you could have a try with the Linear servofloat option.
Posts by Gamma
-
-
MUL B001 256Byte variables are 0..255, you will just get an overflow
regards
-
And it helps to avoid strange behaviour of R/B axes.
With XYZ coords those axes may be "swapped" over.
The coords are still the same, but the robot orientation is wrong then. -
Hello Yasir,
there is an (of course-paid) option called SERVOFLOAT.Thats what you need.
regards Gamma -
Yes indeed that would be my "workaround":
example:
Modbus value 2000 sent to robot.
robot subtracts 1000, makes 1000Modbus value 0 sent to robot.
robot subtracts 1000, makes -1000simple, isn't it?
regards -
Hi Paolo,
why don't you just offset the data values:robot value = (received modbus value) - constant
greetings
-
I would do this using 3 inputs.
Signal 1 connects to IN1,
Signal 2 connects to IN2,
Both signals are connected to IN3 via 2 simple 1N4007 diodes, making a wired or.but this solution is possibly to simple, is it?
-
Hello perkwes,
I did program an FS100 some month's ago.
The integration is quite similar to an DX100.
We set up some discrete IO's and an Profibus Interface.
Not much differences to DX100.
Some minor handling issues, the TP does not automatically connect to the robot system,
the ugly slow data tranfer from/to USB has changed to a very smooth and fast operation
now.
And it's nearly as small as an NXC100. Nice feature methink- compared to an NX100 full sized cabinet.
The documentation of the features are as usual: very poor, motoman keeps this "standard" as well.
No infos about enhanced job cycle time... -but it was enhanced I believe.
I like using motoman robots since they are very reliable,
if I could get some more detailed documentation I would even love them.
greetings form Gamma! -
Hello RoboGuru,
there is no response expected at this point.Here's a docu snippet :
"Since the Ethernet server function uses the TCP port 80, it can be checked by the telnet command
from the host computer whether the Ethernet server function operates normally.
In the Windows2000/XP, the command prompt can be started up to check the connection as
follows:
1. Enter "telnet IP address 80".
2. The display switches to the window for telnet.
3. Enter "CONNECT Robot_access" (At normal settings, an echo is not returned).
4. Enter "HOSTCTRL_REQUEST RSTATS 0".
5. The check is completed when the response to command/answer is displayed.
C:\>telnet 192.168.255.1 80
HOSTCTRL_REQUEST RSTATS 0
HOSTCTRL_REQUEST RSTATS 0
OK: RSTATS
194,0"greetings from Gamma
-
Hi Passaka,
...
JUMP *NOSET IF B002<>0
JUMP *NOSET IF B003<>1
SET B001=1
*NOSET
...would be a possible solution
greetings -
Hi PC,
what about using an Interference Cube ?define a very small Cube around your target position. lets say cube #2.
Of course not defined with command position, you gotta use feedback position.then:
NOP
...
MOVL
TIMER T=0.2
DIN B010 SOUT#(58)
JUMP *POSOK IF B010<>0
RET
*POSOK
PULSE OT#(2) T=0.500
ENDgreetings Gamma
-
Hello Somar,
I've got no problem to pay for something of worth.
But I was really angry after paying about 800 € for the JobEditor NX.
This piece of rudimentary "software" could be reasonably charged at about 8 €.
Don't get me wrong- I'm really satisfied by the Robots of Motoman, but the
lack of transpareny and documentation is still evident and annoying.
Only the fact that nearly all competitors behave alike supports this bad habit.
Whats really missing is the possibility to get an documentation /crossref of the programming.
Perhaps they did a "better" kind of security on the DX200, but did they enhance their very stupid
text parsers even a little, too???cheers Gamma
-
Hello MPL,
afaik this is only possible using an offline editor.cheers Gamma
-
Hello Potis, Hello RoboGuru,
I'm really astonished about the little feedback on this very promising invitation.potis, you didn't comment my thoughts, but I'd like to do so:
1) would be nice, but this is already possible right now:
define a cartesian point, do some MULMAT ops to calculate XX and XY point too
and use MFRAME operation. Not very convenient of course, but working.
2) Position search is possible by using the "PAYED" Servofloat option.
Question to me: Are they selling Robots or options???
3) CPU latency: On my 1st motoman training (NX100) there were roumors of a 300mS latency
on JBI processing. It's a shame that there is no documentation at all on this. NO specs even on
DX100 / FS100. Thats POOR!
4) Never run on that, maybe it's a feature I never used right now.
5) Meets my post, the so called "orientation" is not really reflected internally.
This is a general problem, not only on palletizing.Thanx to RoboGuru,
regards to Potis,
Gammanever stop thinkin'
-
Hello RoboGuru,
here are my 1st thoughts:
1) Crossreference, in which jobs is a variable used.
2) A really working TCP/IP communication, the current implementation
is not only ugly, but very instable too.
3) A better position handling. When moving to an cartesian posvar currently some
axis angle may be changed arbitrarily.
4) Up to date and better documentation - despite this is not within controller - but this
is really an issue to me.My other hundreds of wishes will follow soon...
Gamma -
Hello all,
here's an update.
My tests with an NXC100 resulted in: rotate then shift.
Same calculation done on an DX100 shows : shift then rotate.
Perhaps there are parameters to influence the calculation order...regards,
Gamma -
Hello jejbr84,
that's not correct.
I tested it today and the MULMAT works
as described.
But since the rotation is calced 1st, the offset must be put in P3[2]
and not in P3[1].best regards
Gamma -
Hello friends,
I'm reading this forum for some years and it's really interesting.
Here is my problem:(System: DX, degrees are scaled different from NX)
Lets assume we've got a Rectangular Posvar in Robot coordinates,called P1.
We want to get a Posvar P2 which is offsetted and shifted in Tool Coords.
So we introduce a Posvar P3 which is defined in Tool Coords.If P3 [1]= 50000 and P3[6]=900000
(offset 50mm and angle turned by 90 degrees)MULMAT P2 P1 P3
Is the offset or the turn calculation done first?
Due to Denavit-Hartenberg rules the offset should be applied 1st and then the
rotation, but since we're talking about yaskawa I'm not really sure on this...greetings from Gamma!
-
I believe the servo-float function could solve your problem.
But -as usual- it's an option you must pay for.
greetings