I’ ve got a PDF file named Cio-Parameter-RE5,which shows the related information.I can share it if needed.
AndyKuang
I’ ve got a PDF file named Cio-Parameter-RE5,which shows the related information.I can share it if needed.
AndyKuang
About the SIN,SOUT instructions,I know they are special inputs and outputs,but I don't know how the values come,and when to use these arguments.
For example,
DIN B096 SOUT#(100)
DIN B097 SOUT#(101)
Thanks!
AndyKuang
Sincere thanks for your advice!
I've thought this before,however,I can't find any materials here and there,and no teachers.At last,I find the robot forum and so kind people here.
AndyKuang
Thank you very much!
So,$PX000,$PX001,etc.,is with a system specified function,such as, $PX000 means the current position of pulse type,and $PX001 means the current position of XYZ type,am I right?
Moreover,PX001 points to P001 and can read or set P001's value when we use GETS,GETPOS instructions.But $PX001 is uncorrelated with PX001 and P001.Am I right?
Thanks!
AndyKuang
About this job,GETS PX010 $PX001, what's the relationship of P001,PX001 and $PX001?
Thank you!
AndyKuang
Thank you very much! Now I've got them definitely!
AndyKuang
Thank you!
By the way,how about the instructions "SUB","CLEAR"? I'm confused about the follows.
SUB D020 D020
SUB P040 P040
CLEAR B000 51
CLEAR B053 37
What's the final value of D020,P040? What's the meaning of the CLEAR instruction with 51 or 37?
Thanks!
AndyKuang
Thank you,Roboprof and Robo Guru.
Here is another JOB,
NOP
GETPOS PX051 STEP#(1)
JUMP *0000
MOVJ C00000
*0000
JUMP LABEL:B000
...
Does the STEP#(1) also mean C00000 here?
AndyKuang
Thank you!
So,"element" means axis value like X,Y,Z,RX,RY,RZ.Am i right?
About the "step",I still don't understand it clearly.Here is the job:
NOP
JUMP *0000
MOVJ C00000
*0000
GETPOS PX060 STEP#(1)
GETE D012 P060 (2)
GETE D013 P060 (4)
GETE D014 P060 (3)
...
Is the "STEP#(1)" equal to "C00000"? Thanks!
AndyKuang
Hi,
I'm a newbie of Robot-Forum,attracted by a topic here of "Macro Job"of Yasukawa Motoman.I think this forum is useful and wonderful with specialists like Robo Guru.
Now,I'm studying Yasukawa Motoman jobs(JBI files) by myself,due to work requirement.I don't understand some instructions,such as GETS,GETE,STEP,EXPRESS,SETE .For example,
GETS LPX000 $PX000
GETPOS PX060 STEP#(1)
GETE D012 P060(2)
SET LI004 EXPRESS I009+100
SET P[LI004](1) LD001
Would anyone kindly help me,please?
Thanks and best regards!
AndyKuang