In Teach, once the servo on/ready button is blinking, you are done with that button. On the pendant press the Teach Lock button. Use the enable (deadman) switch to get servo power.
Posts by 95devils
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If your using pass-through mapping, it is already done for you in the concurrent i/o ladder.
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I'd contact Sepro. I don't see a phone number for technical support on their website. But there is a place to email them.
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Who wrote the programming pendant app?
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What are you jumpering? In the DX200 controller pins 1-2 and 3-4 on the YFC22.
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-In the following position rung, there appears to be three external axis positions being called, how would I create this instruction? Are all three moves automatically inserted if the job has these three motion groups active?
MOVJ EX040 VJ=100.00 PL=0 +MOVJ EX041 +MOVJ EX042This is the header info for that ^ job:
//INST
///DATE 2012/06/25 00:49
///ATTR SC,RW
///GROUP1 ST1
///GROUP2 ST2
///GROUP3 ST3When you create the job you tell it the hardware associated with the job. Depending on the hardware and job type the controller will automatically structure the motion types available. The structure of this job is considered independent motion. In a coordinated motion job, you can use independent motion or coordinated motion. The 4 key should change the edit buffer line between the two. MOV + MOV and SMOV + MOV.
A noncoordinated job would only show a MOV for a single piece of hardware. A job that has two pieces would show either just a MOV or MOV + MOV depending on how it is set at creation.
-In the following instruction rung, the IG#(4) that is referenced, I am assuming this is an input group (I assume this is the same as Fanuc Group Input), but cannot find where they are configured?
IFTHENEXP IG#(4)=4 OREXP IG#(4)=14-Is there a file in the backup that would show me how the input signals are mapped? (in Fanuc this would be the ioconfig.dg file). Are there any other files from backup that would be helpful for me to review to get a better understanding of the robot configuration?
I don't know Fanuc but the i/o is wired to an External Input or Output. What is used in the jobs are Universal Input or Outputs. There is a ladder program that runs in the background that ties Externals and Universals. The file would be CIOPRG.LST. This file could be opened in a text editor.
Groups are of 8. The first group would be the individuals 1-8. Group 2 is 9-16. Group 3 is 17-24 and so forth.
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Hi 95Devils,
do you have a complete list of the system variable?Oh, how I wish. I read a lot of manuals.
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Besides sequence continuing, I commonly use #50075 Job Edit Inform and #50076 Jog Operation Inform.
50075: JOB EDITING OPERATION INDICATION
This signal indicates that the job to be executed has just been
edited, searched, or manipulated with the cursor ON. This can be
used for determining starting conditions after editing.50076: JOG OPERATION INDICATION
This signal indicates that the manipulator was made to move an
axis or followed the FWD/BWD operation on the programming
pendant. This signal goes OFF automatically when playback is
started. This can be used for determining restarting condition. -
What generation of controller? $Px050 is axis torque.
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That's a YRC1000. I would call Yaskawa. That new of a controller I would think would still be under warranty.
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VARNAME.DAT will have the names of the B,I,R,D,S, and P variables. This is a big file as far as area. Do a find for the other variables in a text editor.
VAR.DAT will have what is in the content's box when saved out. This also is a big area. The Position variables are after Strings.
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///GROUP1 RB1
NOP
MOVJ C00000 VJ=30.00 +MOVJ EC00000 VJ=30.00Your header is showing a group of only a robot. The job is showing a robot and an external axis.
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If you want the operator to type in a whole number for the speed on the hmi:
For a MOVJ multiply by 100.
For a MOVL multiply by 10.
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My job must be look like:
DIN LB008 IG#(76) Read HMI (speed set in %) Example IG#(76) = 100
SET LI000 LB008
MUL LI000 960 Multiply 100 * 960 = 96000
SET I000 LI000 Speed Movl = 9600,0 cm/minDo you agree with that?
The controller is going to use mm/sec when a speed is a variable on a MOVL. It does not care what units you are using.
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All your speeds are incorrect. On a VJ= there are two decimal places. On a V= there is one decimal place. The controller is using mm/sec on the V= regardless of what units you have the controller set for.
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Still S1CxG400 through S1CxG415. The x in the address represents the piece of hardware. Robots are first, then Base tracks, lastly external axes.
S1C1G400 through S1C1G415 are R1.
S1C2G400 through S1C2G415 are R2, if present.
You can use the PAGE key to toggle through the S1CxG parameters if there is more than one piece of hardware on the controller.
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Global position variables are just that, global. Any job that uses P000 for anything would use the same reference format, tool, and data.
If a person or job changes a position variable, all jobs using that position variable will be using that data.
When you save a job out of the controller the position variable's format, tool number, and data are saved at that time. That is what you see when you open the job in notepad or any text editor.
If someone or a job changes the position variable in any way, if you reload the job individually that is using a position variable, or reload a cmos.bin file, or the VAR.dat file, the controller will overwrite that position variable with what is in the file.
That is one reason that programmers may use local position variables.
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Remember! if you lose the voltage on the encoders you will lose the zero position of the robot! You can still hedge and do not turn off the power on the robot during the replacement, but then be careful with the wiring!If I remember correctly, MRC motors have supercaps on them. If they are good after this many years is another story.
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If you load a job or VAR.dat file from an external source, you betcha.
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