set in D000 , Y set in D001 , Z set in the D002, Rx set in D003, Ry set in the D004, Rz set in D005.

Know you can send the value in D000 to D005 from PC to P variable that you want.

Example,

P001 is a position of robot,

X = 986.765

Y = 234.657

Z= 432.123

Rx= 180.0000

Ry= 90.0000

Rz = 59.3245

You must set each value in D000 to D005 ans send from PC to robot.

D000 = 986765

D001 = 234657

D002= 432123

D003 = 1800000

D004= 900000

D005= 593245

I hope you understand this example.

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Thank you so much.. I learned about it and successfully robot is moving from external parameters.. really big big thanks .. i will come with new problem in new thread

This is issue is resolved thank you so much once again!!

BR