Did you define user coordinate before convert job by relative job function?
Posts by TSGIR
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Why do you use positions in user frame type?
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You can see the Yaskawa manual for calibration, the best method is 5 point that calculate the coordinate and posture, of course it need to set parameters for its calculation, i don't remember it now but i will check and tell you.
After set parameters, put a pin in front of robot, match the tip of tool and pin for first point, it will calculate the Z direction and angle, if you have welding torch, vertical the torch and set the tip of torch and pin.
After that you need to set 4 another point with change angle of robot, that is better to move all axis for more accuracy in the calibration.
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You can use Relative job function.
Create two USER in USER COORDINATE under ROBOT menu. Ex. Create USER1 and USER2
Create a program and teach your shape.
When you are in job content, go to UTILITY menu, select RELATIVE job.
Convert you job to the USER 1, give a copy from this job, go to DISPLAY menu and select JOB HEADER, you can see USER1 in a field in this page, you can change it to USER2.
Now you have two job one with USER1 and another with USER2.
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You must give it from your local Yaskawa.
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If you use Yaskawa samples for correct path in Motosim, the correction is according to the tool coordinate.
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Hi,
What is type of each job?
Robot job or concurrent job?
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Can you explain for which application you use LMI and what data you gave from it and what data you sent to robot?
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yes using profinet
Can you send me manual and document and sample job for it?
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Give document number 1482773
See page 112
It show the grease injection.
Search for part number 4148 in this document and you can see those.
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Why Motosim ? if they all need to be purchased, Job Editor seems more straightforward to me, as it basically open a JBI file. But I actually never tried them, so I might be misleading.
If you buy Motosim, you can do all things, check Jobs, write Job, create new job, check the motion of robot and start your job, you can write your project program and check what happens when start it and after complete your program load it on robot.
In Job Editor, you can only open JBI file and change it.
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Which axis is this picture?
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Hello, thank you my dear friend Skooter for your reply
The issue is that there is no explanation given about these two grease injection nozzles in any instructions. By the way, I did not find the number 4194021-1. Is the number correct?
Which country are you from?
Maybe i can introduce an expert to help you.
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3 software have hardware key and need to purchase.
The best software is Motosim.
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Hi,
Do any person connect LMI sensor to YRC1000?
I will know how it can connect and send data.
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The MRC controller is very old and Yaskawa don't support it.
I attached a document for MRS+SK16, i hope it can help you.
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What is type of controller?
Don't use normal input for it, use high speed input. That is on green terminal on the door or near door. That is safety terminal.
You need to use RIN# inputs.
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So, the second starting position is the zeroing of the axes on the factory marks of the corresponding axis.
Where should I save it?
You don't need to save or modify it. When you need robot go to zero or home position, take FWD and robot will go to zero position.
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So a second home position is when all the axes in home positions and the factory marks match - is that how I understand it?
If you didn't modify the second home position, yes.
You can take FWD key and robot will go to zero position and all markers on all axis will match.
Some times the robot is mounting on a position that if you move it to zero position, robot axis will crash with floor or anything. So you need to modify second home position when you give check position message on the pendant.
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Yes, when robot isn't on the floor you couldn't use automatic calibration.
That is better see the manual of robot, it have several example of tools and explain how you must calculate the gravity and inertia.
Your tool designer know it and can calculate by design software.