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
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
Is the robot a standard -A0?
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?
First thing I would try is to get rid of all the damn NWAITS.
No there is not.
It's clearly some system parameter S2CXXX, but i cannot find any comments about it.
S2C438
A macro job can not CALL another macro job written through the programming pendant. The CALL is not an available instruction in the INFORM LIST. However, if the jobs are written offline in a text editor a CALL instruction can be written.
Where you located are located would help. Guessing not North America based on the blue robots. Is this going to be on the old NX100 robots or are you going with a newer generation? Not something over a decade old.
Windows 98, old digital camera, VaioSoft Recovery Manager.
So I need to put my point in a variable but what is the instruction for that ?
And after how can I choose the frame where I want to work ?
It's with the CNVRT ?
To get the position into a position variable you could:
1) Manually type in the position.
2) Jog the robot to the position and MODIFY, ENTER, with servos on.
3) Calculate the position.
The position variable could be set up in User Frame, UF#( ). Using the CALL instruction you could call the job based on a different User Frame than the position variables were formatted in.
CNVRT will convert a pulse position to a XYZ position, a XYZ position to a different frame of XYZ reference, or to a different tool number.
You either need Relative Job (software option) or program your positions in a Position variable.
Can’t believe an Edit Lock key switch or Playback Panel E-stop would ever break.
I take it "factory level password" is Yaskawa level.
Are you in Teach Mode?
Is the Edit Lock key switch set to OFF?
Put a pointer tool on the robot that is straight down from the T-axis flange. Teach or measure for tool data. Try jogging the tool. If the robot calibration is good and the tool data acceptable there should not be any deviation.
Check the robot calibration. Smaller robots with harmonic drives on the minor axes are susceptible to drive damage.
Also, I don't know if your software is new enough, check in the INFORM LIST under OTHER for an instruction HTRAJON and HTRAJOF.
If the cell came from the US there are already canned jobs dumped in. There is already a counter set up in the CLEAN job. I000 is used as the part counter. The counter is reset in the CLEAN job. In the Robot WORK-A or Robot WORK-B at the bottom is the INC I000.
What is the group set of the jobs? R1, R1+S2, R1+S3, S2, S3, etc. Sounds like you are not moving the station while welding or anywhere during the process, correct? Based on the first post it sounds like this only happens after someone has intervened during a cycle. If so, I would check under SETUP, TEACHING CONDITIONS, the setting for BWD OPERATION in NON GROUP jobs. This should be set to PROHIBIT. If set to PERMIT as someone is recovering if they press the BWD key the cursor will move backwards in the master task. This could cause on a restart either a parallel start alarm, if the jobs are PSTARTED, or hardware to start moving.
Are the station jobs CALLed or are they PSTARTed?
Generally, towards the top of the master job the positioner will not move unless the robot is inside a cube.