He get you fixed up ok?
Posts by jarm
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yes its an original... 98 xrc i think
The xrc got an update in 2001
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I'm not sure to be honest. I usually don't edit from a pc. Lol i'm a true believer in if it works don't screw with it, but if you want to edit it and try, no harm. Rename and try an edited version.
Good job btw
.....Does it look like this -
Is the screen on the pendent a touch screen. I doubt it if 2002. Probably an xrc controller. You should open the inform list and check for the shift instructions before you get too eager. we had an xrc for about 15 years. just got rid of it this year. Parts for those controllers are getting hard to come by.
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ok
Line 1 sets your counter to 0
Line 2 Subtracts P000 from P000. This makes your shift variable 0 if it's other then 0
Line 3 This is your Label *A. This is where you jump to at the end of your loop
Line 4 This is an approach Point before you move in to grab the part
Line 5 This is the position where you position your tool to grab the workpiece at the machine
Line 6 This is the line where you activate the gripper to grab the part at the machine
Line 7 This would be the pull away from your machine with the part
Line 8 This is the position for moving toward the skid
Line 9 This is where you turn on the shift
Line 10 is the position where you want to drop your part
Line 11 is the instruction to let go of the part
Line 12 is where you turn off the shift
Line 13 where you add the value of z=30 to your shift value P000
Line 14,15 are positions moving from the skid back towards the machine to get the next part
Line 16 This is where you increment your counter each loop
Line 17 is the jump instruction to *A if your counter is less then 6
Each loop 30 is added to the shift value. Any taught positions between the shift on and shift off will experience the shift. Z will increase 30mm each loop for the taught drop position (line 10)
You can use movj but this causes the robot to move the easiest way, not the straightest. Picking up and dropping off should be movl but moving to skid can be movj if path is clear.
movj are joint moves and movl are linear. Movj are % of top speed (your movj is moving 50%) and moveL are a set speed. I think mm/sec.
Do you have any experience programming motoman robots?
inform list to create instructions other then movL and MovJ instructions. Mov instructions are created by using the keys in the lower right. To create a position ..Press insert.. enter. To modify a position, move robot ...modify ..enter...to delete , delete...enter. Make sure the cursor is on the line to delete or modify. new points are created after the line you are on.
Change motion type with motion type key on the left side. Active motion type is displayed in lower left of the screen. This is the type of mov you will create.
move to the line and press direct open to see and edit p-var values
What is your controller type?
You will have to address any wait times you may need if the next part isn't ready....you could always add a pause cmd before the robot goes to grab the next part and just press the start button on the pendant when your ready to grab the part. If the process is automated then you will need to figure out how to tell the robot it can proceed to grab the next part.
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I don't understand your difficulty with the example. Its pretty straight forward..
paste your code
Your b005 should be P005 and i001 should be a b001
The p is a position variable, the b is a byte variable and the i is an integer variable
now i would like to take the piece from the machine and place it on a pallet, so at each cycle the unloading position must rise by 30mm, instead the pick position is always the same.
The example will work fine for what you want to do
As per the example...
Your first unloading point should be a regular movL taught point. The p-vars are the amount of shift and the amount of shift added each loop . All points between the shift on and shift off will experience the shift. This should include your approach point, drop point and pull out point. All these points need to shift higher as your stack gets higher.
In the example p000 is the shift value and p001 is the amount added to the shift value each loop so p001 should be x=0 y=0 z=30mm
So the 1st run, the shifted amount p000 is z=0, 2nd run p000 is z=30, 3rd run p000 z=60...and so on and so on till b001 =X
The *A is a Label that the jump cmd jumps to loop. The b variable is your counter. This counts your loops so it knows when to stop stacking.....If there is something specific you don't understand, just ask.
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My job bought one of these outdated these outdated models, do you happen to have any manuals or other instructions, please and thank you. #saveagenxjoblol
your hijacking a thread. I see its your first post but could you please place your question in the proper forum and maybe include the robot make and controller version. You gave absolutely no information in your question for anyone to be able to answer.
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lol are you sure you're not winding it up unscrewing the tip? The wire is melted to the tip so it winds when you unscrew the tip and it snaps back when you let go.
If you have long liners running from the barrel to the robot, its good to check and replace if needed. Id undo the drive wheels and try to pull the wire through. Then cut the wire at the back of the feeder and pull the wire through the whip. Then try to pull through the liner from the barrel. If its tight, change it. I had to change one the other day. I could see and hear the arc length jumping as it welded and when i checked the barrel, it wasn't pulling smoothy at all. The wire will create a groove inside the liner over time that it will get caught in. Blowing it out will give you an idea if it needs changed aswell. The more crap that comes out, the more likely it needs changed
The tension in the wire behind the feeder will pull back on the drive wheels causing the wire to pull back through the whip creating the burnback. If you're burning alot of wire, it's good to make liner changes part of a regular maintenance schedule instead of waiting for issues to pop up.
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will it work in a virtual environment?
it seems absurd to me that we shouldn't be able to use a robot if we don't have an old PC
is it absurd to not be able to play a record without a record player? just sayin....Its absurd to think 27 year old tech will be plug and play with todays tech.
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If you are looking to create a copy of your systems to use in robotstudio, you will need the keystrings and a copy of robotstudio 4. The keystring should be in the s4c+ backup but the s4c string is on a label on the disk i believe.
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What robotware version is on the s4c+? do you have a good backup of both systems?
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Are you adding the pose data. Turn the shifton inbetween reads. If you don't you just overwrite the p-var with the next search.
3 touches per reference point or 2 if your z is a constant base . We have a laser on one of our robots, its a bit faster. I remember seeing a program for rotating work objects (userframes) with touch sense on ABB. That only required to search 3 reference points or 3 corners. If there is any rotation, it would rotate the userframe and all the points. Not sure about a motoman implementation.
This may send you down the right path..
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did you get the touch macros? inside the instruction near the bottom.
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i just reread the first post
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should be able to get it from a backup
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I still have a couple issues when reconstructing the cell. So when i restored my cmos backup it places the robot and my positioner frames with a positive z. The positioners and robot sit on risers so that makes sense but it places the robot on the floor. The world frame and floor have a position of 0 z. Im thinking lower the floor but what about the world frame. Should i leave it? Its height is 0 and the robots still has the original positive z value but they match up because it imported the robot on the floor. I'm assuming the world frame is suppose to match up with the robot base and not the floor..
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nice roboprof , i going to try that..thanks, im sure that would work if there is no variation in the joint.
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I made a stitch function for abb once. You can calculate points along a vector based on two points (start and end of the joint with applied shifts) and a distance to the point along that vector. I never tried to implement said function on yaskawa but im sure you could.
geometry - Position of point between 2 points in 3D space - Mathematics Stack Exchange
I basically have a start and an end point.. i measure and add any offset to each of the points and i use those two points to calculate all my weld points along that vector. I even set it up so i could have user input for stitch length and it calculated the spacing....It was a fun little project. Codes a bit messy but it worked.
I even created a function for stitching around a circle...that function was calculating new weld points using a rotational matrix rotating around z
we didn't purchase the stitch function and i was curious if i could make one myself
Not sure if im up on my inform well enough to do it for yaskawa.
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