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Posts by 95devils

    Language Level is found under SETUP, TEACHING CONDITIONS.


    IFTHEN, FOR, WHILE, SWITCH, etc. are part of the structured language. If you are not seeing these instructions in the INFORM LIST under CONTROL then the parameter is not turned on. This is a Yaskawa parameter. FYI this is turned on in the America’s standard.

    Either:


    Address side (left side), press the DELETE key, then press the ENTER key.


    or


    Instruction side (right side), press and hold a SHIFT key, press the SELECT key. Cursor through your range. Go to the MENU area to EDIT. CUT, and YES.

    The majority of time Yaskawa jobs are written in pulse counts. If you put your cursor on a MOVx and DIRECT OPEN on it or go to ROBOT, COMMAND POSITION you will see the position as pulse data. Changing the tool data doesn’t change the position just the calculated path.


    The second home position can be anywhere. It is used for recovery of ALARM 4107: Out of range abso data. You want to check the home position. Alignment marks lined up and the position as 0 pulse counts.

    Let's say that we saved a vcl file. Later on we did a save as to create a new vcl in the same cells folder. The two vcl files share the same models folder and some other global files. The two vcl files could be different. A model might be present in one vcl and not the other. The robot could be positioned different between the two or a model positioned differently.


    When opening the vcl the computer reads all the data in the vcl. Lighing could be different, locations different, views different. If you open a vcl with a text editor you can see everything that is in it. Two or more vcl files could have different data in it.

    Here are two pictures that may help explain.


    UF-1 has the robot at essentially the origin of the User Frame. My frame has Z+ going down. Not a problem in this example. My X, Y, and Z are 0. The Rx, and Rz are 0. The tool is currently positioned 45 degrees in the Ry direction with respect to the user frame. My tcp has a 45 degree angle in it. In this case my tool would have to rotate about the Y-axis 45 degrees to read a position of 0. Where this frame was taught is not possible. The position the robot would have to rotate to is too close to the body of the robot.


    RF has the robot still at the same position as the origin of the user frame. Now, I am looking at the position of the active tool to the origin of the robot. If I tried to get 0, the tool would have to move the tcp to the origin of the robot. Ugly things will happen. The origin is inside or behind the robot, in most cases. The tool would have to rotate around to have its Z match the robot's Z. The tool would have to rotate 163 degrees about the robot X to have the tool's Z (extends out of the T-axis flange, going positive) match the robot's frame (with Z going up positive).


    It's all in what you are referencing the tool to.


    Could you get the tool to go to X, Y, Z, Rx, Ry, and Ry as 0 of the User Frame. Maybe, maybe not. Most times absolutely.


    As far as INVMAT and MULMAT go, I rarely use them. I can SFTON a position variable. This will temporarily mathematically shift my positions by a direction and amount inside the position variable until I execute a SFTOF. If you want to reference direction and amount such as a User Frame then you would write the instruction as SFTON Pxxx UF#(xx). The x's represent the position variable number and the user frame number.

    What generation and for what? YRC has remote pendant. As long as I have internet service I can connect to the controller and browse. I can not jog the robot, turn servos on, or start the robot. But I can look at all the jobs and navigate through the screens.

    The data transmission function on the XRC can be done three different ways:


    1) DCI function. The host computer can load, save, or delete jobs. Load or save variables. Instructions in a job can load the job or save the job (LOADJ/SAVEJ). Instructions can load or save variables (LOADV/SAVEV).


    2) Stand-alone function. The host computer can load or save jobs, tool data file, weaving data files, user coordinate data file, welding data files, and variable data file. It can also save the system information and alarm history files.


    3) Host control function. The host computer can load or save jobs, tool data file, weaving data files, user coordinate data file, welding data files, and variable data file. It can also save the system information and alarm history files. The host computer can read the status of the controller, can start, hold, move the robot to specific position absolute or incremental, write user frame data, etc....



    To use any of these the software option for data transmission must be enabled by Yaskawa.