Posts by arigatomrroboto

I'm on a YRC1000. I'm looking to lock down the whole system until a password is entered. No play, teach or run until the password is input. Ideally, as soon as the controller is powered on the user is prompted for a password. The user cannot access anything until the password is entered.

Sorry for bumping an old thread, but I am looking to password lock the pendant (and controller in general) upon power up, and not allow any operation in any mode until the correct password has been entered. Would the method above allow for this to occur?

Quote from darth0

Ok so after testing the weave operation i found out that it doesnt smash into the workpiece even if i program the actual seam when the weave pattern is set to TRIANGLE ( I didnt need to take the horizontal/vertical weave distances into account).

Just FYI, if I'm not mistaken, ComArc can only be used with a Single weave.

To use ComArc, you will have to use a weave, as ComArc tracks the seam by monitoring the current/voltage as the weave traverses across the seam. You will program your weld line as usual, and add in the weave command. The max peak travel away from your seam is defined by the amplitude of your weave setting. Think of weaving as a sine wave traveling back and forth along your weld seam.

You will first have to "Teach" ComArc the seam you're looking to track. It's a detailed process, I'm not sure if it's included in the manual you're referencing. Generally done using larger than production welds using the same material, makes it easier for ComArc to learn.

The reference point is used for telling the robot the direction to search for Touch sense, I can't remember if it is also used for ComArc.

For multi program tasks that are synchronized but not coordinated, you can use the PSTART SUB "X" and PWAIT commands to run to robot programs in parallel, along with TSYNC commands (PWAIT will not advance the master program until all of the parallel jobs have been completed, TSYNC is a command that will hold a control group until the respective TSYNC has been reached in another job). For coordinated moves between robots or an external axis, you'll use the SMOV command, but you'll have to set up your jobs such that one is a master and one a slave (this is traditionally used with a robot and an external axis. You will also have to calibrate the master and slave device). Additionally, when setting up your master job, you'll want to make it a "non-grouped" job. Nested jobs can only take on control of the control groups of the parent job.

There is a Yaskawa manual called "Standard Jobs and Opportunity Programming" that I think would be of great benefit to your situation for master job structure. There are additional manuals that cover coordinated motion as well as various commands. They are all free on Yaskawa's website.

Thank you both for your replies!

Robodoc, I was worried that this might be the case. I suppose I'll just map out and populate the common alarms an operator might see (no gas flow, wire stick, etc.) For everything else it will be a "go look at the pendant" situation, which isn't ideal but is better than nothing.

95devils, you're correct! M640 is the for the 16 bit alarm register that will show the current alarm code, however, to tie in with what Robodoc said, it doesn't look like I'll be able to send the alarm code along with the alarm message (not the description, just the title of the alarm) to the PLC without populating a bunch of messages on the PLC for all the possible alarm codes from the controller.

On the page for your external axis position register (EX000 or whatever number you're using), you can select where it says "Pulse" and change it to "Angle". It will ask you to clear the data first. Make sure you have the axis you wish to modify selected before hand. The angle is absolute, I believe 0 degrees is parallel to the ground.

I'm currently integrating a Yaskawa cell (YRC1000 controllers) with an AB controller with HMI for fixture control. I am looking to send robot alarm information to the PLC/HMI for an operator to easily identify what the issue is without having to look/touch the pendant. I've found some information from Yaskawa regarding discrete messaging but appears that this is not possible to use if FSU Ethernet Safety is being used, and it appears our cell is using this. PLC and YRC are connected via Ethernet/IP. I am hoping to send full alarm messages to the HMI/PLC.

Any advice or resources is appreciated!

You could use if/then statements and jump/labels for the various cases along with position variables for various +/- positions. Or you could set up a position variable and modify the Z component based on the different cases. Yaskawa provides free manuals on their website that dive deep and would be a great resource if you're just starting out.

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Echoing Spdjack, this was several years ago but I seem to remember we also had a similar issue with our Robacta drive and TPSi400, I believe the culprit was the wire shorting during feeding. As long as the short was present, it would retract slightly after feeding, and sometimes retract when the feed was pressed.

Thank you all for the suggestions. It appears we do not have PMT or Relative Job options installed. I have opted to stay with the original torch length in part due to this and also since there is not a drastic difference in torch access between the two.

Hi all,

Fairly new to Yaskawa robots. Recently changed the torches to a longer style torch on our cell and was looking for a way to touch up previously taught points without actually having to jog through all the programs and touch up each point. I'm guessing there is not a blanket option for this, but wanted to check here first.

Thanks