May 20, 2019, 07:51:52 AM
Robotforum | Industrial Robots Community

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1
SkyeFire thanks for the quick reply!

We use X11 now for the safety. But in the future we will remove the safety on the X11 and use Profisafe. Now, I want to use Profinet  for normal IO and the safety by X11.

I wonder if only importing the Profinet device into the bus structure is sufficient in the project structure, or should I add IO cards / PLC from siemens here under profinet.

I cannot change anything in the IO mapping. If I want to create / change Inputs and Outputs, do I have to do this with the smartpad and in the PLC?

Thanks in advance
2
KUKA LBR IIWA / move relative and break when condition
« Last post by evo85210 on Today at 07:06:35 AM »
So I want the iiwa to move 2cm in the X direction of the current tool frame position, and stop if it detects that the TCP has come in contact with something.
This is what i'm using, but it seems like the movement of the robot is triggering the force condition and preventing the move to be executed.

Code: [Select]
ForceCondition fc = ForceCondition.createNormalForceCondition(
tool.getFrame("/Marker"),
CoordinateAxis.X,
8.0);
tool.move(linRel(20,0,0).setJointVelocityRel(0.2).breakWhen(fc));

Am i doing something wrong?
3
Comau Robots / Newbies For Comau Robot
« Last post by Zef on Today at 05:25:07 AM »
Hallo Members Forum,

Currently I'm study about Comau I/O system...

Just wondering where to tap signal for specific IO to my controller PLC such as :

INPUT SIGNAL TO ROBOT : DRIVE ON, DRIVE OFF, START, HOLD, U1,U2,U3,U4, CANCEL ALARM, SAFETY SPEED

OUTPUT SIGNAL FROM ROBOT : ALARM,DRIVE ON/OFF , START /HOLD, LOCAL/REMOTE, TEACH EN/DIS, U1, U2,U3,U4,NO ACTIVE LATCH ALARM AND so on..

as per attach file... ( page 208,209,210)

please advice since i got assignment to integrate this robot with PLC.
4
Comau Robots / Re: WinC5G libraries setup
« Last post by Zef on Today at 05:14:07 AM »

Thanks for your reply..

Currently I'm study about Comau I/O system...

Just wondering where to tap signal for specific IO to my controller PLC such as :

INPUT SIGNAL TO ROBOT : DRIVE ON, DRIVE OFF, START, HOLD, U1,U2,U3,U4, CANCEL ALARM, SAFETY SPEED

OUTPUT SIGNAL FROM ROBOT : ALARM,DRIVE ON/OFF , START /HOLD, LOCAL/REMOTE, TEACH EN/DIS, U1, U2,U3,U4,NO ACTIVE LATCH ALARM AND so on..

as per attach file... ( page 208,209,210)

please advice since i got assignment to integrate this robot with PLC.
5
Yaskawa Motoman Robot Forum / Re: User frame on turntable
« Last post by mymotoman on Today at 05:08:52 AM »
Hi guys,

I have a Motoman Mh24 with a 2-axis turntable (DX200).

I'm wondering if I can create a user frame on the turntable so I can jog along xyz according to where the turntable is rotated?

Thanks in advance.
Read this post(the second part is related to a MTF:  a rotating user frame. Maybe could help):
https://www.robot-forum.com/robotforum/yaskawa-motoman-robot-forum/how-can-i-get-the-tcp-position(cartesian)-in-coordinate-system/msg115409/#msg115409
[/quote]
That's what I needed. Thanks!
6
ABB Robot Forum / Re: DSQC 328 I/O Unit
« Last post by ranjanbatra on Today at 04:28:38 AM »
In case you are having any trouble configuring it, check for the following.

Go to settings and check if the DeviceNet bus is present -> DeviceNet1 etc.

Add an IO unit to the bus from settings. See if the DSQC328 appears in a drop-down list, else use the EDS file (from ABB, check in the CD/DVD)

Once done, restart the controller. If all good you will not see System Failure and can see the IO unit up.

Now you can add your IO's as per usual.

Cheers!

Ranjan 
7
You might give Kuka a call, they have a tech center in Fremont.

If they cant help, shoot me a PM.
8
Fanuc Robot Forum / Copying FANUC SYSTEM R-J
« Last post by vinikta on Yesterday at 10:48:24 PM »
Hello everyone!  :icon_smile:

I'm working on two Fanuc S-420FD robots with their old R-J Controllers and one of them lost the program due to lack of battery in the CPU. We are trying to copy the system from one to the other. We bought the "base" for the memories and two 2MB memories, according to the manual. Following the steps in the manual, we first copy FROM and everything works fine but we can not complete the CMOS copy. It gets locked in the message "Calculating checksum. Please wait..." for up to 6 hours!

Has anyone done this and had the same problem?

Should I leave processing more hours? Is it normal to take so long?

We've tried a lot of things. Change the position memories, copy the CMOS first, try with only one memory in the slots, and others.

Here is a picture of the display and memory system mounted on the controller.

Thanks and any help is welcome!

9
In KRC I have an XML file (image attached) in which I made my configuration and I use the same configuration data on the side of IS5100 (port, IP address).
 I have a flag that tells me if the connection is established or not.

Code: [Select]
<CONFIGURATION>
<EXTERNAL>
<TYPE>Client</TYPE>
</EXTERNAL>
<INTERNAL>
<ENVIRONMENT>Program</ENVIRONMENT>
<BUFFERING Mode="FIFO" Limit="10"/>
<BUFFSIZE Limit="16384"/>
<TIMEOUT Connect="60000"/>
<ALIVE Set_Out="666" Ping="200"/>
<IP>192.1.10.20</IP>
<PORT>54600</PORT>
<PROTOCOL>TCP</PROTOCOL>
<MESSAGES Logging="error" Display="disabled"/>
</INTERNAL>
</CONFIGURATION>
10
what are the settings? network, XML config?
you can use EireShark to monitor communication and see what the difference is between samples (working) and your code (not working)
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