Posts by Boring_robot_guy

    You are not able to shift on multiple position variables in the same frame. If you have multiple base frame shift on, the system takes the last one shifted on. You could shift on data in base frame, robot frame and user frame all at once and would work as well.

    I am not familiar with the VCON and VCOF commands, but I’ve used the MRESET instruction to reset my rotations.

    You did not mention what generation controller you have specifically, but you did reference a DX200 manual. The manual may want to reference is “DX200 option instructions for T axis endless function”. Part number 165264-1CD.

    Generally, when you create a motosim cell from a cmos.bin, it will ask you if you want to import robot calibrations into the sim. From there, you could attach your models to the appropriate frames for more accurate real world and sim alignment.

    I can’t say I am familiar with a CMOS1E.HEX file, so I would start with a CMOS.bin file.

    A wire brake is an option from your welding equipment manufacturer (or motoman upon request). In a nutshell, an air solenoid sends air to a pneumatic mechanism in the body of the welding torch assembly and is triggered with a universal output. I am not saying that a wire brake is necessary for wire touch sense, but it does help in a lot of situations. If you do not have a wire brake, I would advise against using the end of the wire to touch the parts, as the stickout will vary with arm movement. Using the side of the wire would be advised without a brake.

    Personally, it depends on wire size. 030 i use 15mm stickout. 035 - 045, i use 15-17mm stickout. 052 and above i go for 19mm or more. Just make sure your wire cast is under control and you have a functioning wire brake for best touchsense results.

    Also, it has been my experience that motosim favors a high frequency cpu vs more cores. Anything quad core and up with a fast clock speed will serve you well. My core i7 8086k is overclocked to 5.2GHz all cores and it runs like an absolute beast. It easily out performs the massive workstation xeon processors.

    Video memory will be useful as well. I run a gtx1080ti, but my laptop with a gtx1060 6gb runs just fine as well.

    Another top tip, if you are not using the cam feature, bringing in your models in a 3ds format greatly improves performance as well. Ive done many comparisons with 3ds vs parasolid formats and can tell you that lots of parasolid models will start to have an impact on system performance. And finally, taking the time to strip your models of useless bolts, shims and other items that do not have an effect on programming path. Doing all of this will help your motosim experience greatly.

    If you purchased MotoSim from Yaskawa, your dongle is good for 4 or 5 years worth of upgrades. I’ve been using motosim for a few years and I can tell you that it has gotten much better.

    First, make sure you have a copy of the original motosim version you purchased. I would hate to say to upgrade and then not be able to go back to where you were.

    Find out when you purchased your motosim key. From there, you can go 4 or 5 years up in revisions before motosim will no longer recognize the key.


    While this is mostly true, you can set parameter RS59 = 3 to allow overwriting of jobs in the robot controller or on your usb / compact flash card.

    0= no overwriting
    3 = overwriting both directions
    1-2 = allowing you to overwrite one direction or another. I forget which one does which.

    Hope this helps!

    Edit: This works back to NX100. Havent tested on earlier models.