just started learning about Motoman and from time to time have access to YRC1000 / GP7
so i will be asking a lot of questions here for all the kind souls that have been down the same road before. i will try to keep all of my questions in this thread.
To make discussion easier, i will number the questions Q1, Q2, etc.
Q1. Is there a setting that controls what happens with ServoOnReady? the way i see it, one has to press servoOnReady every time before using enabling switch. looks redundant to me, specially after seeing videos where someone only used the SeroOnReady once then pressed enabling switch several times in the row (ServoOn lights were blinking even after enabling switch is released).
Q2. How to see robot position in different ways? using menu Robot>Current Position, i can see joint angles in degrees. but that is the only representation i can see. using COORD button does not change the view. How do i see Cartesian position in different frames?
Q3. How to see/manipulate position registers? using menu Variable / Position (robot) i only see one and cannot make it display anything (everything is null all the time).
Q4. How to access current robot position in code? I need to read current robot position (joint, Cartesian, whatever), access individual elements and make decision based on that. A hint i got so far is that one would transfer current position value (such as $P000 or whatever) into another variable (something local?), then extract individual element (2nd for the second axis value).
Not sure if this is for a different controller or if i recall it correct but i suppose its something like:
Q5. How to create custom variable monitor (like ConfigMon in KUKA or VAT in Siemens PLC software)? I would like to keep things used frequently together.