Posts by Reintz

I need RS005 parameter (FTP function enable) to be set to 0 in order for LOADJ instruction to work (I’m using this to load the jobs from YasXfer). I also need the parameter to be set to 1 in order for MotoSim File Transfer to work. I need the file transfer for when I’m away from work and they need me to assist.

So can I write the parameter change into a job? I have separate load jobs that load the necessary jobs depenging on the product to be welded. So if I could change the RS005 parameter inside a job, I’d set it to 0, then load the jobs and then set the parameter back to 1 again for when I need to access the robot via MotoSim. Writing all that into the load jobs would be the best option.

Or if that can’t be done maybe I can put the parameter change to IF panel? Then it would be 0 for the load jobs to work, but when online assistance is needed, the operator would have to change the parameter to 1 via a button in the IF panel.

Suggestions, ideas are welcome.

Hei, 95devils.

Now I’m curious about the S1CxG065 parameter. I didn’t know you can actually affect what gets changed turing mirror shift and what doesn’t. What else can you set this parameter to?

It is changed in the CADtree in MotoSim under robot's base.

Found it - SETUP -> TEACHING CONDITION SETTING -> INSTRUCTION INPUT LEARNING

Hei.

When I start programing after controller boot up all the instructions are set to default. So for example comment instruction would have "COMMENT" as the content. Now when I change it to something else and insert it into a job it will stay that way until I change it again (or controller shut down). So for example if I enter a comment "robot-forum" then the next time I choose comment instruction from the inform list the content will be "robot-forum".

But now I came across a YRC1000 that "forgets" the content as soon as I insert it into a job. So after inserting the comment "robot-forum" into a job it defaults the content back to "COMMENT" again. It defaults all of the instructions as soon as you enter it into a job. That's a headache.

What setting do I need to change for it to "remember" the content last entered?

Sent you a PM.

Sent you a pm with a link to basic Yaskawa search jobs together with a manual.

Hei

The function you are referring to uses touch sensing to calculate the shift ammount?

If that's the case then welding robots usually come with premade so-called search jobs for different seams. There are many of them - 1, 2 or 3 direction inside corner, 2 or 3 direction outside corner; 2 direction inside corner combined with an outside corner search on the 3rd direction; edge search; circumference search with 3 directions etc.

And for more complicated/demanding seams one will often have to make a touch sensing job of their own, like this V-groove bottom search I made a few months back

In your example I think someone wanted to use the same user frame over and over again and maybe was afraid of somebody else over writing it or something. I assume this because of the MOVJ instructions and PAUSE - it doesn't look like a program one would use with call job in play mode.
If it would be with ref. positions instead and without a PAUSE then one could use it in a program in play mode. I have made welding programs that create a user frame inside a job from ref. positions in order to shift the welds in that user frame (in case shifting in base frame isn't sufficient).

Under "direct option" you mean creating a user frame manually in teach mode?

RET instruction will return to the calling job. You use it in a job that is being called for in case there are some lines or instructions after the RET that you don't want the controller to go through. If you add IF to the RET you can manipulate if the lines after RET will be executed or not.

There are 3 positions in that job. After the PAUSE instruction are 3 Get Position (GETPOS) instructions - STEP#(1) is the very first position in the program and it's location will be stored in PX020. The location of the second MOVJ will be stored in PX021 and the third in PX022. And then the locations of the three MOVJ instructions (which are now stored in PX020 - PX022) will be used with MFRAME instruction to create a user frame (no.34).

After running this program (you actually only need to run through the instructions after PAUSE) you have a user frame situated according to the three MOVJ positions. You can use this user frame to move the robot or shift some positions or whatever it is you need the user frame for.

DX200 with multiple tools.

When I use it's cell on MotoSim every time controller is rebooted MotoSim switches to tool 1.

On the actual robot, when I reboot the controller the active tool is the last manually selected.

Is there a parameter to have Tool 1 selected every time after rebooting the controller?

At the moment when I need to make some changes in the program I need to make sure that I switch back to tool 1 afterwards for when the operator needs to manually move the robot in tool frame. Nothing major but worth asking.

I would recommend Servo Robot over Binzel.

But if speed is not the issue, then accuracy can be obtained by using custom search jobs and touch sense on such a product. Way cheaper (but slower) option.

Quote from Reintz

Use

PULSE OT#(xx) T=2.00

instead of

DOUT OT#(xx) ON

TIMER T=2.00

DOUT OT#(xx) OFF

Otherwise if something or somebody stops the robot or puts it on hold while it's on the TIMER line the wire will continiue to feed and you'll end up with a mess.

Display More

The same does not apply to the nozzle reamer - you want that to keep going even if the robot stops.

Use

PULSE OT#(xx) T=2.00

instead of

DOUT OT#(xx) ON

TIMER T=2.00

DOUT OT#(xx) OFF

Otherwise if something or somebody stops the robot or puts it on hold while it's on the TIMER line the wire will continiue to feed and you'll end up with a mess.

When using wire touch sense certain steps have to be taken to minimize/eliminate stickout variation.

I've been using wire touch sense without wire brake for years with great success. I've been told that with our robots (using Kemppi power source and CWK-600 torch) wire brake is not offered.

Asking just out of curiosity - does anybody using Touch Sense and ComArc use wire stick out any other than 20mm while programming?

What tool does the robot have for writing?

Last year I had to make a program to our welding robot to weld some info onto the product.

The info to be welded is stored in a string variable. The program splits the string into individual characters/numbers and then welds them one-by-one.

The program makes a "grid" out of local position variables and a character is achieved by welding from one LP to another in a sequence specific to the character at hand.

The size of the text depends on the grid size which is defined by a line in the program before making the grid. So it can be changed easily.

It welds a character and then shifts to the next one (the shift from one character to another is linked to the size of the grid to keep the text even). It does so until all the characters in the string variable are welded.

Quote from Gilbailey10

Laser "tracking" does not affects cycle time because is in real time (scanning and welding), now if you use laser seam "finding" you have to scan the part first and then weld that would affect your cycle time a little bit.

Compared to touch sensing both laser sensing and tracking affect cycle time - they make it helluva faster. And I know the difference - I work with a robot with iCube.

There's just no need to make the investment for just a few butt joints if one can get sufficient results without it.