Posts by Bipak8

Hi,

I don't know mush about the dx-100 controller but in the dx-200 and YRC1000.

Note: What I type here is for an DX-200 check with your own electric wiring schematics!

The IN/OUT are on CN306 till CN309.

Most external and safety signals you can find on CN219 (board is connected to X18)

It is also possible to program the extern start and servo on through the ladder program.

With SIN#0029 (#40044) and SIN#0030 (40045).

I think it is only a visualisation problem.

You can change the orientation of the S-axes by opening the robot in the cad tree en go to [controller]-R01_LK0_DUMMY.

With right-mouse -> set-position you can changes the orientation.

Are the positions teached in the program or are the variable positions?
If they are variable positions you can convert them with this:

CNVRT PX000 PX000 BF TL#(1)

This is used to convert P000 from whatever (pulse,base,userframe etc) and what ever tool is used to BASE with tool 1

You can make a simple loop like this and convert position 0 to 20 to userframe 63 with tool 1

NOP

SET LI000 0

WHILE LI000<21

CNVRT PX[LI000] PX[LI000] UF#(63) TL#(1)

INC LI000

ENDWHILE

END

Hope it helps

Hi,

INFO:YRC1000 controller

I would like to know how to force stop a subprogram that is stuck in a loop.

My 2 jobs:
Clear_station.JBI (MASTER)

---------------------------

PSTART JOB:DOCKING_MEASURE SUB1
MOVL P087 V=75.0 PL=0 UNTIL IN#(3930)=ON (linked to OT#3930)
IFTHENEXP IN#(3930)=ON
     MOVL P086 V=I0023 PL=0
    '********************************
    '*Move above pallet pos *
    '********************************
     MOVL P081 V=I0024 PL=0
     CALL JOB:61_RECOVERY
     SET B0002 74
RET
ELSE

(force stop sub1)
     CALL JOB:CHK_LAST_POS_REACHED ARGFP087 ARGF63 ARGF5
     IFTHENEXP B0002>0
RET
     ENDIF
ENDIF

SFTOF

---------------------------

DOCKING_MEASURE.JBI (SUB1)

'********************************
'*Docking measure *
'********************************
SET D0001 0
SET LB001 0
WHILE LB001=0
     TIMER T=0.20
     DIN LB000 IG#(I1085)
     SET LD000 EXPRESS LB000 * 10000 - 10000
     IFTHENEXP LD000>D0001
         SET D0001 LD000
     ENDIF
     IFTHENEXP D0001>D0100
         PULSE OT#(3930) T=1.00
         SET LB001 1
     ENDIF
ENDWHILE
END

---------------------------

If the measure is successful i would like to force stop sub1

I know i can set an other condition in the WHILE function. That is not the point

I would like to know if you can stop the subprogram without programming it in the subprogram it self. But my sending an signal form the master to stop it.

In the masterjob I would like to be flexible if i start it in sub1, sub2 etc. and select whenever to force stop a subprogram.

Thank you in advance

Hi,

I have an YRC-1000 controller with FSU unit in it.

I use VMAX for my speed to avoid singularity and get smoother movements.

The down side to this is you set a % of the speed of all axis (movL Pxxx VMAX=50.0) and can't give it an max speed like with an normal movL Pxxx V=250.0

So sometimes the robot moves really fast when no axis are close to singularity and other times slower when close to singularity in the same movement.

I would like to limit its max speed with an signal because sometimes to robot is handeling a heavy with that is nog fixed.

I can turn on the FSU Speed limit and set it to 250mm/sec. Then the robot will not move faster than 250mm/sec.

But i can't figure out if you can turn ON/OFF the FSU unit with an internal signal. Or is there an other way to set an Max speed tot the Vmax function?

Bipak

MST-314
Your are missing the end of your WHILEEXP instruction. (ENDWHILE)

vinicius azevedo

There is an parameter in the robot called "Singularity avoiding function", Im not sure if it is only accesble by yaskawa. If you can't find it ask your yaskawa dealer.

With the following parameter the singularity avoiding function can be disabled:

Note: ! YEC will not support disabling this function !

To avoid speed overruns of axis in MOVL instructions, there is a possibility to use Vmax instead of constant speed. The value in Vmax setting describes the maximum speed of the fastest axis, like MOVJ speed instruction.

Check your moves first in simulation or with "test start" i have notest that sometimes if the robot reaches its end point it will move the RBT-axes 180 degrees. It will end in the same position but with the axes turned.

userID for NX100 = nxmaster

rcmaster is used for DX en YRC

DX username = rcmaster

Pass 9999999999999999

Still works for YRC1000