When I attempt to create the R1+S1:S1 group I get an ERROR 0520 message
Posts by mlauer
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95devils,
When I use the CAM tool, there is no R1+S1:S1 control group to select from the Group Set drop down.I created a control group for R1+S1 by going to setup->GRP Combination, but I can't seem to create one for R1+S1:S1.
Do you know how I could do that?
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I am using the CAM function to create coordinated moves using a Robot (R1) and a 2 axis positioner (S1).
The moves that get generated are all SMOVL after the first MOVL
When I hit the "Create Job" button it says that it can't load the third line, which is the first SMOVL.
I can manually change the move to a regular MOVL and it works, but this is very tedious because I will have several hundred points, maybe thousands.
Something that may be related:
When I click the SMOV button on the pendant, nothing happens. I can't seem to enter SMOV manually at all.
There might be some issue with my configuration in general.
In the image below, you can see the path that has been generated, the partially generated job, and the error message complaining about line 3.
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This post from 9 years ago got me going if you want a little more discussion on the topic.
ThreadNested SFTON on DX100
I am fairly new to programming Motoman robots and I need some information regarding the SFTON instruction. I am working offline on a de-palletizing application using a vision system and would like to know if I can use nested SFTON instructions in the same frame (example below). I am wanting the cumulative affect. Would I need two SFTOF instructions to cancel all the shifts or two? Please help
SFTON P010 UF#(1)
MOVL P000 V=200.0 PL=0
SFTON P011 UF#(1)
MOVL P001 V=200…jeparaNovember 5, 2014 at 4:40 AM -
To anyone who finds this later with a similar question:
I resolved this by applying two separate shifts.You can only have one shift per frame, but if your desired shifts are in different frames, they can stack without incident.
First I applied my tool frame shift
SFTON P000 TFThen my shift from my camera in the robot frame
SFTON P001 BF
From there I can apply future camera based shifts with commands like
SFTON PXXX BF
which will overwrite the previous 'BF' shifts, but not the first 'TF' shift
Not quite what I was asking for, but sufficient (and maybe easier too).
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I am using an arm controlled by a YRC1000 with a Servo Robot iCube as a seam finding camera.
The issue I have is that I want to define my weld paths in terms of the Tool Frame, but the seam finding camera only gives feedback in the Base Frame coordinate system.
How can I convert a point between the two. I have tried using the CNVRT function, but this doesn't seem to apply the correct rotations to hit the right position.
In an ideal world I would do something like this:
Get feedback in P001 via an inspect command
CNVRT P001 P001 TF
ADD P001 P000 (P000 is the offset between the camera and the tool in the Tool Frame)
SFTON P001
Then do my other moves