Hi , if you want to latch an input , then use the concurrent IO , this is motoman's name for the internal PLC .
Just make sure you also write a good "reset " function , latching pulse commands can be very dangerous , that's why they were pulsed to start with.
Typical example is "ready signal" from an injection moulder & machining Center , these signals are pulsed for keeping machines synchronised ie. Robot arm sync' with jaws or side one or two.
Posts by Pcarbines
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Check the encoder cables screen , if the earth screen is compromised , encoder errors can follow.
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Hi,
I believe Robodoc was simply pointing out that some PCB components are proprietry devices & only manufactured for Yaskawa and Only available To Yaskawa. Ie. Not procurable through normal wholesale outlets.
Example- Yaskawa servo motors are manufactured "for " different companies world wide and unavailable even from Yaskawa , Some Italian woodworking machines spring to mind.
However, there is no "violation incurred " if you wish to repair "your own" equipment , provided you aren't endangering a current warranty , you can do as you please.
Also -I believe he is pointing out that if you are not using dedicated IO on , ie, CN 308 you can readdress the Concurrent IO to another output drive. -
Hi ,
as far as I'm aware they discribe the type & version , ie . Encoder & motor with plug or cable and year of manufacture.
In most cases Viper is correct , they can be treated as direct replacement if plugs or cables are the same . -
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Hi , I'm not very familiar with the DX"200" , however, lookup Independant/ Coordinated control function manual ,
This discusses Control Groups and their functions, if you are after a synchronised movement between the station and robot , ie. welding speeds between robot and station ,(you can have the station as Master & robot as Slave) you need to understand this Control Group option.
With the XRC , NX100 , DX100 you would need to enable FD parameter "paid for " Options.
The Motoman Webb site has the "support " manuals that you can download , the DX200 has a dongle I understand (I avoid them) so Motoman agent will probibly need to be involved with the "200".
Hope this helps & is not going over known ground. -
Hi ,
If you don't know how to use the CIO ladder and want something cheap and fast (less than 5mins) connect a diode ( typically IN 4001) on each line and connect to the same input , connect diodes direction for
the controllers ,
PNP ( Euro standard) ,
NPN ( Japanese , North American standard) -
Hi , you will need to be a little more specific ,
Ie. what are you trying to do and under what circumstances? -
Hi Tony,
I posted similar request 24 Aug.2014 under "General Discussion"
Yet to Hear anything definite.
I'm having hard job getting Past the Sales Hype & unmentioned costs.
Age dos'not always nurture Wisdom but Cynicism I can Vouch for. -
Hi ,
several approaches to this - but recommend you split into 16 x three sections(1x set) , pickup - place - drop off.
I Assume the same end effector can be used on all 16 parts .
**Basic - write one set & copy & modify for all programs , sometimes simple is faster.(but your looking for alternative )
**"P" variables - write 1x set that looks to be the average for all 16x sets.
Find the difference ( X,Y,Z) and create a "P "variable for each of the 16x pickup programs , "Call " SHFTON P # , for each of the parts .
I would try this "pickup" section first to make sure your gripper (end effector) and parts will allow this method to be used.
So you will have one "pickup job" calling up 15x "P" XYZ variables ' each selected by the part being processed.
Note.1. The first & last positions of the jobs are not shifted , this allows smooth transition to "Jump" or "Call" between the second and third job sections.
Note.2. Palletising example - has "pickup" section unchanged , however, "place" uses "P" variable combinations to complete pallet .
You will need the MRC Operators manual & see section 9.76 "User Variables". Manuals vary.
Note.3. All theses selections to be controlled through a "master job".
No doubt others have their own ways to approach this , as I said there are several methods . -
Hi , These are the manufacturers manual numbers ,
DX100 Instructions .
CTO - A215 : Asia section 11.2
CTO - A216.1. : Euro. Section 11.2
CTO - A217.1 : USA Section 12.2
If your still having grief PM me. -
Hi , if it's been initialised as a "general Purpose " this simply removes any dedicated I/O . Otherwise it's simply teaching ( using the Teach Pendant) it what ever you require it to do , and name the jobs accordingly.
If you are more explicit with your post we can be more explicit with the response .
Hope this helps . -
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Hi , section 11 of the Standard DX100 "Instructions manual" , this manual is supplied , on disc. As well as printed paper in most countries.
Not to be confused with the Arm Model "Instructions manual".
If you haven't got it , Send me a PM with your email address and I'll fwd it to you or go to the Motoman Web site, "Support > Documentation" And download it . -
Hi , display "P" variables ,select a file number (?), select its co- ordinate system .ie. Robot. , select " Z" line and write in +/- 200mm ,
In your Job insert SHFTON P(?) [ only the Z will be shifted not the X or Y or tool posture]
This is a temporary shift and is cancelled with SHFTOFF.
If you require a permanent shift use the "Parallel Shift " , later models have this option , ie. it is not in MRC .
These Shifts instructions are explained in the Motoman manuals but not as well as they could be. -
Hi ,
I'm unaware of any method in XRC to setup the language , other than being in "Maintenance Mode " & Yaskawa code > system > setup > language ( you can then setup 1 language & 2 language)
That also means that the Multiple languages are installed in XRC , which is not Always the case.
Too toggle between the two languages 1 or 2 ( I've forgotten ) I'm sure some one will post it. -
Hi Andrew, not completely familiar with MRC 11 , however,
Is the main Contactor closing and then immediately opening ?. If so I woulld suggest you take this Contactor out , strip , clean AUX contacts with paper ( don't use abrasive emery paper or such) , and reassemble . Try the easiest things first.
These types of alarms are usually associated with the power being put too the servopacs. -
Hi , the only thing I can think of is you might have newer software version , if so , change "L" axis to make it vertical . This is now a days the more conventional origin posture .
EXCUSE me for not reading your last post correctly ,
The posture you posted "IS " the one shown for you in the attachment from page 10's information. -
Hi , see past forum page 10 - post K6SB , April 12 2014.
Attachment shows Arms - origin/ home positions .
Without arrows , just do your best. -
Hi see attached files,
there are basically three weaving conditions , see page 9-2
the single Oscillation is the simplest and shouldn't require you to teach Reference Points.
The Triangle and L-type require you to teach Reference points.
*Remember that these files are overlaid on existing taught welding path/points (F > G)
*Always start your welding before you start your weaving, ie. Arcon before Wvon.
* Typical Fwd welding speed is 60cm/min (2xft/m) however, typical Fwd welding
speed "with weaving" is 30>35 cm/min (1xft/min).
*Typical Frequency for Single Oscillation weaving is 2>2.5 Hz (A> B> C> D) using amplitude of 3>4 mm.
this gives you a weld width of 6>8+mm.
*Remember that when the weaving path is at right angles (ie.robot moving from A>B) to the taught path this "welding speed must be taken
into account ", otherwise you will have bad welds.
*Its always a good idea to set your weaving characteristics up without welding ie . in check mode. before using the welder.