Where do you want to do it?
In the PC software or pendant?
Where do you want to do it?
In the PC software or pendant?
For automatic reset the P100 variable, you can add below code after NOP in first of job:
SUB P100 P100 // this code zero all items in P100 variable.
For correct working do same as below:
Define two P variable, P099 (X=100, other =0) and P100 (all items zero)
NOP
SET B000 0 // reset counter
SET P100 P099
*LOOP
SFTON P100
CALL JOB:JOB ( your job that will shift)
ADD P100 P099
INC B000 // this is a counter
JUMP *LOOP IF B000<3 // the job will shift for 3 times.
SFTOFF
END
If you use Modbus Tcp for communication between robot controller and PLC, you can send very easy the M-register that show alarm code.
Alsoyou can send M-register data to external i/o but it need more i/o for it,
There are other way and is use the Ethernet IP.
I don't know more about ABB robots but the robots are usually Octal format and you can send data up 256, therefore you must separate your value more than 256 in PC and send to robot, in the robot you must combine the value you send.
You must use formula for seperate and combination.
For best test,
Step1: go to P variable, move robot to any position do you want, change the type to ROBOT and press MODIFY + ENTER, the value of robot show in X, Y, Z , Rx, Ry and Rz in position variable.
Step 2: move the robot to any position,
You can give value in the P variable that you set in Step1, the value in X of P variable set in D000 , Y set in D001 , Z set in the D002, Rx set in D003, Ry set in the D004, Rz set in D005.
Know you can send the value in D000 to D005 from PC to P variable that you want.
Example,
P001 is a position of robot,
X = 986.765
Y = 234.657
Z= 432.123
Rx= 180.0000
Ry= 90.0000
Rz = 59.3245
You must set each value in D000 to D005 ans send from PC to robot.
D000 = 986765
D001 = 234657
D002= 432123
D003 = 1800000
D004= 900000
D005= 593245
I hope you understand this example.
You couldn't give this value, you must give value in motion range of robot, the alarm is because incorrect value.
Please check the D0## values, maybe the value that you will input to P002 are not correct and are more than moving range of each axis.
The note is value for X, Y,Z are in 0.01 unit and Rx, Ry and Rz are in 0.001 unit.
Your problem is in status of P002, it is in PULSE type and you are input value for x, y,z, rx,ry,rz.
You must change the type of P002 to ROBOT type.
You can write below code in first step,
GETS PX002 $PX001
SUB P002 P002
CNVRT PX002 PX002 RF
With this code the P002 will be to ROBOT type and you can get data from D variable.
When you will add new instruction that aren't in the job content, press INSERT + ENTER.
When there are instruction in the job content and you will change sections of it, after change press MODIFY + ENTER.
Hello,
Do anyone know about two below functions in YRC1000?
I couldn't find any manual for these functions.
- Current position output (modbus)
- mode switching by controller
Hi,
The PULSE value are feedback from servo motor, when the servo turn, it give you value in PULSE. If you want to use PULSE you must to know how many PULSE is for each turn. It is very hard to understand it therefore it is better to use ROBOT (X,Y,Z). In this Coord, you must set six value for robot and it is understandable.
You don't need to set the Flip/Noflip, only you move robot and teach in this mode. For teach, press MODIFY+ENTER.
There are some offline programming software, the best of this softwares is Visual component but it is very expensive, the Octopus is other software that have welding function and also Delfoi. Both of this softwares used Visual component platform and are cheaper than Visual component software
There are RoboDk software too, it have good price and is easy to working.
For Yaskawa you can use Motosim software, it is special for Yaskawa and is better to programming.
Hi
What do you what to do, please explain more.
Do you want to see value for each axis?
Where do you want to have?
If you don't need the robot works coordinate, you can connect both robots via I/Os or you can use Ethernet IP for connect both robot and read/write signals between those.
It is depends on your application and what you are need.
When you have separate controller, you need some cable and you must disconnect some of parts from slave controller and connect both controller together, you must order cable from Yaskawa.
After change hardware, you need some parameters setting on the controller too.
Your welcome, please share your experience and example that you are working in this post, maybe some other people need use it in the future.
try with port number 80, 2005 and 2006.
Hi,
What is the laser tracking brand?
You can give sample and macro jobs from the laser tracking manufacture. They can give all jobs and files that robot needs.
Your means is change of IP address?
Yes you can change it, you must go to Maintenance mode, Option function , Network, in front of Host Setup, select Detail,
In this page you can see the IP address, go on the IP and insert your IP and press Enter, a box appear for confirm change, press YES.
The IP now changed.