Sorry I cant help you. I'm familiar with Irpicktool so I don't know what the software you have offers you
Hello! Sorry, can you show me the program with IRPickTool and IRVision?
Posts by coolvitaly
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Hi! Can you show me the program using IRPickTool and iRVision?
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You haven't said what your problem is.
We have already decided, thank you! The robot drove relative to the camera at 90 degrees. The problem was that when training the camera, you first need to set one base, and when the camera is being calibrated, then the same base as the robot.
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Hello everyone Tell me, I'm new to Fanuc robots, I had experience only with Kuka. The robot travels 90 degrees relative to the camera. The bases have already been set in different ways, what can be? Everything works fine in the simulation, but not on the robot itself.
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Hello everyone Tell me, maybe who did this, how to make friends with Irpicktool and line tracking? Separately, Roboguide did both. But I can't think of a little how to combine it. If someone did this, share your experience or just a screenshot of the program, and then I'll figure it out myself. Thanks!
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S7-1500 and S7-1200 can be operated as Scanner and Adapter mode with Ethernet/IP
Just read related manuals from Siemens and Fanuc for Ethernet/IP
Yes, I have read this document. I thought maybe someone has already done this and there is an example
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We need more details.
Which device shall communicate with which device or controller?
Where is the cp1516 installed?
Is the robot the controller or device?
At first you should read the Fanuc manual for Ethernet/ip
A robot with a controller. We need to establish communication so that the robot is a master. But this requires a PROFINET board. I read on the forums that the SIEMENS controller can be configured as a scanner, and in the documentation there is an example for CPU 1516+ET200+CPU1215
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Thanks for the answer!
Yes. It has to to meet requirements on safety in T1. Lookup e.g. Iso 10218 for example.
Fubini
Thanks for the answer!
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Hello, can you tell me how to set up data exchange between devices? The robot has an Ethernet/IP communication protocol. There is an LCCF_EnetScanner library, but I didn't figure out how to do it. New to communicating with the Fanuc robot. Thanks!
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Yes by switching these types you get fundamentally different solutions on how KRC treats speed reductions to be safe in T1. I have explained this for a switch from LIN to PTP in the past in the german partner forum here:
https://www.roboterforum.de/ro…p/?postID=82202#post82202
The quick deepl translation is as follows:
This is due to reductions like $red_t1. This is added to the override in T1. If you have programmed slow speeds in a PTP movement, it will be even slower. By the way, this is no longer the case with Spline. There is always limited to 250 mm/s no matter if LIN or PTP, because there are no more factors like $red_t1.
Such general factors usually have historical reasons. In the past, PTP could not be limited to Cartesian 250 mm/s as a pure movement in the axis space. In the meantime this is possible via $speed_limit_teach_mode. But for compatibility you won't get rid of the old method as default. But you can change it somewhere ($custom.dat?). I don't remember the name of the variable, $Red_t1_ov or something like that.
Hello! It turns out that in T1 mode, the robot itself can change the speed of movement regardless of the speeds set by the user?
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ya nje ponemayu chto eto. ne govoryu po ruskiy...
Thank you very much! I moved the line to the src file and there are no errors. Now try to load it into the robot and I'll check. Accidentally wrote in Russian.
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please try making screenshots that cover a bit more. at least line numbers would be helpful. normally one should take image of entire window (see READ FIRST).
my guess is that picture shows a DAT file. in DAT file one can only declare and initialize variable.
if variable is initialized in DAT file, value must be a literal (hardcoded). it cannot come from another variable and most definitely one cannot use other data manipulation such as multiplication. that line need to be in the SRC file.
Спасибо большое! Я перенес строчку в файл src и ошибок нет. Сейчас попробуй загрузить в робота и проверю.
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grouping here just makes list more compact.
even you have group as a byte or word etc. signals are connected bit-by bit.
for example $IN[41]#G still connects inputs 41,42,43,44,45,46,47,48 to eight bits on the right side (not shown since screenshot is cropped).
but nobody sees this and this has nothing to do with data format that program uses.
you can still declare signal as
SIGNAL WHATEVER $IN[37] TO $IN[68] ; this is 32-bit
and as you can see it is still 32-bit value.
when signal is single bit, it is BOOL type, otherwise it is and integer (word) of 2-32 bits depending on size of the range you choose.
so when inputs 37 and 39 are true and everything else is false you get value
'B00000000000000000000000000000101' which is 5 or 0x0005 and not REAL with value 5.877475E-39
so in most cases, mapping IO simply means selecting range on left side and same size range of the right side, then clicking on Map to create 1:1 relationship, size of group does not matter.
Understood, thank you! Here it does not define so. How can I fix it?
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Not sure what you mean by that.. Since signals are integers, one simple way to handle decimals is by using different scale, For practical reasons myltiplication by 1000 before sending and then dividing by 1000 when receiving is common. if you want to transfer actual REAL number, then you need to cast the coordinates to REAL.
I meant this connection
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it is the other way around when getting position value from PLC
SIGNAL XCoordinate_x1000 $IN[1] TO $IN[32]
SIGNAL YCoordinate_x1000 $IN[33] TO $IN[64]
SIGNAL ZCoordinate_x1000 $IN[65] TO $IN[96]
DECL POS Coordinate_From_PLC
Coordinate_From_PLC.X = XCoordinate_x1000 * 0.001
Coordinate_From_PLC.Y = YCoordinate_x1000 * 0.001
Coordinate_From_PLC.Z = ZCoordinate_x1000 * 0.001
LIN Coordinate_From_PLC
Thank you very much! What type of transmission data is needed in i/o mapping?
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Hello everyone I need help. You need to get coordinates from the siemens controller. I/O communication is set up. How to convert using WorkVisual, without using MultiProg?
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