Posts by quarz

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!

Good morning,

I have DX200 controller with R1+S1 (2 axes).

I made a calibration procedure according to manual.

Then i'll try to test robot movements in SYNCRO mode:

When i move station 1st axis, the Robot correctly holds position relative to the Station.

But when i move station 2nd axis, the Robot moves in the opposite direction and does not hold position relative to the station.

It looks like wrong direction of the station 2nd axis in the internal formula for coordination motion...

Hello.

Is it possible to get speed and acceleration limits for MA1440 and other yaskawa robots ?

I need this params to calculate move time for moveit RobotTrajectory. I tried to set acceleration limits = 3.0 in moveit for each joint and got 300-500ms less in moveit than on the robot.

I think that if set robot limits in moveit, then there will be no time difference between execution in moveit and on the robot.

Hello.

Is there any recommended place to store some configuration data for motoplus application? I need store some flags, integer values and maybe strings

Onemore thing was found during debugging. Full signature of the function is mpMotSetAccuracy(int grpNo, long acr).

So, i found that call mpMptSetAccuracy for external movegroup (grpNo=1, 2...) do nothing! Only accuracy for main group (grpNo=0) affects real accuracy for all move groups...

Hello all.

I noticed that mpMotSetAccuracy(value_in_um) works abnormal with external axes. For example with positioners. Any accuracy values > 0 causes the positioner to slow down in every point. Only -1 the movement smooth. Is it correct? May be this function has limited use?

And i don't understand how this thing works for rotational axes at all, because accuracy value is set in linear unit [micrometers].