How to Repeat Tasks in different Positions

    Hello in the forum.

    I'm practicing learning to program a Yaskawa DX200 MH50 robot that we have at my job.

    I've made a program where the robot creates a square at a certain position, how do I get the robot to repeat the same square in a new position without having to copy steps and then adjust the coordinates in the "Parallel shift job"?
    What I'm thinking is to create two userframes, userframe 1 and userframe 2.
    The first position is Userframe 1, and then it should repeat the same job in userframe 2.
    Is it possible to get it to do that, what would the commands look like in the job to make it jump to userframe2 and perform the same job again in the new position?

    Best regards
    Stig.

  • SkyeFire April 9, 2024 at 7:41 PM

    Approved the thread.

    You can use Relative job function.

    Create two USER in USER COORDINATE under ROBOT menu. Ex. Create USER1 and USER2

    Create a program and teach your shape.

    When you are in job content, go to UTILITY menu, select RELATIVE job.

    Convert you job to the USER 1, give a copy from this job, go to DISPLAY menu and select JOB HEADER, you can see USER1 in a field in this page, you can change it to USER2.

    Now you have two job one with USER1 and another with USER2.

    Many many thanks for the help, it solved exactly the wish that I had, now I can proceed with the exercise.

    You use the SHIFTON and SHIFTOF instructions to temporarily shift the positions in a job.


    How to use those two SHIFTON AND SHIFTOF function?

    I want to repeat the same welding at a different point. I used a command below

    0001 MOVL V=15 //Start Welding Position

    0002 AFCON ASF#(3) //Enable Weld

    0003 MOVL V=15 // Move to finish pos. with Weld on

    0004 AFCOFF //DISABLE Weld

    I used the X,Y,Z coordiate. How can I use ShiftOn and shiftOff for the next weld point which 5" in X-coordinate forward?

    Thanks

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