Posts by Silverstamp

    Hi everybody,

    I'm Motoman integrator since 2010, but not about FANUC robots.

    I've such a huge opportunity to catch, but first I need to master this yellow guys.

    This application is a machine tending one. Only pick and place. Perhaps interacting with CNC milling machines.

    Perhaps there will be fieldbus communication, perhaps vision.

    My question is, is there enough PDFs available to get the reasonable level of knowledge I'm in need?,

    If so, where to look for it?

    If not, where to begin?

    Many many thanks in advance.


    Hi Vladarius, thanks for replying.

    I want to know how to make the robot activate and reset a certain program.
    Al least in Motoman, you select a program and give it the property of MASTER. Then there is this special dedicated input (EXTERNAL MASTER JOB CALL) that

    calls this program and put the cursor at the top of it. So you know that after an external start command, you will be running your

    jobs from a known starting point, which is in fact, written for this special puspose.

    I cannot find a way of giving any program this special characteristic of MAIN or MASTER, neither I can find a dedicated input that accomplish this two

    tasks: CALL a main predifined program and RESET it.

    $GI() inputs don't list any of the forementioned functionalities.

    I'd appreciate any help.

    Hi, I did this in the past using an intermediary PLC via fieldbus.

    You have two main alternatives:

    1- Buy a profinet PCI card for the DX200

    2- Try using Ethernet/IP, in which the controller is able to communicate using CIP protocol.

    Try searching Cognex help documents about CIP protocol.

    Besides, some functions on the DX200 controller about communication must be enabled by a Yaskawa technician, due to the fact that

    those functionalities are locked by default, and need a hardkey to be unlocked.

    Yaskawa has plenty of documents online to search for this 'Communication Options' as they call it.


    Hi everybody, I´m willing to buy some Smart 3-6.160 robots, and the main target is to put them to do some soft material milling.

    I can not find any useful documentation on the web so I was wondering if somebody would lend me a hand sharing info.

    Anything is welcome. I already got the C3G Plus manual, but I can´t tell if it is applicable to this arms.

    Regarding the application I want to run, perhaps the memory is not big enough to hold over 3 o 4 thousand lines of MOV instructions.

    Besides they use resolvers to postion each axis, so I guess they could not have the required repeatability or precision. Or the actually do?

    I must say that stiffness is impressive, they hold a massive spot welding gun that seems to weight over 600 pounds.

    Any help would be greatly appreciated!!!:smiling_face:

    Hi everybody, the same opportunity has crossed on my way. 4 Smart 3-6.160 robots for a very good price, but I don't have the arm manuals and don't know if they could be suitable for machining.

    Could anybody lend me a hand?


    Hi everybody,

    I've this Comau SmartArc4 robot with Fronius welding equipment, the wrist collision detection assembly is a Robacta PAP-L.

    When the nozzle/torch hits the work and the robot stops because a collision, I can't find the way of moving the robot away with out

    getting the collision alarm as soon as I try to start the DRIVE-ON.

    Could anyone help me please?

    Thanks in advance.:grinning_face_with_smiling_eyes:

    Must be a user frame defined, and then execute UFRAME POS(x, y, z, rx, ry, rz, '')

    The following move commands will shift by the amount specified in each coordinate of POS()

    Hi everybody,

    May someone help me on how to start a shift within a program, and how to end it?:frowning_face:

    As far as I've read on manuals, the shift operation changes the actual position of the points recorded inside a program, and the operation must be mand point by point, so a loop is needed to scan the program and change al points to its new position.

    Am I right? Or there is a function that once called all points executed below are shifted accordingly?


    PD, if my guess is correct, then how do you end the shift as well.


    Thanks for your response, It's set as a Base. I found that among the options while setting the interference zone you can choose Axis Interfernce..and that's it. Thanks again..

    Hi everybody!, :hi-bye:
    does anybody know how to check for interference (or to create zones to be checked) but using an external linear axis? As far as I've managed the problem is to use GETS command and check the value using other commands in the job area.
    Thanks in advance!

    Hi Anto, try adding a MOVE instruction to the calibration point. Inside a program, click INSERT, then STATEMENT, then go to the MOVE folder, and in the last position you'll find TO_CAL_SYS. Once you click this statement, the instruction should be MOVE ARM[1] TO CAL_SYS. Executing this instruction will move the arm to the calibration position, usually the home position.

    Relative Job or PMT.

    Relative job with a 3 pin pointed tool, fixed to the work, and a single pin pointed took fixed to the gripper I guess. But if the posture is important, how do you correct posture deviations if the user coordinated frame only accounts for three points to be defined, instead of six, three points that do not take into account the posture that the to was when they where defined? Calibrating the tool perhaps?

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