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

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  • Your problem is in status of P002, it is in PULSE type and you are input value for x, y,z, rx,ry,rz.

    You must change the type of P002 to ROBOT type.

    You can write below code in first step,


    GETS PX002 $PX001

    SUB P002 P002

    CNVRT PX002 PX002 RF


    With this code the P002 will be to ROBOT type and you can get data from D variable.

  • 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

  • Please check the D0## values, maybe the value that you will input to P002 are not correct and are more than moving range of each axis.

    The note is value for X, Y,Z are in 0.01 unit and Rx, Ry and Rz are in 0.001 unit.

  • 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.

    • Helpful

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

    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.

    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 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.


    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 :face_with_tongue:


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


    BR

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