YASKAWA - YRC1000 - Programing Issues

Hi all,

I have a program as shown below. The intended behavior is for the robot to move to position P002 and then trigger the output (OT#) to the PLC. Everything works fine during normal production runs.

However, I'm encountering an issue:
If an external hold signal is sent while the robot is moving between P1 and P2, the cursor stops at line 003. After I reset the hold signal and issue an external start from the PLC, the robot immediately triggers the pulse—even though it's not yet at P002.

I tried adding a timer (T = 0.1s) before the PULSE instruction, but the result is still the same.

Could anyone please advise how to fix this? Thank you so much for your help.

Quote from TSGIR

When you reset the stop job, do you give any message to reset and confirm?

I don't. Just send external start and job run.

Quote from The Minnesota Guy

I've experienced this type of thing before, only on DX200. It's as if the PL=0 tag is ignored when the robot is stopped mid-path and close enough to position. There are a couple things you can try as a work-around:

1. Duplicate your current LINE 3 MOVL P002 PL=0 so that when the cursor moves past the first MOVL P002 PL=0 it will execute the second line. This causes only minimal cycle-time loss.

2. Setup an Interference cube with Feedback as the CHECK MEASURE setting. Use the WAIT SOUT# instruction to reference if the robot in the correct position for the PULSE.

The 2. option is hard to do because this program is for a place and shift Z for several racks, so the positions are not stable. I can't set up a good interference cube.

I’ll try the first option, hope this work.

Thanks so much for your help!

Quote from The Minnesota Guy

You are correct that Option 2 is harder, but please let me know whether Option 1 solves it for you. To implement Option 2, you can write a User frame from the Job that appropriately surrounds P002 regardless of where it varies. Happy programming!

Option 1 was working, thank you. But can you tell me more detail how to implement option 2? I still don't get it. That may help me while programming next time.

Quote from The Minnesota Guy

Hi, sorry for the delayed response. I will attach screenshots of option 2 cube and job sample from Notepad++. (I'm assuming your P002 is in a coordinate rather than pulse.) Also, I thought more about it and a Jump instruction seems to make more sense as it provides a way to execute the MOV again after a hold, for instance.

Here's the English breakdown:

1. Setup user frame and interference cube of your choice.
   • User frame origin does not matter as job will rewrite it anyway.
2. Write job with move to P002.
   • Get P002 data.
   • Do math to put the user origin at P002 plus shift.
   • use MFRAME instruction to write the user frame in the location and orientation as configured by the preceding math
   • Jump with If statement won't let cursor past Mov until specific output associated with cube is on (or off- your choice).
   • Note: the job could get stuck if P002 is changed, etc. You will want to know how you want to recover from this. It can be programmed to escape, or you can require operator intervention.

I understand now, thank you for your support. The MFRAME inform look really useful.

Quote from 95devils

You could try adding the ADVSTOP instruction between the move and the pulse. This is in the INFORM LIST under CONTROL in Expanded Language Level.

You could also change S2C654 to 100. This is move completion. Downside is that parameter is global.

Thank you for your support. I will try this next time visit that system cause I have some others robot but don't meet that issue.