Posts by ljuba

Step is number of the point/movement, and line is number of the line in program.

In the header of the program you can turn on step number to show in the program.

Search for concurrent io document for dx200 on yaskawa website. Afterward you can download here from forum software called Mladder. Or you need to you text editor or ladder editor from yaskawa.

I've seen $P050 just on yrc1000. DX200 and DX100 even can show the torque, but you are not able to use that information for what ever. It was not possible to store in some variable and use further on in program

I'm not sure if DX200 has $P050, I've seen those just on YRC1000

You are on the right track.

But there is no way to do it in motosim, obviously you do not have the torque feedback from the motors.

About checking it while searching, paralel job, or system job.

Have you done the calibration of the robots? So that controller knows the distance between 2 arms?

Quote from NassimCHINE

I need help to solve the error 3210: "Position No. storage area not found."

Is there any info, other than this one?

Like line, or area.

For the MotoCal is necessary to have hardkey. It is not cheap software.

In order to calibrate the robot, there is a procedure, where need to be done a job with at least 25 points, need to import robot parameters, execute the calibration in software, afterward insert absolute data to robot and do the judgment job.

So online just need to be done the calibration job with 25 points, and judgment job.

Not many integrators have this software.

To be precise, calibration has to be done with motocal.

Those are symptoms of bad calibration/home position.

I would check if the trigger (sensor for tracking) is not comming at correct time.

Second home position you can set where ever you want. Even you can make your own marking.

In case your robot actually went off, you would need to calibrate it again. The most precise way is using MotoCal software. But very few people have it.

If you expect to have like safety alarm with the interference area it won't happen.

Only thing you can do is change the ladder to generate the alarm according the interference area. JUST REMEMBER THAT IT IS NOT SAFETY RATED!!!!!!!!

It might be related to the ladder and some sensores.

Did you check "initialize ladder" when you imported cmos.bin?

you need to explain better what is done on plc. What the robot does, which controller are you using.... ?

I've tested the robot manager on YRC1000, but I think that it works on DX200. Robot ma ager shows the position in program and also can mo itor IO and variables.

switch it in ladder

depends what do you want to do. If it would cut the servo just in automatic or in manual or both. In case of cutting servo signal in both, you need a way to take it out of that sensor....

how did you do the mastering? To be precise it needs to be done with motocal

there is software from yaskawa named robot manager, that can access the robot controllers and give you all the info, even io state, show program that is running, where is the cursor.....