You will find it in MANAGEMENT mode under the PARAMETER icon.
Posts by roboprof
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Which version Komatsu robot? KXRC is extremely similar to Yaskawa Motoman XRC robot, Yaskawa developed it specifically for Komatsu. Not sure about the other ones though.
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Job Interrupt is a purchasable software option. Contact your local Yaskawa representative.
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Usually $PX stores position of the robot, $EX stores position of the external axis, and $BP stores position of the base axis. So... I would check to see if they would be stored in $EX011, $EX012 and $EX013. I've never seen documentation for this, but that would be my logical guess. I'll let you know if I find anything that confirms this.
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Did you set up the tool weight in the tool file? You will need to do so for your accel/decel ratios to be correct.
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With the message "Check position", you need to drive the robot to SPECIFIED POINT and do a confirmation.
Make sure you are in TEACH
press CUSTOMER
press SPEC PT (I think it's F3)
press F1 for PSN CHG
turn the servo power on and hold down the FWD key
once the robot is at SPEC PT and the different column is all zeroes, press CHECK (F4)It should now give you a message HOME POSITION CHECKED. You can then press QUIT (F5) to leave the screen, and you should then be able to fully operate your robot in PLAY.
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You may be able to arrange a "trial" version of Motosim EG or Motosim EG/VRC through your local Yaskawa Motoman sales representative. Please contact them to see if it can be arranged. The new Motosim EG/VRC 2015 version is much more powerful than previous versions with newer options such as operation handles, the option of connecting directly to a controller via Ethernet IP and the option of loading a CMOS.BIN file and creating a cell directly from that file. Please contact your local Yaskawa Motoman office for more details.
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The SETUP - SET SPEED will only change your default 8 speed choices when you use SHIFT and up arrow or down arrow to change to one of your default 8 speeds. Your best VJ speed will be 100% and will be attained only when you have the correct TCP and tool weight.
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Here is the global contact list for Yaskawa Motoman:
http://www.motoman.com/about/global-motoman-locations.php
I'm not sure if there is a local distributor in the UAE.
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Go to TOP MENU - SYSTEM INFO - VERSION. Check the system and boot software on the WRCA card. It will be listed at the bottom.
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Yaskawa has FSU (Functional Safety Unit) as an option on their newer controllers. FSU for DX200 is very similar to DCS, many customers have told me.
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To see your cycle time on DX100 for the job that you are running, in the job choose
DISPLAY
CYCLE TIMEand it should show up at the bottom.
You can use the ladder if you want to do counters and timers using M registers.
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It sounds like the RC parameters have been scrambled. You will need to go into MAINTENANCE MODE and reinitialize these parameters.
I may be wrong, but I do not think that these Yaskawa parameters are accessible other than in Yaskawa mode. If that's the case, you will need to contact your local Yaskawa representative to come in and initialize them. You can then load in your backups.
Best of luck to you!
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Try using $PX001 on your GETS command instead of $PX002 and see if that improves anything. It gives you current position in XYZ - base frame.
T is the time delay once it touches.
DIS is the overtravel distance that it is allowed to go past the expected touch point. -
Nope. The robot will need to be re-initialized. Contact your local Yaskawa representative.
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Are you talking about a relative move of a certain direction and distance?
If so
1) set up the Position variable with the direction, distance (mm)
2) use the IMOV command
for example
IMOV P020 V=200 UF#1
which would move the robot the relative direction and distance, relative to UF#1, at a velocity of 200If not, could you please explain what you are trying to do? Thanks!
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They should be there in Management mode only. And only if the cells have the CONCURRENT job function. They should be in the same location.
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9127 is a user alarm. I would double-check that your collision detect is set to VALID.
MAIN MENU - ROBOT - SHOCK SENSOR LEVEL
cursor to INVALID, then press SELECT to change to VALIDSee if that fixes the issue.
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I'm not sure what controller you are using, but a couple of notes:
1) on DX100 and DX200, angular display is available. In Management mode, go to SETUP and choose FUNCTION ENABLE. Set ALL AXES ANGLE DISPLAY FUNCTION to Valid. When you look at the current position, you can now go to DISPLAY and choose PULSE, or two other angle options.
2) If you have a position variable that you want to convert frame on, try using the convert command:
CNVRT PX100 PX010 TF
Will convert P010 from it's current frame over to P100 in Tool Frame.