Posts by Christopher Bryson

Does anybody have examples of uses for string and flag variables in the YRC1000 controllers? I feel like there has to be some good utility in them but I can't find any documentation for their application. I asked a guy in partner support and even he wasn't sure ...

I have a 5 axis MPL80 for a palletizing cell and I'm running into an issue with a T-axis pulse limit when using an Rz shift value (-180 is what I want) that I can’t wrap my head around. If I recreate the movements I want with teach points it works fine but the same positions using shift instructions from P variables gives alarm 4980 ("Destination Pulse Limit") with the T axis highlighted. This happens both in MotoSim and on the physical robot. This whole program and cell ran perfectly with this code arrangement until I had to rotate the pallets 90 degrees in place (relative to the robot base) due to safety distance setback requirements.