If your velocities for the moves are the same, it could be possible that you are close to singularity. I have had this happen to me before in a different application. I had to change my orientation slightly to avoid it.
That could case the robot to slow down but with this program i'm no way near a singularity .
So Im in the early stage of 3d printing with our MPL 800 DX100 but for some reason the robot slows down for a while before getting up to speed again.
The speed in the program does not change at all.
In the video you see that when it comes to a corner it slows down and when its out of the corner it speeds back up again. This did not happen in the begining of the print. It started when it came to a certain height.
Does anybody knows what could cause the robot to slow down like this?
It’s only rc controller or are existing for dx and trac controller?
Thank you
I use it with a DX100 and DX200. The controller types you can choose between are XRC/NX/DX, MRX and ERC
I have attached the manual. That should answer all your questions.
Its a small program that you run on the "host" pc. You specify a Folder from where the robot should get the JBI files-
You then enter robot IP and robot type.
To load the JBI files you use a LOADJ command.
Hi
You have resolved?
Thank
No I never got i working. Instead I bought the MotoDCI32 software which does exactly what I wanted in the first place. The robot can now get JBI files from any PC on the network (as long as the program in running on the PC)
thank you for all of your replies. I look into it and everything seem fine. Thats when I contacted the guy from motoman that had helped setup the robot. He stopped by and found out that he had done some wrong configurations. He said that the robot was a subtype of a HP20 that they normally dont work with. (the robot was bought second hand from another company). After he corrected his mistakes everything works fine. He still sent a bill for this second visit which im not completly happy about.
I have set the robot to move acoording to the Robot coordinate system. Normally it would move parallel to the table when moving it in the X axis. For some reason it moves downwards as it get further away.
Is the Base/robot coordinate system off and how to I correct it?
I have just been thorugh the same process as you. I could not get the loadJ to work using a FTP.
I could however get it working using motoDCI32. I use LoadJ and deletej- haven't tried savej.
I load the attached file to the controller and then it grabs the rest from the connected pc.
I cant really tell excatly what you problems is but have you tried the following?
can you ping the controller from pc that is running motoDCI32?
Motodci32 setup:
is the ip address of the controller set in options>trans. Parameter?
if using loadj are the .jbi files located in the correct folder? options>folder?
It seems to me that your files are in the root folder of your FTP server (content of / @ 192.168.0.20). Did you try to leave the "DIRECTORY" field of the FTP profile empty?
I just tried it and the result is exactly the same . It says “Date accessed with other function”
I would like to be able to load jobs from a FTP server with a dx200. I have created a ftp server and set it up on the controller but when I I press "load" i dont even get to the "ftp load" screen.
I have set RS005=0
The connection between the controller and my pc (thorugh ethernet) works fine and Im able to add and delete jobs from a command prompt
The attached wordfile has screen shots of all the settings.
Does something look off or am I missing something?
Hi
May I ask why loading necessary jobs isn't sufficient?
I use LOADJ and DELETEJ instructions to automatically load and delete jobs, as there isn't enough space to store all of them in the controller (DX200). Not using FTP though.
Where du you load them from? An usb?
I will have to look into the LOADJ and DELETEJ command but just off to top of my head I cant really see how it works.
M_print.JBI is like this:
NOP
CALL JOB:Print3D
CALL JOB:Print3D2
.
.
END
I run then M_print.JBI and it goes to job Print3D
Will the LOADJ be as the first line in Print3d and the DELETEJ as the last?:
LOADJ xxx
MOVJ C00000 VJ=50.00 PL=1
MOVL C00001 V=200.0 PL=1
.
.
.
DELETEJ xxx
I need to run programs that are very big. The problem is that there is not enought memory to transfer all the JBI files to the controller. I have looked into the FTP options and I'm able to connect to a FTP server and load the files from there.
What I really need is to be able to run the programs directly from the FTP server without having to load them first. Is this even possible or does any of you know how to solve this problem?
I'm using a dx200 and MH24
Display MoreWhy do you want the on and off instructions in separate Jobs? I think its more visual to have the instruction directly in the program.
MOVL
MOVL
DOUT OT 12 ON Laser ON
MOVL
MOVL
DOUT OT 12 OFF Laser OFF
Or you could use a while command
Might be wrong here
While D001 =1 AND (IN for servo on) = ON
DOUT OT12 ON Laser ON
MOVL
SET D001 1 (laser should turn on)
MOVL
MOVL
MOVL
SET D001 0 (laser should turn off)
MOVL
MOVL
SET D001 1 (laser should turn on)
MOVL
MOVL
MOVL
SET D001 0 (laser should turn off)
END WHILE (disables the function)
It could be worth a try instead of messing with the Ladder
The program is generated by some software(robodk) and currently we do not have the coding skills required to change the post processor which generates the program.
An 80 watt laser is not low power. A low power laser has a class two rating or lower.
I never said it was low power. I said it was not a high power laser as I know lasers for steel are 4000W+. That being said I have read about laser classes and a 80W laser is in one of the highest classes.
Its a 80W laser so its not high power but safety is always a concern.
I don't know anything about CIO ladder so I will have to look into that. I found some manuals from motoman but if you can give some pointers as how to go about setting up the CIO ladder that would help alot.
I got it working by making two programs- M3 and M9:
NOP
DOUT OT#(12) ON
END
NOP
DOUT OT#(12) OFF
END
The input wire we just attached to the Blue wire that goes in all the A connectors. The output wire we connected to the B11.
When the main program is runand it comes to the job M3 is called the output wire give out 5 volt which triggers the laser to start
Hi,
I need to attach a laser to a motoman mpl800 dx100.
The program is created with robodk software and will look something like this:
MOVJ C00000 VJ=100.0
MOVL C00001 V=150.0
CALL JOB:M3
MOVL C00002 V=150.0
MOVL C00003 V=4.00
MOVL C00004 V=4.00
MOVL C00005 V=4.00
MOVL C00006 V=150.0
CALL JOB:M9
MOVL C00007 V=150.0
CALL JOB:M3
The Call JOB:M3 needs to turn the laser on and the CALL JOB:M9 needs to turn it off.
The laser has a output wire with 5volt. The relay should then allow these 5 volts to go back to the laser through the input wire which will get it starting.
the cn307 connector looks like this
In which connector should the input wire and output wire go in the cn307? and is it correct to use the cn307?
So now I need to create the jobs M3 and M9 and somehow get them to turn the laser on/off.
From reading around the forum I guess I need a DOUT command but I don't know how the job should look or how I get it to point to right connector?
Any help will be highly appriciated as this is very new to me.
does you software create points in pulses or cartesian?
It can do both but when using cartesian the JBI file cannot be loaded into the robot.
The problem has however been resolved. There were several issues concerning how the robot was configured within the software. All these issues have now been taken care of by the software company
How did you check them? I believe what Robodoc is talking about is into the micron level measurement of each individual axis. When the controller was initialized, the software loaded default parameters for the link length. Every MPL800 has the same data. Due to machining differences (tolerances) of the casting every MPL800 will be slightly different. The filter Robodoc is talking about applies the actual link lengths for that particular robot.
The precision of my measurements were no where near micro level. It was just to check if the overall dimensions of the robot was correct (a guy from robodk suggested that maybe we did not have the excact robot that we thought we had)
When we first got the robots we had guys from motoman to come and install and configure them.
But lets says that some of these measurements a off. Could that lead to that big a diviation in the drawing of the rectangel?
If I place the pen in the center of the robot and make a new program where I correct the position then it draws a perfect rectangle.
Just checked the measurements and they were spot on
