[Sara]

Hi everyone,

We have acquired a Motoman Robot together with a YRC1000 controller at our Institute. We are looking towards using the MotomanHSE driver function in order to help us 3D-print with said robot.

We have now stumbled upon some problems we would like your help with:

1. After we have succesfully connected the robot and were able to moveit, as soon as we tried to run the 3D-printing project it tells us: "Set tool not supported". The protocol says: "Setting the tool is not supported with Yaskawa/Motoman robots. You should manually set the tool first or set it using a JBI program." We have already deleted the Set Tool event out of the program events of the 3D printing options. We have also tried changing the tool name. Coud you please help us solve this?

2. Is there a possibility to control/sychronize the extruder using RoboDK without going the postprocessor + .job file route? Do you have any experience with this, what hardware and protocolls do you suggest using and is it possible to also use the MotomanHSE driver for this?

Thanks for your help,
Sara

[Borgis1]

1. What protocol? You need a tool definition that corresponds with the robot. Your program should look something like this
/JOB
//NAME AKSIAL2
//POS
///NPOS 905,0,905,0,0,0
///TOOL 1
///POSTYPE PULSE

2. How is the extruder connected... signalwise that is? Because mechanically it is set up on the robot as a tool... right? how do you run the extruder, commands from the robot?

[Sara]

1. What protocol? You need a tool definition that corresponds with the robot. Your program should look something like this
/JOB
//NAME AKSIAL2
//POS
///NPOS 905,0,905,0,0,0
///TOOL 1
///POSTYPE PULSE

2. How is the extruder connected... signalwise that is? Because mechanically it is set up on the robot as a tool... right? how do you run the extruder, commands from the robot?

1. So that means that there is no way to do it without the job file? We are trying to find different ways to control the robot that maybe don't necessitate JOB files. Thats why we are looking at the motomanHSE driver, but using this driver to run the 3d printing project led to that ERROR? Do you know what maybe could have led to this error?

2. Yes we set the extruder up mechanically, calculated TCP and torques and saved it all as our no.1 tool. Now when were using the motomanHSE i do not understand how we're able to transfer the extruder signals sent out by robodk directly to our stepper motor or more realistically to an arduino. Would it be enough to connect an ethernet cable to the end of the robot arm? Do we need to go the I/O route? How could this sync up to the 3d printing project in RoboDK?

Thanks for your help :)

[Albert]

I would recommend you to use JBI programs for production when you have a 3D printing task instead of the driver (unless you have memory limitations on the robot controller).

If you still prefer to use the driver, it may be better to control the extruder using analog or digital inputs, and you may need a custom script to to replace those program calls by accepted IO commands. I don't think the driver supports calling programs while passing parameters.