Hi 95 Devils,
Thanks for your Suggestion. I tried with Inc and If loop it is working properly and
I tried also with:
For I000= 0 TO 2 Step 1
Call Job: Pick
Call Job: Place
Next I000
End
After two times of for Loop it should come to End but it is still going to the for Loop, Could you please say me where is wrong. Thanks in advance.
My Loop should execute only if value in B040 is 2.
Im Sorry for inconvenience, the while Loop should execute only two times and should come out from the Loop. Instead as the value is true it continues to Loop.
Hallo All,
I have a doubt,
while(B040= 2) // B040 value we get from Initial Loops of the program, as B040 value is true it should perform Tasks in the while Loop
call Job: Pick
call Job: Place
End While
Hi Alex,
I have done this as you said, its working. But I asked instead of using INC, I would like to use FOR with one step increment in FOR Loop.
Hallo All,
I request you to share your programming ides for this Project, Please find in the attachment how the table for picking the objects looks like: there are two halfs on the plate:
first half of the plate there are circular cubes placed (1 element in each box).
On the second half of the plate there are square blocks in each box there are 5 square blocks should pick, this is the program what I wrote till second row second box, but Im using a lot Position variables which is necessarily not needed. Please look over the program:
NOP
SET B036 1
SUB P080 P080
JUMP *BLOCK
*2ndrow
Sub P080 P080
Add p080 p090 //In x direction 140 mm
JUMP *BLOCK
*1STROW3RD
SET B035 1
SUB P080 P080
ADD P080 P089 //IN Y-DIRECTION SHIFT OF 280mm
JUMP *BLOCK
*1STROW
SET B035 1
SUB P080 P080
ADD P080 P088 // In Y- Direction shift of 140mm
*BLOCK
CALL JOB:Pick // Here Shift operations are done
ADD P080 P086 // In Z- Direction shift of 20mm
INC B035
CALL JOB:PLACE2
IFTHEN B035<=5
JUMP *BLOCK
ENDIF
INC B036
IFTHENE B036<=2
JUMP *1STROW
ENDIF
IFTHEN B036<=3
JUMP *1STROW3RD
ENDIF
Inc B037
IFTHEN BO37<=2
Jump *2ndrow
END
Hi
you can use both of this instruction for linear movement. different is:
when you will use MOVL V, you must turn on servo power and push below switch under teach and move robot to position that you want. and also when you want to delete this line you must move robot to position that you defined for robot also this position is in pulse coordinate. but you can use MOVL P001 V in offline programming and after that move robot to position that you want. also you can define position in Robot, base , tool and user frame coordinate. therefore MOVL P001 V is with position variable.
I really didn't get the exact meaning, both indicates same meaning from your point.
where do we use this in real time, I mean in application. When does this Situation occurs?
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Greetings,I hope this message finds you well.
While basic, considering your comment on having undertaken a comprehensive reference search , this brief document, by Andreja Rojko (andreja.rojko@uni-mb.si) (see link on the last page footer), was deemed useful by several students of my introductory manipulator robotics class, specially since we preferred uploading offline edited INFORM programs.
Cordially,
Marco A Assfalk de Oliveira
Sent from my iPad using Tapatalk
this brief document, by Andreja Rojko (andreja.rojko@uni-mb.si) (see link on the last page footer), was deemed useful by several students of my introductory manipulator robotics class..... Where can I find this?
Hallo all,
When we are using []- square brackets by a variable it means this is an Array. I see in Byte, Integer, Double, Real, Position, String a square brackets Option, till now the Projects which I saw they are using indvidual elements. Can any one please write a sample Programm where we are using Arrays.
What is the difference between
MOVL V
MOVL P001 V
at which situation we use linear movement with position variable.?
In teach FWD+Interlock I used
hi 95 devils,
its in teach mode, there is no logic. just to check every instruction i tried pause and it didnt worked.
Hallo,
In the Image attached shows two rows and two columns where elements are placed, I wrote a program which is working on first row, but coming to the second row its not working!! any help!!
NOP
SET B030 1
SUB P080 P080
*1STROW
SFTON P080 UF#(4)
CALL JOB:SHWPRGRM // here gripper and off actions takes place with pick and place moves
SFTOF
INC B030
ADD P080 P081
IFTHENEXP B030<=2
JUMP *1STROW
ENDIF
SET B031 1
*2NDROW
SFTON P080 UF#(4)
SUB P080 P080
ADD P080 P082
*Y2POS
CALL JOB:SHWPRGRMGALI
INC B031
ADD P080 P081
IFTHENEXP B030<=2 ANDEXP B031<=3
JUMP *Y2POS
ENDIF
SFTOF
END
&&&
What is the difference between
MOVL V
MOVL P001 V
at which situation we use linear movement with position variable.?
i tried to use 'pause' in my program, it just didn't worked. it just skiped that step.
As in C programming usage of FOR Keyword to Access or incremental step for each element in Matrix, How can we use it in Informal?
For Example:
First Row: 2 elements to pick
second Row: 4 elements to pick
third row: 4 elements to pick
fourth row: 6 elements to pick
fivth row: 6 elements to pick
First Column: 5 elements to pick
second Column: 5 elements to pick
thirdColumn: 4 elements to pick
fourth Column: 4 elements to pick
fivth Column: 2 elements to pick
The elements in the attachment Shows the how they are placed. Any help!!! Thanks in advance.
Programm is working, the mistakes I have done are in Tool Frame I entered 20mm as 20000 instead it should be 20.
As in Training Manual the Programm is:
*1
jump *1 if B000<=3
but with yrc 1000 it worked like this:
*1
if B000<=3 Then
jump *1
Endif // with this the jump doesnt work if B000 is greater than 3
Thank you
Hallo All,
I am new to Robot programming, by looking at Training Manual I am practicing programms. I have question, we use sfton and sftof when we Need to do same Job with shift in either x or y or z., Can anyone explainns how shift instruction works with Position variables.
I wrote a Programm for pick and place of five products but ist not working I used tool coordinate System with shift of 20mm in +z direction (pick) -20mm z direction (plcae, one over other). Can any1 give suggestions how should I proceed.
hi
roboprof gave you they answerWhat do you want to do with the cube ?
What was the reason for you to programmed the cube ?
Can any one please give answers for the quoted questions? Thanks for reading.
Thank you. After calibrating the tool, selecting the tool and making rotations in X,Y, Z not working properly (it is moving away from the point). Where is going wrong I couldn't able to understand. I have done 5 times but still there is no use How can Overcome this?
I am supposed to calibrate tool, I have five Tools going to be used 1) Default or Standard tool, 2) gripper without load 3) gripper with load 4) tool for turning the table 5) tool to define user coordinate. Im using 5point method.
I am new I am just following Training material How should I proceed. Thanks in advance.
Hallo Wenty52,
What Manuals do you Need. Please let me know and your email. Thanks
