Does the key actually face the Teach symbol on the pendant when you are in Teach? The nut inside the pendant tends to loosen up and the whole switch will rotate against the o-ring.
The pendant connects to the pendant cable (X82). The pendant cable connects to the door connector. The door connector (X81) cable for teach and play runs to the YSU board.
The pendant is pins 4, 5, and 6. Pin 4 is common. On the YSU the connector is CN209, pins A6, B6, and B7. B7 is common.
As long as you are sending enough bytes between the robot controller and plc, you should just need to add the OT# in the robot job. Then figure out the address it is in the plc and write your logic. Your wanting OT#(1019). In the ladder program that should be mapped to External Output #31302.
In the ladder program the Universal Outputs are mapped to the External Outputs. In the ladder program the External Inputs are mapped to the Universal Inputs.
Contact your local Yaskawa office.
/JOB
//NAME AFOPRUEBA_12_02_201
//POS
///NPOS 772,0,772,0,0,0
///TOOL 1
///POSTYPE PULSE
///PULSE
C00000=25901,35950,8108,2,17931,-6328
You don't need to convert the job to relative. Converting to relative is for when you do not have FSU. Non-FSU Toolsight will rewite the tcp data.
Since you have FSU rewriting the tool data will require a safety board flash reset. You don't want to do that every time.
Call the TCP-CHECK job. In it the job will call R1SAFE/R2SAFE and call the TS-SEARCH jobs.
I'm not following the run the jobs in automatic or manual. Do you mean Teach or Play? You could do either. I would start out with INTERLOCK + TEST-START. Better to crash slow than crash fast.
Hopefully you have jobs named R1SAFE and R2SAFE, SETUP and SETUP_R2, TCP-CHECK and TCP-CHECK-R2, TS_SEARCH and TS_SEARCH_R2.
Verify that you have a good tcp for each robot with the correct wire stick out.
Measure the distance from the edge of the nozzle to the tcp for each robot. Change the value, if necessary, in the SETUP and SETUP_R2 jobs for the value of D022. About 20 lines or so down in the job is a SET D022 15000. (R1), D032 for SETUP_R2. Change the line below, if necessary, for the correct tool number. Below that is the number of the Rapid Input for the X beam, change if necessary. Below that is the Rapid Input number of the YZ beam, change if necessary. Farther down is the limits for the min and max, and search speed. Last setup item is in the SETUP is relay for operation for R1.
Teach an approach position and a center of beams position for each robot in the corresponding job. Make sure that the bottom of the nozzle is parallel to the beams/ tool sight gauge.
In the TCP-CHECK and TCP-CHECK-R2 teach positions as necessary to get to the approach above toolsight and the pointer tool. Change if necessary towards the top of the job (first 20 lines or so) the PULSE instruction address and time, if necessary for feed wire. Change farther down the PULSE address and time, if necessary to retract wire. The wire stick out needs to be measured before and after the TCP-CHK job is executed. If the eso is not the same adjust the timer values on the pulse instruction.
If you got this from Motoman with the cell this should all be setup and worse case positions should be the only thing to modify. Should have been tested at the factory.
With or without FSU? With or without Multilayer? Stationary robots or on a Base Axis?
The number you can define is based on the value of the parameter that Yaskawa defines.
Display MoreHey Remmus86 ,
I'm working with 2 Robots on a DX200 right now and I don't have the option to select the Monitoring Position. I would like to use the ''entire'' position instead of only the TCP.
How do you get that ?
Thanks in advance
Arm Interference with Specific Cubic Area Check Function software option. Contact Yaskawa.
Don't know what generation of controller you are on. I think what you want is when in at least Management security level go to SETUP, OPERATE COND. The cycle selections are there.
Little digging, haven't seen documentation to support this. Looks like this is probably the trigger to start. The alarms/errors with this could be the camera (scid) doesn't have the correct value of the camera. If you only have 1 camera on the system this would be a 1.
The task id (taskid), part to look for either doesn't match or is not registered in the Canon software. This would be a number that you set up, 1 or higher.
The other alarm/error could be from the MS3START has executed more times than allowed without acquiring a recognition result. The job fails to find the part.
I'm guessing, but I hope this helps.
Is it an error or an alarm? What text is displayed? Most common that I have run across is I have more out files loaded than the system is allowed based on a parameter. Licensing file invalid is another. Do not know what generation of controller you are on (assuming DX200 or newer), check network inputs 27240 and 27241. 27240 should be a 1 second pulse when communicating with the camera. 27241 should be solid 1. The is a valid motoplus license.
Display Moreeasier to quote so i can see everything to answer easily.
1) used a grid on the camera and placed points at 500,500 pixels and also 1500,1500 pixels and drove the robot to each point noting the position of the robot on the XY axis'. Also placed a grid on the anyfeeder and matched to camera centre with points at 50mm off the centre on the XY and drove to them points after working out conversion factor to check correct.
Not using a user frame at this moment at the robot and camera are parallel and seemed to be working ok.
I generally use more than two points for the camera calibration for one to account for lens distortion. But that doesn't explain the good pick the second time around.
Another image is taken and new data sent after every single pick even on the missed one. The data technically changes but when checking camera images and so on the data sent seems to be the same data just sent again as it has still found that part as the best one to pick.
Camera is being triggered by the plc and then we have waits in the robot program until the data has been collected by the plc and sent to the robot then the robot goes through and does a calculation in the program to work out where it needs to go on the XY and Th.
IMOVs are being used as the first move using P000 to move to X,Y and Rz, then IMOV on P001 to move the Z axis down to the part and then a final IMOV with P002 to move the robot up on the Z axis clear of the shaker to carry on the placing of the part with normal MOVJ and MOVL
Confused by this. I can understand the IMOV down to the part and the IMOV for the depart. The IMOV to the first position, this would be the approach, the robot could be anywhere and react on the data. That position could be anywhere depending on where the robot is at the time. If this is the case, I would not trust the reliability.
Is the camera data being generated an absolute position or an offset? The way your first post was written I was assuming absolute positioning. That's why I asked where the IMOVs were being used.
Let me see if this summation is accurate:
1) Did a pixel to world conversion. If the part location is at this XY pixel location the robot is here. If the XY pixel location is here the robot is here. How many points did you use? Are you using a User Frame to match the camera angle?
2) The data coming into the robot always matches the camera data and plc data.
3) The robot will go to the correct location but may not be the first time. May require two or more tries.
This last one to me is the greatest concern. Is another image acquired between the miss and the get? Is the robot is reacting on the same image/same data, does the data stay the same on a miss/get? Or does the data change? Is the camera being triggered from a robot job that is being CALLed or PSTARTed? Basically, sequentially or in parallel.
Where are you using IMOVs?
you have FC1 boxes? Those belong in a museum...
Email me I may have some old docs that might help
Put FC1 in subject line
The docs are written on clay tablets and are covered in dust.
SOUT#(56) is OT Release. This bit turns on when you go to ROBOT, OVERRUN& S-SENSOR and press RELEASE. As soon as you exit that screen the bit turns off.
This process is for recovery of the robot when either:
The overtravel limit switch on the S-axis (could be others) has been tripped.
or
if a shock sensor is installed between the T-axis flange and the tooling and has been tripped.
Has this been running before with that line of instruction in it?
Is there a possibility that the job has been changed to where that line of instruction should be WAIT SOUT#(57)=ON? SOUT#(57) is cube or axis interference #1. That would make a lot more sense that the table should not rotate unless the robot was in a known position. The I/O in the job lines up with a older sweep/rotate job.
We just got a demo unit HC10 and need to set it up with a gripper.
If it is a demo unit, then does it not have to go back to Yaskawa? I would not hack anything off.
Yaskawa uses simulation computers where an XRC pendant will be connected, no need of the arm or controller, Check with them
The VRCs are long gone also. Would be more expensive than just having an instructor come to California. Additional costs with shipping a VRC and rental. Talking about a controller 15-20 years old. The office in Canada evidently is an option. Doc's suggest is also valid. While you are in Ohio taking NX Basic, someone could go over some of the differences.
Ohio does not have any XRC controllers in training. As far as the Irvine office, I don't remeber the last time a class was conducted there. Was at least 12 years ago and I believe longer. An instructor from Ohio can come to you. It will be pricey though, roughly $12k, for a 4, 4.5 day course. You could call the Ohio office and see if they could have a local/regional service tech come in. That could be cheaper as the person is local/somewhat local.
SSGW-337 is Ethernet IP PCI card setup for DX100. SSGW-222 is Ethernet IP PCI for a NX100 controller.
Is it error 0320 Can not operate Check-run or Alarm 0320 Verify Error (IO Module)? I am assuming Alarm 0320.
Are the boards identified in maintenance mode under option board? Did you answer "Yes" to "Modify?"
Do you see the boards identified under IO Module in maintenance mode? If so, what ST#?
Do you have the correct controller software for the boards that you have installed?
