Posts by roboprof

Would you be better using the Internal Shock Sensor (files 1 - 7) to do this? That way you can specify the current/torque for the axis in question and then activate it using SHKSET SSL command and then deactivate it using SHKRST?

Just a thought....

Sorry I'm not going to be much help. I know absolutely nothing about that welder.

It would help if we knew which type of welder you were using and how it's communicating (Ethernet or Discrete I/O)

The wiring harness starts at the base of the robot and extends to each axis. There is either 1 harness or 2 harnesses (upper and lower) depending on the robot arm. The whole harness or harnesses have to be changed. It can take between 4 and 8 hours to do. I would recommend having a Yaskawa service technician come in to do it if you aren't sure what you are doing.

example for stitch welds:

MOVJ (weld start point)

FOR I000=1 TO 5

ARCON ASF#1

IMOV P020 V=26

ARCOF ASF#1

IMOV P021 V=26

NEXT I000

- program P020 for weld direction and distance

- program P021 for weld gap between stitches

Don't use JOBPAD or SimplePP until you are used to using the regular virtual pendant (VPP). If you are not familiar with Yaskawa robots and robot programming, you may want to consider taking a Basic Programming course. The VPP is almost identical to the real pendant on the real robot, with a couple of extra options like SYNC.

The external 24V attaches to the NIF01 card. If the external power supply for I/O is used, perform the following:
1. On the NIF01 board, remove the jumper wire connected between CN12-1 to -3 and
CN12-2 to -4.
2. Connect +24V of the external power supply to CN12-1 and 0V to CN12-2 of the
NIF01 board.

Hope this helps!

Explain in greater detail what you are trying to do please.

The EOAT gets added to the _flange under the robot. Open up the robot in the CAD tree and you will see it.

Check to see if you are in a singularity where U axis and B axis are co-linear (parallel). If so, you may need to modify the position of the B axis to avoid the singularity.

Purchase an XRC programming pendant with pendant cable. This is an older robot (released in 1998). It is supported by Motosim EG offline software (it is too old to be supported by Motosim EG-VRC) but you will probably need the programming pendant for modifications.

which touch sensing macro are you using?

3.6 volt Toshiba Lithium batteries. You can buy directly from Yaskawa.

COMARC is based on weaving frequency. You have to set up the PC data and sensing conditions based on the frequency you will be using in your weave in order for the data to be correct. Failure to do so can cause great difficulty

COMARC manual

https://www.motoman.com/getmedia/8a439cb6-a9ec-437c-8750-1e3d98d4ecd1/150602-1.pdf.aspx?ext=.pdf

MULTILAYER manual

https://www.motoman.com/getmedia/ABEFF18A-EC92-4A9E-9340-074DCD7A586F/152605-1.pdf.aspx?ext=.pdf

These should help you out.

Motosim creates the JBI file just the way you would with the real robot. All you need to do is save it, transfer it to a PCMCIA card and then load it into the robot.

when you go to a P variable, you can give it a name in the top right hand corner.

when you go to the asterisks, you can press SELECT and change it to PULSE, BASE, ROBOT, TOOL. If your robot is fixed, choose ROBOT. If your robot is on a rail, choose BASE.

Motosim EG-VRC is the Yaskawa software to do offline programming with NX100, DX100, DX200 and YRC1000. There are other third party softwares available such as Octopuz or Delfoi but I'm not sure if they support the older NX100. You would also have to check pricing with them.

NX100 supports Position variables in Pulse, Base, Robot, Tool. Have you tried pressing SELECT on the frame type to change them?

The only option to convert positions (not P variables) from Pulse to XYZ or vice-versa is relative job. It's a software option. You don't have this software option enabled on your robot. You would need to purchase this option.

Depending on how old your robot is (anywhere between 16 and 22 years old), this may or may not be a good option.

You can also discuss with your Yaskawa representative the cost of Motosim EG-VRC. NX100 is the oldest controller supported on this software.

They are job specific.

They are only available in EXPANDED language (SETUP - TEACHING CONDITIONS - LANGUAGE LEVEL)

They have to be reserved in the job header

When you CALL, START or PSTART a job, the local variable gets initialized to 0. So they are good for temporary functions like touch sensing or vision.

Hope that helps get you started.

You don't need relative job to use PMT. Just do the PMT conversion and then it will ask you to do the conversion of single job or all jobs.

NX100 firmware does not support IFTHEN. You will need to use JUMP IF or CALL IF or PAUSE IF instead.