Posts by WattUp

Check the following menut; Robot > Work Home Position

Compare that position information to where you want it to be home. Modify & Enter if you need to update it.

Quote from Woebot

Thank you I didn't know this and just tried it. super helpful! Also worked for extended language PVars in my program (ie. P[I000]

It's a super handy trick that a lot of programmers I've worked with didn't know.

Also works for opening Call : Job statements

You can quickly edit a PVAR by highlighting the line, then hit OPEN DIRECT.

It will bring up the PVAR setting directly.

Hitting again will bring you back to the job.

RoboDk will also provide a trial license if you contact them.

I was able to test a few of the advanced features out during that time.

I would suggest to try and think of use cases before starting the trial, so that you can learn with a target goal in mind rather then just playing around.

For example, i used my trial to test the 'Path Follow' feature to test a dispensing application.

I store offset values from a baseline position per typeset.

Then use a sete to load the values into a posvar.

I have also done GETS, Invmat, Mulmat combo to get new posvar based on current position

It wasn't the best way to do it; but i have seen this done by teaching ~a dozen points along the bend. the suction cups allowed for enough flexibility to make up for exactness.

I think they taught it with vacuum off, and just kept touching up the points as it moved.

Quote from Woebot

Hello All,

Obligatory first post.

I am in the planning stages for a cell with two machine tending robots, each with a YRC1000 controller. Because there is a pretty large number of workpieces that these robots will eventually handle, I want to have a large number of positions available (maybe eventually 500+ as the customer continues to add new workpieces to their catalogue, more than I could get by just expanding the memory allotment). Because of the shape of the workpiece’s modifying the p-variables by calculations/shifts are probably not going to work. The customer and I are going to have to teach the pick/place positions for each workpiece.

I made a similar cell using a FANUC controller and my strategy was:

-Robot gets part number from PLC

-Robot runs a program specific to each part with the local positions for that particular workpiece which overwrites the global positions to be the same as the local positions taught for that part

-Robot runs does it motion using the newly overwritten global positions. The customer can copy and paste new programs and update the local positions whenever they developed a new part.

I was going to do something similar but Yaskawa local teach points are not numbered/nameable like the ones in a FANUC controller and I don’t think they can be worked on by commands like `GETE` etc.. I searched around the forum and didn’t see the same issue, I'm also pretty new to robotics so maybe I'm overlooking something obvious? Should I possibly be using a FTP system?

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What about storing position values in the PLC and feeding the robot X,Y,Z,DX,DY,DZ over network?

or if parts are similar, One general job with typeset specific offsets fed from PLC data? I use this method on several cells.

I did the Octopuz trial a few years back. I was a really impressed by the quality of the program, but for my needs as a non-integrator, it was too rich for my budget.

If you changed the job name offline, ie saved as new with N++, make sure you changed the job name in the header informaton to match. (second line of JBI file)

So that is a safety system then. You need to review risk assessment and safety regulations to ensure you are setting up a safe environment.

This barrier, it is protecting a part load area? a shared space with robot operations?

Is the open/close contact a human interaction like a door or something, or is it just a sensor / status from the machine?

I appreciate all the discussion here, and i want to make it clear I am not new to this world, or looking for free information or just a solution to copy. But I do get that OTHERS might copy without understanding and that would be bad.

In my head i was thinking more along the lines of panels/discussions similar to RIA conferences. Where people have presented a safety situation they had, and the solutions they came to. the discussions were always great and i have always come away with at least one new way of looking at things.

I thought a dedicated area to discuss those things would benefit everyone.

I am not simply looking for free information, my work has all the latest technical standards, I am thinking actual application suggestions.

Like if you had a unique task, or solution then it could be a place to share it for others who might run into a similar issue.
Things like methods of alternative entry are another one, i have seen dozens of methods used... sometimes in the same plant..

Never disconnect a servo under power. It needs to maintain the absolute encoder and on power off, it stores to memory and confirms at power up.

A forum post carries zero legal liability and 1000 people trying to solve the same issues will come up with countless options, and some will miss details.

The thing i hate most, If i am trying to repair a 1976 washing machine, there is a youtube video for exactly that.. Trying to design a safe working envelope etc; and you find nothing.

I think a forum section should be added for sharing robot safety and hazard mitigation information. Use the collective hive mind for risk assessments, mitigation ideas, safety circuits etc.

I have always hated how difficult it can be to find examples of real world solutions to robot safety issues that I am SURE others have already solved.

Any one else interested?

confirmed with my yaskawa rep, feature turns back on after every reboot. i showed every maint person how to disable again

Motosim is the Yaskawa simulation software.

It is a purchased software though you might be able to get a demo from your rep.

I learned what i know from reading the manuals and experimenting. I admit that I dont know every parameter and option, but I learned enough to keep the plant running smooth.

Quote from 95devils

The arm orientation is not guaranteed.

Just want to reiterate this point. We had a machine that was taught by the supplier, Every position was a PVAR in XYZ.

Everything standard worked well, but if an abnormal condition happened, and the maintenance team had to home the robot, they would get the B Axis 180deg out.

Everything looked normal and it would run, but our final place position was .5mm off and that was visible in the final part.

Reteaching to PVAR and the issue was gone forever.

I fought this a lot while i was starting out, what i have found is that different mov types will stop differently than others.

MOVJ will stop much farther out than a MOVL,

Also set your range limit to be true to the fence, since as you see now, the robot reaction will add a safety factor.