You have to stop the system job from running.
JOB->CTRL SYSTEM JOB -> STOP
You have to stop the system job from running.
JOB->CTRL SYSTEM JOB -> STOP
If I understand correctly, You need to use the position variable, then you can use the SETE to write to the XYZ you want to change. If you only want to change Z the it would just be one line with element 3. You would need to setup the position variable.
SETE P000 (1) 0 //X axis
SETE P000 (2) 0 //Y axis
SETE P000 (3) 0 //Z axis
MOVL P000 V=500.0
Pulse positions do not work with a UF, They only read the encoder positions. The position needs to be defined as a UF#63 or converted to the UF#63, to be adjusted by moving the UF#63.
The only way to convert from pulse to XYZ is with the relative Job, as far as I know. Maybe someone with more knowledge about that subject can answer. That is a paid option.
Thank you very much for your help, it works!
However, I would like to know if it is possible to modify SETE LP0001 (3) 0 so that 0 is controlled by a P variable, for example P116.
Yes, you can make any of those a Variable. You could use the GETE D001 P116 (3) and replace the
GETE D001 P116 (3)
SETE LP0001 (3) D001
Since this is Motoman forum, can you tell us what the ABB's "NOSTEPIN" declaration is for?
The NOSTEPIN is declared in a module and makes all subroutines in it, a no step in.
If you are steeping through the code,say in the Main, the call to the subroutine would seem like a single command. In other words it would not step into the Sub. It would act like a single line command, but would run all the code in the Sub.
You can use a single P Variable to define a frame. Using your original frame use the following to create the position in the frame, make your adjustments and then update the frame. This will keep the original rotation of the frame and allow you to move the frame in XYZ. I just used UF#1 as an example. P111 is the position and angle of the user frame. P111 will be updated to the new BF Coordinates. Leave the SETE's to 0 the first time running to update the P111 with the BF Coordinates
///TOOL 0
P00111=-794.226,-596.704,-1094.307,180.0000,0.0000,0.0000
CNVRT LP0001 P111 UF#(1)
SETE LP0001 (1) 0
SETE LP0001 (2) 0
SETE LP0001 (3) 0
SETE LP0001 (4) 0 /Keep at 0 unless you want to adj the angles
SETE LP0001 (5) 0 /Keep at 0 unless you want to adj the angles
SETE LP0001 (6) 0 /Keep at 0 unless you want to adj the angles
CNVRT P111 LP0001 BF
MFRAME UF#(1) P111 BF
Is the configuration of the positions the same?
If you have a mechanism for your tool and you make adjustments to the tool. You will need to detach the tool and reattach the tool to update the TCP. In the real robot, you will need 2 tools if you are going to the hard stops of the cylinder.
The second issue looks like you do not move all the parts into you parts. You can create groups to make sure all parts are in the right group
You should be able to use the I\O Monitor under the Simulation Tab.
Do you know which of this robot jobs has to be adjusted to load different patterns?
Are you using PLC control or Robot control on your setup of the Cell?
If using Robot control then you can assign the new part from the build station on the robot pendant. Either mode you can assign through message commands from the PLC. no need to modify code for different patterns.
You should be able to do this with message commands from the PLC. The information is in the 178651-1CD Manual Ethernet_IP. Not sure of your application and if this is fast enough for you.
I had that problem, it was all related to the firewall settings. The reinstall may have fixed the setting to allow through the firewall.