Posts by sCZot

hi im not sure and dont have time to check with documentation, but while you can def plt wit only three positions you cant omit the coma ","

Def Plt 1,P_Origin,P_X_Plus,P_Y_Plus,,M_Number_X%,M_Number_Y%,0

hello,

its possible

in the program that calls:

CallP "nameofprogram", Pvariable, Mvariable

in called program:

FPrm Pvariable, Mvariable

its prettyy well documented in manual BFP-A3478-Y

hi,

never tried this. But from time time i'm forced to use this one - digitus 2.0 DA-70156, to communicate with older mitsu plcs, so maybe it will work with robots.

Hello,

not sure i get this right.

you want to change Base, or physical position of robot?
Also what PLC are you connected to?

You can run a separate "background" job, I think the CR-800 can run up to 32 tasks simultaneously.

its on official mitsu website, you just need account to download it

Advanced Search - Mitsubishi Electric Factory Automation

not sure, but maybe your robot lost origin data, because 13054 on J3 looks like nonsense

Hi, can you provide more info?
such as photo of TB with "some weird unuderscore symbols", if any error occurs when you try to jog in XYZ? or any other

SSRIKAKOLUM np, glad i was able to help

hi,
I've never done direct screwdriving with a robot, but from my experience with servo driven screwdrivers, you measure the load on the servo, not the torque directly, and that depends on the speed of the servo.
In the screwdriving applications I have done, the speed was fixed, so I was able to calculate the torque from the load.
You can make calculation from measured load and torque at different loads (you need some external torquemeter) to put some math function into robot, but it's almost never worth it because once you are on expected time of application, there is no need to change it.
Depending on the screw, you can make the first X% of the screw go faster, but the last few revolutions are better to slow down (we use 50rpm to final tightening).

If you are interested, the mathematical discussion is here.
https://www.plctalk.net/threads/polynomial-fitting-on-mitsubishi-fx5u.139783/
It is not directly about Mitsu robots, but it should be similar in principle.

Hello,

according to the manual it looks like you can write only first element

You can batch upload all paramaters from rt toolbox

as far as i know you cannot change function on pins.

You can either use some external I/Os via cc-link ie basic, or if you are not using it as standalone (D), but have it on the same bus as PLC (Q/R) you can use internal signals, also i think there is some extension card you can install into controller to allow you to use external I/Os

Hi there, I'm just wondering what the reason for this code is? I get that you want a pulse when the J6 position changes, but what is the use of this information? It's quite possible that the robot is already equipped with some function and you won't have to reinvent the wheel.

hi,

offsets work like this for mitsu robots

in robot coordinates

Mvs Psomewhere + (x,y,z,A,B,C,L1,L2)

in tool coordinates

Mvs Psomewhere * (x,y,z,A,B,C,L1,L2)

I would consider using user defined areas to decide what path the robot takes when returning to a safe/home position

well, generally speaking, you can't unless you have some sort of external periphery. In the R variants (with PLC on the same main base) you can use an internal bus for the signals, since you are using the D variant (standalone), you can use some Cc-link IE field BASIC peripheral (since this field bus is native to your controller) or use some of the highlighted parts from the attached picture.

hi, it really depends on the controler you are using

Hello, you´ve might missed the right forum, according to oogle search SGDR-FBA 01A is an Yaskawa card, not mitsu

Hello,

this robot should be controled by CR-800 afiak they have only safety I/Os, if you want to use controler to control some peripheries you would need some remote I/Os on CC-link ie basic, or PLC

Hello,

if you are sure of the quality of the components used in the safety circuit and the correctness of the wiring, there is only one last option.

hey, you can have other program running in other slot as ALWAYS with some condition to turn servo ON...

BUT you will have to be carefull and also important consideration is what kind of movement are you using Mov and Mvs should work just fine, but Mvc, Mvspl and others would be hard to make to work, in case of spline maybe even impossible.