Thx for your suggestion, it has been really useful.
Posts by jac
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So, if I understand correctly, it is then best to execute the MRESET function at every cycle, right?
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Thx guys,
Boring_robot_guy, this looks promising. Does the robot physically rotate back the accumulated rotation amount when the MRESET instruction is executed. Or it is just a software reset?
Lemster68, none of them were mentioned.
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Dear, roboticists.
I am using the instruction VCON to endlessly rotate the 6th axis of a robot.
Since we need the tool to rotate endlessly, we need to reset the rotation amount.
We do this by calling the instruction VCOF after a certain number of cycles, otherwise the rotation amount reaches its limit and the robot halts.
There is a drawback with this approach: each time a VCOF is executed, the rotated revolutions are rotation backwards, which requires a certain amount of time.
I have seen in the documentation ("DX200 OPTIONS - INSTRUCTIONS - FOR SPEED CONTROL FUNCTION") that the teach pendant UI provides a button to reset the rotation amount to 0. I was wondering if there is such instruction to call from a job; since the axis is mechanically able to rotate in one direction endlessly, it should be possible to reset the value by software.
Does anyone know if this is possible or I may be missing something relevant?
Thx in advance!
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Hi, all,
I have come across the command RFLCTJOB, which from the documentation (YRC1000 OPTIONS INSTRUCTIONS FOR ETHERNET FUNCTION) seems to allow the current program to receive a job through FTP and overwrite it.
It is not clear to me what is its behavior. For instance, I am thinking if it would be valid in any of the two cases:
- JOBA.JBI is running in an endless loop and contains instruction RFLCTJOB. I send a new JOBA.JBI to the robot using FTP to overwrite it. When the original JOBA.JBI runs over the instruction RFLCTJOB the job is overwritten.
- JOBLOOP.JBI endlessly calls JOBA.JBI in a loop and contains instruction RFLCTJOB. I send a new JOBA.JBI to the robot using FTP to overwrite it. When the JOBLOOP.JBI runs over the instruction RFLCTJOB the job JOBA is overwritten.
Is anyone familiar with any of the above scenarios or in general with command RFLCTJOB?
Thx in advance.
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ok thx for the clarification 95devils
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Ok thx for the clarification.
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You can do it as explained in Number of variables B, I, D, R, P
You will need the Maintenance mode password.
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To close this thread, in YRC1000 this can be done as explained in:
- "YRC1000 OPERATOR’S MANUAL FOR MAINTENANCE MODE" manual, Section 2.2.8.30 "Variable Allocation".
Note that first it is needed to go to System Security and set into Safety Mode. You will need the password for this.
All so you may want to do a backup of the jobs. This procedure will erase the current jobs and all the values of the variables will be reset.
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That's it thx :)!
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Hi,
I have a job running that with some instructions which depend on user variables (I003, D002, etc.). The job is looped from an external job.
I am updating the values of those user variables using the Ethernet Server Function.
The current behavior is that the variables are updated once the job is looped over (thus restarted, since it is loaded from the external job).
Is it possible to upload the new values inside the job right after they are updated with the Ethernet Server Function, without waiting for the job to loop?
Thx in advance.
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Hi,
noob question here.
I have a job which contains a call.
I am trying to find ways to run this call in manual mode, but only this call (i.e. not proceed on executing the following instructions).
I know I can run movs alone, but what about other instructions? Is it actually possible?
Thx in advance.
Josep
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Hi,
in the "Motoman NX100 Controller Operator’s Manual for General Purpose" page 196 it is stated that there are 100 available variables of type B, I, D and R, and 127 of type P.
Is it possible to increase this number, i.e., be able to use 2000 variables of type D, for instance?
Thx in advance.
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Hi,
Can you point to the specific pages?
I have read the HW1483358 manual, and seems to me that there are indeed some spots with multiple-commands-processing references.
For example:
- page 216: "Automatic Close of Socket ... When the command execution for the specified number of times is completed at multiple commands execution"
- page 222: "If multiple commands need to be processed in a row, ..."
- page 262: "8.3.3.4 Continuous Execution of Multiple Command": There is actually a picture depicting the call-response cycle for a execution of two consecutive commands using the Ethernet Server Function. This is actually the best example.
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Hi,
I am implementing a library in C++ to communicate with the robot (YRC1000) through the Ethernet Server Function.
Everything is going nice but only one point is not perfect.
It should be possible to create a socket, send multiple commands (with their corresponding responses) and close (see HW1483358 page 262), but I am unable to do it. Instead, I have to create a socket each time, send command, receive response, and close socket, reopen the socket, next command, and so on. It is doable, but not efficient, specially since I should be able to do it.
Has anyone found this or has actually been able to send consecutive commands?
Thx in advance!
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Hi,
does anyone know if it is possible to communicate with Motosim using the ethernet function?
Thx in advance.
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Thx ejl this looks like it :)!
Do you know if there is any generic C/C++ library that implements the communication with the robot controller?