Posts by Reintz

    Look under IN/OUT -> SPECIFIED OUTPUT. I have SOUT#0036 - Teach mode set and SOUT#0037 - Play mode set.

    You can use DIN command to read the state of input/output in a job.

    DIN B001 SOUT#(36) for example would put the state of SOUT#0036 (Teach mode set) into B001 (0=off; 1=on)

    I have been wondering why my speeds are off..

    Not sure what the controller does or whether it rounds it off when using 4 decimal places, but how do you make a difference between 0.4567mm/s and 0.5mm/s? Should be impossible to visually make a difference.

    If the liner movements have tool angle changes and you find the speeds to be off from one move to another it might be your TCP is out of place.

    GETPOS LPX000 STEP#(LB001) 
    CNVRT LPX000 LPX000 TF TL#(5)

    You're sure you can use local position variables there? Only asking because I can't (on a DX200).

    Maybe this will get you there:

    WHILEEXP LB000<=6

    GETPOS LPX000 STEP#(LB001)

    CNVRT LPX000 LPX000 BF TL#(5)

    SET LP001 LP000

    SUB LP001 LP001

    SETE LP001 (1) 20000

    SET LP002 LP001

    SETE LP001 (3) 80000

    SETE LP002 (3) 330000

    SFTON LP001 TF

    MOVL LP000 V=400.00 PL=3

    SFTON LP002 TF

    MOVL LP000 V=80.0 PL=3



    MOVL C00003 V=320.0 DEC=30


    MOVL C00004 V=320.0 DEC=30


    MOVL C00005 V=320.0 DEC=30


    MOVL C00006 V=320.0 DEC=30


    MOVL C00007 V=320.0 DEC=30


    MOVL C00008 V=320.0 DEC=30





    INC LB000

    INC LB001


    Example 1: No. SFTON P001 command will make it shift in base frame (default frame).

    Example 2: Yes. SFTON P001 UF#(5) will shift the positions according to UF#(5). 100mm in the Y-direction in your example.

    The frame that a P-variable has does not matter when using SFTON command. The frame in which the P-variable values are executed is defined in the SFTON command itself. SFTON P001 BF; SFTON P001 RF; SFTON P001 TF; SFTON P001 UF#(5) etc.

    The frame of a P-variable is relevant when using MOV instruction with P-variable.

    Example MOVL P001 V=100.0 This will make the robot move to the poisition using P001 values in whatever frame P001 is in. So if P001 is UF#(5) and all the values are 0, then it will move to the ORG of UF#(5) and the angles will also be 0 in UF#(5).

    Hope you understand. It's not easy to explain as english is not my native language.

    You could incorporate the P-shift into the pick-and-place job. You can for example change the position to where the robot is going to stack the blocks. If it's not on a level surface they can make a user frame of the surface so when they change the position of the stack the surface hight will still be correct. Bretty much comes down to how experienced they are. If they have zero experience then I don't think you can add anything to what you already have on the list.

    We improved the program a lot for example by splitting a 2200 line program in 38 separate ones for each row and then call the next program

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    I'd write all that stuff into a loop, use a counter and shift each loop accordingly. In fact if I'd write all my positions out like that I'd have hundreds of thousands of lines and I'd still be programming. Ofcourse I use searches and comarc (I'm a Yaskawa guy) for accuracy.

    What file are you asking for when asking for settings? If you're asking for CMOS.bin, I can't give you that.
    Aux condition file is set up to your liking/need. Also S1D225 parameter defines what options you have there for Replay function. 0,1 - shifting towards earlier point when retrying; 2,3 - shifting in XYZ according do the amounts set in Aux file; 4,5,6 - shifting towards the next point. Depending on the parameter value you get different SET METHODs for ARCON command. And of course you can always use none, but that would make the robot show an Alarm every time it fails to start the arc or it cuts out while welding.
    I don't send any voltage or amperage info to the power source. Voltage, aperage and wire speed info is stored on different Kemppi channels and I just switch between those in the JOBs.

    I do have full backups, yes. What exactly are you looking for?
    As far as the jobs go - DOUT OG#(9) changes the channel on Kemppi. ARCON command can be used without SET METHOD, but as I want to use REPLAY function defined in Aux Condition file I use ARCON AC=1 AVP=50 RETRY REPLAY just to get the Replay. AC and AVP don't affect anything.
    Depending on the generation of the power source communication with robot can be analog, devicenet or ethernet (on the A7). As you're talking about DX200 I'm guessing it's not analog.


    I'm working with two DX200 welding robots that have Kemppi power sources.
    They were set up by Yaskawa though and the power source has some additional hardware for the setup.
    I use Arc Auxiliary Condition file, ASF is not used - if I remember correctly I tried it once and it didn't affect anything. Aux file does.
    I don't know where you're located, but you could ask from Yaskawa Finland. Kemppi being a Finnsh company - the finns have what you're looking for.

    This is out of Motoman manual E1102000149GB01.

    AWELD - Function - Specifies welding current by current reference value.
    VWELD - Function - Specifies welding voltage by voltage value.

    Whether or not you can use it comes down to the power source and how it communicates with the robot.

    I'd say unrealistic. But it comes down to the size of the part and how accurately it's being assembled. If it's a little off each time and the welds are also a little off then it's just a question of if it's good enough or not. But I don't think any of us can answer that.
    I personally find that it's better to use a little more searches than to regularly correct your program or to struggle with unnecessarily accurate assembly. Robots are meant to do automated work. Of course it's possible that the program needs correcting on regular basis even with a lot of searches, but only if the programmer is not very capable.
    Also, in case of a fillet weld and the use of ComArc it's possible to get a shift amount from the ComArc correction itself. And if that's accurate enough, then you can use that from weld to weld.

    There is no parameter for that. At least on a DX200 there isn't.
    I was in contact with Yaskawa Finland about this issue last year. I'm loading JOB files from external memory device (YasXfer) and I also needed it not to overwrite the existing position variables.

    I just tested it to make sure I don't give a faulty answer - it works with ComArc. I tried it after COMARCON instruction instead of WVON and shifted the end position 10mm off from the joint. It stayed on it. Which makes sense as ComArc is frequency dependant, but WVADJ doesn't affect frequency - only amplitude and welding speed.
    I had the WVADJ instruction enabled a few years ago and I was planning to use it on fillet joints with varing caps but found it doesn't work well with them.

    You don't need anything else.
    With the Weave Adjust turned on, you'll get a new command (WVADJ) in the INFORM LIST. You can use it after WVON command to smoothly change the weaving amplitude in a specified length. So the amplitude change doesn't take place from one position to another but rather during a specified length of movement. You'll have to set starting amplitude, reference amplitude, end amplitude and execution length. All of these can be set from a variable. Note that increasing amplitude with WVADJ will decrease welding speed. It does this automatically - the idea being that a bigger cap will need more welding wire to fill it and with a constant wire speed the only way to achieve this is to decrease the welding speed.


    Yes, weave adjust is turned on by parameter change but only in Yaskawa mode. So you have to contact your local Yaskawa representative.

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