Posts by WattUp


    Anybody use offline programming on here for welding robots? if so what software? how have you found it? we have octopuz but have never been able to properly align the realworld into the software.


    When i spoke to the guys at octopuz, they mentioned that they would come onsite to dial in that realworld/sim match up.

    Might be worth reaching out to them to see what they can do.

    But i would never trust any sim job to just run 100% no matter how close they say it will be.

    I have run into this same situation before when setting up my first few FSU areas. I always programmed them to be my desired limit only to find out that in AUTO, the robot stopped far short of those limits.

    Its important to remember / understand that the FSU operates separately from the robot program. FSU is monitoring current position and velocity and doing predictive math on if a hazard / restricted area is going to be violated, and will stop to prevent that condition.

    It does not know that the next waypoint is actually clear of that area / restriction. So in order to reduce those false stops you need to reduce speed or add waypoints to pull the robot away from the restricted zone.


    The tech enabled "SPEED LIMIT DURING PLAY" option on the FSU, but for a reason that stumped both me and motoman service, the input to disable that option does not exist on the YSU board that was installed.

    Motoman was able to disable the option remotely from my CMOS.bin and send it back.

    I have a project where I am utilizing an old DX100 / HP20D robot.

    I have programmed the job using MOVJ 90 for all air moves and MOVL 1200 for all in process moves.

    When I run the program on robot i get a cycle time of ~60sec, but when I run that job file in motosim i get 36sec.

    Is there some parameter that is overriding default system max speeds? There is an FSU installed, but I did not see any speed limiting function listed with that.

    I know that the second home position must be done after error 4107 and I know that this position can be set manually, i.e. modified. What is its purpose and benefit? we have to have a point in space or can it commute anywhere while checking?

    Second home is 0,0,0,0,0,0 position for the arm by default. it is the calibrated position at motoman when the servos were set up.

    Each axis has a small arrow & scale to align the joints. this is useful when replacing motors/ gearbox. And also to verify nothing broke during a 4107, I get this fault often when a power outage hits during robot motion.

    Most robots it's fine to just leave the 2nd home position, but a few of mine have EOAT that would collide at a OEM 2nd home, so i had to teach my wrist joint 90* from Zero.

    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

    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.

    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.

    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.

    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?

    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..