Hello!
I am trying to connect a sensor to the robot to control the collaborative mode with it. But I cannot find a manual for it. Does anyone have a manual for it or can explain to me where and how I have to connect the sensor in order to controlthe collaborative mode with it?
Have a nice day!
So,
Whenever I use a Position Variable and change the value (teach it again), the value gets reset to the old value as soon as I save a Job.
Its super annoying, since it even occurrs when I clear the data of the position variable and the teach it.
Does anyone have a Fix?
Hello,
I want to test my Interrupt Job in Motosim, but to trigger the Interrupt, I need the rising Edge of an Input signal.
I tried the following:
1. Activating the SIM flag of the input --> Only lets me change the status of the input before I run the program --> no rising edge
2. Try a Model Script --> There I can only trigger the input in a specific line. I want to trigger it anytime for testing.
3. Connect an Output to the input an then using a key allocation to toggle the Output --> I cannot toggle it during Play mode, only in Teach mode.
SO I am out of ideas here. I have read that motosim has an integrated PLC. But I cant find any information on how this works.
Any ideas are welcome.
But can I move around Rz only? Now I just use increments, and with MOVJ I have to moce to a specific point, am I right?
Good Morning,
I want to realise the following behaviour: The robot shall rotate an object (turning around Rz) until a code was scanned and then put it down.
I tried the following approach: Just increment a position variable and move to it again and again in a loop.
*LOOP
GETE D000 P081 (6)
ADD D000 -10000
SETE P081 (6) D000
MOVJ P081 VJ=100.00
JUMP *LOOP
(Just imagine an If expression asking if the code was scanned additionally in the loop)
This does not look good at all, since the robot is always stopping before every move. Adding the Nwait Flag does not make it better.
Does anyone have a better approach? I was thinking about something like turning around Rz until the code was scanned but I really do not know how to realise it.
Thank you in advance
Hello,
I took the last SCan position (P070), than added a value to the z axis to place it down and then I taught the grip position and after this the position, where the robot should place the object. SO nothing special.
Gripper signals still missing
NOP
'set down
'Calc
SET P060 P070
GETE D000 P070 (3)
ADD D000 -200000
SETE P060 (3) D000
MOVJ P060 VJ=100.00
'Grip Pos (teach)
MOVJ P061 VJ=100.00
'Release Pos (teach)
MOVJ P062 VJ=100.00
RET
END
Hello,
I do not have much experience regarding robot programming and I do not really have someone to aks the question to. So please pardon me if it is a stupid question.
(Also, english is not my first language!)
So imagine I have a robot, that is supposed to scan a code on an object. For the scanning, it rotates around Rz until it found the code.
After this, this object is supposed to be placed somewhere else with the code facing a specific direction.
My idea: As soon as the scan is completed, I set the object down. Now, the code should be facing the scanner. Then the robot grabs the object again at a specific location (so that the grab position will always be the same and it does not matter how it was put down).
My problem is now, that obviously depending on where the "place position" was, the robot does some weird movement to the "grab position". At the moment, I am only trying this in the motosim simulation, so the robot sometimes just moves right throw the table where the object is located.
How can I fix this? I do not want the robot to collide with something.
Thanks for the answer.
So I will not be able to switch the Mode during a Job?
I thought about creating two different safety zones, but if it is not possible to switch the mode I have to think about connecting hardware.
Good morning,
I am new to robot programming and Yaskawa is giving me some difficulties.
I have a HC10 cobot. The idea is that it will work hybrid. It should do part of the work in non-collaborative mode and then once enters the area with workers, switch to collaborative mode.
I have now read in the documentation that the MS-OUT54 bit apparently enables and disables the collaborative mode. Only I have not been able to get this to work in the code. Setting with DOUT does not seem to work.
Can someone help me further?
