Cross check to see if Y1258 is assigned elsewhere
Posts by bsrr
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Check the Signal range assigned for the Fieldbus Channel through Constant Setting-> Signals->Hardware settings.
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In my experience, the Territory definition tends to increase cycle times. I would program with an Output set and latch an input while inside the territory and reset it as it leaves the region. The second robot will check the Input before entering the area.
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Code
Display MoreUSE 1 DIM Position[2] As POSITION MOVEX A=1,AC=0,SM=0,M1J,P,P*,R=20.0,H=1,MS INH GETPOS 0,1,Position[1],1,1 OPEPOS 0,Position[1],V1!,0,0 V3! = V3!+500 OPEPOS 0,Position[1],V1!,0,1 POS2POSE 0,Position[1],1,1,P1 MOVEX A=1,AC=0,SM=0,M1J,L,P1,R=50.0,H=1,MS END
Above ASCII code need to be compiled
MOVEX and Pose file details are available in the Robot Language Manual.
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Change the value to 1 hr or so for “Consumption time until present” in
Service->Robot Diagnosis->Overhaul time->Overhaul preset
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Example to Home the robot as below
CodeDIM Position[2] As POSITION 'FN801-DEFINE Variable Position MOVEX A=1,AC=0,SM=0,M1J,P,P*,R=20.0,H=2,MS 'Move to Current position GETPOS 0,1,Position[1],0,1 ' USE FN 822 -Get Current Machine cordinate position OPEPOS 0,Position[1],V1!,0,0' USE FN 826- Extract X,Y,Z,Roll,pitch,yaw into real variables V1 to V6
Current position of (Z) available in V3!.You can then use IF statements to compare V3! and then MOVE robot safely to Home
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1. By Using “External Reset”-Input, the Program pointer moves to Step 0 of the current program.
2. At Step 1 of the Current program, Use FN81 to Call Homing Program
3. Once Robot is Homed then Jump to Main loop-P100
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You could use
FN 531-"INT2OSIG"-Convert integer to O-Signal
"GETSIGB"- Input Functions available in Robot Language
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Try below sequence
1. External HOLD – ON
2. External Motors –ON
3. Program Sel bits ON
4. Ext Play start-ON
5. Program Strobe –On
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I reckon M29 has to be as below
M29[I1,1,0,0,0].
Make sure robot is in PLAYBACK,One cycle mode and "Search basis Write is ON" .While executing [0,0,0] will be replaced with Machine coordinates X,Y,Z with Robot Input Interrupt .
Once you X,Y,Z Values are written then change setting for " Search basis write to OFF"
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Search Function has to be written along with Robot Interrupt ,See below example with "Search ON" and "Search OFF"
Playback with Search range "ON"
MOVEX (N)
SEA 1,0,R1
MOVEX (N+1)
RINT I1,1,0,0,0 -(X,Y,Z,VALUES WRITTEN DURING SEARCH )
MOVEX (N+2)- Initial Part detected
SEA 0,0,R1
MOVEX (N+3)
MOVEX (N+4)
END
Playback with Search range "OFF"
MOVEX (N)
SEA 1,0,R1
MOVEX (N+1)
RINT I1,1,0,0,0 - (X,Y,Z values from previous operation )
MOVEX (N+2)- ACTUAL part detected
SEA 0,0,R1
SHIFTR 1,0,R1,1000 ( shift start as per REGISTER values)
MOVEX (N+3)
MOVEX (N+4)
SHIFTR 0,0,R1,1000 (shift end )
END
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See below link to AR controller Encoder reset .AW controller should be similar
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SYSTEM!(1) -Returns value of Conveyor 1 register
CNVSETM: Designated Output Signal is switched On or Off and conveyor value is stored in Global variable
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Manual Details for
CNVSETM - Conveyor Tracking (TFDEN -050)
SYSTEM! (i) - Robot Language (TFDEN - 012)
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Nachi have Adaptive Motion FN 364
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Not sure how workzone is defined .
FD11 controller have Territory definition.This is available Constant setting->Territory Definition-> Territory field.Will have to define area with box or sphere
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Procedure to convert Robot program (Executable) to Robot Language (Source) as below
SERVICEàPROGRAM CONVERSIONàLANGUAGEàConversion Type(SourceßExe),Output Language(MOVEX-J) (If Conversion is to be in Joint Angles) àWORK Folder, Program Subfolderà Select Program Number which you need to Convert to ASCII file and Destination , EXECUTE.
Format for ASCII file (Source), readable in notepad is **Robot Mechanism -“A”-Prog.No **
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1. Align axis to Zeroing Pin location and carry out encoder correction.
2. If you still have issue with program , then this could be due to program positions created after encoder correction done at random location and not zeroing pin location.
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Programs can be reverse compiled in the controller
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Programs written in Notepad ,etc need to be compiled to make it executable