Posts by Jsapet

Hello,

Controller DX200 / YRC1000

I have no problem but I would like to optimize my robot/PLC programs and know your way of working.

My robots work with several stations controlled by an external controller. I would like to share the type of exchange you use to authorize, for example, the robot to load a part onto a station.

Below example of program with robot to PLC exchange

***************

'SYNCHRO

DOUT OT#(395) OFF // info put part OK (Robot to PLC)

IFTHENEXP IN#(281)=OFF // info authorization put part (PLC to Robot)

SET I031 18 // Message HMI robot waiting

WAIT IN#(281)=ON

SET I031 0

ENDIF

'MOVE PUT PART

MOVL LP000 V=50.0 PL=0 DEC=20

'SYNCHRO

DOUT OT#(395) ON

IFTHENEXP IN#(281)=ON

SET I031 19

WAIT IN#(281)=OFF

SET I031 0

ENDIF

'MOVE CLEARANCE

SFTON P120 UF#(1)

MOVL LP000 V=1500.0 PL=4

SFTOF

'SYNCHRO

DOUT OT#(395) OFF

END

***************

Hi,

What function are you using for the offset? Can you send program lines?

Hi,

Check this post:

Thread

Overriding speed

What is your way of overriding speed?

Now in each move instruction in program I have speed variable.

I set speed in percent in some other variable on panel and then recalculate all speed variables.

Wondering if it is a way to simply set percentage speed, in each instruction have speed constant and have everything done automaticly.

Speed override does not work for me, cause it resets to 100% after cycle, program restart etc. I also want to change speed during program execution.

krzych

March 10, 2014 at 8:00 AM

Hi,

I don't have NX100 but this can be done in standard execution mode with management level: Robot >> Home position

Hello the Roach,

Communication with UI signals : True

I find my problem.

Menu >> System >> Config >> Remote/Local Setup: Local

Change in : Remote

thanks and have a good day

Hi,

Controller = R-30iB

Following the installation of an option on my robot I lost some parameters and since then I can no longer start it in production.

My PLC no longer receives the UO[1] Cmd "enabled" signal at ON to after Send U1[6] "Start" at ON.

Robot To PLC

UO[2] = ON

Other = OFF

PLC to Robot

UI[1/2/3/8] = ON

Other = OFF

Its Perfect.

I find the variable D0008 (=GO[10005]) in PMC.

thanks a lot rob76 and have a good day

Hello,

Sorry for the delay I was on vacation.

Yes the robot use PMC, but i cant find the variable with the search function.

What should I look for? 10005 GO[10005] or something else?

Hello,

In a program there is the variable GO[10005] which is used.

The problem is that I don't know where this variable comes from. In the output group variables the maximum is 64.

that's great.

Thanks a lot and good day.

I found the documentation "DX200 System Task/Manual" and i managed to run a program in the background.

Hello,

On my DX-200 controller I have the possibility of creating "system job" program.

I can't find any documentation on this type of program which I think is dedicated to background calculate.......

Can anyone help me?

Hi,

I found a solution. I used another tool number with different angles on Rz (180 °) for rotations that did not work. This corrected the problem of interpolation.

Exemple:

MOVJ P016 VJ=50.00 PL=0 >> home position with TCP N°0

EIMOVL UF#(3) C00000 V=550.0 PL=0 >> Move to First Corner With TCP N°0

EIMOVL UF#(3) C00001 V=550.0 PL=0 >> Move to Second corner With TCP N°0

EIMOVL UF#(3) C00002 V=550.0 PL=0 >> Twist Around the second corner With TCP N°4

EIMOVL UF#(3) C00003 V=550.0 PL=0 >> Move to Third corner With TCP N°0

EIMOVL UF#(3) C00004 V=550.0 PL=0 >> Twist Around the third corner With TCP N°0

EIMOVL UF#(3) C00005 V=550.0 PL=0 >> Move to Fourth corner With TCP N°0

EIMOVL UF#(3) C00006 V=550.0 PL=0 >> Twist Around the Fourth corner With TCP N°0

EIMOVL UF#(3) C00007 V=550.0 PL=0 >> Move to First Corner With TCP N°0

EIMOVL UF#(3) C00008 V=550.0 PL=0 >> Twist Around the first corner With TCP N°4

EIMOVL UF#(3) C00009 V=550.0 PL=0 >> Move to Second corner With TCP N°0

MOVJ P001 VJ=50.00 PL=0 >> home position with TCP N°0

But do you have any other idea?

Hello

I use the external reference point on my DX200 robot with MH50 and I have a problem.

I try to follow the entire edge of a cube with the tool and when I try to turn around the corner with the external tcp (Z axis for example), the robot moves to the point with an axis configuration different.

the problem does not happen for every corner, it happens for example when the configuration of the T axis changes >> example T <180 to T> = 180.

Thanks for answers

Hi,

Yes Nation you are right. With motoman the UFRAME is stored with a TCP Number.

Thanks

Hello,

If I dont say stupidity, the 3-point method for learning user frame is calculated with a tcp. How can I know the number of the TCP used to learn the user frame?

Thanks for answers

It's OK i find the assignement on IO > DIGITAL > CONFIG (F2)

DO 97 - 416
RACK 96
SLOT 1
SLOT 1

I think my ask was not clear! the subject should have been MODBUS Address.

Sorry and thanks a lot

i dont have DATA 3 page.

The last choice is Title in line 6 on DATA 2 page.

Hi,

I dont have the key menu (F2) on PMC IO. F2 is for DATA.

The controler is R-30ia

Hi,

I have a question about PMC Adress .
My robot communicate with IHM in Modbus TCP Connection and the first bit (for input) start at DI97 (X0012.0) until DI?? ?.

Where can I find the parameter for that, the start and the end?

Sorry for my english