Check the supplied pdf manual for your software version. Both MotoSim EG and MotoSim EG-VRC can depending on software version and which package you have MotoSim EG or MotoSim EG-VRC. Also depends on what you want to do.
Posts by 95devils
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I have never seen the character screen when changing passwords except for a controller with the Password Protect software option. Without this option the message says enter a 4-16 digit password.
What YAS software version are you using?
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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.
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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.
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Try S2C397=1. Under whatever the application icon is will be I/O Variable Customize List. You can set the addresses up there.
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Which one are you trying to do? DCI, Standalone, or host. I have done at least 2 of the methods. They are done differently depending on which one you are doing.
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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.
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Have not seen that ability since the XRC.
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Need to be on the Instruction side (right side) of the job. Press and hold either of the SHIFT keys. Press SELECT. You should get a blue highlight on the Address side (left side). Cursor up or down if multiple lines are to be copied. Go up to EDIT in the Menu area.
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The DCI function executes instructions in a job to perform data transmission with a host computer. This function loads and saves jobs and variables. The instructions LOADV and SAVEV, and others, are in the INFORM LIST under OTHER.
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Class 1. Implicit Messaging. I/O only.
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Do you have the software option of Visual DCI?
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In Maintenance mode, in at least Management security level, you can change the Rotation Direction.
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Class 3 except when Ethernet I/P Safe is enabled.
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Standard -A00 should be something like:
S 1416.556 pulses per degree
L 1604.267 pulses per degree
U 1994.36 pulses per degree
R 895.0528 pulses per degree
B 814.252 pulses per degree
T 418.6278 pulses per degree
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Is the robot a standard -A0?
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Does the tool selection matter on the movj on the air move? As far as I know that hasn't been changed either.
Yes, the tool selection does matter even on a MOVJ. Is there a position that is taught in a different tool, such as a tool with default data?
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First thing I would try is to get rid of all the damn NWAITS.
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No there is not.
It's clearly some system parameter S2CXXX, but i cannot find any comments about it.
S2C438
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