Set up as a base, the base is included automatically. When you record the point, the controller will grab the encoder value for S, L, U, T, and B1.
Posts by 95devils
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You need to initialize the controller with the robot and a base. Tell the controller it is linear rail, amp, converter, gear ratio, etc. The base will automatically be included in the robot job. This will add a frame for the base with no modeling data.
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Put the controller in step cycle selection to debug. One press of the start button per line. You will be able to watch the variable and outputs. Are you watching from the robot controller or the plc? Something to possibly think about, if there are so few lines in the robot loop the plc may not capture the signals due to debouncing.
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Are you using MotoSim EG-VRC or MotoSim EG?
If EG-VRC did you initalize the controller for a base or bring in a cmos? If so then you can jog the base like a real base and it will be included in the robot job. Program just like the real controller.
If EG did you bring in an all.prm? In the *.cel you use the LINER32.dll and write the robot, link, gear ratio, model to move, and axis number. Then write a robot job to move the robot and base.
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Then the robot stops !
To a screeching halt.
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Are the robots actually made by Durr? There was a sealing project about 20 years ago in Alabama, Hyundai, I believe, that was Yaskawa robots.
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There should only be 1 wire per terminal.
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There is not a plug on that axis. Looking at the exploded view, I can't tell if that is a single lip, double lip, or no lip seal. If it is no or single, with the single being on the motor side, changing would be very easy. Support the robot, pull the motor, pull the seal. Re-install seal, motor and re-calibrate.
RobotPro shows that to change the whole L-axis mechanical drive is 3 hours. That is after rigging and gathering tools. It should be quicker than that to change a seal.
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For User manuals, contact Yaskawa. The controller is old enough that they are not available from the website.
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When the job is coordinated with an external axis as the master, the shifting is in Master Tool frame. When the job is not coordinated the shifting defaults to base.
This is what robotruler was referring too. We were both guessing until you said Smov.
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What is the control group/group set of the program? Single robot with base or Single robot with base and external axis.
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Wire brake just holds the wire so you have a consistent stickout to search for the part.
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Like an HVAC plenum? There is HVAC plenum rated conduit the cable could be run through.
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Do you have an information after the SFTON P001, such as BF, RF, TF, UF? With nothing but SFTON P001, the controller defaults to the base frame. Is the robot on a base track?
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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.
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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.
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Contact your local Yaskawa office.
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/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
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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.
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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.