Posts by Mike01TJ

Check this manual HW1482876

It has its place. I last used it on a depalletizing application where I always had a clear path back to work home. For obstacles, I would create other cubes and move out safely based on which cube the robot is in. There are plenty of commands that can cause issues if improperly used. IMOV and TRAP are fine examples.

What about a Work Home Position

Work Home Position

The Work Home Position can be used as a simplified “auto home routine”, however there are other uses for this that will be detailed below. It is important to know that when using this function, the robot will take a joint move from where it currently sits in space directly to the Work Home Position and does not account for any obstacles that may be in the way. With the YRC1000 controller the speed of this motion is controlled by parameter S1CxG56 units :0.01%. By default, the Work Home Position is set with all 0’s for each axis.

The advantage of the Work Home Position is that the robot can be commanded to move there from an external device. This is done by mapping one of your devices allocated External Input address to #40170 (Specific Input #0129). STR #20030 / OUT #40170 Another advantage is that when creating/modifying the work home position you are also creating Interference Cube 64 (Specific Output #120) at the same time. On the YRC1000, the size of the cube is determined by parameter S3C1097. This means you can also monitor if the robot is at the safe starting position from an external device with another simple ladder modification. STR #50157 / OUT #30030

The status of REMOTE signal #50066 can be controlled by another signal, Pseudo Input #87015. The input #87015 must be set ON for the #50066 signal to change states.

If using the standard teach pendant, select [In/OUT]→[PSEUDO INPUT SIG]. Move the cursor to the circle beside the specified input (#87015 on YRC [CMD REMOTE SEL]). Press [INTERLOCK]+[SELECT] to turn ON the input.

SFTON will shift everything until the SFTOFF command.

Sounds like the servofloat option.

You can set up cubic interference zones and monitor the output. Basically a 3D cube in space that triggers an output when the TCP is inside it, or outside it. Check manual 178642-1CD (section 8.6 - Interference Area)

I believe a software mismatch connects but gives you an error.

Change Ethernet ports on the Doosan.

Try a different Ethernet cable.

A DX100 pendant cable is compatible with the DX200 and FS100 but not the YRC1000. The YRC1000 cable is unique to the YRC1000 controller/standard pendant.

How do I enable the angle option for a position variable. I have two robots, one shows it in the position variable screen, the other doesn't and I can't figure it out.

YRC1000 GP88

Options - Speed Control, Endless Rotation

Thanks,

Mike

WattUp's answer is the way.

The FSU uses the tool data for multiple safety features and changes can create a hazard if not properly accounted for. Like anything safety related, redundancy is king.

Readback->Write->Confirm -> ✅

Depending on where you are, you can ship the robot to Motoman for calibration. It costs less than the software but you have to ship the robot. They can also come to you, but that may be cost prohibitive depending on you location.

I'll hop in with my 2 cents. Welding robots(besides the AR700 and AR900) usually use an upper arm assembly that include a through hole in the T axis to accommodate the torch lines and allow T to turn without swinging all the cables and hoses around. The 35L is not designed this way so potential collisions could be an issue for programming due to the wire/gas/electrical lines hanging out over the edge. Also, the robot was probably initialized as a General Purpose robot, so it lacks ARCON/ARCOF and their associated files. Without re-initializing the controller as a welding robot, you would have to figure out some other way of creating that functionality. How has it not done well with its original application?

It's really easy if you have access to a smart pendant?

Other good commands include Switch/Case, Gete, Sete, Relative Shift(paid option)... You can also math out the positions using using preset programs or using input from a PLC. The I/F Panel(paid option*) to choose which SKU to palletize.

If you will be modifying the ladder with any frequency, or make a large amount of changes, it is worth it. The ability to quickly make modifications, upload them and then watch the ladder in action while still using the pendant can save a ton of time

That's not bad number for just programming them out. You can program the first layer or two, if they interlock, and run a shift for the remaining layers. If singularity becomes an issue, use relative job shift(option) to create individual programs for each layer and touch up points that act weird. You can also create the background math to pump out the placement position variables. Otherwise, if you have access to a smart pendant, the Pallet Builder program(it's free) on Ver3 is pretty good. It provides ease of programming without the complexity and cost of PalletSolver. You can also switch back to a standard pendant once your done.

Q3 PalletSolver is great if you have a bunch of SKUs that you will be palletizing. How many different parts will you be running?

As found in the YRC1000 General Operators Manual 178645-1cd

Reach out to Motoman support with your warranty ID (on the front of the controller) and request them.