Posts by Jacopo Dinicoli

Hello, I'm having the following issue.

I'm using a Shift for a very large number of positions, but I need to switch on a variable for each of those, using that variable to know when that position is reached: is there a way to use a counter to solve this problem without having to turn on each variable individually (referring to each position) in the program?

Example:

Positions = A1 B1 C1 D1 E1 F1.....
I need to know when the robot goes to A1 (switching on the corresponding variable) then B1, then C1 ecc...

I was thinking to just have an increasing counter at the end of each movement (A1 done = increase counter, B1 done = increase counter....)

Could that counter be used to know that 1 = switch on A1; 2 = switch on B1; 3 = switch on C1, ecc... without having to manually link each variable to each movement?

Because by linking each variable to each position would take a large job in yaskawa and a lot of conditions.

Thank you in advance!

Ok , thank you so much!!!

It was but then I think I initialized some parameters in maintenance mode. Is there a way to switch it back on? Because by removing the interrupt it works

Hi,

I'm currently trying to transfer some jobs from motosim to the actual controller.

I managed to get some of the jobs transferred. The rest of the Job keep giving me this error which I'm not understanding:

"Error 3220, Syntax error in instruction data(J:PALLET_1 L:0001) [58]"

Here's the code of this specific job:

NOP

EI LEVEL= 1

SFTON P010 RF

MOVJ C00000 VJ=60.00

TIMER T=0.50

'APERTURA PINZA

TIMER T=0.50

MOVL C00001 V=1000.0 PL=0

SFTOF

DOUT OT#(7) OFF

DI LEVEL= 1

END

I don't understand how there's a syntax error in line 1.

Thank you in advance.

Hi, sorry for my late reply
this is the interrupt job:

NOP

GETS PX011 $PX006

CNVRT PX011 PX011 BF TL#(3)

MOVJ P011 VJ=15.00

RET

END

Also I'm simulating manually the input to get the interrupt to work but the output that I assigned to verify that the interrupt is working isn't changing from OFF to ON.

It's weird because I've tried with the real robot and with motosim, and both times it worked like once or twice (at random moments, not even in sequence, without changing anything) and then no more

Hi,

I have a YRC1000 yaskawa controller.

I'm having trouble with my Interrupt job function: it worked a couple of times, but then it doesn't work anymore and it ignores the interrupt function.

Here's the code:

NOP

EI

SFTON P010 RF

MOVL V=6000 PL=0 UNTIL IN#(7)=ON

MOVL V=6000 PL=0

MOVL V=6000 PL=0

SFTOF

DOUT OT#(7) OFF

DI

END

Thank you in advance!