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Yaskawa Motoman JBI Program Generation using Pulses or Joint data

#1
I created a simple program to test RoboDK program generation, to test a simple rectangle movement. The problem I have is that the JBI file doesn't work when I run it on the Robot arm Yaskawa Motoman GP25 controller. 

Is it because the targets ("C") in the JBI file are in PULSE instead of CARTESIAN?

Can someone can help me to generate a JBI file from RoboDK using cartesian targets instead of PULSES?


Attached Files
.jbi   Rectang.JBI (Size: 695 bytes / Downloads: 91)
#2
When you generate a robot program for Yaskawa Motoman robots using joint values (or so-called pulse data by Yaskawa Motoman) data you should make sure that you properly entered the ratio of pulses per degree for each axis. You can double click the robot and select Parameters to input the correct values.

You should see a ratio greater than 100 for each axis (if you see a value of 0 or 1 it means it has not been provided). You can automatically extract the pulses/degree ratio by loading the ALL.PRM file from your robot controller. You can find more information here:
https://robodk.com/doc/en/Robots-Motoman...omanPulses

You can also see that the values have not been provided if the pulse data matches the angular data. Note that pulses are numbers that represent encoder count of each axis of your Motoman robot (not degrees as used by most other robot controllers).

Alternatively, you should be able to program your robot using the Motoman Cartesian post processor even if you don't provide the pulses/degree ratio.
#3
Thank you for your response, yes this is what i want, i want to programme it using Cartesian,

Can you show me how to do it?
#4
(05-30-2024, 08:32 AM)Albert Wrote: Alternatively, you should be able to program your robot using the Motoman Cartesian post processor even if you don't provide the pulses/degree ratio.

right click on your program - Select Post Processor - Motoman CartesianOnly

   
#5
If you use base you do not have to do anything, but if you want to use your own userframe change the post Sergei mentioned.

Set to True to use MFRAME for setting reference frames automatically within the program
USE_MFRAME = True
#6
I set the USE_Frame = True , and i got the attached Code, but it didn't work on the robot. When loading the program on the Yaskawa Motoman robot controller it gives me this error:
"ERR 3220"

Code:
/JOB
//NAME WriteY
//POS
///NPOS 5,0,0,0,0,0
///USER 2
///TOOL 9
///POSTYPE USER
///RECTAN
///RCONF 1,0,0,0,0,0,0,0
C00000=200.000,0.000,1000.000,-180.00,-6.24,0.00
C00001=270.000,0.000,400.000,-180.00,-6.24,0.00
C00002=270.000,400.000,400.000,-180.00,-6.24,0.00
C00003=-200.000,400.000,400.000,-180.00,-6.24,0.00
C00004=-200.000,0.000,400.000,-180.00,-6.24,0.00
//INST
///DATE 2024/06/10 14:50
///COMM Generated using RoboDK
///ATTR SC,RW,RJ
////FRAME USER 2
///GROUP1 RB1
NOP
'Program generated by RoboDK v
'5.7.1 for Yaskawa GP25 on 10/
'06/2024 14:50:19
'Using nominal kinematics.
'Frame 2 (Frame 2) should be c
'lose to:
'900.0,0.0,-505.0,0.0,0.0,0.0
'Setting Tool 9 (outil stylo):
SETE P00095 (1) 0
SETE P00095 (2) 0
SETE P00095 (3) 156000
SETE P00095 (4) 0
SETE P00095 (5) 0
SETE P00095 (6) 0
SETTOOL TL#(9) P00095
MOVJ C00000 VJ=50.00
MOVL C00001 V=100.0
MOVL C00002 V=100.0
MOVL C00003 V=100.0
MOVL C00004 V=100.0
END


Attached Files Thumbnail(s)
   
#7
Did you properly select the robot in RoboDK?

Can you try removing the first MoveJ instruction to see if it accepts the program?
Did you have any issues when you were using the default post processor?
#8
Yes, i work with the same robot GP25.

I remove the first MOVJ, didn't accept the program.

But if I change the positions letter "C" with "P", it gave me this error,  it you see in my previous code the position were with letter C instead of P
Code:
/JOB
//NAME WriteYA
//POS
///NPOS 5,0,0,0,0,0
///USER 2
///TOOL 9
///POSTYPE USER
///RECTAN
///RCONF 1,0,0,0,0,0,0,0
P00000=200.000,0.000,1000.000,-180.00,-6.24,0.00
P00001=270.000,0.000,400.000,-180.00,-6.24,0.00
P00002=270.000,400.000,400.000,-180.00,-6.24,0.00
P00003=-200.000,400.000,400.000,-180.00,-6.24,0.00
P00004=-200.000,0.000,400.000,-180.00,-6.24,0.00
//INST
///DATE 2024/06/11 13:31
///COMM Generated using RoboDK
///ATTR SC,RW,RJ
////FRAME USER 2
///GROUP1 RB1
NOP
'Program generated by RoboDK v
'5.7.1 for Yaskawa GP25 on 11/
'06/2024 13:31:38
'Using nominal kinematics.
'Frame 2 (Frame 2) should be c
'lose to:
'900.0,0.0,-505.0,0.0,0.0,0.0
'Setting Tool 9 (outil stylo):
SETE P00095 (1) 0
SETE P00095 (2) 0
SETE P00095 (3) 156000
SETE P00095 (4) 0
SETE P00095 (5) 0
SETE P00095 (6) 0
SETTOOL TL#(9) P00095
MOVJ P00000 VJ=50.00
MOVL P00001 V=100.0
MOVL P00002 V=100.0
MOVL P00003 V=100.0
MOVL P00004 V=100.0
END


Attached Files Thumbnail(s)
   
#9
Does it work with pulses?
Do you have any additional axes configured with your robot?

It could be that your robot does not support the RJ option (Relative Job).
#10
Thank you, I solved the problem by adding my frame, but now I have another problem with another code for machining with 738 positions. I got the error 3220:
Syntax error in the instruction data (J: Write1 L:0001) [58]

Find attached the machining code:

.jbi   Write1.JBI (Size: 45.88 KB / Downloads: 88)
  




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