No. Nothing like this
Posts by smith_scott
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After you change the settings in maintenance mode, you need to initialize your jobs. Did you do this?
If not, you will only see 127RoboGuru
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DX-100 has a few new tags for circle control. I'm not sure if this will help your problem but play around with them.
Select your MOVC command and go into the DETAIL EDIT menu. Here you should see
-> CIRC POSE CONTROL
-> CIRCLE END MODEI've never really used them, but who knows... it might help you out.
RoboGuru
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I'm not sure if it works with NX-100, but it does on DX-100 and FS-100. The connectors are made for Yaskawa only, so you must by from Yaskawa or Motoman.
We have it here in Canada.
RoboGuru
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Dummy plug is available depending on your controller
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don't forget...
robot's aren't very accurate to begin with..
but your deviation does seem to be excessive.
Re-calibrate!
RoboGuru
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One of my customers did this a few years ago. The robot would weigh a plastic part that was just moulded in an injection moulding machine. If the weight was not within spec it would get dumped by the robot.
It was made by a company called Kissinger??..... Something along those lines anyway.
The problem they ran into was that it wasn't designed to be robot mounted. The cable coming from the sensor was not high flex and would always break. It was such a small gauge wire that it was happening all to frequently. They abandoned it and did something else.
RoboGuru
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Create a macro like Potts suggested.
Call the macro SETPOS and do it like this
SETPOS 10, 20,30,40,50,60
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ElvieCash,
Your thinking is correct, however 95Devil's comments are very valid. You could probably write a little macro routine to make this code nice and clean from your robot job.
Good luck,
RoboGuru -
elvis is trying to force the TCP to either tool 0 or tool 1. The only way to do this is by executing a IMOV P000.
P000 must first be defined in the desired TCP and have X,Y,Z,Rx,Ry,Rz values of 0.... so that when you execute the IMOV, the robot does not move.
RoboGuru
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What you need to do to force it to a certain too is the following:
- Capture current position in pulse counts
- Convert it to BASE (or robot) frame. The important thing to do is specify a desired TCP.... (ie. TOOL 0 or TOOL 1 for you)..... store this in P-variable xxx
- Subtract P-variable xxx with it's self so that it is essentially all zero values.
- Insert a IMOV command with your p-variable. The robot will not actually move because the value of the IMOV is all 0. However because the TCP for this p-variable is TOOL 0... this tool will become active.
- The robot will not move, however I recommend putting a super slow speed just incase !
- You can now re-capture the position for your recovery routines.GETS P000 $P000
CNVRT P000 P000 BF TL#1
SUB P000 P000
IMOV P000 V=0.01RoboGuru
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What axis are you trying to change?
Mechanical limits are protected by the Yaskawa code. There generally isn't much need to adjust the mechanical limits with exception to the T-Axis or external axis.
Please let us know,
RoboGuru -
There are a few different types of Inputs and Outputs in a Motoman... the easiest way I can explain it is like this:
Specific I/O - This is the bits you use for system related functions. ie. Specific inputs will turn on things such as servo power, set to play mode, etc... Specific outputs will give you the status of your robot. ie. In teach, in remote, etc...
Universal I/O - This is the I/O that you access from your robot jobs. For instance, in a program you would turn on a solenoid by using the command DOUT #1 ON
External I/O - This is where you wire everything in on the green terminal blocks inside the robot controller.
The robot's CIO is where all the magic happens!
The robot's CIO ladder (which is essentially a PLC) maps the various bits together. Everything ultimatley starts off as an external input. An external input does abosolutley nothing until you map it somewhere. So, you would map an external input over to a universal input if you wanted to see that status of an input in your robot job. Likewise you would map an external input to a specific input if you wanted to turn servo power on.
The ladder has 2 sections to it. The system section and the user section. We can only edit the user section as the system section is reserved for Yaskawa. The user section is really all you need access to. It will allow you to map all your I/O accordingly.
I invite other forum members to post their comments about the CIO to this topic as well.
Somar, please make this a sticky! Thanks!
RoboGuru
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yes it is a possibility. Depending on how many I/O cards you have installed we really can't tell you exactly where the I/O will show up. Keep in mind you should be looking at EXTERNAL INPUTS/OUTPUTS to confirm if your commuication is working ok. When you view the external in/outs they display alot of i/o at once, not just 8 like the universal in/outs.
Also, do you have a end of line resistor on your d-net network? Are the baud rates matched up? I believe by default, Compact Logix D-net scanner is setup for 125kb.
Let us know if you see the i/o showing up on the externals.
RoboGuru
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Motoman can send you the EDS files you require.
Triggering jobs is pretty straight forward. Because the robot can only read inputs/output values from the PLC you will have to do something like this
(robot job)
DIN IG#1 B000 (read input group #1 and store value in B000)
CALL JOB ABCDEFG IF B000=1
CALL JOB HIJKLMN IF B000=2Hope this helps,
RoboGuru -
I would have to agree with Tony, your choices would be to go hard wired from PLC to robot or via a network such as Ethernet or Devicenet. If you choose a network, most likely you will need the corresponding card for the robot & plc.
I am currently integrating a CompactLogix and Motoman DX-100 with a devicenet network.
RoboGuru
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I think yo uare looking at the ethernet port built into the robot CPU. This is typically used for software access and this port does not support I/O leaving it.
You will require to purchase the EthernetIP board. This board plugs into the CPU rack and it would sit to the left of the main cpu board.
RoboGuru
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I would setup your PLC as the "master" and have the camera and robot as "slaves"
Your robot will require the EthernetIP board to be able to do this
RoboGuru
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Look into the software program called RobotMaster... it is an add on to CadCam and works great for doing what you are describing... milling. Much much easier then PointsImporter!
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I'm not a welding guy but i think you mean weaving.... if this is correct then yes... Motoman robots can weave i'm not certain though how to set it up.