If you're looking to trigger from an external signal at any given time, then yes you do need to use the ladder. Basically you're turning on specific input 40012, User Alarm Request, and setting a value to a register to indicate which alarm you're triggering.
Posts by Too_Fast_46
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Just to clarify, you are trying to set a user alarm using the ladder as opposed to using the SETUALM instruction?
If the ladder option, then yes, you must tie into the signals used to request a user alarm.
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And still not supported with the newest version, 5.10 (3DConnexion mouse that is.)
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The test job I setup looks like:
MOVJ C00000 VJ=5.00
FLOATON LFL#(1)
TIMER T=5.00
FLOATOF
MOVL C00001 V=150.0The position of the robot is as shown in the attached image; nearly straight out in Y+, attempting to float linearly in X+.
The second attached image of a screenshot from the manual shows the linear servo float condition file. If I enable any direction- X, Y, or Z- the robot behaves just the same. I am able to move the S, L, or U axes, however, the Tool Orientation option is functional. The robot does not drift, and only moves when I move it.
I did test Link Servo Float also: S worked as expected, able to adjust the percentage of max torque. L & U at the minimum of 30% were too difficult for me to influence.
I assume one of the necessary parameters is not correct, but I'm hoping someone has been in a similar situation and may be able to share some insight.
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Controller: DX100
Robot: MS80I was asked to do some testing with the servo float option. We have a lab robot with it turned on, but it doesn't seem to be setup properly. Before testing I read the manual, registered tool weight, and verified the ARM Control settings. It allows the robot to float, but without control of any particular direction. I tried it with base, robot, tool, and user frame coordinates; nothing made a difference. As soon as I enable any direction of movement, I can move it anywhere. The tool orientation on/off works, but no control of direction.
I searched for detailed setup information, but seemed to only get horror stories. I am being asked to investigate this for robots we have on order. It will be setup by Yaskawa for those robots, if we decide to use it. I just want to do any initial testing I can using our lab robot. Any help/experience will be appreciated. Thanks.