TOUCHSENSE on the yrc1000

Here is a link to the manual on Yaskawa's website.

https://www.motoman.com/getmedia/136F424D-4508-489E-886E-F3D0F7B8EDE5/166153-1CD.pdf.aspx?ext=.pdf

The manuals are available at Motoman.com.

Hi, I have touch programs in the job folder. but in the macro job folder I don't have any touch programs. I tried to create a macro job from normal job, but I don't know how to set the arguments for the functions.
Where can i find this information?

Hi jafar90 , first of all, are you see your macro program in inform list ?

i dont have any touch macro programs. i have some touch programs in the .jbi standard program folder. i think i will have to turn the standard program into macro but i dont know how to set the arguments. this is what i understand.

see on the job header

ok thanks, today I'll check. what I'm trying to achieve is a touch macro like in the photo. where can I start? maybe there are already predefined macro programs? or will it have to be created from 0?.

Check the link below

Inform list manual :

ShareFile

You should see the PX variables,

Macro command manual :

ShareFile

Warning , Verify if you have the wiring for touch sensing

thanks, there is touch detection, I made some programs using the search function. I wanted to implement the macro to speed up and streamline programming. I will try to create the macro r1-touch with the shared manuals.

won't yaskawa provide you the touch macros? it would save you a lot of headache

Yaskawa would sell us a course for touch. I asked for some files but nothing.

Quote from jafar90

Yaskawa would sell us a course for touch. I asked for some files but nothing.

see the link below :

Thread

Touch Sense Program W/O Macros

Hi All,

I have been tasked with installing touch sensing for a range of cabinets that are being located off 2 holes and seem to not be in the same place each time. I have no macros for detecting this and so am trying to manually adjust the poisitons of the 4 external corners of the cabinet.

So far, this is the program I am looking to run:

GETS PX011 $PX011 ]
GETS PX012 $PX012 ]
GETS PX013 $PX013 ] Gets Ref Points 11-16 and puts in to P-Variables 11-16
GETS PX014 $PX014 ]
GETS PX015 $PX015 ]
GETS PX016…

BMGN01

December 16, 2024 at 11:35 AM

https://knowledge.motoman.com/hc/en-us/articles/16680547586583-Touch-Sensing-While-Rotating-External-Axes

https://knowledge.motoman.com/hc/en-us/articles/4415770069143-Touch-Sensing-Accufast-Comarc-Series-Comarc

You can create a simple program for 1 or 2 search directions