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Yaskawa Motoman Robot Forum / Re: Teach pendant connectors
« Last post by Robodoc on Today at 01:51:46 PM »
The connector is made by Hirose Electric.

The connector in the pendant is HR22-12WTRA-13PC
KUKA Robot Forum / KRC1 / All of the programs have compilation errors
« Last post by mrnl on Today at 08:29:58 AM »
Hello guys

Recently I was working with a KRC1 and I wanted to Input a new tool's dimensions but before that I only changed all dimensions of last tools to zero. It was late that day so I only turned the robot off then tomorrow I came back and turned the controller on to continue my works and to add new tool's dimensions, What I saw was a mess  :icon_confused:
I did nothing and see this right after the controller booted.

This is what happened:
- All of the programs had compilation errors so all of the TECH stuff like arc or gripper,etc had initialization failure
- Even bas.src had compilation errors
- Monitoring position show "Invalid Value" in those text boxes
- I opened tool numeric input, there was only 1 tool and the (+  -) button to change the toll number was not working and kept sending this error:"Object not found" then I inserted 2 in the Tool no. box via keyboard but this error appeared: "Value range overflow Tool no. (1-1)"

What I did:
First I checked if robot can move or not, fortunately it can move. then I tried to open some random programs, as I expected all of actions sent the error "[Prog name] not correct".
After that I headed back to the tool numeric input window and changed all of dimension (X,Y,Z,A,B,C) from 0 to 1. It strangely changed and didn't expect so  :hmmm: even with that, nothing happened.
I tried loading everything from hard disk's archive (from menu FILE -> Load all from hard drive), nothing changed.
I tried shutting down the robot with or without cold start but nothing happened.

I was looking for the file which is related to tool's data but couldn't find it yet. (I'll keep searching)

Any Idea what to do next? :icon_rolleyes:

** Images are attached **

Thanks, Reza
KUKA Robot Forum / Re: Simple loop
« Last post by Robotmey on Today at 04:36:06 AM »
Thank you panic mode, so I should read more! :yesyesyes:
Yaskawa Motoman Robot Forum / Teach pendant connectors
« Last post by lcs226 on Today at 03:02:20 AM »
Does any one who the manufacture of the JZNC-XPP02 teach pendant connectors are or have a part number?

Fanuc Robot Forum / Robot - PLC connection via TCP/IP
« Last post by CrazyRobo on Today at 01:09:05 AM »
I'm an amateur in robot programming, and I have totally no idea how or if it is even possible, but there is an issue I have to handle:
We have a Fanuc Robot with controller R30 iA which is connected to s7-1500 Siemens PLC via ethernet, and we have some DI and DO declared but I was asked to make connection between robot and PLC via TCP/IP, because thanks to that we won't be limited to this few DI and DO, and we'll have a lot of available not physical registers which can be used in robot control.

Unfortunately, I have no idea how can I solve this, so if somebody here know where can I find any information about making this kind of connection (some book, website, forum) or had similar problem as mine please - can you explain me how can I do this?

As I said - I'm a total amateur so it would be nice if someone explained it to me step by step.

Thanks in advance.
Fanuc Robot Forum / Re: Fanuc - PLC communication
« Last post by CrazyRobo on Today at 12:21:28 AM »
Ok, thanks for your help guys, but there is a little problem.
Firstly, can I show the current position on the HMI panel, and if yes - how can I do this?
We have only 6 DI available so if I understand you correctly I'm able to do movement only in 3 axes, so - is there any other way to achieve this movement control with only 6 DI?
ABB Robot Forum / Re: Keep orientation of tool during MoveJ
« Last post by SAABoholic on Yesterday at 09:56:26 PM »
MoveJoint = Really don't care how you get there, just go there.
MoveLinear = Move in a straight line between point A and B

You're describing the designed function of the respective move instruction.

The only thing you can do is to introduce multiple MoveJ's along the path you wish to follow and or plan your moves better.
KUKA Robot Forum / Re: Simple loop
« Last post by panic mode on Yesterday at 08:44:32 PM »
1. You did not take training or read manual or pinned topic READ FIRST
2. You created program using expert module as a template. Dont do that until you are expert. Stick with standard modules and inline forms.
3. You posted incomplete code sample.
4. You are not reading messages. Why are you assuming that issue is with the FOR loop? Develop programs incrementally and test along the way. If you believe loop is the problem, remove it and see if program runs correctly once
5. You did not specify what is the exact issue.

Universal Robots / Re: Motion-synchronous outputs
« Last post by py_programmer on Yesterday at 07:24:39 PM »
Hey SkyFire,
I worked a little with UR, so I can share some experience.

First thing is to keep the program short. If you create long scripts, it can take a minute(s) between pressing start and actually starting the program. This is because .urp file is compiled to java (I think, at least some sort of binary) and then it is run. URP is just an XML in disguise. This binary program is then run by controller. Every time you start the program, its execution context (variables etc) is destroyed. The only values that remain between runs are installation variables and registers. When you use step mode, NOTHING else exists. Nor functions, nor local, nor global variables. This is a really big gotcha for someone who used to work with industrial robots. Also "feature" != "base". Features are evil.

If you want to have hundreds of points, then find out how to use XMLRPC. You can write a simple program, in Python for example, which given a number will return a position. Your URP program will call this function and request the coordinates in some sort of loop.

URP program should be just a main loop with these variables:
action = 0 - nothing, 1 - open, 2 - close
firing_dist (integer in mm)

Code: [Select]

restart = ask_operator_if_continue_or_restart()

if restart:
    point_nr = 0

proxy = rpc_factory( "xmlrpc" , "" )
thread bg_thread():
   while True:
       if pose_dist(get_actual_tcp_pose(), act_pos) < firing_dist:
           if action == 1:
           elif action == 2:
bg = run bg_thread()

while not program_stop:
    next_pos, action, firing_dist, program_stop = get_next_information(point_nr)
    act_post = next_pos
kill bg

It is just an idea. I didn't work with UR for couple of months now, so maybe not everything is exactly right. Also I never tried executing move commands in a loop. I don't know when this function "exits", so maybe extra logic is needed there.

Good luck and let me know how it worked out!  :icon_smile:
ABB Robot Forum / Keep orientation of tool during MoveJ
« Last post by Plc_User on Yesterday at 06:17:50 PM »
I have a very long tool that preferebly is always in horizontal direction.
I see when executing MoveL from point 1 to point 2 where both points have a horizontal direction, that during the path the tool stays horizontal.
If I use MoveJ it does not stay horizontal (of course it will be in start and end point).
Is there a way to use MoveJ and keeping the orientation of the tool the same as startpoint or endpoint during the path?
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