Posts by Motouser

  • System jobs

    Hi Robodoc,
    a couple of questions for you(and for everybody in the forum):
    1) we've purchased the system job option in our dx200 controller and I found it in the list when I want to create a new job. So I imagine that in motoman they have already putted the key file or I'm wrong?
    2)I've red that the system job works like an infinite loop: it runs continuously or I must create this loop like this example code:


    NOP
    *LABEL
    'do something
    JUMP *LABEL
    END


    Thanks in advance

  • JZNC-YIU02-E

    Quote from Robodoc


    Most parts like this are proprietary to Yaskawa. You would be better off sending the board to Motoman or buying a new one. Is there any output (battery alarm) you are not using you can swap the parts with?


    Hi Robodoc,
    there isn't a part that we are not using, so (reading your answer) there is a proprietary violation if we substitute the transistor?
    Anyway thanks for your advice.

  • JZNC-YIU02-E

    Hi Guys,
    an hardware problem today. We lost an output signal in JZNC-YIU02-E board and we would try to substitute the damaged transistor, but we don't know the correct transistor model.
    Maybe someone of you could help us.


    The only things written on in it is a "FR28" that brings to nothing.


    Thanks in advance.

  • Control Group

    Partially solved using a NON-GROUP JOB as MASTER and PSTART for subtask.
    Thanks the same.


    P.S.
    Still waiting for other solutions or advices.

  • Control Group

    Hi guys,
    a little problem with control group today.
    In our company we have a ES165 with an external axis: we can choose this cont.group: R1, S1, R1+S1 and the magic R1+S1:S1.


    I wish to create a main program, aka MASTER JOB,(you could see a simply version below) in which I can pass a variable selected in the I/F Panel to call the right job to execute
    (I use this solution in other robot but without external axis).
    when I execute this program I've no problem until I release the servo, then starts the alarm 4228 WRONG DATA and I've to restore the system.
    I understand that the problems are in the control group, but how to solve it? Can I still create a main program like the one below or I've to find other solutions.



    /JOB
    //NAME MAIN
    //POS
    ///NPOS 1,0,0,0,0,0
    ///TOOL 0
    ///POSTYPE PULSE
    ///PULSE
    C00000=0,2,-2,-1,-1,1
    //INST
    ///DATE 2015/03/06 17:40
    ///ATTR SC,RW
    ///GROUP1 RB1
    NOP
    'Outside: the job JOB1(S1) call another job JOB3(R1) with a PSTART
    SWITCH I004 CASE 0
    CALL JOB:JOB1
    '________________________________
    'Inside: JOB2(R1+S1:S1)
    CASE 1
    CALL JOB:JOB2
    '________________________________
    'Surface:the job SURF(R1) call another job JOB4(S1) with a PSTART
    CASE 2
    CALL JOB:SURF
    '________________________________
    DEFAULT
    MOVJ C00000 VJ=5.00
    ENDSWITCH
    END

  • hold signal

    Hi guys,
    I've a question for you: does exist a signal that I can use in a program to call the hold command? I mean a things like that:


    DOUT OT#(??), ??= signal number of the hold command


    I absolutely use it in that way.


    P.S.
    NOT EXTERNAL HOLD. It must be called by a program.

  • Motoman or Denso

    Quote from Heima


    I guess I got lucky with this robot because it has less than 1000 power on hours, and less than 70 operational hours. The controller is matched to the robot, and it is dated 2003, so I guess both are about 12 years old.


    2. I have checked the 3 backup batteries, and their output is around 3.5 volts. The date for the last replacement was in October of 2012, but I find that hard to believe. I know the batteries are supposed to output 3.6 volts, so is it time for replacement anyway? I have considered wiring up my own backup batteries, seeing that the encoder data is probably screwed up anyway. See next question.


    Be careful: if the controller and the robot had the same date (2003) and the batteries were "refreshed" in the 2012, the probability that the operational and power hours start from the last date (2012) is very high. I don't remember if the batteries change erase this data, but I'm sure that updating the system version will erase them. Simply check the date in the teach pendant.

  • Tool Calibration

    potis
    Yes it's the same tool, of course.
    But your question is not stupid, because brings the speech to another point:


    usually I've always used a different NUMBER tool for jogging in the calibration(for example the tool number 0 to calibrate a new tool that has a the tool number 2) and I don't know if it was correct or no, but until now it works.
    During the calibration of this new tool, I've also tried the calibration of the tool 2 using the same TOOL NUMBER in the calibration(2 in this example).
    The results are the same in both tests: not good.

  • Tool Calibration

    @ Is it perfectly 180 and 90 ? Are they machined pieces ? When you move the robot to 0,0,0,0,0,0 pulses, does the tool (visually) looks -180 and -90 off or you see another weird angle (like 21 degrees). Is the tool a gripper (hand) or some kind of gun ?


    Visually the tool looks -180 and -90 and yes it'made of machined pieces ( a mill tool mounted on an electric motor with a spindle).

  • Tool Calibration

    Thanks Fabian an Nubi86 for your opinion.
    Fabian: are you asking if I put the angle in the tool calibration? the answer is yes-> for the X=-180 and Y=-90
    nubi86:


    As Fabian said, try to uniformly change the orientation of each of the 5 points.
    Where does Fabian write this? I'vel lost a part of his message?
    Anyway I try to change the orientation in a "simmetry" way around my "calibration tool".


    I would say that 5-6 mm is something to expect with your setup (innacurate robot + heavy tool)
    This is very bad. There are a couple of application that request "NO ERROR(in another world, of course)" or a negligible shift(around 1 mm).

  • Tool Calibration

    Hi guys,
    recently we've installed an ES165D (DX100 controller) with a tool for milling. Appoximately it weights 40/50 Kg, so I start with the calibration( 5 points procedure), but when I verify the tcp rotation around a point I find an great error: the tcp shifts about 2.5/3mm from the center (-2.5/3mm in the reverse rotation, so the error is around 5/6 mm).
    Has anyone had a problem like this? Is a problem the load?
    Any suggestion, experience or idea.
    Thanks

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