Posts by arisigor

Time is dynamic. This means that I receive a list of positions from a third party, where each position contains a position, a time, and a blend. My tool then creates a job based on these positions and uploads it to Yaskawa for execution. Knowing this, do you still think that TRT can be used for this somehow?

Below is an example of a current job created from these positions (but the speed is in percentage, not time):

/JOB
//NAME MY_PROGRAM
//POS
///NPOS 2,2,0,0,0,0
///TOOL 9
///POSTYPE PULSE
///PULSE
C00000=2671,2671,2347,1619,1619,1619
C00001=5343,5343,4695,3238,3238,3238
BC00000=154,154,307
BC00001=307,307,615
//INST
///DATE 2024/05/14 10:04
///ATTR SC,RW
///GROUP1 RB1,BS1
NOP
SET B001 1
MOVJ C00000 BC00000 VJ=10.00 PL=8
SET I001 1
MOVJ C00001 BC00001 VJ=10.00 PL=8
SET I001 2
SET B002 1
END

I found that the Fanuc and UR robots have the ability to move to a position based on time, meaning I can write a pendant teaching program and specify how long the robot should move to a certain position. Pseudo code: MOVEJ {POS} {TIME}.
I was trying to find similar functionality for Yaskawa. I read a few documentations and found something called tags that can be used along with MOVJ commands in a job program. For example, VJ is used to indicate speed as a percentage. Is there a way to set time instead of percentage in the job? If not, what are my options?

I want programmatically to upload teach-pendant program (TPP) to motoman robot (Yaskawa HC10). The diagram shows that there is an ethernet link and I was thinking is there a way to upload TPP via FTP or using ROS?

We use code from a 3rd-party that uses axial offsets when computing inverse-kinematics. The offsets for UR10e robot are below. I tried to understand what joints those offsets match to. I found this website with the Axial Offsets, but I don't understand what are `d1,a2,ar3....`

I also need to find axial offsets for Yaskawa HC10. Does anyone know what these offsets are and where to get them?

d1: 0.181
a2: -0.613
a3: -0.571
d4: 0.174
d5: 0.120
d6: 0.117

I'm using ROS Motoman Driver to communicate with Yaskawa robot. I was able to get the robot position through /joint_states topic using both terminal and python. But, I cannot find how do I get the TCP position?

Please know first of all that I am new to this world of robots.

Second, I'm confused. You said that I shouldn't use joint move and you would use linear move. So, if using joint move and linear move does not guarantee me that the robot will follow the same path with and without pause-resume, what's the point of saying "I would use linear motion"?

I have a simple program P with a single line 1:J PR[8] R[20:ARIS_SPEED]% FINE ;. When the target position is the same as the current position, meaning the robot doesn't move when program P stars, I get "MACR-013 MACRO execution failed" "PROG-006 Line is not found". But, when the target position is different from current position I don't get those errors. These errors I see in Alarm history. What should I look for? What can be the problem?

I understand that "joint motion J" results in unpredictable motion, while "linear motion L" causes the robot to move in a straight line. So, does using "L" instead of "J" guarantee that the robot will follow the same path from P1->P1_a->P2 as it did from P1->P2?

Let's say the robot is in position P1. J PR[R[162]] R[20:SPEED]% CNT R[23:BLEND] starts moving the robot to position P2. Somewhere on the way to P2 I stop it. Let's designate this position as P1_a. Then I start J PR[R[162]] R[20:SPEED]% CNT R[23:BLEND] again. This means that now the robot starts from position P1_a and moves towards position P2. So, will the robot follow the same path, same joint positions all the way from P1 to P2 as it does from P1 to P1_a to P2?

I'm new to Fanuc robots.

I have a simple program that does  J PR[R[162]] R[20:SPEED]% CNT R[23:BLEND] ;

I also have a digital output which whenever I set it to 1 kills the program and the robot stops. It does not fault the robot though. This is the desired behavior. So, whenever I rerun this program, with the same speed and blend values, the robot reaches the target position PR[R[162]]

My question is, is there any chance the robot will move differently when it stops on its way to the target position? I mean, let's assume that I don't stop the robot. The robot will move the joints in a certain way to reach the target position. Then if I move the robot to its original position and start the robot again, but now I stop it and then resume it, as described above, should it move the joints the same way?

My tests show that it moves the same path, but I just wanted to check with more experienced people here.