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You need to register and then you can access (and download if you wish) all of the manuals you are looking for
Set S2C701 = 1, S2C709 = 1. I know you are handling, but if you have any arc welding also remember to set S2C1135 =1. This enables Speed Override (this info is also for others who may read this thread!)
When you switch to auto you will then have possibility to change speed while to robot works. If welding, set S2C1135 = 1, then when the ARCON command is processed the speed override is disabled until ARCOF.
Hope this helps!
That's right, they should be started on the Power On shelf, and also remember they should be System modules.
Other events should be possible, as they act like a trigger, but standard is to assign them to the Power On event.
hi donwload the doc Controlleur I/O you will find what you need
Thanks, I have the manual already but I'm stupid and don't understand what to do
DX200 controller...
I'm using the auto-backup function to write the CMOS.bin file to a USB drive in the controller cabinet. If there is a write error I turn on a universal output (the only type of output that the controller allows) and this sends the PLC a signal to give a prompt on the HMI and a confirm/reset button for the operator.
I want the confirm/reset from the PLC to turn off the universal output...
I'm guessing I'll need to map an external input to a universal input, then map that to the universal output, but I know nothing about changing the CIO ladder. I have the manual but it doesn't really help (I'm a bit stupid... ).
Can anyone give some help with this please?
If the wire feeds manually (in Teach mode) when the output is high, it is possible that there is something in the CIO ladder that prevents this when in auto....
Also, ARCON sends the welding controller the signal to initiate the welding arc, if you are only using AWELD/VWELD then ARCON it sounds like the weld controller is controlling everything else in the welding process (gas, wire). AWELD and VWELD tell the welding controller what parameters are required from the wire feeding unit and the power source for welding.
What welding equipment are you using, and what interface for communication between robot and welding (ie. SKS, Fronius, Miller...)?
Just use a DOUT command to activate/deactivate the cleaner. You should wire an output from the cleaner (input for the robot) to be sure the cleaner is in its home (non-active) state before entering and exiting with the torch also. Then look for this input (WAIT IN) to be on before you clean and before you move away from the cleaner.
WAIT IN#(xxxx)=ON (check cleaner status)
MOVL C00002 V=133.3 PL=0 (move into cleaner)
DOUT OT#(xxxx) ON (activate cleaner)
TIMER T=2.00 (cleaning time)
DOUT OT#(xxxx) OFF (deactivate cleaner)
WAIT IN#(xxxx)=ON (check cleaner status)
MOVL C00003 V=133.3 PL=0 (move out of cleaner)
The PL tag won't affect the shift in any way, it's not like a registered position, just a "fine" point to guarantee accuracy of the move.
Unlike ABB (for example) where you can grab the current time, Yaskawa doesn't yet have that facility. If you have PLC control as well, you could get the PLC to send a signal at the required time and use that to set your variable...
In this example (tested and working with RobotStudio), I created a new Task as Robot Freak suggested, which runs this PROC in the background. I'm not the best programmer in the world, so there may be a more elegant way to do what you need, but the code below does work. To measure the time and TPWrite after each cycle I created a Doutput as an End Of Cycle handshake, but I'm assuming you already have something like that in your normal production routine. If not, it's easy enough to create one and just Set/Reset as required.
PROC Powder_Clock()
WHILE DInput(diPowderOn)=1 DO
ClkStart clkPowderTImer;
ENDWHILE
ClkStop clkPowderTImer;
IF DOutput(doEndOfCycle)=1 THEN
nPowderTime:=ClkRead(clkPowderTImer);
strPowderOn:=NumToStr(nPowderTime,2);
TPWrite "Powder on time = "+strPowderOn+" seconds";
ClkReset clkPowderTImer;
WaitUntil DOutput (doEndOfCycle)=0;
ENDIF
ENDPROC
Do you want to measure the time for one cycle then reset the clock, or continuously, accumulating the time and never resetting the clock?
Check this thread: https://www.robot-forum.com/ro…forum/shock-sensor-23525/
This should give you the information you seek
You need the language level set to Standard or Expanded, same as you do for the Abort and Pause commands. Setup > Teaching Condition > Language Level. Then you will get the drop-down option for OG# and OGH#.
Is your language set to standard or expanded? if you have SubSet selected then these commands are not available. You can check by opening Setup > Teaching Condition > Language Level. These commands should be available in the Control menu of the INFORM list.
What generation is the controller?
Can you give more information please? What was the reason for making a P Start? (a P Start will not change your configuration) Have you loaded your welding modules/routines back into the controller after the P Start? Do you have RobotwareArc installed? If it is installed is the welding blocked? Are you using 1 or more robots from the same controller? What is the controller generation (S4C, IRC5 etc)? Have you been able to weld before and now have a problem?
The simplest way is to teach your positions using Joint coordinates rather than Cartesian, as much as is practicable. What is the application?
Yaskawa aren't too bad for forcing the R axis to move through a singularity when teaching in Cartesian, compared to ABB for example, but it is always preferable to use Joint coordinates. It can also smooth the motion of the robot and help reduce cycle time as well, to an extent.
Just to add to this thread:
If arc welding, set S2C1135 = 1, this allows the air moves to run at the override speed but will not affect the welding speed. (I've tested this at 10% speed adjustment while welding 1.2mm low carbon steel). I haven't had chance to test it with a static mounted torch (external TCP) yet tho...
I also haven't tried it when using the S2C287 - group input to set the speed. Just a warning!
Also S2C709 = 1 will hold the speed override value when changing modes etc.
DX200, but guessing it is the same for DX100 (test it first on a part to be welded that has low value )
Hope this is useful for people!
Hi Tony,
Each station is running multiple axis on a single controller (God bless Yaskawa I always hated working on pre-IRC5 ABB with individual controllers!)
Hi cunaf,
A PLC controls the cell, but the welding is controlled through the robots, using the standard system CIO for SKS welding. When a weld error occurs the robot with the error shows an alarm on both the SKS Q84r unit and the teach pendant, no hold appears but the start signal is gone.
If it is the CIO then I have a major problem as this is part of the system CIO, not the user CIO, and as all of us who are using DX200 know... Without the dongle etc, we're going to need Yaskawa to change this... Unless I'm mistaken...
Hello folks,
I have an issue with DX200, when 1 robot in a 2 or 3 robot welding system has an error (arc failure etc.), all robots stop at the point of alarm. I need the robots without error to finish their current weld and then stop. It is not acceptable to have an interrupted seam.
When the line was installed the Yaskawa guy was asked to set this up, but was unable to assist. I know it is possible as I have seen it on many projects in the past, but I don't know if it is a parameter, or (I suspect) the CIO would require modification?
Thanks for reading, any help/thoughts are very much appreciated!
System info:
DX200 controller, YR-02010-A00 robots
SKS Feldbus 5 interface, SKS Q84r process controller