Local variables are job specific, they need to be reserved in the job header. Language level has to be set to EXPANDED for these to work and be able to be reserved.
Posts by roboprof
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Which controller?
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Let me see if I can find it. Give me a couple of days.
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Press CUSTOMER, then MORE, then choose your language level under LANG. Set to EXPANDED.
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Contact Yaskawa directly in order to do this.
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What version of motosim?
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In management mode, go into the job header and turn EDIT LOCK to ON. This will edit lock the job. STEP ONLY CHANGING to PROHIBIT under SETUP - TEACHING CONDITIONS will make sure that no editing can be done to the job.
Also note that in DX200, you can edit lock certain lines of code also....
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Dukel, unfortunately you're going to run into 2 issues:
1 - you're asking for proprietary info from Yaskawa (as Robodoc has clearly stated)
2 - even if the info wasn't proprietary, MRC components date back to the mid-1990's and support for MRC is minimal. MRC manuals aren't even listed anymore on the Motoman website. So finding drawings and other documentation will be extremely hard to do.I'm sorry I don't have better news for you....
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On DX100 and DX200, there is an option under SETUP - FUNCTION ENABLE in Management mode where you can choose ALL AXES ANGLE DISP function to be VALID. If you do so, when you go to ROBOT - CURRENT POSITION, you can go to DISPLAY and change from PULSE to one of two type of angles to look at.
You don't need to pay for this option, it's accessible as long as you are in Management mode.
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When they change out the L axis motor or speed reducer, they need to recalibrate or remaster the axis (redefine the mechanical home for that axis - define the 0 position). If they lined up the axis incorrectly before recalibrating, that could cause the issue.
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Is it possible that the calibration of the L axis is off? If mechanical 0 for L axis is wrong, it will skew all your other coordinate systems like RECT, TOOL and USER.... something to check....
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It can help to avoid singularity. You tend to get more singularity issues in XYZ then in pulse.
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On a Yaskawa Motoman, the default positioning of the robot is in pulse counts. Mechanical or kinematic home is when each axis is at 0 pulses for each axis. You can program P variables in either pulse or XYZ, the choice is up to you. But by default, all command positions are in pulse counts. Does that make a little more sense?
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Looks like a system message or user message to me. Something in the ladder may have triggered this system message or user message. You may want to go into the password protected area of the MRC (cust - more -ORG) and check user messages and system messages.
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Contact your local Yaskawa representative to get new batteries and then have them come in and re-initalize the robot.
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There's a couple of options....
It could have been password protection option, where each user has to log on with their own username and password.
It could have also just been as simple as edit locking a job in management mode, and setting STEP ONLY CHANGING to VALID so that only the positions could be modified.
Any of these seem familiar?
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Exactly. Most people use weave files but you do have a choice
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You can use
WVON WEV#(1) OR
WVON AMP= FREQ= ANGL=both are available when you choose the WVON command under INFORM LIST, DEVICE. Go to detail edit (select twice) to choose the method you prefer
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I had to teach a refresher course on both ERC and MRC last week! ERC was from 1991, MRC was from 1996. I was glad to hear that the customer had bought a spare ERC robot and controller from another customer close-by, at least they will have spare parts for a while!