if the cut is off .4mm every time and its the same way every time why would you think the manipulator is wrong or inaccurate.
Since after a 360-degree rotation around the Z-axis, the TCP should be exactly in the same position, but it appears to be shifted by 0.4mm. The programmed rotation looks as follows:
IMOV P010 TF
IMOV P020 TF
IMOV P020 TF
IMOV P020 TF
Where:
P010 (0,0,2,0,0,0)
P020 (0,0,0,0,0,120)
how old is your robot? the cut line itself looks like it is within the accuracy tolerance of a robot arm (but obviously idk for sure) did this problem just start?
The robot is from November 2015, and the exact model is YR-MH00050-J00. After complete cutting, the deviation between the beginning and the end is approximately 0.4mm. In the robot's specification, the only tolerance parameter I found was repeatability at a level of +/- 0.07mm, and indeed, each time the final error is about 0.4mm with a tolerance of +/- 0.07mm. The positional error always occurs in the same direction - when looking at the picture, the cutting end is always lower than the beginning, regardless of whether the movement is clockwise or counterclockwise.
Until now, the laser has been roughly cutting the material, and the detail was finished on a CNC machine, so no one paid attention to the cutting quality after the laser itself. Recently, an idea emerged to cut the finished parts with the laser alone, and only then did we notice that there is a deviation that disqualifies the product. As an interesting fact: On another, similar machine with an ABB robot, it was possible to achieve the desired effect. There, smaller details are cut, and the robot is newer. Therefore, we are considering replacing the manipulator with a newer one, but first, we would like to determine unequivocally where the cause of the Yaskawa inaccuracy lies.
Hello,
Do you have any proven methods for verifying the wear of individual axes in a 6-axis robot? I have a robot that moves a detail under a laser head fixed in place. Despite the fact that the endpoint of the path is the same as the starting point (only rotated 360 degrees around the Z-axis), it can be seen that it does not hit the same position.
I would like to understand the cause of this phenomenon and estimate to what extent it is due to the worn manipulator and to what extent it is due to play in the gripper.
Attached is a photo where a rotation of 359 degrees was performed as part of the tests.
I'd like to change the displacement and rotation of tool without entering MainMenu->Robot->Tool.... Like belowe.
All i want is to put some Variables in I/F Panel, and after calculations assign values to this Tool or UF.
Really additional software option is only possible way to do it ? How creepy....
Hello,
Is it possible in Yaskawa DX200 to assign tools values and UF values through parameters put in IFP ?
Exaple from ABB:
TOOL1.tframe.trans:=[R001,R002,R003];
TOOL1.tframe.rot:=OrientZYX(R004,R005,R006);
Thanks in advance,
Dawid Firlej
Jak dużo masz tych programów ?
Chyba najprościej stworzyć tablice z parametrami receptury, a w HMI Easy dodać zmienną "Numer Programu", która będzie indeksem tablicy.
Hello,
P20, P30, P40, P50 and P60 are evenly set on the quater of circle (calculated and set into robtarget). All points got same Y coordinate..
From point P20 I wish to make smooth move throught path :
1:MOVEC P30,P40
2:MOVEC P50, P60
3:MOVEC P50, P40
4:MOVEC P30, P20
Between moves 2 and 3 arm slightly deviates from Y coordinate.
I tried to set stop point in P60 but nothing changed.
I noticed that if robot Tool0 is in Y- Word coordinate, deviate is in Y+ direction, and if tool0 is in Y+ Woord coordinate system deviate in opposite direction.
I am using Stationary tool. Payload calculated by LoadIdentyfi. Tools, workobject and robtargets calculated not teached.
Below i put materials with this phenomenon.
OneDrive:
https://rohrbogenag-my.sharepo…EV_k7WBjrCPNEjRA?e=Ibohr1
Google:
https://drive.google.com/drive…N8VObZlPeSRpu?usp=sharing
Is it possible to avoid this occurrence ?
If you have any questions I am at your disposal.
I'll be glad for any help.
Have a nice day,
Dawid Firlej
Have anybody has manual for Data Types in INFORM III ? I cant find any manual for it.
Hello,
maybe it is stupid question but... I had to check, if controller witch is storing at magazin for 3 years, is able to work. I am lazy, and i tried to run it up without connected robot. I got same problem like in this topic, but now i wander if this situation could be cause by unplugged manipulator ?
I have to change concept and swap master with slave. Now PLC will be master and IRC 5 will be slave. Is it enought to import IRC5 .gsd file into PLC ?
Ohhh i am newbie in industrial protocols, its my first project connected with that... Anyway thx for help 
Is it possible to send to IRC5, REAL data type as words via ProfibusDP?
Maybe some libraries ? I want to use them as corrections for critical positions and wobj coordinates.
Hello,
i want to connect IRC5 Profibus anybus (Master) with PLC Beckhoff CX9020 EL6731-0010 (Slave). So far i got problem with .GSD file. I downloaded GSD file for EL6731 and i don't know how to install it on IRC5. When i am trying transfer files via FTP, then transfer error occuried. I tried to do it also in Robot Studio, but i dont know how. Can somebody tell me how to instal EL6731 GSD file on IRC5 ?
Contact with my local ABB Support is hard...
Thanks in advance.
Regards,
Dawid Firlej
Hello,
i am new in Yaskawa (Little bit experienced in another robots), but i have problem to find explanation of system variable $PX011. Maybe some of you can tell me what happend with the PX021 in this code:
pasted-from-clipboard.png
Thanks in advance'
Best regards,
Dawid Firlej
Hi
I came up with the idea to limit some functions of the program for ordinary operators. I know that Kawasaki has 3 levels of access. At the moment they work at level 2 but I would like to add functionality that can only be called from level 3 after entering the password. In other words, I set on the IFP a button with a lamp that should be active, after moving to level 3. For levels 1 and 2, gray backlight, for level 3, red backlight.
I can't find the variable name in the manual that is responsible for the current access level.
Does such a system variable exist and can I use it directly?
Quoteexample
IF OP_LVL = 3 THAN
SIGNAL dm.redbuttonELSE
SIGNAL - dm.redbutton
END
I contacted the Polish help department from Krakow and they said that the only way is to find correct CF... 
Oh dear KwakiSaki 
You saved my employment again
You are better then Kawasaki support, cos they said it is impossible but i did it thanks to you
aHi friends
I have a problem with data created using DataStorage. I'm using a D7x controller that has RS232, PCMCIA and TCP / IP ports.
Of course, I connect to it using TCP / IP.
The problem is that data from DataStorage can only be saved on device 0: PC card (CF memory + PCMCIA adapter), and CF cards supported by this controller have long ceased to be produced (max 128mb), and i cant find the any good one.
Is there any way to download the .CSV file created by DataStorage?
I save data in temporary memory, can I download the controller RAM to an external PC using TCP / IP or at least RS232?
Maybe you know where i can buy CF cards that are supported by this controler (List in attachment)
God Bless You !!
It works great, as i wished.
Earlier i was trying with device number but i put "," against of ":" after that, and there was syntax error that i couldn't recognize
Hello,
I have a problem with the PROMPT instruction
QuoteDisplay MoreIF ptarray [ptin.rt_nr.soll] == 0 THEN
...
...
PROMPT "Enter knee diameter:", $ dimension [ptin.rt_nr.soll]
PROMPT "Enter bending radius:", $ radius [ptin.rt_nr.soll]
ptarray [ptin.rt_nr.soll] = 1
END
The conditional instruction is executed in the parallel program autostart2.pc
When calling the PROMPT command, a keyboard should appear on the screen and the option of entering $diemension and $radius, but nothing happens. The program stops and stops following the instructions, but the keyboard does not appear.
Has anyone ever encountered a similar problem and knows how to solve it?
[SOLVED]
Easier than i thought. My mistake as i thought.
The main reason why the program did not open:
In the PROC szlifuj(), the next condition for the IF loop was IF instead of ELSEIF.
In addition, I generated a bad move MoveL instead of MoveC, also in PROC szlifuj()
I apologize for the confusion, but maybe someone will meet a similar problem someday and my case will help.
May the gods guard your well being,
Dawid Firlej
