also looking for a heap of panasonic robot manuals
YA-1
*** removed by moderator ***
also looking for a heap of panasonic robot manuals
YA-1
*** removed by moderator ***
see attached code. you actually wrote this code. i have just butchered it. the first one you helped us with worked very well. and we were able to machine out the holes. this code is to weld the holes back up.
there is no linear weld movements, its all circumferential.
once the welder is working with the robot, i can control the welder with 4T step signal, this will allow me to set 2 weld settings on the welding machine for the robot to change.
.PROGRAM trialholesweld () ; heat exchanger easy
SIGNAL -2111, -2112
GROUP 1
SPEED 400 MM/s ALWAYS
ACCURACY 1 ALWAYS
program = 6
W1SET 1 = 40,100,100, 0, 0
pitch = 47.625; Hole Pitch
POINT .tmp[1] = t2
POINT .tmp[2] = w1s1
POINT .tmp[3] = w2s1
POINT .tmp[4] = w3s1
POINT .tmp[5] = w4s1
POINT .tmp[6] = w1s2
POINT .tmp[7] = w2s2
POINT .tmp[8] = w3s2
POINT .tmp[9] = w4s2
JMOVE SHIFT (.tmp[1] BY 200, 0, 0); Approach hole1
FOR .tmp.hole = 1 to 11
lMOVE SHIFT (.tmp[1] BY 100, (pitch * (.tmp.hole - 1)), 0); Approach
lMOVE SHIFT (.tmp[2] BY 1, (pitch * (.tmp.hole - 1)), 0); start welding
arc ON
C1WC SHIFT (.tmp[2] BY 0, (pitch * (.tmp.hole - 1)), 0), 1; weld
c1WC SHIFT (.tmp[3] BY 0, (pitch * (.tmp.hole - 1)), 0), 1; weld
c1WC SHIFT (.tmp[4] BY 0, (pitch * (.tmp.hole - 1)), 0), 1; weld
c2WC SHIFT (.tmp[5] BY 0, (pitch * (.tmp.hole - 1)), 0), 1; weld
LWE SHIFT (.tmp[5] BY 0, (pitch * (.tmp.hole - 1)), 0), ; endweld
arc OFF
lMOVE SHIFT (.tmp[1] BY 100, (pitch * (.tmp.hole - 1)), 0); Depart
lMOVE SHIFT (.tmp[6] BY 1, (pitch * (.tmp.hole - 1)), 0); Approach
arc ON
C1WC SHIFT (.tmp[6] BY 0, (pitch * (.tmp.hole - 1)), 0), 1; start weld
c1WC SHIFT (.tmp[7] BY 0, (pitch * (.tmp.hole - 1)), 0), 1; in
c1WC SHIFT (.tmp[8] BY 0, (pitch * (.tmp.hole - 1)), 0), 1; in
c2WC SHIFT (.tmp[9] BY 0, (pitch * (.tmp.hole - 1)), 0), 1; in
arc OFF
LWE SHIFT (.tmp[9] BY 0, (pitch * (.tmp.hole - 1)), 0);stopweld
lMOVE SHIFT (.tmp[1] BY 100, (pitch * (.tmp.hole - 1)), 0); Depart
END
swait 1010
swait -1010
Display More
asked my electrician, he said there was a loose connection on the main board. its now back up and running. ill find out what connection was not plugged in correctly.
Annnnnnnd it’s back. I can hear the contractors inside the board trying to switch but nothing happens and they switch back.
Sorry I cannot register this tool with the xyzoat
as the tool cannot point towards the null base -y direction as it fouls with the bracket
Quote5. A3 pointing backwards (towards Y- of BASE NULL) - Teach.
QuotePlease don't go down the 'trick the robot route', trust me you're opening the doors for the evil pixies to come charging in and turn your world upside down.
hahahaha! love it,
thank you again for your help, greatly appreciated, will register the tool tonight.
i've found another post topic where you have explained how to do the registration of the tool, as the manual you have said can be interpreted incorrectly
the welding moves is all i really know at the moment. they seam easy. but not the best way to do things i know.
@Alexandru yes the robot is putting a internal groove in each hole .
@kwakisaki yes there is a positioner currently attached for welding/cutting , no i will disable the positioner when we move the robot to the location.
if i trick the robot into thinking its hanging off a wall then theoretically the robot will be able to perform LDEPART/LAPPRO ? Because that axis will then be Z
i will ditch the welding code now and try yours.
see attached my code that I came up with. I am using a welding code. your code looks a lot smaller. just trying to work it out lol
pitch? and .tmp I don't understand.
no I have not put the robot to the area yet. I did a dry run to make sure the code works but yes. my next problem is making sure the code line up with all the holes.
Sorry mate, I am a basic beginner, I am self teaching.
I am using the base coordinates, they seam to be the easiest to work with. I do not have this specific tool registered in the tool coordinates.
I will try that trans shift thank you.
Also is there an Easier way to program I. 1000 bloodie holes hahaha. I’m unsure if I can put 1000 holes into one single program, there are currently 6 different lines for each hole.
Hi guys,
made a crazy tool up to regroove holes, i have 1000 holes to groove that are all 47mm apart on the Y and Z axis but i want to approach on the X-axis
when i use -
SWAIT 1010
SWAIT -1010
LAPPRO hole1,200
swait 1010
swait -1010
LAPPRO hole1,10
LMOVE hole1
LDEPART 100
How can i make it approach/ Depart on the x-axis. apart from always approaching from the z down
also is there an easyer way to program in 1000 holes rather then doing this?
i believe i fixed the issue.
i turned off this pc program * PC3 PROGRAM: pc1 Step No: 7 STATUS: STOP*
since its been turned off i have not been able to replicate the issue
.PROGRAM pc1() #0
; pc program check
;-------------------------
loop2:
WAIT TIMER(1)==10
index = index+1
HERE pose[index]
WAIT TIMER(1)==0
GOTO loop2
.END
.PROGRAM pg0() #65
;main routine
;PC Program control
;------------------
; waiting for pc program to start
SWAIT 2001,2002; pc programs are running
;
;
WHILE SIG(-2107) DO ;while robot not home
;Go home(Z axis moves first)
GROUP 0
POINT homepose = #HOME(1)
IF DZ(homepose)>DZ(HERE) THEN
HERE tmp
POINT/Z tmp = homepose
TDRAW ,,-200
LMOVE tmp
END ; if
SPINAXIS 7
RTSET 0
SPINAXIS 8
RTSET 0
HOME
BREAK
END ;while
;
;
PAUSE
WAIT SIG(2200) AND SIG(1010) ; ready for program selection
.exist = EXISTPGM($pg_selected)
IF .exist THEN
SCALL $pg_selected,.error
ELSE
PRINT 2: /C11
PRINT 2: " Program: ",$pg_selected+" does not exist!"
PRINT 2: "Check PG thumbwheel setting before restarting"
PAUSE
END ; if
.END
thanks mate
this error has not come back lf unsure what caused it but its gone hahaha
Hi Guys, i am having a very similar issue, although i can repeat it every time. the joint spins around at such high speed.
while holding in the dead man if i push Deadman + Go/ Deadman + back /Deadman + rec/ Deadman + a + write
in the teach mode.
when operating any program it does not have an issue.
i have in inherited these robots from a previous project and i am self teaching my self how to use them.
44 - [20/03/17 06:55:20 SIGNAL:00 MON.SPEED : 18 TEACH mode]
(E1124)Deviation error of Jt 6.
OPERATION1:[20/03/17 06:55:18] ( Motor power ON )
OPERATION2:[20/03/17 06:55:17] ( ALLERESET )
OPERATION3:[20/03/17 06:55:09] ( STEP CHANGE )
OPERATION4:[20/03/17 06:55:09] ( ZRECO 1:pg991,63," )
OPERATION5:[20/03/17 06:54:54] ( STEP CHANGE )
OPERATION6:[20/03/17 06:54:54] ( ZRECO 1:pg991,62," )
OPERATION7:[20/03/17 06:54:14] ( STEP CHANGE )
OPERATION8:[20/03/17 06:54:14] ( ZRECO 1:pg991,61," )
OPERATION9:[20/03/17 06:53:34] ( ZRECD pg991,61 )
ROBOT1:
PROGRAM:pg991 Step:63 Cur_Step:63 STATUS:RUN
Interpolation Type:JOINT S_parameter:0.999825
PC1 PROGRAM: z.arc Step No: 3 STATUS: RUN
PC2 PROGRAM: z.cell Step No: 83 STATUS: RUN
PC3 PROGRAM: pc1 Step No: 7 STATUS: STOP
Current Pose
JT1 JT2 JT3 JT4 JT5 JT6 JT7
-108.813 49.396 -82.134 -54.089 -3.249 -60.089 -2000.000
JT8
-2000.000
Command Pose
JT1 JT2 JT3 JT4 JT5 JT6 JT7
-108.813 49.397 -82.139 -54.089 -4.821 -359.885 -2000.000
JT8
-2000.000
End Pose
JT1 JT2 JT3 JT4 JT5 JT6 JT7
-108.810 49.399 -82.158 -54.089 -5.786 59.731 -2000.000
JT8
-2000.000
.***************************************************************************
.*=== AS GROUP === : ASE_030300X2B 2015/07/12 12:45
.*USER IF AS : UASE030300X2B 2015/07/12 12:45
.*USER IF TP : UTPE030300X2B 2015/07/12 12:43
.*ARM CONTROL AS : AASE030300X2B 2015/07/12 12:44
.*USER IF AS MESSAGE FILE : MASE0300X2BEN 2015/07/12 12:45
.*USER IF TP MESSAGE FILE : MTPE0300X2BEN 2015/07/12 01:36
.*ARM DATA FILE : ARME030300X2B 2015/07/12 12:43
.*KERNEL : _KNL102500000 2015/02/23
.*DRIVER : _DRV104200000 2015/01/30
.*RFS : _RFS100800100 2012/07/27
.*=== SERVO GROUP === : SVE_080000045 2015/07/14 11:54
.*ARM CONTROL SERVO : ASVE080000045 2015/07/14 11:47
.*SRV DATA FILE : ASPE080000045 2015/07/14 11:48
.*ARM CONTROL SERVO FPGA : ASFE08000000A 2015/04/01 09:29
.*
.*Cpu board type : 1VA
.* [Shipment setting data]
.*There is no Shipment setting data.
.***************************************************************************