Posts by TSGIR


    There are two type of variables in Yaskawa robots, global and local.

    It is depends on what type you are using.

    The global Position variables show with P and the local Position with LP.

    If you are using normal position variables that are under VARIABLES menu, it is global variables therefore any change in this variables have effect on all job. If you change this variables in a job, it have effect on other jobs too.

    But if you use the LP variables, the change of this variables have effect only on job that are using it. The local variables must select and active in each job separate.

    The example couldn't help you, you need to have a training or use Yaskawa manuals.

    For Yaskawa instructions you can use Inform manual. It show each instruction how work.

    At the normal way it isn't possible but there are some way to this connection.

    If you need to have control on IOs, you can use CP1616 on Yaskawa controller (i don't know which controller are you using)

    If you will have control on all things and the PLC control your robot, you can use Motologix. That is an option and need to payment for active and buy, also need CP1616 card.

    If you will have control on robot IOs and variables, you can use Modbus TCP. It need an activation on Yaskawa controller and a cards on Siemens PLC.


    Did you save your project after load any model on your project?

    The Motosim don't take auto save. You need save your project after any change in load model, change in JOBs and other changes.

    The Tread that "95devils" sent to you was good explain, after that you can see below example too.

    Example 1: you will connect your sensor to one of external input, you need to check your robot user ladder, search for #20030, that is first address from user external input, it usually connected to #10 address. The #10 address is IN#(1) under universal input. It means if you use DIN instruction in your job and read the IN#(1), you can see status of sensor that is connected to #20030.

    DIN B000 IN#(1) // the status of sensor save in B000 variables

    Example 2: you will turn ON a output from job and connect it to a relay, you must to see the #30030 (the first address of user external output) is connected to which address of universal output, it usually connected to #10010. This address is OUT#1 under universal output menu. If you use DOUT instruction in job and active the OUT#1, your relay that is connected to #30030 will turn ON.

    DOUT OUT#(1) ON // the output 1 turn ON.

    The notice is the check each external input/ output address are connected to which address of universal input/output.


    I don't know what is the controller model but you can see safety terminal , it is usually on the door or in bottom right of the controller. If you see on the door there are a plate that explain each pin of this terminal do what work. There are 4 pin for external emergency. It is pin 5,6,7,8 for YRC1000 controller. You must open the cable that are connected to this pins and jumper these pins. Connect pin 5 and 6 together and pin 7 and 8 together.

    It will disable the external emergency.


    Read signal SOUT#120, it is connected tothe external output that you need to use. (#30022)

    DIN B000 SOUT#(120)

    When robot is at work home position, the B000 give you 1.

    This signal is interference #64, when you define it and robot is at this position, the SOUT#120 will turn ON.

    If you have Motosim offline simulation, you can import 3D drawing and create path with CAM function in the Motosim.

    If you have G-Code file that created other softwares, you need to write a converter by your salves (C#, Python and ...). With converter you can convert values in g-code to robot job.

    There aren't any software for convert g-code to robot job (i couldn't find).