Posts by smith_scott

use it however you like.... dispencing, deburring, etc.... it doesnt matter.

at the end of the day you get an analog output related to tcp speed.

it is software that needs to be activated on your robot controller. It will give you the command

ARATION
ARATIOF

analog ratio output on
analog ratio output off

Theres a few settings to fine tune timing requirements but essentially it gives you an analog output 0-10v signal based on the robot speed of TCP. It is meant for dispensing applications.

RoboGuru

The software option analog output according to speed will provide you with an analog signal proportional the the TCP speed.

RoboGuru

I'm pretty sure Yaskawa doesn't mind manuals being posted.

The yaskawa code is a different story though!!

RoboGuru

ABB in my country offers a life cycle audit service.

Has anyone ever done this before? Does anyone have a sample report they could share so I know what to expect?

Thanks,
RoboGuru

check your robot calibration.

Bad calibration = bad interpolation = bad circles!

Could you not just use zones to determine this?

if J1 is in +/- 30 degree range then do this motion

Hi,

I just looked into this for you. There is actually an additional setup procedure that was forgotten by Motoman to activate the SKILLSND command.

There is a software function FD paramater that needs to be enabled as well as some S3D paramaters that need to be set. The S3D parameters create a virtual sensor board within M+.

In a nutshell...
Contact Motoman...
Be prepared to send them your ALL.PRM file so that they can modify it for you.

RoboGuru

I'm not 100% certain...

What version of system software are you running???

SYSTEM INFO
-> VERSION
----> first line should read something like DSx.yz-14

RoboGuru

You have the wrong parameter.... your close...

RS59 = 2

RoboGuru

I've never really seen this done before but....

In the IF panel manual, it outlines some inputs that you can use to call a screen to the front display. I would suggest experimenting with this... You might be able to acheive what you want or something very close.

If you specified controller I could maybe help research the actual inputs.... but I'm sure you will look it up !

RoboGuru

Try resetting the INFORM commands to see if SKILLSND appears

- Setup
- Teaching Conditions
- Data sub menu (top left)
- RESET inform

System job is a text based program that continually runs in background regardless of estop status. No motion can be programmed. Only variables, I/o, math, etc...

I believe it to be the equivalent to bg logic

It sounds like it is turned off.

I'm guessing Yaskawa Europe is different then Yaskawa America. Over here Yaskawa America ships out all robots with ethernet & e-server function active.

RoboGuru

Ethernet/E Server function essentially just activate the ethernet port and allow communication with outside world. It is most likely enabled already.

MotoPlus is a development environment for your PC that allows you to write "APPS" for your robot, compile it and then load into the robot CPU.

MotoGSI is a product coming from Motoman Europe that is a general socket interface.

It allows for interfacing via the ethernet port directly from a robot job.

Personally, I think you will end up using MotoPlus...... but it sounds like your on the right track.

RoboGuru

Dave,

Your problem is most likely not with RS.

Function parameters are stored in the FD type. They are not visible to you as it is protected by Yaskawa mode. It really should only be activated with Yaskawa assistance.

Once the FD's are setup to activate the data communication option, then you can tweak your RS parameters to control baud rate, etc...

RoboGuru

or, edit the VAR.DAT file and modify the tool value associated with your P-value.

RoboGuru

it is, but that doesn't entitle us to free software.

RoboGuru

No,
You need the pendant

Servo float might work... You would have to experiment. But keep in mind it was intended to allow an outside force to move the robot. Here you are asking the robot to apply the force....

With this function torque gets priority over position however it's not precise enough that you can ask for a specific torque amount and get it 100% of the time reliably.

You are limited to setting a percentage between 30% 100. You would have to do some tests to determine what percentage value corresponds to your desired torque.

RoboGuru