Depends on what type of position variables (robot, base, or station) and software version. You can give yourself more than the 128 by going into MAINT mode, SYSTEM, SETUP, OPTION FUNCTION, VARIABLE ALLOCATION. Generally there is between 1200 and 1640 available. Depending on software version Jobs, Variables, and User Frames may need to be initialized, so save first.
Posts by 95devils
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DO NOT get MotoSim EG-VRC. It does not support XRC. You want MotoSim EG.
Save jobs, tool.cnd, uframe.dat, rbcalib.dat, and the all.prm file. Copy these files into the robot folder in the MotoSim EG cell folder. Save. When you reopen the *.cel file the all.prm will be read. Under ROBOT, DATA SETTING, you can do the tcp based on your tool data. This tcp will show up as a blue frame that can be hidden or shown in the cad tree.
Also under DATA SETTING is ROBOT CALIBRATION. You can have MotoSim EG read the rbcalib.dat file and layout the robot to table relationship as it is in the real world. This will also show up as a blue frame. Primitive models can be attached to these frames. Also you can go to manufacturers websites and get models. Without a cad converter, MotoSim EG only supports two forms of Hoops files, two forms of Renderware files, and 3DS.
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MOVJ VJ=1.25 PL=0
GETS PX0006 $PX000
CNVRT P006 P000 TF T#(0) changing the position in pulses to current tool.
ADD P006 P027
MOVL P006 V=750 PL=0 ***Specified error(Coordinate) *** ????I'm making an assumption that what you have really written in the job is:
MOVJ VJ=1.25 PL=0
GETS PX0006 $PX000
CNVRT P006 P006 TF TL#(0) changing the position in pulses to current tool.
ADD P006 P027
MOVL P006 V=750 PL=0The end result of this is P006 is in a Tool format. You are trying to move the tool to a position that is some offset to itself.
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I believe what you are saying is correct but you have to think of what-ifs.
What if someone unformats the position variable? The end user will get an undefined position variable? What do they do then?
What if someone manually types data into the position variable? The IMOV could move the robot to a place where damage could occur?
Using the instructions that RG has written right before you need them will prevent that problem.
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You need all of Robo Guru's lines and then some. With the first two lines all you have done is get the current position, stored it in P000 in the correct tool. That tool is not active until the move. Interference zones will not update if the tcp is in or out of the zone until that move is executed.
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If I figured correctly:
S-axis 210651 pulses per 90.
L-axis 215276 pulses per 90.
U-axis 189440 pulses per 90.
R-axis 169690 pulses per 90.
B-axis 154201 pulses per 90.
T-axis 90082 pulses per 90.
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Conditons 1 through 7 are for use in a robot job. Condition number 8 is the standard or default for play mode. Condition number 9 is for teach mode.
Condition number 8 is active when you are in Play unless you use the SHKSET instruction to change to another condition. The SHKRST will change from whatever condition is active to condition number 8. See Somar's post.
These conditions can be set to VALID or INVALID. If any of the conditions are INVALID, they all are INVALID. If any one is VALID they all are valid. Valid means use the condition, INVALID means don't use the condition. If the condition is not used then that layer of software protection is not available. A crash could then result in a servo tracking error or damage.
The detect level can be a number between 1 and 500. The lower the number the more sensitive the robot is. This can only be changed in management security level.
The max disturbance is a peak reading of how much force the robot has seen. To clear (0) it, area key up to DATA, press SELECT, in the dropdown SELECT on Clear Max Value.
Run your high speed moves in play. Take the max disturbance, multiply it by 120% or so and that is the number that goes in the detect level.
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S-axis 122880
L-axis 163840
U-axis 245760R-axis 81920
B-axis 81920
T-axis 51200 -
Saw one back in 06. Motoman NX controller with a HP-3 arm. Was not made directly by Motoman, an engineer at Honda Canada did it as a project. Had a box to carry around and could not control more than one arm or external axis.
I'm waiting for ISO 10.218 for the controller to be released, may allow for a wireless pendant. That would be sweet.
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If you are trying RS232 directly into the NX controller, you have to have a software option for visual DCI turned on. The controller talks to the camera through the LOADV and SAVEV instructions.
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What board are you using for the Profibus?? Anybus board (SARCR-XFB01) ?
Couple of options:
1. Brand new controller, very few out there, especially with Profibus. Go to the manufacturer. The chances of someone having the GSD file are slim to none, except Motoman. You can sit around watching the board, waiting for an answer or pick up the phone or email Motoman and get the correct file sooner.
2. Depending on the board it may use the hms_1003.gsd file. The latest version of this file can be downloaded at http://hms.se or contact HMS.
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The WVON WEV#(xx) instruction is found in the INFORM LIST under DEVICE. To turn the weave of, use the WVOF instruction located in the INFORM LIST under DEVICE.
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All other Robotmanufactors respect our work here to help THEM Customers.
And all other Robotmanufactors are supporting the Robotforum.Not hanging out in the Fanuc board, this post caught my eye. There's tons of confidential and proprietary information being posted on the Yaskawa Motoman forum board. Yaskawa is cool with this??
The same information, if I divulge to a customer would get me fired. I had to sign a confidential agreement when I started 12 years ago. Just a thought.
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If a figured correctly, on a HP-50, the pulse counts per axis on 90 degree of rotation are as follows.
S 127489 pulses per 90 degrees
L 144384 pulses per 90 degrees
U 179492 pulses per 90 degrees
R 80554 pulses per 90 degrees
B 73306 pulses per 90 degrees
T 37676 pulses per 90 degrees