... I find that I go through all the available position variable rather quickly.
Also If you are running out of stock pvars and you have a YRC1000 controller you may want to look into expanding the variable memory allocation. You can expand the global pvars up to 1600 variables. I had some help with this in a thread a while ago:
Cell with a large number of P Variables - YRC1000
How to do it is described in the YRC1000 instruction manual under variable allocation
I do mostly press line transfer/machine tending jobs or pick and place assembly type jobs and use pvars almost exclusively because my cells usually need less than 100 positions total and the pvars are easy to read, edit and name. Not saying that’s the best way, just how the company I work at does it.
Hello,
Just to share my experience with programming languages and robots: When I started working with robots six years ago, I had no programming experience at all. I was a mechanical technician at a machinery maker and system integrator. I learned the basics on a Yaskawa robot, then a Fanuc. I could tell my programming conceptual ideas and signal/IO concepts were lacking, so I started to learn C++, Python, and Arduino for fun in my spare time.
The robot programs I write at work benefit from the larger concepts and basic programming fundamentals I have picked up using those more standard programming languages, even if the usual robot languages I use (Yaskawa INFORM, MelfaBasic, Yamaha Robot Programming Language, Fanuc) have a different or more rigid structure. Like others have mentioned, moving to the newer Fanuc drag-and-drop blocky style programming wasn't for me. When I am faced with a touchscreen-type pendant, I usually try to get the older overlay on it so I can use the commands the way I am used to.
Please post a link to the article when you are finished
How fast is the robot turing this axis? Maybe in the span of one scan through the program you are just missing a degree. Its not likey but you could try running it from some very slow to very fast speeds and see if you get different results depending on the rotation speed?
You could also include a counter to tally up all the hits to see if you are getting results on all the degrees but having a signal output timing issue?
Sorry probably not much help but its an interesting peice of code, I want to try it on a machine at my office.
Cool feedback on the show.
Have you seen Yamaha's newer low cost high performance YK-EX SCARA series? Ive deployed 4 of them here in Japan now (2 of them with the Yamaha vision system too), pretty easy to use machines and pretty cheap with the current yen to usd exchange rate. the 400mm range one is 800000￥, cant remember but I'm pretty sure that is for the robot, controller and little pendant (about 5300 USD right now, but pretty unusual exchange rate at the moment).
No idea what the international distribution is like on them or if they would suit your needs but they are about the cheapest industrial robot I have experience with (and mostly positive experience so far)
oh gotcha, that is a good idea. I thought maybe you meant some sort of timeout function to stop it from looping indefinitely.
I commonly use the IF and label jump method; but make sure you add a timer in that loop. It gets angry otherwise
You could maybe do a JUMP *Label IF IG#1 = #, if your inputs are on the same input grouping.
I like they grouping idea, I'll try that in the future.
I have never use timers in those if loops though, what does your timer usually do? Jump to an error routine or something? Not that I think having a timer is a bad idea just never though of it or had a controller crash or anything beceue of it (yet).
Recently I have been wanting to use a WAIT command in Yasakwa programing (YRC1000) with multiple input signals, is this possible? As a work around I have either been using two waits in a row or been making small if loops, that works fine just wondering if there is a better method I could be using to improve my code.
example of desired command:
WAIT IN(1)=ON AND IN(2)=ON
next steps...
current code:
WAIT IN(1)=ON
WAIT IN(2)=ON
next steps
other example i sometime use:
*Label1
if IN(1)=ON AND IN(2)=ON
Jump *Label2
Jump *Label1
*Label2
next steps..
I am already generating (relatively simple) JBI files with Python scripts, so I was thinking of doing what you say actually. But that feels not very satisfactory to me as it requires time, as you said, and will never really be exhaustive. But I think I will go for it anyway, as there seems to be no free solution, and at least I will have full control of it.
Dont mean to hijack the topic but I program only Yaskawa only in motosim but have been learning python on the side for fun, can you tell me more about how you create JBI files with python or point me to any resorces to learn more about this? Never considered that this would even be possible.
Display MoreHi,
You can make a teaching job with the positions. The end of the job you can use GETPOS to a local position variable and a CNVRT from local position variable to the global position variable. (you should switch on the enable step number)
Of course you have to make a jump label before of the positions.
For example:
0000 NOP
0001 Jump *LABEL
0002
0003 0001 MOVJ VJ=100.00 PL=0
0004
0005 *LABEL
0006 GETPOS LPX000 STEP#(1)
0007 CNVRT PX000 LPX000 UF#(1) TL#(1)
0008 END
Interesting thank you, the original project I posted about is long done (I expanded the memory as another poster recomended up to 1600 PVARs), but I have a similar project coming up this spring, I'll definitly experiment with this, never seen getpos used that way, thanks
Thansk kawkisaki. Right now neither arm will jog or move in any way. I will get some replacement batteries and see if that remedies it. In the mean time maybe I will leave it on for a while to see if the current batteries charge. This robot sits in our showroom and is infequently used.
Hi everyone,
Our office has a Kawasaki Duaro1 robot that hasn’t been powered on in a few months. I wanted to give it a try today but I cant get the robot to jog, return to origin or run a program. It was working last time I used it for a sample program to show a customer a few months back. Now it’s giving two error codes:
1024 - movement not possible because target position is out of range (when I try to start a program or do automatic origin return
2032 – Axis two rotation error (When I try to jog).
Any suggestions? The manual I have doesn’t give much more information that what’s written in the error codes. Maybe the servo encoder batter is dead? Thank you
(As it’s a stand alone unit I don’t have a controller model or I would include it, I’m communicating with the robot using an android tablet Kawasaki app that came with the robot)
Ok that sounds similar to what I needed to do with the Keyence controller I used recently. I will give it a try tomorrow. Thank you！
*Update, this worked great, i used the historgram tool to draw a box where the gripper will be then used a conditional function in the IRvision tools to reject work with a high scorein that histogram box. thanks gpunkt
I am using a R30ib Mini Plus with a CRX-10ia robot and a tablet-type pendant. This robot has been loaned to us from another system integrator (SI) company we collaborate with. The robot is equipped with a 2D Fanuc camera, and I am utilizing the built-in iRVision tool through the tablet.
I have encountered a seemingly simple issue: I'm unable to exclude workpieces that are positioned too closely to each other. I require some space for the gripper to maneuver between them. Could anyone provide guidance on which vision tool I should use to mark an exclusion area? I checked the documentation but there was a lot of it so might have missed it. The workpieces are small cylinders on a conveyor belt, and they continuously cycle on the conveyor. It is acceptable for the robot to pass by those workpieces that are too close to others.
Ive mainly only used Yamaha and Keyence vision controllers, I'm new to Fanuc. My last Keyence project used this feature to leave room for the griper to get in beside the workpeice. I appreciate any help or advice. Thank you.
Just as an update to this incase anyone finds this thread in the future:
What I ended up doing is loading a short program as a seperate task slot that would stop the robot if it entered either of the zones I didn't want it to enter, This runs along side the main program constanlty in the background.
Code:
'******************************************************************
'******************************************************************
'プログラム名前：ZONE CHECK
'2023-02-08
'This program controls zone alarms
'******************************************************************
'******************************************************************
'
*LOOP:
'
IF SO2(3)=1 THEN GOTO *NGZONE (NO GO zone 1 bit)
IF SO2(4)=1 THEN GOTO *NGZONE (NO GO zone 2 bit)
'
GOTO *LOOP
'
*NGZONE:
HALTALL (Command that stops all programs)
Hello,
I'm programming a Yamaha robot for the first time, Usually our company does Yaskawa/Mitsubishi (This robot is a YK-XE610 SCARA with a RCX340 controller and CC link option, it is a nice little machine).
I've manage to get the robot to output signals when it enter certain zones using the "Area Check Output" function but I would like to prohibit it from entering some of those zones. I could do it via an alarm on the PLC side but usually I just do it all on the robot controller. The robot is also getting some of its location data from a Keyence 2D camera controller so it would be nice to stop it from going some places in case of weird camera data. Does anyone here regularly do Yamaha robots who could give me some advice? I have a feeling I should be setting up something with the Task system Yamaha has but I don't fully understand it yet.
Thanks in advance
You can quickly edit a PVAR by highlighting the line, then hit OPEN DIRECT.
It will bring up the PVAR setting directly.
Hitting again will bring you back to the job.
Thank you I didn't know this and just tried it. super helpful! Also worked for extended language PVars in my program (ie. P[I000]
Thank you, good to know to stop pursuing it. I'll use Josse's suggestion in my start up program instead.
thanks for your message and sorry for the slow reply,
That looks good for use in a regular program, but I am wondering if i can be done in the ladder logic of the YRC1000 (the user ladder)
I’m working with a Yaskawa YRC1000 with a CClink card installed (and safety function board, robot is a GP35L). I would like the robot to automatically switch tool files when a specific IO signal is input (rather than using a program command to change tool files). The PLC will give the Robot it’s current tool based off the signal received from the tool changer attached to the robot. I thought I should be able to do it in the user ladder but cant find a ladder logic command to set the tool file. Is this possible to do? I’ve used commands in a program (on FANUC machines) to change tool data but its my first time using a tool changer on Yaskawa. The logic in my mind should look like "If coil XX on, load tool file 1"
The tools all have the same flange to center point dimensions so its mainly the weight I am worried about, and some of the safety logic interference zones. If the robot knows via hardwire what tool its working with it should be harder for the customer to make a mistake.
Thanks in advance
