Posts by 5GensOfFun

The UK Academy do not give a written exam, all training points are confirmed as learned using practical exercises.

Trainees receive a comprehensive course handout specific to their chosen course, detailing relevant topics. Students are also provided with the complete manuals in PDF format on USB.

It is impossible to say if the course is difficult or not. That depends on the capacity of the individual student. Basic programming courses are designed with beginners in mind and involve topic explanations, topic demonstrations and then practical implementation by the student, supported by the Training Officer.

PM me for more information.

Quote from Reintz

What do you have after P5? With only those points, it should not make a straight line between P4 ja P5. But if theres another circle with MOVCs after P5 and the two circles form a figure 8, then it will do a straight line from P4 to P5 unless you put a MOVL in between the two circles. The MOVL can be stored at the exact same position as the end point of the first circle (P5) and the starting point of the second circle so there would be MOVC, MOVL, MOVC stored at the same position.

So in this example - if these points are all MOVCs, then it will make a straight line from P4 to P5, because if there are more than 3 MOVC points in a row, the robot will consider the current position + the next 2 MOVC positions when calculating it's path. But P4 together with P5 and P6 form a straight line. Now when the robot reaches P5 then in considers that and the following 2 MOVC positions and because those don't form a straight line, it will continiue to make a circle.

Now to make a figure 8, one has to put MOVC, MOVL and another MOVC into the P5 position, that will make the robot not consider P4, P5 and P6 to be a straight line.

Use the FPT tag at point 5. This tells the robot a "new" circle in a different direction is to be executed from that point. The robot then looks ahead in the job and calculates it must complete the movement from P4 to P5 in circular interpolation and P5 to P6 and onwards also as circular. This removes then need for a MOVL (and the potential slowdown at that repeated point).

Quote from RoboCopo

5GensOfFun thank you for help i really appreciate it. I think this will solve my problem. So when the output is active does it show that robot is physically moving?

Kind regards.

Yes it does.

If you want a signal that tells you the robot is physically moving/not moving, use CTRL GRP RUN R1 - SOUT#345 - relay 50440. I've used this in the past in system jobs.

Remember this cannot be used as an actual safety signal as it is not dual channel... Fine if it's just for operator interface info.

I've seen this a lot (more than I'd like haha). Yes, you can normally just replace the contactor. We changed over to Omron made contactors, (contactor holder also needs changing if changing over to Omron contactors) they seem more robust and less problematic...

Assuming you're using IRC5?

What generation of controller are you using? As far as I know, on DX200 and YRC1000 the SETPRM Inform command only allows the setting of S2C and S3C parameters (3 to 194 and 64 to 1087 respectively), not RS. Also its use is restricted to Macro jobs.

Do you have FSU (functional safety unit)? If you do you can set/limit the working area of the robot and tool...

Quote from Robodoc

don't format a CF card in a Windows based computer. The robot does not really work in "FAT" format and will never understand NTFS.

It's always worked just fine for me Doc...

Quote from 95devils

You can not insert a blank line. You can insert a comment with a space to replicate a blank line.

Press the WELD On/Off button. Left hand side of the pendant. This will give you weld in teach during Interlock+Test Start.

95devils is correct, however you may also need to be in Management mode to weld manually. This is often standard, we usually change the CIO on our systems to allow in Edit mode too.

I use a 2GB card regularly without any problem. Have used the same card for 10-11 years, occasionally format it and last time was on Windows 10 as FAT32 and still works just fine with our NX100's.

Quote from motofoto

Please help , on DX200 if S2C1135 = 1, when the ARCON command is processed the speed override is disabled until ARCOF command.
Does anyone know the parameters with the same function for NX100 & DX100?

Don't know about NX but these parameters are the same on DX100 as DX200.

Quote from hermann

Spheric world zone around the homeposition.

I wouldn't use spheric world zone, your robot TCP could be at home but the robot pose could be in a dangerous position. Better to use joint world zone as Lemster suggests, much safer.

Which controller? IRC5? S4? Do you mean the speed override from the pendant? If you do, I made this code a few years ago to send the value to the PLC so the operators can't slow the robots down without us knowing about it. You'd need to map a group output to the PLC if using this specific functionality. The proc is called from Main so it checks every cycle:

! Declarations

LOCAL VAR num flexpendspeed;

LOCAL VAR num flexactual;

!

! Procedures

!

PROC speed_check()

! Capture speed selected by flexpendant user

flexpendspeed:=CSpeedOverride();

!

IF flexpendspeed=100 THEN

! Sets group output value to 100 if speed is 100%

SetGO go_SpeedValue,100;

!

ELSEIF flexpendspeed<100 THEN

! Remove any decimals from speed value

flexactual:=Round(flexpendspeed\Dec:=0);

! Set group output of actual speed to PLC

SetGO go_SpeedValue,(flexactual);

! Write speed information to flexpendant screen

TPErase;

TPWrite " Robot system speed is not 100%";

TPWRITE " Robot rendszer sebességét nem 100%";

!

ENDIF

!

ENDPROC

You need to tell us the controller type etc. when you ask this kind of question!

I attached a guide (link below) on how to trigger user alarms and how to call the relevant alarm message. This is for DX200 but the idea is the same. I'm not very experienced with ladder modifications but this does work. There may be a better way?

Note the guide is for DX200, NX100 User alarm uses 40140 to 40145 (binary) to call alarm 0-63 (see picture above from NX CIO manual).

LADDER CHANGES FOR USER ALARM IF ESTOP ACTIVE.docx

Hi guys,

Lots of interesting stuff talked about here, but one question.. How to sample to speed?

Why not define an interference cube for the home position? This can be axis or cube interference. With axis interference it checks the position of each axis automatically and the user can define a +/- range they must be within. This is the safest way. You could also use cubic but this is based on TCP so be aware the TCP could be in the correct position but the pose of the robot could be in a dangerous area.

Interference cubes signals are Specific Outputs (you can't manually turn them on/off) and the interference outputs start at SOUT#57.

Then build your argument around SOUT#(57) ON or OFF

It's more efficient than grabbing the position with PX and comparing. Let the robot do the work!

If you're using DX100/200 you can use the Weld Length Check function to measure the weld (see attached picture).

Define the start position, (we use ROBOT frame type), set the length as required, then set the tolerance to 0mm under length and tie it into an universal output. (This is done within the WLC function, no need to alter the user CIO ladder).

Set the output to ON before the weld is made, check to see if it's OFF after the weld is made. A successful measurement will turn the output OFF. This means you can validate every seam you make as being within length specification.

Weld Length Check is a FD parameter, so if you don't have it activated you'll need Yaskawa.

Hi, here's an example using DIALOG. (See attached TXT file). This is a macro job. You need to define your message strings, and button strings, set the x-y coordinates for the position of each string and button, then construct an argument dependant on what you want to use the DIALOG UI for. I did this one on the fly so it's not perfect (declared more local variables than I needed) but works perfectly.

In this example we look to see if the controller is in Teach mode, and check to see if we are in single or multi-job mode. If the controller is in Teach and single-job mode the dialog appears telling the technician to switch to multi. Simple!

This 2nd home position is only a reference for the robot and reteaching it will NOT change your positions in the programs.

It sounds more like the T-Axis has slipped when the tool was crashed and needs recalibrating to the witness marks/sticker. That is Home Position, not 2nd home position. If you have already retaught all points with this axis off, and you set it correctly now, you will need to reteach again. In the future you should check the calibration marks and if required, adjust the home position to the correct place BEFORE reteaching anything.

You will probably find that your TCP is not accurate now, which can cause problems when orientating around your tool...

Comment is still in the Control section of the Inform list on DX200, and should be available in all Language modes (subset/standard/expanded)…

Might sound stupid but have you tried recycling the power on the controller and checking again?

Last resort you could pull a backup and put in your comments with a text editor, (remember you are limited to a string on maximum 32 characters) then reload...

It should be there though!