With R1+S1+S2 configuration, you should have concurrent job option installed. If not you will need to call Yaskawa to enable.
Posts by tonygast
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I write a BG program to hard code them
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No call instruction...You can disguise them... and can be found in the inform list. That's about it
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Canned Motoman jobs from the NX class robots
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The way I think about a MACRO job is, It is a job used as an instruction. One that I have used frequently is a job called Handshake. In a cell that has multiple robots, I set the arguments for which robots are working in close proximity while allowing the others to continue.
I also use one called CLAMPS to fire outputs for clamps, the argument sets which clamps should be opened or closed.... -
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To expand on what Mr. Devils suggested, I teach a point to a punch mark on the robot base so the point is on the robot itself, along with a point on the fixture.
if you run an exercise program and the point on the base stays on, but the point on the fixture gets of... that would indicate that something outside of the manipulator itself is moving,
loose bolts etc.... -
Might be helpful... See Attachment
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I have now the ability to PSTART and PWAIT 8 SUBs. I seem to remember that this can be expanded to 16, but for can't remember where you expand the number of concurrent jobs....
DX200 Quad 2 welding 2 handling on 1 pendant -
In a dual controller, Both R1 and R2 use the same universal inputs and outputs.
Ether can turn on the same outputs or wait for the same input.
A dual controller is 2 robots on the same pendant -
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KUKA plays music..... You can judge what is real .....
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Maybe this is pertinent ....
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from the Inform manual.....
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Sounds like a software compatibility issue between controller and TP.
Might need to call Motoman..... -
Moving the I/O around requires remapping of the robot Ladder. you need to understand the mapping in the robot.
you can make the addressing anything you want -
The master XRC parameter list is confidential and proprietary to Motoman, as it contains Yaskawa only parameters.
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Something like this...As I don't know your distances or number of passes....I used just example data.... You can replace the jump and counter with a FOR
1:J P[1:Home] 100% FINE
2:J P[2:Moving to Start] 100% CNT100
3:L P[3:At Start point] 100mm/sec FINE *Your P1*
4: LBL[1:LOOP]
5: PR[1]=LPOS * stores the position in PR1*
6: PR[1,1]=(PR[1,1]+100)
7:L PR[1] 100mm/sec FINE *Your P2*
8:PR[1,2]=(PR[1,2]+10)
9:L PR[1] 100mm/sec FINE *Your P3*
10:PR[1,1]=(PR[1,1]-100)
11:L PR[1] 100mm/sec FINE *Your P4*
12:PR[1,2]=(PR[1,2]+10)
13:L PR[1] 100mm/sec FINE *Your P5*
14:R[1]=R[1]+1 *Counting the passes*
15:IF R[1]<3,JUMP LBL [1] * your needed passes example 3*
16:R[1]=0
17:J P[2:Moving to Start] 100% CNT100
18:J P[1:Home] 100% FINE -
Something like this
1:J P[1:Home] 100% FINE
2:J P[2:Moving to Start] 100% CNT100
3:L P[3:At Start point] 100mm/sec FINE
4: LBL[1:LOOP]
5: PR[1]=LPOS
6: PR[1,1]=(PR[1,1]+100)
7:L PR[1] 100mm/sec FINE
8:PR[1,2]=(PR[1,2]+10)
9:L PR[1] 100mm/sec FINE
10:PR[1,1]=(PR[1,1]-100)
11:L PR[1] 100mm/sec FINE
12:PR[1,2]=(PR[1,2]+10)
13:L PR[1] 100mm/sec FINE
14:R[1]=R[1]+1
15:IF R[1]<1,JUMP LBL [1]
16:R[1]=0
17:J P[2:Moving to Start] 100% CNT100
18:J P[1:Home] 100% FINE