Posts by quarz

Hi. What controller do you use? It looks like a bug in robot firmware.

Anyway you can download JOB back from robot to USB and check that the original JOB and downloaded are the same.

Also you can try to upload JOBs by FTP

Hi all.

I use coordinated motion R1+S1 for welding with weaving on positioner. I always use Reference points and set them according with documentation (REFP1 on the wall, REFP2 along the direction of travel). But sometimes have a problem with weaving angle. For one seam it is OK, for another seam - wrong (rotated 90 deg). Looks like it depends on positioner orientation.

I didn't find any documentation for Reference points for weaving with coordinated motion.

My typical Job:

/JOB
//NAME MY_JOB
//POS
///NPOS 7,0,7,0,0,0
///TOOL 20
///POSTYPE PULSE
///PULSE
C00000=-86269,13722,-44315,122000,76258,-48108
C00001=-83357,11587,-51577,120611,72095,-46775
C00002=-84602,14382,-49930,120461,73084,-46632
C00003=-84157,12836,-50613,120433,73299,-46966
C00004=-82719,9671,-50704,121181,71913,-48303
C00005=-81951,8424,-47597,121815,73368,-49688
C00006=-83951,8524,-47597,121815,73368,-49688
EC00000=287484,82138
EC00001=287484,82138
EC00002=287483,82137
EC00003=287483,87137
EC00004=287484,90159
EC00005=287484,106202
EC00006=287484,122245
//INST
///DATE 2022/11/17 17:09
///ATTR SC,RW
///GROUP1 RB1
///GROUP2 ST1
NOP
SMOVL C00000 V=50.0 PL=0 +MOVJ EC00000 VJ=100.00
SREFP 1 C00001 +REFP EC00001
SREFP 2 C00002 +REFP EC00002
ARCON
SWVON WEV#(1)
SMOVL C00003 V=3.8 +MOVJ EC00003 VJ=100.00
SMOVL C00004 V=3.8 +MOVJ EC00004 VJ=100.00
SMOVL C00005 V=3.8 +MOVJ EC00005 VJ=100.00
SWVOF
ARCOF
SMOVL C00006 V=50.0 PL=0 +MOVJ EC00006 VJ=100.00
END

Also you can use Motoplus (paid option) API: mpConvCartPosToAxes

Also check job syntax and line endings. It should be \r\n

Hello.

I wrote a program which communicate with host computer via TCP/IP, receive commands and execute them. I noticed that AS execution is too slow. String operation (encode, val) are also too slow. Calling a subroutine with some args takes more than 10 milliseconds.

For example, code listed below prints 0.26. Whole 260 milliseconds, Karl, to convert int to string and call a subroutine!

.PROGRAM my_sub.pc (.$arg)
  IF .arg == "123" THEN 
    ; do smth
  ELSE
   ; do smth
  END
.END


.PROGRAM main.pc
  TIMER(1) = 0
  CALL ($ENCODE(123))
  .call_time = TIMER(1)
  PRINT "Call time =", .call_time
.END

I found a solution to speed up a bit: TRACE OFF. I have tracing enabled for all programs!

Is there other methods to accelerate AS execution

Yes, I found it in AS manual.

It's a pity that it is impossible to move common parts of code to subroutines and call them independently

For the same reason I cannot call example subroutine TcpOpenSrv.pc from two background tasks simultaneously.

Is this really a limitation of AS system or am I wrong?

Hello.

I have just started programming on AS.

For example I want to create wrapper subroutines for PRINT instruction to add some additional info to log output:

.PROGRAM LOG.pc (.$msg)
    PRINT $TIME + ": " + .$msg
.END

then I call it from two background programs:

.PROGRAM main.pc ()
  WHILE TRUE DO
    IF TASK (1002) <> 1 THEN
      PCEXECUTE 2:program1.pc
    END
    
    IF TASK (1003) <> 1 THEN
      PCEXECUTE 3:program2.pc
    END
    
    TWAIT 5.0
  END  
.END

each program1.pc and program2.pc calls LOG.pc in infinite loops:

.PROGRAM program1.pc ()
  WHILE TRUE DO
    CALL LOG.pc ("program1")
    TWAIT 0.5
  END
.END

.PROGRAM program2.pc ()
  WHILE TRUE DO
    CALL LOG.pc ("program2")
    TWAIT 0.5
  END
.END

When I start main.pc I got an error: (P1014) Cannot execute because program already in use. No = 1002.

But why? LOG.pc does not use any global variables

Hello

Maybe somebody knows whats is the maximum file size of JBI file and maximum number of points for DX200 and YRC1000 controllers ?

Fixed after firmware update to 4.2

Yes, non-blocking mode works

int options = 1;
mpIoctl(socket_descriptor, FIONBIO, (int)&options);

I have a motoplus app which works correctly on DX200.

Now I need to run it on YRC1000. I made some fixes (axes directions, checked mpGetRtc() usage) and expected that it to work the same.

But I have a problem with "freezes". Sometimes the robot does not take targets from buffer and when the buffer is full, mpMotTargetSend returns code -16 (timeout).

I called mpMotStart() with return code 0 before mpTargetSend, so I don't understand why interpolator does not work.

Usually freezes appear after changing the type of movement from linear to joint and vice versa

so, what about this hack: connect to CN105 to CPU board (10.0.0.2) and upload application via FTP ? Then reboot controller via Telnet

Hmm...I found in "YRC1000 OPTIONS INSTRUCTIONS User's Manual For New Language Environment MotoPlus":

Quote

8.4 Online Download

A function which downloads the application from MotoPlusIDE to the robot

controller.

Loading the application is usually performed in the maintenance mode,

however, this function allows the application to load in the online mode.

Since this function omits the time and effort required for restarting the

maintenance mode, the operating time can be reduced when debugging

the application. A USB memory is required when using this function.

Display More

but it seems this is only for debugging and is not sitable for deploy

Hello

Who knows is it possible to upload motoplus application (.out) to YRC1000 remotely using ethernet/ftp or something like this ?

A standart way is to upload application with USB/SD card, but it is too slow. Additionally you must boot in Maintance mode...

Is there a document with description for all parameters DX200?

Maintance manual, CIO and others contains description for some parameters and description is not detailed

Quote from 95devils

So, how is this written in Inform Language in any Yaskawa controller.

This code is written in MotoPlus application ofcourse. If you want to get date from the JOB, put the date to variable

MP_USR_VAR_INFO date_var;
memset(&date_var, 0, sizeof(MP_USR_VAR_INFO));
date_var.var_type = MP_VAR_I;

// put day to the I001
date_var.var_no = 1;
date_var.val.i = *day;
mpPutUserVars(&date_var);

// put month to the I002
date_var.var_no = 2;
date_var.val.i = *month;
mpPutUserVars(&date_var);

// put year to the I003
date_var.var_no = 3;
date_var.val.i = *year;
mpPutUserVars(&date_var);

You can do it

void GetDate(int *year, int *month, int *day)
{
	time_t unix_time = time(0);
	struct tm *ltm = localtime((time_t*)&unix_time);
	*year = ltm->tm_year + 1900;
	*month = ltm->tm_mon + 1;
	*day = ltm->tm_mday;
}

I made some requirements for motoplus application configuration file:

1. Remote editing (FTP for example)

2. Prohibit or complicate the accidental deletion of this configuration file

3. Useful file format with comments/understandable variable names. I think json is ideal

I found one solution: create a JOB that will write variables, like this:

'Tool mass
SET R001 5.0

and then from motoplus app read this variables

95devils

thanks, it works now!