Currently wrapping up a depalletizing project for a customer which is using a Yaskawa Smart Pendant. YRC-1000 controller. The customer had requested post-runoff that only management security level or higher is allowed to change variables (byte,integers) just in case operators have to manually remove rows or layers of the product off the incoming pallet. Currently, default is the pendant has to be in Teach Mode and that's it. Is there anyway to assign security levels to manually adjust variable data?
Posts by Mkoester2
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Hello all,
Currently working on a project with a YRC-1000 controller ONLY (no external PLC). I have been programming and testing from the classic pendant only (Play mode, servo on, and green START button for testing in "auto"), but the customer requirement is a smart pendant. I have the smart pendant IF panel setup ready to test, but am wanting to apply a speed override setting, starting out at 25% just to verify that the work cell and smart pendant IF panel setup will work as intended. I've read a prevous thread about the S4C0287 parameters, but am still unsure on how to apply that S4C0291 (25%) parameter to all my motion jobs. S4C0287 is set to 12. So I have two questions:
1) If this workcell has a standalone controller with the smart pendant, does the pendant need to be in remote mode or would it be just in play mode? I am used to always having a PLC so I have always used remote mode for production.
2) As mentioned above, how do I apply a 25% speed override setting for all motion jobs?
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Currently setting up/integrating a GP50 robot with a YRC1000 controller for a depalletizing application for a customer. This is a robot with base, no external axis. Each pallet is 7 layers tall, and each layer is a 10x12 grid of product, a total of 120 parts per layer (bottles). We are using the Cognex vision system to create a vision-guided depalletizing application. My plan is to only scan the X&Y axis of the top layer of dunnage and apply that for the whole pallet. The EOAT is a dual-row tool (20 bottles per pick). There will be a total of 6 picks per layer. I have already taught the camera TCP, pointer tool TCP (for calibration of the Cognex grid of UF#1), and all other TCPs needed. The camera is calibrated, and so are the UF. UF#2 is created from UF#1 when the ADJUST macro is ran in what I am calling my "Vision Capture" program. The ADJUST macro within my Vision_Capture program is setup as such:
Vision Result (P) = 0
Camera TCP# = 5
Mobile Camera
UF to Create = 2
Vis Result BF(P) = 10
Pause = 0
I have already taught the top layer (relative job within UF#2). I have a main "Pick_Bottles" program that calls a subprogram (Pick_Bottles_Pick_1-6) depending on what I000 (Row Pick #) is equal to (1-6). My plan is to have an IF statment at the beginning of the Pick_Bottles program stating IF I000>1 & B030=0, execute an offset of Z, then set B030 to 1 so that it does not run through that offset again until an entire layer has been picked. I am needing assistance with setting up that offset in the IF statement. I thought about teaching and making a job for each layer but that would increase program time drastically.
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Currently integrating a FANUC LR Mate 200iD 7L robot on a project for a customer. There are 2 UF created, UF1 & UF2, that are used for LH (UF1) and RH (UF2) place position. We are placing coils of nails from an infeed conveyor into a box for packaging. The boxes are located on an outfeed conveyor, which is how we are placing the nails in the boxes. The robot is mastered correctly, everything else is running smoothly. We set up the UF using the 3-Point method, and verifying that the Z offset is the exact same for all taught positions. Whenever the robot executes either UF to place the parts, we get a "MOTN-566: Frame is not orthongonal (G:1, UF1)". Any input is appreciated.
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I am currently starting on a new project at work for a customer. The job is a depalletizing application, and the robot is a Yaskawa HC20DTP collaborative robot with a YRC-1000 controller. I have programmed regular industrial robots (Motoman/Yaskawa) over the past 3-4 years now, but I was just wondering if there's any tips or tricks I should know programming wise with a cobot versus a traditional industrial robot? Basically, the application is that the cobot will be depalletizing pallets of bottles on each side of itself, and then dropping the bottles off on a conveyor. I am also programming with the new smart pendant, which after going through it, I know am able to access the 'classic' pendant style.
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The only difference I have noticed also booting it up in Maintenance Mode was the system version and also that the MotoPlus Function was enabled.
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The certain way being through Maintenance Mode?
Management Mode just on normal power-up. It states this in the YRC-1000 Options Instructions For Concurrent I/O document, section 14-4.
And the controller unable to load the changed system ladder seems to have a newer system version of YAS4.32.00A (Parameter 3.72/3.72), while the other 2 that have worked have a system version of YAS4.30.00A (Parameter 3.77/3.77). Not sure if that would be the issue. I was also not the programmer who began to first program it, so I will check through the initial settings and see if I can find anything that could fix the issue.
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Hello,
Currently working on a MOTOMAN Yaskawa GP25 robot with a YRC1000 controller. I am attempting to modify the Sequence Wait rung in the System Ladder section, which I have done previously on 2 other robots with the same controller. The robot/controller is for a general-purpose application.
I am using a general-purpose input (00315, light curtain) from a PLC output and inserting that into the User Ladder section connected to auxiliary relay 70500 (output). I am then saving the program, adding an OR rung to the OUT #40130 System Ladder rung offline on my laptop, and then reloading the CIOPRG.LST program back into the controller.
The 2 previous robots I have worked on, I did this exact same operation on with no issue. The issue with this current robot is that every time I modify the CIOPRG on my laptop, those changes never apply to the controller when loading it back in. There is a certain way according to a MOTOMAN manual to correctly load a changed CIOPRG back into the controller, which I have done. I understand that I can tie the 00315 input in the User Ladder to the 70030-70033 outputs and adjust the 5008x specific outputs to enable the sequence wait at any time and adjust those specific outputs to be ON at all times, but just wondering if anyone has had this trouble before?
Current System Ladder example:
STR #70030
AND-NOT #70034
AND #50080
STR #70031
AND #50081
STR #70032
AND-NOT #70036
AND #50082
STR #70033
AND #50083
OR-STR
OR-STR
OR-STR
AND-NOT #50063
OUT #40130
Modified System Ladder example (adding in auxiliary relay 70500):
STR #70030
AND-NOT #70034
AND #50080
STR #70031
AND #50081
STR #70032
AND-NOT #70036
AND #50082
STR #70033
AND #50083
STR #70500
OR-STR
OR-STR
OR-STR
OR-STR
AND-NOT #50063
OUT #40130
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The length of the rail is approximately 62 feet. The necessary operating length for robot 1 will be approximately 1/2 of the rail (towards robot 2). The necessary operating length for robot 2 will travel into robot 1's operating space, but is the more important robot, which will travel closer to 2/3 of the length of the rail.
Robot 1 is being called the 'Load Robot', since it is loading the 2 main parts of the assembly at the very first station of this line.
Robot 2 is being called the 'Unload Robot' since it is unloading the finished part at the end of the line.
My main concern is how to make Robot 2's jobs/operations that interfere with Robot 1's operating length/area transfer over to Robot 1 and basically tell Robot 1 to wait or move backwards.
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Hello,
I am currently programming 2 Yaskawa MOTOMAN GP110 robots that are on a linear rail, which is their 7th axis. Basically, the operation of both is picking and placing parts throughout stations on either side, an assembly line. What would be the best way (assuming to use interference zones) to make sure these robots don’t hit each other?
Parts towards the end of the line (robot 2) will be the higher priority for production.
