Posts by Motouser

    Where can I find the list of errors I use?

    I created an error 8000 using SETUALM, but is it possible to actually see what section it is in?

    NO section available. You are using an inform instruction inside a job to create it.

    Also be careful don't use it for safety purpose, because if you manage to stop a robot using the SMODE yaskawa doesn't guarantee the stop of the job.


    in the I/O ALARM (user) section i found "low air pressure" in section 9064!

    how can i see where this error is located and change the range?

    Usually the "low air pressure" is allocated from the factory to be easily usable. Yaskawa will give you also a "physical" access to the signal in the I/O connector ( usually CN309-A2) and a logical input signal ( usually 2027). I'm not sure that you can change it using the LADDER, you could only ignore it using another low air pressure made by you.


    simply answer: NO.


    depends on your program.


    If you have a simple program made of simply position created in teach mode, you have to reteach that not only because of the controller but also for the difference of robot model.


    Your program is a relative job with a couple of P-VAR created with a specific user frame and a tool. In this case you have a good "chance" to convert your job easily.


    Your program is MACRO made only of PULSE/DOUT/DIN, no moves inside. Yes you can use, but your have to specify your input/output in the same position of the old controller or you have to rewrite the program.

    Other problems will come up if you use if/for/while because the syntax change a little bit offline:

    IF in an offline DX100 is: IFTHEN

    IF in an offline DX200 or newer is: IFTHENEXP

    So you have to change it with the correct syntax or when you will try to load it in the controller you will get an error.

    Simly answer: NO. You must apply it at least one time

    The "shifting effect" will be cancelled if you edit the job, restart from an alarm and turn off the controller.

    With special parameter( as far I know it involves a FD parameter that must be purchased) it will stay activated even in teach mode if you move around the program(not sure if you go outside the program in other menu, I have to check).


    All the info that I have refers to DX100 or DX200, maybe newer controller or newer software version could have other options.

    Thank you for your options,

    Can you give me example for option 1 that you said?

    About option 2, are you sure there are function parameter for infinite rotation? Because i didn't listen about it.

    Yes it exists, but involves some parameter that need the Yaskawa assistance.

    Basically the MRESET is done automatically.

    But if I remember remain a limit: you can go to a max value of 999999999 after that it's possible that could rise an alarm like 1656(AXIS ENDELESS INFO NOT GENERATED) or the controller will stop briefly to do a real MRESET.


    your job contains special variable $PX and special instruction MOVL + UNTIL + CAPTURE.

    The idea of simply copy a "normal" job from a robot to another (speacially a 7 payload to a 25!!!) is not a very good idea, coping a job like that will be even more risky.

    The IO setting are the same?

    The P var are setted in the same way?

    What about the tool( I see a tool 0)?

    I can continue....

    At the least the two robots have the same controller?

    Thanks for the the moment the speed decreasing and the "PL removal" solve the problem.

    But of course I suspect (as 95Devils said) a cable problem.

    Hi guys,

    this morning a MH225II+DX200 started to fault in a very specific position with alarm 1613[SLURBT] and alarm 1614[0]. It happens randomly but only in this position and the program is a very old one...continuosly working from the dawn of time(about 5 years ago) with no problem.

    The movement involving the S and T axis but the alarms rise for all axes.

    I slow the speed and remove the PL=0 tag....will let you know if it works.......but any other suggestion will be appreciated.


    if I understand right:

    So if you don't have system job, you can still do something with the ladder. In the ladder you can

    set the value of a register(example):

    STR #50076

    MOV 1,M000

    Will move 1 to your register when sout#55 will be on and the REGISTER m000 can be used in a job.

    Now you don't explain how the macro would work so I don't know if you could still "program" your idea without system job.

    It will work as you intend :top:

    Not that I'm experienced with CAM stuff, but you should see Z element variations in the TRANS command, which relates to TCP position relative to base/frame/workpiece.

    As you maybe remeber, my first kawasaki test project was about a certain strange application. Then I move to another one and keep this project aside.

    Unfortunately I don't have a real robot free to test, I can simply simulate it in my CAM environment....but try to understand me....I prefer the real world. :icon_mrgreen:

    Poor @Marco Antonio Asselta I'm messing all his post :away:

    - if the tool coordinate is longer than the physical tool, then the physical TCP will be further from target.

    - if the tool coordinate is shorter than the physical tool, then the physical TCP will be closer to target.

    I was editing my old comment while you are answering:

    that's why it will maybe work, I'm just fooling the real/physical tool.

    In CAM, there are numerous ways that motions can be expressed and they do shoot for TRANS instructions and any approach/depart motions should include a Z element change in the TRANS coordinates, which may look like a SHIFT, but it is not applied relative to BASE, but the TCP position instead, so as I was saying earlier, if the Z base and Z tool axis are parallel, it will 'appear' like it's shifted (SHIFT is relative to BASE), but actually it is along the Z axis of the TCP.

    It's exactly what I need...the post is indeed about a SHIFT in BASE..but I'm more interested in a shift in TOOL coordinates

    So no SHIFT.

    Make sense?

    Unfortunately make sense!

    The thing that confuse me is the existence(in motoman language) of an instruction called SETTOOL: here you can redefine the tool calibration without doing a calibration (like tha AS tool instruction). It's used to recover a program after a crash/deformation of the TCP.

    I use it in particular way: I redefine the lenght of the tcp for a milling process so the tool of program remain the same but if I use another drill I simply adjust the lenght.

    So in the end: in the case of CAM-generated program we must get back on the computer and recreate it with the right measurement.

    I'm very curious about the case of CAM generated program you 'll have a thousands of line made by thousands lmove, example:

    .PROGRAM test()
    BASE uframe1
    TOOL t1
    LMOVE TRANS(....)
    LMOVE TRANS(....)

    In this case the SHIFT approach is useless, what about a new TOOL definition in the middle of program?

    In the begin I have a Tool t1 defined as


    t1 0.0 0.0 100.0 0.0 0.0 0.0


    If I change the definition in tool 0.0 0.0 99.0 0.0 0.0 0.0 will I have a shift in z direction?