Posts by Motouser

Quote

Wich outputs are witches

If nobody touches your ladder the signals are programmed in that way:

EXTERNAL INPUT: 20010 - 20050

EXTERNAL OUTPUT: 30010 - 30050

The IO module(the green ones) are named CN306,CN307,CN308 and CN309(the flat cable connections). Depends on the settings some signal could be already setted to specific value.

For example, if your controller is setted for General Application and nobody have touched your ladder, the signal settings are:

CN308(don't touch): IN[2001-20023]; OUT[30010-30023], is used by yaskawa to specify play mode, home position, external start, etc..

CN309(free): IN[20030-30037]; OUT[30030-30037]

CN306(free): IN[20040-20047]; OUT[30040-30047]

CN307(free): IN[20050-20057]; OUT[30050-30057]

I recommend to you this part of the forum:

Thread

CIO for Beginners

There are a few different types of Inputs and Outputs in a Motoman... the easiest way I can explain it is like this:

Specific I/O - This is the bits you use for system related functions. ie. Specific inputs will turn on things such as servo power, set to play mode, etc... Specific outputs will give you the status of your robot. ie. In teach, in remote, etc...

Universal I/O - This is the I/O that you access from your robot jobs. For instance, in a program you would turn on a solenoid by using the…

smith_scott

September 15, 2010 at 3:09 AM

and this site for the manual:

Motoman Robot & Controller Manuals

You need the CIO manual and the YRC instructions manual.

Hi camaro-friend,

thanks a lot for your help it works great, you deserve a beer.

Think that I'm still waiting for an official answer: can I address motoman europe to you?

Hi Jarm,

I have a DX100 and the connection is on an Ethernet. Your settings are referred for a RS-232 connections.

I don't think that's my case.

Quote from potis

then you must also select the correct pseudo.

Hi Potis,

Thanks for your suggestions.

Are you referring to PSEUDO INPUT#82015? If yes, I have already activate it.

About the firewall, I can ping to the address correctly(no packet loss).

Hi guys,

is there someone that has ever worked with MotoDCI?

I complete the configurations and installation of the software(both PC side and DX100 side) but when I try to execute a LOADJ or a DELETEJ in a program, I get this error:

4104 WRONG EXECUTION OF LOAD INST [127]

THE manual states: "This protocol already used".

I check the RS parameter for the congifuration it looks ok for me, any idea?

MULMAT stands for multiplication matrix and that is.

It will affects everything both angle values and XYZ values. You can verify it with some test calculations.

Post

RE: What are the MULMAT and INVMAT for?

Most generally these are used when shifting a saved reference position using outside data.

I have 1 application where a robot moves locating pins during changeover. We use mulmat to get the XYZ coordinates of that move in a user frame

WattUp

December 9, 2019 at 2:16 PM

OK, i will check.

Thanks

Hi,

in the E02 I usually change the encoder battery according to an old thread following some advices from this forum, because I've also an external axis(sanyodenki motor) I always assuming the battery is also connected with this one or am I wrong?

I'm triyng to find some info the manual with no results. the only thing that I found is about a battery check.

P.S.

I'm also asking because in other robot firm this battery is separated from the battery pack and located in a complete different area.

Hi guys,

recently I met this error(4446) on a DX200, because I reach the number 32767 in a I var.

I'm curious if even the YRC controller series have this limit or not?

Thanks.

Quote

If I'm not wrong in every cycle of SYSTEM JOB LI003 starts with unknown value or 0. So I put in it 13 as start value in FOR expression. LI003 is used as position pointer in array of LD[LI003] it only informs where to put result from EXPRESS IG#(LI001) * 256 + IG#(LI002) - 16384

It's ok..in the previous post I see a LI003 instead of LD[LI003 ], I miss it.

At this point or your delay isn't enough(try a delay or a timer insider you for loop) or something change tha value of your INPUT GROUP(ig) WHILE the set instruction is executed.

Hi

Quote

The SYSTEM JOB can stop for no reason (my pov). The SYSTEM JOB stops in a line where is a SET statement inside the FOR loop with error code 4432.

You have alreday a reason: error 4432, that is an instruction interpreter error.

It also should have a subcode( one from 1 to 40) that wil show other details on your error.

Quote

FOR LI003 START= 13 TO 36 STEP= 1

SET LD[LI003] EXPRESS IG#(LI001) * 256 + IG#(LI002) - 16384

ADD LI001 2

ADD LI002 2

NEXT LI003

About this code?

You have a loop with a local var LI003 initialized to 13, but in your express you put the result of your expression exactly in LI003.

How a FOR cycle does work for you? You are forcing a "blocked" value.

The main program must be a NO GROUP PROGRAM.

JOB1 in S1 OR R1(but no for a NO GROUP, coz is used by the main)

JOB2 in a different group from JOB1(but no for a NO GROUP, coz is used by the main)

The pwait are optional.

/JOB

//NAME MAIN

//POS

///NPOS 0,0,0,0,0,0

//INST

///DATE 2023/12/14 12:15

///ATTR SC,RW

///LVARS 0,0,0,0,0,0,0,0

NOP

PSTART JOB:JOB1 SUB1

PSTART JOB:JOB2 SUB2

PWAIT SUB1

PWAIT SUB2

END

My two cents:

2) In the past, a dx200 arrived with a system ladder with a simple string and a user ladder full of everything (of course the result of a copy and paste from the sytem part).

Imagine a youth and fresh programmer that decides to wipe out all the user part without do a copy of the CIO and then waiting for a week a good CIO to reload

Quote from kwakisaki

Would be nice to do something about this NOP, but I think this is permanent, is that correct?

Yes both NOP and END are mandatory.

Quote

It appears that any PL value set is relative to that JOB only (this is what you are saying)

Not relative to the job, it's worse, it's relative to the single motion instruction:

NOP

MOVL Pxx0 PL=8

MOVL Pxx1

END

In the example above, in the same JOB, the PL=8 is applied only to Pxx0. The second one has no PL specified. If you want a PL=8 then you will have:

NOP

MOVL Pxx0 PL=8

MOVL Pxx1 PL=8

END

Quote

the motion instruction appears to be executed as though I have set PL0 instead

Are you sure?

PL=0 is the highest level, it will cause a temporarily stop of the robot like the highest ACCURACY in AS.

You can set the PL "accuracy" from 1 to 8 with some S1C parameter in microns(S1CxG33...S1CxG40) but not for the PL=0.

Check in the inform manual the MOVJ instruction.

Hi kwakisaki,

I imagine that your job is doing is that way:

NOP

MOVL Pxxx PL=8

CALL JOB:ZZZ

END

As far as I know the PL is relative ONLY to the motion that you write in the job, even if you have a second movl in the main and you don't specify a PL it will result that the second MOVL doesn't have a PL.

You have to specify a PL for each single motion instruction MOVL/MOVJ ...etc

Hi,

the BMOV is the giant version of GSTR:

instread of write

GSTR #10160

GOUT #30180

GSTR #10170

GOUT #30190

you can do it with one shot:

BMOV #10160, 2,#30180

Of course is super usefull with a lot of GSTR.

Hi,

from nx100 to dx200 the only way to use the SOUT is to read ii with a DIN:

DIN LB000 SOUT#(xx)

IF LB000=0

'do something'

ENDIF

I prefer to use local variable that you must declare in the job before use it.

This also for FOR and WHILE.

Quote

I get the impression, this is limited to CIO, but would like to know if using INFORM, this is possible.

I use it in the job regularly to check if the robot is in an interference area for example and also in the CIO to do some "plc logic".

A bit of history: in older NX100 version all these "structured language" didn't exist. Imagine the code

Search in the manual for this instruction:

MFRAME

Quote from Giovanni Ferreira

- After running the routine to register a new UserFrame on the robot, I would like to understand what the step-by-step procedure is to display the values of this UserFrame in coordinates on the controller.

Hi,

to dispaly the values go to:

ROBOT -> CURRENT POSITION -> select PULSE will appear a menu to choice the frame you want (PULSE again, BASE, ROBOT, FRAME)-> select FRAME and enter the number of the frame you've registered.

Quote

- In addition, I would like to know what I should do to be able to manually enter the UserFrame values in coordinates on the controller.

I don't understand, if you've already created the frame you know how to enter the values to recreate the frame.

If you mean how to create a variable in that frame:

go to the menu with the P var, select a var (for example P005) and init this var in the FRAME that you create. Then in a job use this var in a movement command(movl, movj, etc...)

Quote from kwakisaki

Motouser

Many thanks for replying.

Yes, I talk about them usually as bubbles as they look like a bubble you used to blow using small plastic ring dipped into water detergent as a child.

In UK, back in my earlier days we also used to do 'Bubble Writing' where letters were made out of several bubbles just like you make for tool interference models.

I admit that the CS configurator graphics is better that the motion axis range.

Quote from kwakisaki

1. S Axis bubble

- S axis stock bubble extends below physical base of model.

- If I place robot flat on a prohibited surface, then I cannot move robot due to S axis bubble interfering.

2. T axis bubble on small robot.

- If I use 'very small tool' inside bubble, this bubble interferes on surrounding zones.

- Zones are very close, as T axis bubble is larger than tool, it causes issues.

Is this possible, as this is exactly what I was asking about (maybe not using correct words).

I would like to do this for S and T sphere/bubble, is this possible?

Display More

I have never have a tool so small that falls entirely inside the bubble, I didn't think that was so big.

For the spheres dimensions I must confess my ignorance, maybe someone in the forum could know some parameter that could help.

And yes the FSU is a very pain in the a.... You must pass to flash memory reset and to restriction of operation.

Just as example I use endless rotation on external axis and it's incompatible with FSU, even if I want to exclude the ext. axis. Remember that my experience is limited to DX200 controller, as I said before maybe someone in the forum that works with the newer controller(YRC) could help you or know newer functions.