Posts by mihail.tudoran

Hi,

I have a HC10-00A that has the following errors:

ALARM 9126

TRQ SENSOR RECEIVING ERROR

[0011_1111_0000_0000]

on both CPU1 and CPU2

I couldn't manage to reset or clear this alarm, what I checked:

- cable from robot to YRC1000, seems to be good, checked every pin.

- fuses

- CN231, 232, 233, 234 from ASF04 board cables

Also the LD2 and LD0 leds from ASF04 board flashes and both ERR leds are red, the rest of the leds ( LD4, LD5, LD2, LD1 ) are off.

Any idea what might causing this ?

Thanks!

Hi,

I am just starting to understand how programming a YRC1000 controller work, I have a problem understanding why the robot slows down so much on some MOVJ even if VJ is set to 100.

I am trying to achieve maximum speed of each of the job steps.

For example in the video I linked to this post, the first steps are execute fast and then it slows down, I want to achieve the same speed as in the beginning of the job.

Here is a capture of Motosim: https://drive.google.com/file/d/10ISv2v…iew?usp=sharing

I am a totally new to robot programming

Thanks!!!

Salut,

Caut o persoana care ma poate ajuta sa programez un robot HC10 cu YRC1000, preferabil in Bucuresti.

Job-ul in sine este foarte simplu, ofer mai multe detalii la telefon.

Multumesc!

Thank you for this valuable info!

I intend to use the python moto library to set IO pins high/low in order to control certain actions, this is what I am thinking:

Have a master program that runs in a loop, in this loop have something like: IF IO <xxx> == 1 RUN JOB MYJOB1 and so on, and use those IO pins to trigger the jobs I want to run. Will this be the right way to do it ? As I said I am completely new to this but have a strong background in software development.

Also I don't know how can I stop a job and return to the main loop if the program I called didn't reach the end ( abort the job ).

Thanks!

Thanks for the info!

But what about triggering the program using IO pins, this should work right ?

Hi,

I am complete noob in terms of robot control staff and I would like to understand how can I control a HC10 / YRC1000 using ethernet, what I need to achieve:

I want to use the teach pendant to teach the robot a couple of programs and I would like to be able to start/stop/select a program using an API.

I have an external application that is able to perform a REST API callback when a cycle starts, I have to write my own middleware software that takes this call and

forwards it to the robot controller.

Currently I am search for the most easy method to achieve this using ethernet or maybe using relays to trigger I/O pins on the controller.

I found this: https://github.com/ra-mtp-ntnu/moto that I may use in order to communicate with the controller, but not sure if I need other software, modules or licenses.

Basically the task I want to perform is pretty simple: start a program that is already stored on the robot. But I don't know the easies way to achieve this.

Thanks!