I don't know what they mean but may tell you what can help you.
Go to system variable and open $DCSS_CCSCB parameter. In that parameter you will find $FRCINI_CRC and $FORCE_INI variables. You need to manual enter the values from old backup. It apply only for the version till version revision 11.
Hi All,
I have an application where I need to pick parts in the pallet and have some rows and columns of cells where parts are located. Controller is R30iB Plus and robot is LR Mate 200iD. I am trying to shift the search window of the cell with the offset, so I can search parts and pick them in row and columns cells. So far no luck.
I know Multi-Window Tool exists which allow that but that require that I need to teach search window for each and every cell. I also tried window shift tool using another vision register with some offset by direct entry but couldn't make it work , no idea if it is even right tool to achieve what i need.
Do anyone know if there is a way to shift the search window?
Thanks in advance!
Hi All,
After many years working on Motoman, I switched to FANUC. I do remember that we have Motoman TP shortcut in which I too contributed and I'm looking something similar for FANUC.
If someone already made and posted such info, please provide the link of the post.
If such post does not exist, let's post 'whatever shortcuts / key combinations for FANUC TP you know in this post.
Thanks and happy programming! 
@RaidenOneSolutions: Yes, we are still looking for them.
Hi All,
Is DX100 job files compatible with YRC1000 controller? If same optional functions like relative jobs, PMT etc are enabled on both controllers?
I am looking for used compact Motoman (preferably with DX100 or FS100 or DX200 controller) and compact Fanuc robot. Payload should not exceed 5 kg. We are located in Delhi-NCR region.
What is FSU??
FSU is Functional Safety Unit which is option in DX200.
Hi All,
Is anyone using FSU with DX200?
Can someone confirm if GETTOOL and SETTOOL work with FSU in auto mode? Does change to tool data allowed at all without restarting the controller?
My info is, that these are not allowed on DX200 with FSU. Please someone confirm this.
Thanks!
Yes, the speed is set at the top of main program using SPEED V= x mm/s. X used 50, 70, 100.
Hi All.
Since some time, I am having strange problem with MOVC FPT for some time now on DX100. I have a double circle with command as follow:
[code] SET LI000 0
*DC
'DOUBLE CIRCLE
MOVC P[LB007] PL=LB006
MOVC P[LB008] PL=LB006
MOVC P[LB009] PL=LB006
MOVC P[LB010] PL=LB006
MOVC P[LB007] PL=LB006 FPT
INC LI000
JUMP *DC IF LI000<2[/code]
The problem is, the robot speed is lower between command MOVC P[LB010] PL=LB006 and MOVC P[LB007] PL=LB006 FPT than other section. Value of LB006 is 1.
The code was working fine earlier. Is it controller or singularity problem?
Thanks for any input!
haha...made my day! 
TickTack : Not sure if it is the same on DX200, maybe someone with DX200 can check and confirm.
I remember that sometimes the line numbers were not shown even on DX100, only the error code. It may depends on the error code.
Hi all,
I am measuring some parts with holes with a laser sensor. I can locate the center of the holes and after I have located the center, the sensor frame moves on the holes so laser beam and hole center align, there is a also a distance between last sensor and hole. I want to process the holes with a tool that is fixed on the same flange but at 90 degrees to the laser sensor.
I have tool data for the laser sensor and processing tool. I'm using a user frame where all measuring points are located.
I want to reach the point of sensor frame with the tool tcp but don't know how, so far I tried to use mshift to get the shift values Pt to Ps (refer to the figure) and applied to but get error of "invalid position". Another way, I can think of is to rotate the flange to rz by 90, stop there and get the robot posted in xyz, and then shift this point to center of home by the difference in tool and sensor tcp. I am sure there must be some motoman function for the same procedure.
Can someone has any idea, how this can be done?
Thank you!
Try the method as in this post: https://www.robot-forum.com/robotforum/yas…inate-on-dx100/
Hi All,
I am using GETTOOL and SETTOOL commands to change the tool data on DX100 (also work on DX200, tested on one of the client location. No idea if that was with FSU, i didn't encounter any problem).
A customer has DX200 with FSU and according to them, it is not possible to change tool data without restarting the controller. Every tool data change means restarting the controller. I don't have DX200 with FSU and I have no possibility to check. I've told them to increase value in S3C1192 parameter and then test GETTOOL and SETTOOL commands (which they didn't do it or don't want to). We have DX100 only, so I can't check this problem.
Can anyone confirm this? And do anyone know how to solve this problem on DX200 with FSU? The GETTOOL and SETTOOL commands will be called several times during job execution (works perfectly on DX100 that we have)
Thanks!
Well, we have some products for tcp and user frame calculation and calibration for Yaskawa robots (at the moment, DX100 and DX200 are supported).
You go to User Coordinate from main menu, then from top menu "DISPLAY", you can see user coorindate in X,Y,Z, RX, RY, RZ (or user frame origin).
With S2C700 set to 2, these fields become editable so you can modify the coordinates or robot, very useful if you have to set or test an user frame origin.
Found the S number!
For anyone who is curious, it's S2C700 (change it from 0 to 2)
