The second picture has the daughterboard on it for the external axes. That board can be removed and put on the other. If you are going to swap parts to troubleshoot R2's WRCA board should be the same as R3's.
Posts by 95devils
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What version of EG-VRC are you using?
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If I understand you correctly, external output address 2040 is changing states. Universal input 1 (address 0010) is also changing states.
If you are writing a line MOVJ VJ=xxx.xx UNTIL IN#(1)=ON the robot is going to move towards the position until the robot either reaches the position OR the IN#(1) comes on.
Try using a WAIT IN#(1)=ON
If I remember correctly on XRC initialized as general purpose address #2030 goes to #0010 (Input #1). #2040 goes to #0020 (Input #9). But I might be wrong or the ladder changed.
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So I must build my own ladder for my desire purpose? The existing general purpose ladder wont function good for me!
Depends on what you want to do. The ladder is already written when the controller is initialized for that application. Logical and physical io is already mapped. In most cases, the only time you need to change the ladder is to reassign communication card's io (plc, op station) to some other function. If you just need to wire in some sensors and fire some discrete outputs, the mapping should already be done.
How can I save ladder from my system ? I do not have any kind of floppy attached to my hardware .
Inside the controller on the XCP board there is a slot for a compact flash card with pcmcia adapter.
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1. Robot jobs run in parallel with the ladder. Logical i/o and physical i/o are tied together in the ladder. Logical i/o is what is used in a robot job. Physical i/o is wiring on the terminal strips.
2. The application is set during the initialization of the controller. 3 types of ladder for welding was probably arc, arc+arc, arc+arc+arc. Single robot on the controller, two robots on the controller, or 3 robots on the controller.
3. https://www.motoman.com/en-us/service-…t-documentation
4. Don't know it means.
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I am from Argentina and I registered with the official email of my company, they never responded.
Only Yaskawa can help you with this. This being said if you look at one of the other posts you did RoboDoc stated, "Sorry, Software is one of those things that can't go over international borders."
Off the link where you went to register, there was a blurb only for customers within the EU.
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Achievable, yes. Can the two arms hit? Yes. There are ways that can be used or options turned on to minimize damage.
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The concurrent job software option has to be turned on. This is a paid option.
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Would the GETTOOL / SETTOOL be applicable for this? For example Toolsight allows for modification of a tool file based on feedback from the shifted position after searching in the XY laser crosshairs (usually used for bent welding torch).
It would work great but this option did not come out until the NX100 controller.
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https://www.motoman.com/en-us/service-…cademy/training
Select the location. Headquarters Miamisburg. Select what controller you are using. A list of classes and dates will show up. Basic or a Basic with depending on your application is the most popular starting point.
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It is S2C383.
=0 No change
=1 Operator
=2 Editing
=3 Management
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No, not multiple tool. Doc is talking about about the option (TCP Function) that uses the TCPON and TCPOF instructions.
To change which tool is active for jogging or teaching positions, press and hold SHIFT then press the COORD key. Cursor to desired tool. Press and hold SHIFT to go back to the previous screen.
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Only available if the concurrent job software option is turned on.
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Depending on where you are at and the generation of controller, you could attend a training class.
Manuals, non training, are available at Motoman.com, under Support, Documentation.
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You were asking about NX100. It is done differently than a YRC1000.
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You can do it as explained in Number of variables B, I, D, R, P
You will need the Maintenance mode password.
The OP states he has an XRC. In another post you (jac) were asking about the same thing on NX100. Neither of those controllers can be done by the end user. It requires the Yaskawa mode password and a knowledge of the correct parameters and how the blocks are set up.
DX100 and newer the end user can do.
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I believe that they reside in $D030 and $D031. Maybe wrong, I’m still in bed.
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GETTOOL and SETTOOL is still a purchased option. But it can be used on YRC with the FSU. On older generations GETTOOL and SETTOOL would not work with the FSU. The controller would have to be reflashed after the instruction SETTOOL was executed.
On YRC YAS2.50 and newer a reflash is not necessary after the SETTOOL is executed.
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Also I see that this controller has the FSU installed, so if I remember well every change of the tool dimensions will need a refresh of the FSU flash memory and in the end PMT Functions is incompatible wit FSU.
YRC1000 can have tool data changed without a reflash. The SETTOOL and GETTOOL can be used as long as the software is new enough, YAS2.50. The OP's code is not changing tool data just which tool is active.