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If you have anDSQC233, then we assume you should have 2 SMBs.  Look at page 13.2 in the prints.  Could you problem be that it is wired for 2 SMB but you only have one?  Double-check the wiring between X31 on the backplane and XS2 on the side of the cabinet to make sure.
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ABB Robot Forum / Re: ABB 7600 Stopping distance at 250mm/sec
« Last post by Skooter on Today at 05:14:51 AM »
Direction and how for the arm is extended will matter as gravity will have some effect on a full load.
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ABB Robot Forum / Re: External Axis servo motors
« Last post by Skooter on Today at 05:07:21 AM »
Motors from an IRB6400 work real good and are plentiful.  All the information needed is in the MOC.cfg parameter file for that robot.
Do you have this manual? https://www.robot-forum.com/robotforum/manuals-software-and-tools-for-abb-robots/baseware-4-0-external-axis-user's-guide-3hac9299-1-revc/
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Fanuc Robot Forum / Re: Tight-Fit Application
« Last post by RoTaTech on Yesterday at 11:01:29 PM »
I am working on a similar application right now. The path programmer brought cylinder 1 (male) in at about a 10 degree angle so that its leading face is half in and half out of the cylinder 2 (female). Then the EOAT does an arc such that the lowest part of cyl. 1 is in constant contact with the inside of cyl. 2 as it moves the top of the cylinder to align with cyl. 1.

A slight float in the fixed nest holding part 1 allows them to mate very consistently.
This is when pictures may speak a kilo-word ...
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KUKA Robot Forum / Re: Reading and Writing to KRC4 IOs?
« Last post by nar0909 on Yesterday at 10:04:38 PM »
Thanks panic mode will do it right away and test it on the controller to see what it does and keep updates in regards to that in the forum.
Cheers
n

p.s thanks for being so patient with me ;)
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KUKA Robot Forum / Re: Reading and Writing to KRC4 IOs?
« Last post by panic mode on Yesterday at 09:49:41 PM »
yes but you are still screwing around with program structure, like replacing CHECK_HOME with input 2048.
why don't you just read manual and do it the proper way first time? configuring CELL.SRC is only few pages.
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yes... maybe something like that...
or just read the manual and see what causes message 18
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KUKA Robot Forum / Re: Reading and Writing to KRC4 IOs?
« Last post by nar0909 on Yesterday at 09:40:47 PM »
Great!
I know understood the concept but when you said "just define what program name will be called when PLC requests some program number"?
So did i get that part right ?

Code: [Select]
&ACCESS  RVP
&COMMENT HANDLER on external automatic
DEF  CELL ( )
  EXT Jig1()
  EXT Jig1_2225() ; different program Jig1 for panel height 2225
  EXT Jig2()
  EXT Jig2_2225() ; different program Jig2 for panel height 2225
  EXT down()
 
  DECL CHAR DMY[3]
  DMY[]="---"
 
  ;GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) ;I wanted to control stop message from hmi so replcd stopmess with $IN
  GLOBAL INTERRUPT DECL 3 WHEN $IN[2018]==TRUE DO IR_STOPM ( )
  INTERRUPT ON 3
  BAS (#INITMOV,0 )
 
  $H_POS=XHOME
  IF $IN[2028]==TRUE THEN
    P00 (#CHK_HOME,#PGNO_GET,DMY[],0 ) ;Testing Home-Position
  ENDIF
 
  $H_POS=XHOME
  PDAT_ACT=PDEFAULT
  BAS (#PTP_DAT )
  FDAT_ACT=FHOME
  BAS (#FRAMES )
  BAS (#VEL_PTP,100 )
  PTP  XHOME
 
  P00 (#INIT_EXT,#PGNO_GET,DMY[],0 ) ; Initialize extern mode

    LOOP
    P00 (#EXT_PGNO,#PGNO_GET,DMY[],0 )
    SWITCH  $IN[3000] ; Select with Programnumber ? can i do this ? i assigned IN as an INT and call from HMI to select program num

    CASE 1
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      Jig1()

    CASE 2
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      Jig1_2225()
     
    CASE 3
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      Jig2()
     
    CASE 4
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      Jig2_2225()

    CASE 5
      P00 (#EXT_PGNO,#PGNO_ACKN,DMY[],0 ) ; Reset Progr.No.-Request
      down()
     
    DEFAULT
      P00 (#EXT_PGNO,#PGNO_FAULT,DMY[],0 )
    ENDSWITCH
  ENDLOOP
END
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KUKA Robot Forum / Re: Reading and Writing to KRC4 IOs?
« Last post by panic mode on Yesterday at 09:30:01 PM »
that's the right attitude. i would recommend Kuka training or - reading manual (check READ FIRST).


the idea behind the CELL program is that you are NOT supposed to alter the structure...


just define what program name will be called when PLC requests some program number - that's it.


you ended corrupting file by inserting robot inputs into P00 parameters. don't do that.
P00 and cell are already written and work fine. you can create new (clean) CELL.SRC and start over.


since you call same program in case 2 and 4, they can be combined (or left separate...).


here are ALL changes one need to do in CELL.SRC.
rest is done by parametrizing AutoExternal interface...







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Dear all,
little update.
Today I have a full communication. I receive cordinates from camera, but I have next problem.
In AUTO mode camera make something about 50 photos. Sometimes 47, sometimes 56... and camera break.
Error EKI000018....
After reboot camera everything works correct until next 50 photos.
In my opinion mayby some buffer or sameting  like that, but I don't have any idea ow solve this problem...
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