The Motoplus is a Yaskawa software.
Please let me know what you will do with this work maybe can help better.
I am already using MOTOPLUS .. as you said something about tracking function in MotoPlus i didnt knew about this particular function..
I am trying to control robot on real-time with Simulink (Successfully Done) and also parametrizing robot at the same time but I want to improve it more like removing delays and controlling speed.
I check your sample with a system job on the robot, system job is change value for P000 and this value will change in the P000 every 2 second not more than it.
Robot move when the P000 value change in my sample with this 2 second delay. maybe you have other problem to send data and the delay is more.
I also believe I have some other problems .. changing value for P000 variable is quick but the robot waits 14-16 seconds for some reason before it starts moving to other position variable.
BR
Gurtej Singh
Hi,
You couldn't change the moving if the robot position with this work in real time, this method that you are using have a big delay that you see it.
The only way to change positions in realtime is using Motoplus tracking function, with it you can change the path of robot in real time.
Thank you so much for your reply
How to get this MotoPlus tracking function? Can you share if it is a code?
BR
Gurtej Singh
Hi everyone,
I am giving P000 variable value from outside DX200 everything is working perfectly fine even the values from my device to DX200 values are updating at really good speed but when it comes to moving the robot from P000 variable to updated P000 variable it take approximately 14 seconds to make the robot move again.
I am using this INFORM code to make robot move:
NOP
*LABEL
MOVL P000 V=80.0
JUMP *LABEL
END
Everything is working fine but robot takes too long (14 seconds) to start moving to update value of P000.
Variables inside the Teach Pendant are updating really fast.
Any help would be appreciated!!
TIA
Gurtej Singh
Not knowing what size robot you have makes this difficult. Go to ROBOT, CURRENT POSITION. Change the format to the same as your position variable. Write down the numbers. In the D-variables you need to account for decimal places. 5000=5 mm on XYZ. 10000=1 degree on Rx, Ry, and Rz. Put those numbers into your D-variables. Jog your robot somewhere. Then move to your P-variable to test.
Display MoreFor best test,
Step1: go to P variable, move robot to any position do you want, change the type to ROBOT and press MODIFY + ENTER, the value of robot show in X, Y, Z , Rx, Ry and Rz in position variable.
Step 2: move the robot to any position,
You can give value in the P variable that you set in Step1, the value in X of P variable set in D000 , Y set in D001 , Z set in the D002, Rx set in D003, Ry set in the D004, Rz set in D005.
Know you can send the value in D000 to D005 from PC to P variable that you want.
Example,
P001 is a position of robot,
X = 986.765
Y = 234.657
Z= 432.123
Rx= 180.0000
Ry= 90.0000
Rz = 59.3245
You must set each value in D000 to D005 ans send from PC to robot.
D000 = 986765
D001 = 234657
D002= 432123
D003 = 1800000
D004= 900000
D005= 593245
I hope you understand this example.
Thank you so much.. I learned about it and successfully robot is moving from external parameters.. really big big thanks .. i will come with new problem in new thread 
This is issue is resolved thank you so much once again!!
BR
Can you give me a little idea about what values should I try.?
I can change them from PC but right now the values are 1,2,3,4,5,6,7,8 from D000 to D007
I tried the code and now i can see P002 variable changed to ROBOT type but I am still having an error:
ALARM 4980: DESTINATION PULSE LIMIT
[R1: MIN SLURBT]
But last time before changing it to ROBOT type it was coming :
ALARM 4980: DESTINATION PULSE LIMIT
[R1: MIN SLURBT, MAX SLURBT]
BR
Hi,
thanks for your response .. i checked the type of P002 it is BASE type .. i tried changing the type to ROBOT and then MOVJ P002 didn't got inserted in INFORM code.. so now i switched it back to BASE type and i will try with this code line now
Hi everyone,
So I changed D variables from my computer and then I am trying to do following to create a position variable out of 6 :
NOP
SETE POO2(1) DOO1
SETE POO2(2) DOO2
SETE POO2(3) DOO3
SETE POO2(4) DOO4
SETE POO2(5) DOO5
SETE POO2(6) DOO6
MOVJ P002 VJ=50.00
END
and also I tried:
NOP
SETE POO2(1) DOO1
SETE POO2(2) DOO2
SETE POO2(3) DOO3
MOVJ P002 VJ=50.00
END
But I am having same error:
ALARM 4980: DESTINATION PULSE LIMIT
[R1: MIN SLURBT, MAX SLURBT]
I think its because of Rx, Ry and Rz as I read in this forum. But I have no idea how to fix that any help would be appreciated.
Best Regards
Gurtej Singh
You are simply trying to add an instruction and the cursor is not right above the END instruction. Press INSERT then ENTER.
When you will add new instruction that aren't in the job content, press INSERT + ENTER.
When there are instruction in the job content and you will change sections of it, after change press MODIFY + ENTER.
Thank you so much it worked perfectly fine this issue is resolved !!
I tried to copy content of B000 to D000 using : SET D000 B000 but it came up with error: 2080 (Depress INSERT or MODIFY)
Thank you for this info i will try it !!
And last thing .. can we copy data from B variable to D variable using SET or is there some other things to be considered..?
BR
Oh wow thank you so much ..it worked really fine.!!
Can we use this way for getting velocity from D variables also..?
Use the SETE instruction in ARITH. Depending on the format on the P variable the elements are 1 is S, 2 is L, 3 is U and so forth. If the P variable is XYZ, 1 is X, 2 is Y, 3 is Z and so forth.
Hi everyone,
I want to set P variable using D variables in INFORM for my DX200 controller. I am changing D variables from my computer and would like to use them for changing P variable. Any help would be appreciated.
TIA
Gurtej Singh
Problem is resolved i just registered MACRO job on different MACRO instruction and in the JOB code i changed the instruction so it calls right job.
And later after doing this I tried transferring the job file it worked..!!
Hi everyone,
I was trying to transfer jobs from my PC to Yaskawa DX200 .. i was able to transfer all the files except 1 file. Which shows following error :
The code in the job file is:
/JOB
//NAME MJOBPATH
//POS
///NPOS 0,0,0,3,0,0
///TOOL 0
///POSTYPE PULSE
///PULSE
P00000=0,0,0,0,0,0
///POSTYPE BASE
///RECTAN
///RCONF 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
P00001=920.000,0.000,614.000,180.0000,0.0000,0.0000
P00002=820.000,-100.000,614.000,180.0000,0.0000,0.0000
//INST
///DATE 2010/10/22 11:02
///ATTR SC,RW
///GROUP1 RB1
NOP
' HOME POSITION
MOVJ P000 VJ=20.00
'
GETS PX001 $PX001
GETE D001 P001 (1)
ADD D001 100000
SETE P001 (1) D001
'
GETS PX002 $PX001
GETE D002 P002 (2)
ADD D002 -100000
SETE P002 (2) D002
'
MFRAME UF#(1) PX000 PX001 PX002
'
MACRO1 MJ#(0)
CALL JOB:TESTJOB1
END
Note: All the files which I am trying to transfer are given by yaskawa as sample files for using a MotoPLUS program with name "CtrlSensor", and we are supposed to call job from this motoplus function.
Any help would be really appreciated.
Thanks in Advance
Gurtej Singh
You have an alarm. The alarm is preventing you from seeing CREATE NEW JOB. Go to SYSTEM INFO, ALARM. Reset alarm, if possible, after documenting.
Thank You ...it worked issue is resolved.!!
I am not sure about red dot on top right corner of the screen but i checked all the emergency stops none of them is pressed either.
Are you in Teach? I can see the key looks like it is. But do you actually have the Teach icon in the upper right of the screen.
You have multiple messages. What do they all say?
Do you have the alarm icon in the upper right of the screen?
Messages Say:
1. Servo ON enable signal is OFF
2. Safety guard is open
But i think before also i was having these messages and at the same time I was able to create job. Yes, teach icon is showing on top right corner of screen.
