I am getting ready to remove an old FS10N robot and replace it with a new RS010N model. The cell and work will be the same just with a newer robot. My question is this, can I load existing programs from the older robot to the newer robot to save some time on the installation process. If so, what software would I need. Any help is greatly appreciated.
installation of new robot
- Jerryl859
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My question is this, can I load existing programs from the older robot to the newer robot to save some time on the installation process
Yes and no.................
It depends on what specific data you are referring to, what do you mean exactly?
Programs if written in AS consist of different registers of values and therefore not just the program code is required, but all the variables associated with it.
If written in BLOCK it's not too bad, although the system settings and aux settings are required for this.
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Everything is in AS language. Thought maybe if I could transfer a program to the new robot it would save a little time.
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Of course it would.
If it is just program code (no variable values at all) then just use a terminal editor and use the command
SAVE/P allprogs
This would create a file called allprogs.pg and just contain program code in alphabetical order (no variable values unless assigned within the program code).
You could load this in the new controller, but you would have to set all the variable values again, including the obvious of re-teaching locations too.
This information is freely available in the AS Language Manual under the LOAD and SAVE sections.
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Thanks for the info, I have the AS manuals just wasn't 100% sure of what would be transferred to the new robot. I knew I would need to do re-teaching of all the points, just wondering if copying any programs would help any or should I just start from scratch.
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I only ever copy and paste programs over when:
- I have written the originals in the first place.
- I am 100% sure no bugs exist or bad coding is not present.
- In cases where I have not written it, and the client has not requested me to review, modify it, that they accept full liability for what is being transferred and if I have to spend time debugging someone else's code to get it working, then a cost will be applied, which often involves re-writing code too.
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Is the FS10 a D-controller or a C-controller?
If D, its a lot easier. Btw you only need to re-teach all the positions that are i "joint" since they will be different. All the transformation values is the same... I would convert the "joint" position in the FS10 to transformation, before backing it up, and the convert them back to joint when they are in the RS10. Its a BIG help when re-teaching/fine tuning afterwards...
When changing from D to E, you can take a backup og the old one and delete everything in the file down till the MFP-data. Then you have a copy of MFP, pg's, vars, strings etc. without risking to screw up any robot data.
If the old MFP uses input/output fields with BITS-command, remember that those values is NOT transferred, so screenshot it before changing.
After that you need to check that IO configuration is the same (especially if the old one is with field bus, and not just digital I/O). Take pictures of the signal allocation, to help with this.
Check system switches in "advanced/system switches" and set the ones in the RS that differ from the old.
When going to E-controller, its a good idea to put a TWAIT (like TWAIT 0.02) in every loop: In the autostart's and in you main pg (if there is no job). This will make it A LOT more responsive.
Do it have a lot of PROMPT-menues in the code?
Hope it helps. If it a C-controller, let me know
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Thanks for the info selquist. The FS10 is a C controller and the RS010 is an F controller.
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Thanks for the info selquist. The FS10 is a C controller and the RS010 is an F controller.
OK. The C-controller mfp have an extra column of buttons (compared to a D/E/F-type mfp), so you might need to rearrange a bit, if the mfp is filled. If both pages are in use on the mfp on the old one, you will need to make a few extra buttons for "next page" or "previous page" since there is not a dedicated button for this like on the C-type panel.
Also, I don’t think that the F-controller native have more than 16 In/out, unless it’s fitted with an extra optional IO-board. The C-controller have 0/32/64/96 etc. In/Out normally, depending on the number of IO-boards installed.
I can’t remember if the flange for the tool is different, so maybe you need a new adapter plate or a new mount for the old tool to fit.
I recommend that you get a decent connector-block for the I/O’s instead of trying to solder directly to the 4-layer connector/abomination that it comes with standard.
Something like a Phoenix EAN4046356796606 with the correct cable in between (Think Kawasaki calls them 10-200102L02/L05/L10 where the last two digits determines the length in meters).
Hope it helps.
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Thanks again selquist.
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