Coolio! thanks Pcarbines for clearing that up.
Posts by robodweeb
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hello all,
I've recently attached a cnc cutting torch with pilot src to an sk16/ MRC combo. My question is what is the appropriate pin connection to signal on/off to the torch. The trigger is a simple make/break switch to signal the pilot. Is there a specific pin or will any d in d out work?
kind regards and thank you -
helo,
according to this build blog there a "realtime" mode that lets you send blocks of code to the robot controller.
http://blogger.popcnt.org/2008/08/presen…ial-robots.htmlanyone know where this info is documented?
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hello robodoc,
I got it to work, I can send on/off /move commands from the pc. the next thing I need to figure out is how to send (ie trickle-feed) really long programs one line at a time because the MRC doesn't have a lot of memory. what do you use for this?also is there a way to add memory like an SD card? This would seem like a better long term solution for my goal for this machine-Using it as a CNC machine to carve wood & foam.
Thanks
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hello all,
I've been slowly figuring out this robot stuff. having an issue with pc to robot memory programming.
I have been using the python scripts created by these geniuses https://github.com/treeherder/yasnac . So far I have the disk emulator part working, I can save and load files but with limited memory, I am having trouble getting REMOTE part to work . I have the FD# 3 parameter set to 1 so I can select "PC" from the FDD menu, but after that I'm stuck, sometomes I get the above error , anyone can offer pointers,?thanks
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I tried manually editing the code, still bugs out.
. I narrowed down the problem to the software. On the robot/mechanism I created it keeps changing the Cartesian jog default from generic position for motoman (x,y,z,rx,ry,rx ) to staubli
I downloaded one of their motoman models and even though the dims are not the same, the Cartesian jog now stays at the right setting and the robot moves to the target
I've reached out to the developer to see what they say.
thank you so much for your help. this bit has taken the better part of a week to pinpoint !
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I'm not sure- here is the code being generated by the offline. what is this considered ?
/JOB
//NAME PROG1
//POS
///NPOS 2,0,0,0,0,0
///USER 1
///TOOL 0
///POSTYPE USER
///RECTAN
///RCONF 0,0,0,0,0,0,0,0
C00000=736.921,-340.780,415.588,-180.00,0.00,-0.00
C00001=970.000,0.000,560.000,-180.00,0.00,0.00
//INST
///DATE 2017/02/28 15:55
///ATTR SC,RW,RJ
////FRAME USER 1
///GROUP1 RB1
NOP
'Using nominal kinematics.
'Using USER 1:
'0.000,0.000,585.000,0.00,0.00
',0.00
'Using TOOL 0:
'0.000,0.000,50.000,0.00,0.00,
'0.00
MOVJ C00000 VJ=100.0
MOVJ C00001 VJ=100.0
END -
Hi Devil, thanks for the input it was helpful. I seem to almost have it. Newest thing I learned is comparing command vs current position. now I'm a t a point where Rx is 360 degrees off actual position, so I get arithmetic errors. I've attached some pics.. Is this something I need to fix in software or can I change it on the robot ?
thanks -
hi 95 devil, thanks for the reply
when all pulse on 0 the pendant shows XYZ positions of ( x,y,x,Rx,Ry,Rx = 970mm, 0, 610mm, 180deg,0, 0) I'm assuming those are supposed to be the dimensions of the tool tip measured from the base flange of the robot but the actual dimensions of the robot are bigger. z is taller and x is longer.
im using RoboDK, the robot model is identical to dims I pulled from the drawing attached. the TCP are in the same place...
the offline is generated in both pulse and xyz depending on the program generated..
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hello all,
when the robot is in home position (all pulse on 0 ) the pendant shows XYZ positions of ( x,y,x,Rx,Ry,Rx = 970mm, 0, 610mm, 180deg,0, 0)the z is a lot shorter than the actual robot and when I run a program generated offline it drops the tool way lower than the user frame.
my question is why is it like this and how do I change/fix it?
thanks
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lol really helpful guy, thanks
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luckily this robot came out of a defunct GE factory and someone scribbled the yaskawa level password on the door. I've reinitialized all files and all parameters, is there a different japanese set of parameters?
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I was changing parameters trying to sort out something with the disk emulator.
I have no backups. I would like to reinitialize everything to factory and start fresh.what files I need to recreate for it to work again, ie Master Job, Reference Frame, Origin. ?
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hello all,
recently I was messing with settings for this MRC controller sk16 robot combination, I am now getting an alarm 4960 system change every time I try to power on the servo, any suggestions? the troubleshooting alarm code manual isn't much help on this one.what is the proper set up procedure ie homing, frame, the basics to get moving again.
thanks
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seems odd no one mentioned the python emulation pack on github https://github.com/glvnst/yasnac
it's not dummy proof, takes a while to get all the "ah ha" moments if doing for the first time.so far I've gotten the disk emulator to work, still working on the remote
what I can tell you is the cable is easy, a "null modem" 25 to 9 pin will work on the outside panel
I found that I had to use older python stuff as well as 32bit, not 64bit
the newer python gave me bunch of errors*MUST USE Python 2.xxx, pyserial 2.4 or below, and win32com ,
you'll have to install pyserial manually but its easyand go through the code and replace port with your com port number ie com7
I'll go into more detail of anyone needs. this forum and the guys up in canada are very helpful.
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I've read I need to set an FD parameter in order for the remote to work. any ideas?
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Hello All
I have an MRC contrlller with SK16 robot, I am new to these robots. Trying to figure out what I need for offline programming ( cheapest route).I've gotten several pin out diagrams for the cable. tried them, still no communication, can someone run me thru all the steps ie parameters, customer options, Hardware key?
open to suggestions as far as hardware key or software emulators, looking to use something like roboDK
thanks
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thank you for the swift reply. I just noticed in the manual FDE requires a Hardware Key (P/N 141722-1)
Is there a way to get around this?
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hello all!
Have a question regarding an Motoman Disk Emulator Cable. In the PDF this is the diagram I find, it says it's 9pin to tp 9pin, but there is a pin 20 at the bottom, is this a direct replacement for pin 9 or perhaps a typo or is there something I'm missing?
Thank you all in advanceMRC SK16