for other beginners following along, this was easier than i thought at first glance. the position variables are comprehensive in that you can set the p variable to any coord sys such as a user coord sys. you can use sete to change only one element of the p variable. you can do a loop using label and jump and increment an integer etc. math on the xrc worked fine and moves thru my plate stack accurately.
Posts by mflux_gamblej
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im interested in setting up a force torque sensor to load a fixture where the part would be shoved up against a wall with a small amount of force (just to know that its up against the mechanical reference). I have xrc robots. i assume this would be accomplished by teaching a move that interferes with the fixture, but then stopping the move when the force sensor thresholds at a set level. I see that you can add a UNTIL instruction to a mov[]. anybody setup a f-t sensor on a xrc before? is there a better way to do this maybe as an analog input from the teach pendant instead of only as a threshold? one of my concerns is that it takes time to turn on an input and for the until instruction to execute, so depending on the conditions you will get different force amounts applied and when you put a rock into a hard place, the force builds fast.
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between looking at the cio manual in the user ladder section and going thru the io that are hooked up on this robot, i think i get it finally. for anyone looking for general io, take a look at inputs in the 2050 range for example where the cio manual says io group as a block icon, those are setup on the universal inputs on the default user ladder.
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I can see in the specific input menu that 4181 turns on when I turn on 2041 using the PLC. this has a SIN#138.
you can view this by searching for a relay number (#4181), then changing the display to 'detail' instead of simple.
is there a way to scroll through pages in detail views in these i/o menus? if you use the arrow keys, it wont scroll down, but if you change the display to 'simple' where it shows bits xxxx_xxxx then it will scroll. or is it really that you can only search for a relay number then change to detail or similar?
for anyone new to xrc as i was at the time of this posting looking to scroll pages, the top right of the 4 upper keys on the teach pendant is the page key and its available in some menus, shift+page goes the other way
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I am using a xrc/up6 handling robot to move 1/8" thick plates. I'd like to pickup from a pile of 20 plates and drop off into another pile of 20 plates.
I'm not sure on the best way to program this in inform ii. I saw that you can use joint pulses and do math on those, but it is far more complex in terms of joint motion regarding what happens in a MOVL. I didn't see a way to do an operation similar to MOVL, Z n*plateThickness.
I setup a program where its all MOVJ moves to get into position, then a slow MOVL to get at the pickup or drop off sites, but now its time to figure out how to do a loop and to increment on plate thicknesses. anyone have a suggestion of the most efficient way to do this in inform ii
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it looks like SFTON, some movL's, SFTOFF. is there a better way to do this with sub jobs and passing a increment/decrement variable or something like that?
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Since you are using the material handling ladder, the HAND is wired to 3040 through 3047. The HSEN is wired 2040 through 2047. You can see the bits change states in IN/OUT, either UNIVERSAL INPUT or UNIVERSAL OUTPUT. Since these are dedicated, in the jobs you use HAND x ON or OFF to actuate a valve. For an input you would use HSENS x ON or OFF. WIth the HSENS the job is asking a question is the sensor true or false. You would then get the answer from the controller with GETS B006 $B006. If B006 is a 1 the answer is YES. If B006 is a 0 the answer is NO. It is then up to you to react on the value. Maybe a JUMP *LABEL IF, RET IF, or CALL JOB: xxx IF.
I used B006 in the GETS as an example. You can use any unused address of your liking,
I think I understand what you're saying here. even if I didnt set a time value the HSEN will interrogate the i/o and set B006 and then I can do an additional function after that using the B006 state. makes sense.
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Thanks for your replies on this.
The HSEN instruction is working for me now when I set a time value. It seems that if you dont set a time to some number or seconds, or to forever, then the robot just ignores the sensor value, or at least the HSEN instruction is complete despite the sensor not being on.
I now have a time value on my HSEN instruction set for 10.0s Now when I put a part on the vac gripper the robot sees the sensor and resumes playback.
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Hi 95devils, this xrc is init for handling. it has the default handling ladder and default user ladder for handling. I have the HSEN and HAND functions.
I do not have the HAND io setup properly though in that I didnt physically connect the outputs to do the HAND instruction yet. I might not bother with it. Right now I have OUT#9 gen output working as a valve on instruction. that's working good with my PLC.
the HSEN i would use if it works. I may be able to get it to work with a little more time and understanding of the HSEN function. the manual says it uses B006 as the status for the input 4180.
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another option here may be to use the HSEN instruction, since I happen to have hooked up my tool sensor to the input that is meant for this it seems.
HSEN 1, B, T it seems are the options? Im reading this in the inform ii manual.
I tried HSEN 1 ON with the sensor off (no vac) and the robot just kept on executing the program it didn't wait for the sensor.
I'm not sure how to add tags to the HSEN command to try out some of the functions like the wait etc.
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I can try to use a SIN#, I can type 058 and that gets replaced with 58. that will run, but if I try to type in SIN#137 to use with external input 2040 which turns on specific input 4180, I get an error on the teach pendant which says 'enter correct value'.
any idea about what to do here?
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I assume I can use the SIN# as described above in the job file, but is there a way to do this for IN#( )? I dont see a correlation table anywhere.
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I can see in the specific input menu that 4181 turns on when I turn on 2041 using the PLC. this has a SIN#138.
you can view this by searching for a relay number (#4181), then changing the display to 'detail' instead of simple.
is there a way to scroll through pages in detail views in these i/o menus? if you use the arrow keys, it wont scroll down, but if you change the display to 'simple' where it shows bits xxxx_xxxx then it will scroll. or is it really that you can only search for a relay number then change to detail or similar?
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I see in the CIO manual that the default user ladder program uses 2041
--|2041|-----( 4181)---SENSOR INPUT 2
so, presumably if I turn on this 2041, then 4181 would be on. 4181 for handling is called 'sensor input 2' and is in the specific input catagory
I also read for Handling 4180-4187 have to do with the HSEN instruction, which is along the lines of what I'd like to do. I have a vacuum valve, with a sensor, I need to WAIT until the sensor is on to know the vac is good, then the robot could move onto the next MOVJ or similar instruction.
I don't know how to use the HSEN function. I could maybe do that instead of using a WAIT instruction to wait for a vac sensor to turn on.
at any rate, I'm not seeing how to correlate the i/o values that I can read in the i/o menus, to the usable IN#( ) values that you use in the job files.
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Hello,
I have a up6 w/xrc control. I am using a plc with remote terminals for i/o.
I'd like to setup a WAIT in the job, but I don't know how to setup the input so that I can point to the input in the wait command.
for example, i want to wait for external input 2041 to turn on. I can turn on this input with my plc. I can see it change in the i/o screen where under external inputs, 204X I can see 0000_0010 if I turn this input on.
but, when teaching a job, all I get there is IN#( ), where I can type only 3 numbers.
so, there must be a place to assign external input 2041 to IN#(041) or whatever. or a table in a manual somewhere, or something readable somewhere that lets you correlate the 3 digit IN# to external input number 2041. I have tried to rtfm. I looked thru the xrc manuals, cio, user, etc. I didnt see any correlation table for example.
I do see in the CIO manual classification of I/O signals where 0xxx is a general input, 1xxx is general output, 2xxx is external input, however I don't see any correlating table or similar to set IN#( ) so that I can use the external input in my job.
any help would be greatly appreciated.
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I've got a UPJ robot, and Denso wincapsII software. If anyone is familiar with the UPJ robot, its really a denso robot that motoman sold as their own. Most likely motoman did do some firmware, or similar changes. I recently put an ethernet card in the UPJ to try and talk to wincaps, and other hardware such as a cognex vision box.
I contacted motoman about a year ago regarding wincaps software, they said to call Denso. I did do this, and denso said to call motoman.....
so I'm on my own. I do have wincapsII which someone sent to me. I don't have a user name for that software to make it a full version. really i just want to test the ethernet comms.
Does anyone know which robot to select in Denso wincaps to get the UPJ to talk? Right now I selected robots that look like the UPJ in wincaps, and put in my software version. it is clear that wincaps can talk to the UPJ but it just says 'robot type is different' when I try to connect. I think that if I choose the right robot type that I can get some basic functions going. Anyone been thru this before?
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not in plain language. i continued to get more and more documents and info from motoman, and from this forum the more i kept asking.
a longer winded version is to say that i don't understand all of the withholding of information. is that how people behave at your workplace? no one would ever get anything done.
it's understandable if motoman support doesn't freely give out details for a few reasons, mainly safety from my perspective, but also for company nonsense reasons. if there's IP to protect, that's why you patent things. there's hardly a trade secret in how you communicate data around a robot, anyone who cares to work it out will. I can understand also about paid for option parameters not being shared (without paying that is). its clear that motoman must have tried to sue various websites, people, whoever over that situation, hence the gag order on this forum - fine. but it is not fine that machine control parameters are secret - that is ridiculous. i have fanuc machines, fadal machines, takisawa machines, all documentation and parameters are shared freely so you can just get your damn job done.
i post on forums with the opposite intention of spirit. i need some info or advice, and in return i try to share as much information about how something works or how i had success on my project as i can. i don't withhold information, or say i told you so after watching someone go thru learning what i already know. seems backwards to me. if you know better about the topic, just explain it fully, or expain it up to the point where you don't know more and say that.
for anyone playing along on installing an external axis for more than personal entertainment reasons, i will post about my base axis and how it all went. its going to work one way or the next. I did purchase a ballscrew and yaskawa servo (the one mentioned above), and may also buy the sgmgh version that does use serial 'dat' lines instead of straight encoder signals.
i will also be hooking up my linear motor setup prior to gutting it and putting that ballscrew on - because its the same sh* as the sgmg motor shown above. i'll be pretty bummed out about motoman, and some people on this forum if that setup works - to the extent that i won't be looking at motoman for future robotics projects. in the mean time, i'm willing to spend my money to get that linear motor or otherwise setup to work, and will be happy to share (here at least) what happened.
this is probably a good time to thank the guys who started / operate the robot forum; i have had good experiences on other forums in the past for different topics. Maybe you'll get some adverts money off my posts. so far i don't remember if i learned anything that i used to setup my robot from here yet though. maybe ironically the motoman manuals have been the main source of good information.
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it is worth pointing out that on the list of motors from the xrc control (shown above) there is yaskawa part number SGMG -13AWA-YR*
this motor is not one with the typical motoman connectors on it. it has a 15 pin JRC connector, and a 7 pin or so connector / also mil spec style. the first one (15 or so pin) is the encoder output. the other is 4 wires for the motor, and 2 more for a brake. yaskawa also makes this model with no brake so it would be a 4 pin connector in that case.
having had a look at the sgmg servo datasheet, there is no pin for serial comms to the encoder. its just standard encoder output. a+ a-, b+ b-, and so on. nothing to where the xrc control could poll it about the configuration / motor type.
it is also worth noting that this servo motor has exactly the same current and voltage requirements as my 'non yaskawa' linear motors made by anorad / with renishaw encoder of my choosing.
seems to me that i can hook up that motor and it should work as its in the list of motors from the robot.
also seems to me that i can just hook up another motor with the same specs and pinout, and it should just work too.
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You were told. You just don't listen.not in plain language. i continued to get more and more documents and info from motoman, and from this forum the more i kept asking.
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what i have learned is that motoman is so tight lipped about their parameters, passwords, and whatever that there is no way to integrate a motoman robot onto a custom linear motors base. if you truley needed to do this, you would pay a very large fee to motoman and they would send a japanese technician / engineer to your building and he would have the available parameters list to tune the drive. the parameters list just does not exist outside of motoman in japan, period. i guess thats there way of imposing the japanese robotics industry dominance.
i have many brands and types of automation gear and machinery - every single one of them gives full parameter listings and all details of machine construction. not motoman.
so maybe the message is, beware.. it only escalates on the newer products about the lack of customizability. (without paying probably hundreds of thousands for someone to change some numbers for a few hours)
all that doom and gloom stated, it is possible to add motors, etc. within the pool of motors listed on the control which are all regular ac servos . what a shame.
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should it be relevant to anyone working on an external axis, here is the motors list from the XRC control:
*listing is from xrc control group, base axis setup menu
motor P/N:
SGDMH-45A2B-YR1*
SGM-01AW**
SGM-02AW**
SGM-04AW**
SGM-04AWG**B
SGM-A5AWHG1*
SGMAH-04A1A-YR1*
SGMAH-A5A1A-YR1*
SGMAH-A5A1A-YR2*
SGMD-22AWA-YR1*
SGMD-32AWA-YR1*
SGMD-40AWA-YR1*
SGMD-45AWB-YR1*
SGMDG-22A2A-YR1*
SGMDH-06A2A-YR1*
SGMDH-06A2A-YR2*
SGMDH-12A2A-YR1*
SGMDH-32A2A-YR1
SGMDH-45A2A-Y21*
SGMG-05AWBBF
SGMG-13AWA-YR1*
SGMG-20AWABF
SGMG-30AWA***
SGMG-30AWABF
SGMG-75AWA-YR1*
SGMGH-13A2A-YR1*
SGMGH-13A2A-YR2*
SGMGH-14A2A-YR1*
SGMGH-30A2A-YR1*
SGMGH-30A2A-YR2*
SGMGH-44A2A-YR1*
SGMGH-55A2A-YR1*
SGMGH-75A2A-YR1*
SGMP-01AW-YR2*
SGMP-02AW-YR1*
SGMP-02AWHG1*
SGMP-08AW-YR1*
SGMP-08AW-YR3*
SGMP-15AW-YR1*
SGMP-15AWHG12
SGMPH-01A1-YR2*
SGMPH-01A1A-YR1*
SGMPH-02A1A-YR1*
SGMPH-02A1A-YR2*
SGMPH-02A1A-YR3*
SGMPH-04A1A-YR1*
SGMPH-04A1A-YR3*
SGMPH-08A1A-YR1*
SGMPH-08A1E-HG1*
SGMPH-15A1A-YR1*
SGMS-10AWABF
TS5643N121
USADED-13YRW1*
USADED-22YRW1*
USADED-32YRW1*
USADED-40YRW1*
USADED-45YRW1*
USAREM-01YRW1*
USASEM-02YRW1*
USASEM-05YRW1*
USASEM-08YRW1*
USASEM-18YRW1*you could find these yourself by reading the maint. manual / going to the maint. mode by pressing top menu during power on, etc. i took the time to write them in excel / though it'd paste them here.
for the most part they appear to be the typical robot manipulator motors, and some other external axis looking motors too. all are ac servo with encoders, none appear to be linear motors. mind you these are a listing from an XRC control of 2002 vintange.