Hi all,
we keep getting this error when robot is pickin up slip sheets. The robot will only pick these up in area about 6 inches or else this errror will show up. I have checked all cables. What can this possibly be?
Posts by cat91345
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I keep getting this collision detection on the L axis when robot picks up slip sheets to put on pallet. Can anyone give me step by step to fix this ?
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How do I start a move by position ? Say I want to move from position 66, how do I move from that position to the placement ? All this robot does is pick up 2 boxes from conveyor and place on pallet. Sometimes I have to reteach positions so I need to go back and run through the program. I can’t figure this out. Also, I am confused on how to run through the master while teaching. Today I was reteaching without dropping the boxes because I didn’t know how to start back at beginning of step. This robot has a pick program, a place program, and a slip sheet program. I would really like to figure out how to jog through them all consecutively.
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DX 100...
How can i look at other jobs when robot is running?
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The user for the variable is 2, so should I be able to transfer the x/y coordinates from the current position screen to my program ?
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Hi all, I am hoping you can help a very inexperienced Controls tech when it comes to robot controls.
We have a DX100, and I am becoming more and more responsible for the maintenance of the robot. Today I came in to try and learn how to adjusts points on the fly. All this robot does is palletize 4 layers of boxes. Sometimes the layers get off by an inch or so and need to be adjusted. I know on the Fanucs, I could move the EOAT to the position I wanted, take a picture of the coordinates, and just transfer those coordinates into my position. With the Yaskawa, when I go to my current position, it's nothing like the numbers in the variable for the position I am on. For instance, I took a picture of the X,Y, coordinate numbers of the position I want to edit. Then, I moved the robot manually to the position it was just in and went to the current location screen and the numbers weren't the same.
These are the numbers I got when I moved to the position manually:
S -18758
L 870568
U 38454
B 23540
T 6278
These are the numbers that were in the position when the robot went to that position in the program
X -40000
Y -20000
How do I convert the current position into the x and y coordinates? is this simple math, or totally unrelated?
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I have a Fanuc cert, but of course the job I get hired for has Yaskawa. This is a very basic program, robot palletizes 2 boxes at a time, 4 layers high. This is essentially 2 layers as 1/3, 2/4 are the same copy and pasted. What I am looking for is a simple cheat sheet on how to make adjustments to the x and y axis. What would also be nice is a cheat sheet on how to move the robot after teaching the points. I tried watching the engineer they brought in today, but he was just going way too fast. It took me 3 months to learn Fanuc, so it’s gonna take me while to learn yaskawa. If anyone has some reallly good literature I would be very thankful. I do have the manuals, but you know how that goes.
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Hi all,
I am a controls tech that works in a very high pace bottling and packaging facility. Most of my job involves Controls type issues, but we do have one Yaskawa robot that tends to need attention. I am certified in Fanuc robots, but not Yaskawa. I had no problem learning the Fanuc controls so I do not envision having difficulty with Yaskawa. I need to find out the easiest way to learn these robots. I had access to Roboguide when I was learning Fanuc, so I am hoping to find something equal to that. I got access to Roboguide when i went through school. Does anyone know if there is an equivalent for Yaskawa? I just need an online class that will give it's students access to Motosim while in the class.
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Really need access again I lost it because I finished school. I have to link to download it but it is only good for 90 days. Could I use a different computer ? If I did use a different computer is there a way around the 90 day problem ? I’ve heard mentions of make a virtual hard drive and don’t use the captcha ?
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the scraping would be happening when robots are not painting. So colliding with other robots would probably not be a problem. I think the best way to do it would be Having one robot scraping at a time. This is almost a tar like substance, so it actually comes off but it just takes muscle. That’s why I think a robot would have an easy time swiping it off. It not like regular paint that chips, it comes off in globs. So a back and forth action would not be necessary. I think once the robot got a good bite a simple a A to B movement would be all it takes to get a section done. Then I think if an offset until robot hits limit. Then next robot works.
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It may be possible but sounds like a difficult job for a robot. Robots don't have the dexterity that a human hand does.
1. You would need a compliant end-effector so the robot doesn't constantly detect collisions, but not too compliant that it doesn't have enough force to scrape the paint off.
2. The Robot would need to have enough reach and access to booth without getting in the way of the painting process.
3. The robot wouldn't be able to tell if it was successful or not. Sometimes you probably scrape the same area until the paint has broke loose, but a robot won't know that. It will just do the programmed routine.
Good luck!
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In a heavy steel industry 2 fanuc robots work side by side spraying black soft coat onto heavy truck axles. The overspray is a constant problem inside the booth. They try and pay employees quadruple time and they still won’t come in on off days to scrape the excess paint off of paint booth walls and floor, so that should tell you how bad the job sucks. They hire a Third party to do parts of it but a lot the labor still falls onto employees(me being one). Has anyone heard of a robot program doing this ? I am about to finish college and I had a class on Fanuc robots, so to me the theory seems easy... Fabricate an end of arm tool and program the robots to scrape the paint, and someone shovels the paint. Has anyone seen this? I went to school for Automation and Robotics. I really don’t want to scrape paint for a living.
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Ok so is anything stopping you from doing that?
this was a very crude way of doing it. but program ran 3 times and showed 1 in each data register at end of program. some of the commands may seem redundent but we were simply using commands to satisfy certain conditions that were part of the assignment. we were supposed to be using sensors for the IF statements but we don't have any on out robots at school. so, we just used the solenoid for the gripper. we didn't get the TIMEOUT working either. although the if statements were true the TIMEOUT never happened, went straight to LABEL
J PR[1:home] 10% FINE ;
2: R[1:counter]=0 ;
3: R[10]=0 ;
4: R[11]=0 ;
5: R[12]=0 ;
6: R[13]=0 ;
7: IF RO[3:OFF:GRIPPER OPEN]=OFF,JMP LBL[1] ;
8: LBL[1] ;
9:J P[9] 15% CNT100 ;
10: R[10]=1 ;
11: R[11]=1 ;
12: WAIT 3.00(sec) ;
13: WAIT R[10]=1 AND R[11]=1 TIMEOUT,LBL[2] ;
14: LBL[2] ;
15:J P[1] 15% CNT100 ;
16: RO[4:ON :GRIPPER CLOSE]=ON ;
17: WAIT 1.00(sec) ;
18:J P[2] 15% CNT100 ;
19:J P[3] 15% CNT100 ;
20:J P[4] 15% CNT100 ;
21: WAIT R[10]=1 AND R[11]=1 TIMEOUT,LBL[2] ;
22: RO[4:ON :GRIPPER CLOSE]=OFF ;
23: WAIT 2.00(sec) ;
24:J P[5] 15% CNT100 ;
25: WAIT 2.00(sec) ;
26:J P[8] 15% CNT100 ;
27:J P[2] 15% CNT100 ;
28: WAIT 1.00(sec) ;
29:J P[6] 15% CNT100 ;
30: R[12]=1 ;
31: R[13]=1 ;
32: WAIT 1.00(sec) ;
33: WAIT R[12]=1 AND R[13]=1 TIMEOUT,LBL[3] ;
34: LBL[3] ;
35:J P[7] 15% CNT100 ;
36: RO[3:OFF:GRIPPER OPEN]=OFF ;
37: WAIT 1.00(sec) ;
38: WAIT 1.00(sec) ;
39:J P[10] 15% CNT100 ;
40: R[1:counter]=R[1:counter]+1 ;
41: IF R[1:counter]<3,JMP LBL[1] ;
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Can you give more context? What is the 2nd register for?
program needs to quit when 3 registers have show 1
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What you have looks good.
Here is the same thing using a for loop.
home
For r1 = 1 to 2
Pick part
Place part
End for
home
Older model controllers don't have the for loop instruction.
ok now I do remember seeing Endfor. Wjhat would program look like if Two data registers have to be zero at end of program. For now all I have is r1. Thanks for your help. It’s appreciated.
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No problem at all. Sounds like you are doing the right things to learn!
There's a few ways to achieve pick and place of 2 parts:
1. Use a For loop that counts to 2
2. Use a jump label loop that counts to 2
3. Call your program twice in a row , no counter needed
i looked for "for loops" but could not find that on teach pendant. by time i read your reply i had just figured it out on roboguide. i will look into the for loops though. i am sure it's easier as i always seem to go about everything the hardest ways possible
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Figured it out guys!!!!!! yay!!!!!!!!
used this:
home
r1=0
label 1
r1=r1+1 (for counter)
called a macro that picked up part
called macro that dropped off part
if r1 < 2 jump label 1
home
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i have already spend days upon days learning how to use roboguide on top of learning the how to use real robots at the same time. i just hoped there would be some empathy at play here. i need a program that takes 2 parts from an inlet and puts them at an outlet and stops when it's finished.
it seems simple but i am just now learning counters in class. i learned how to call 3 different programs that were on a a counter and finished when those 3 were done running, but i am having trouble applying that knowledge to this exercise. if i could display my appreciation beyond a simple thank you i would.
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yes that make sense. if they register starts at 2 how will robot know when register is at zero. i do understand i need to loop to label 1 until registers are a zero, then jump to final label when they are empty.
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