Help with rotating Robot turntable.

    Grettings!

    I need some help with a program im trying to write for our AR2010 robot with YRC1000 controller.

    I want to turn the Turntable of the robot ( where my welding part is located) for 180°.

    The problem im having with this is, that i can only input Pulse Value into my position variable EX000 of the turntable and i dont know what value of pulse equals 180° rotation.

    I assume i should be using the CNVRT function in some way ?


    Ty for your help !

  • Go to Best Answer

    On the page for your external axis position register (EX000 or whatever number you're using), you can select where it says "Pulse" and change it to "Angle". It will ask you to clear the data first. Make sure you have the axis you wish to modify selected before hand. The angle is absolute, I believe 0 degrees is parallel to the ground.

    Quote from BMGN01

    Do you need it saved as a global variable? Why not just manually jog to that position with the controller and insert this as a local MovJ?

    I need it to rotate for exactly 180° and i can only see pulse value ( i think i cannot change it to show xyz values).

    The program is for welding, we would firstly weld the frontside of the piece, then rotate it for 180° and weld the backside. I need the rotation to be exactly 180° because of positioning

    Update : i checked my parameter S2C684:All axes Angle Display is set to 1, yet i can still only view the position of EX axis in Pulse type, i cannot change it to angle.

    Img : https://imgur.com/a/cannot-change-pulse-to-xyz-NKt60pA

    Edit: I had an Idea of how to solve this in Pulse. Current position ( 0°) corresponds to pulse value 0.

    I joged the Turntable in + direction to its move limit ( i assume it reached 360° or close to it) at the value of 604078 ( pulse limit reached).

    Now thinking logically if i divide 604078 by 2 i get the Pulse value that corresponds to 180° of rotation which would be the pulse value of 302039.

    Now i would just use a program like :

    SETE EX000 (2) 302039

    SETE P000 0 " is this needed ?

    MOVJ VJ=0.78 P000

    +MOVJ EX000

    Do i need to set the P000 to 0 for the robot to not move during the MOVJ instruction when im controling both R1:S2 or can the setting of P000 be ommited and the robot wont move ?

    Should i be using GETPOS PX000 STEP#(1) and writing the current robot position into P000 for the robot to not move ?


    Ty for your time and clarification

    Edited once, last by darth0 (January 17, 2025 at 9:12 AM).

    • Best Answer

    Update : I Managed to solve the problem.

    So to change the display values of my External Axis from Pulse value to Absolute Angle, I needed to do this:

    This will display External Axis current position:

    Main Menu --> [ROBOT]-->[CURRENT POSITION]-->[Page]-->External axis.

    Then when Current position is shown on display, one needs to do the following to change the display values from Pulse to Absolute Angle:

    [DISPLAY]---> Select "Absolute Angle" (this is the part i was missing before).

    Now one could manually position the Turntable to exact degrees (180°), i solved it with a program:

    "Have your robot positioned in a safe space where it wont interfere with the workpiece movment"

    NOP

    MOVJ VJ=5

    +MOVJ VJ=5 // Robot is positioned above Cleaning station, Rotation of table is set to 0°

    SETE EX000 (1) 0 // This pulse Value corresponds to 0° Pitch

    SETE EX000 (2) 302080 // This pulse Value corresponds to 180° Rotation

    MOVJ VJ=5

    +MOVJ VJ=5

    END

  • darth0 January 17, 2025 at 1:37 PM

    Selected a post as the best answer.

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