Hi. My task was precisely to stop the robot and weld at one point. If your robot stops for some reason, and you are sure that it is not because of your trajectory. Then you can try to do Init Start.
Posts by lexx905
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Write your e-mail in private messages. I will send you a link to the source code.
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Hi
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Hello.
I don't understand your question. This piece of code simply initializes the array with zero values ...
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ciao.
send me your email address.
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please look option R830
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Hi.
I decided to share with you the source code for working with EiP through EXPLICIT MESSAGING.
The project was carried out on a device -> Turck TBEN-L5-PLC-11.
Platform -> CoDeSys v3.5 SP12 Patch1
On link -> the project in CoDeSys and the RoboGuide v9 cell.
Enjoy
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$UI_CONFIG.$TOUCH_BEEP
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Hello friends.
I ran into a problem that if you work with USI, and if you have problems you have to work blindly.
I wrote a small application that can simulate a sensor for a robot and a robot for a sensor.
There is also an error generator. Logs are created when connections are available.
This script was is tested on sensors META, ScanSonic and Wenglor. (and of course on FaNuC ). Use please
Link for download -> https://yadi.sk/d/GQeNyunDBE38Tw
PS: Do not try to run this app with RoboGuide. RG not work with USI.
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And $ui_config.$recovermenu = 2
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As I recall, CMT and TAST do not work. There was also no feedback for welding in Pulse on TPS. On TPi, they achieved feedback with Pulse process
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EiP Scaner -> https://yadi.sk/d/m56M3Q503SGMhV
Please test and tell me if there are errors.
Tested on Fanuc, Turck, Backhoff.
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I'll be glad if this helps.)
On the way, a complete simulation of EiP Scaner. -
Hello everybody.
To facilitate the search for EthernetIP Adapters, I wrote a small program.
Adapter and PC must be on the same network. Then the program will show what kind of device it is and what settings you need to enter in the ScanerHere is the link to download-> https://yadi.sk/d/Dz83-L9k3SGMhW
Ciao
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PROGRAM move_to_GP2
%LOCKGROUP = 2VAR
ang_axis_1:JOINTPOS1 IN GROUP[2]
joint_pos:JOINTPOS IN GROUP[2]
jp_old, jp_new : ARRAY [9] OF REAL
increment, degress, i, entry, spd, count, status :INTEGER
BEGIN
GET_REG(1,FALSE,increment,0.0,STATUS)
GET_REG(2,FALSE,count,0.0,STATUS)
GET_REG(3,FALSE,spd,0.0,STATUS)
joint_pos = CURJPOS(0,0,2)
CNV_JPOS_REL(joint_pos, jp_old, status)
FOR i = 1 TO 9 DO
jp_new[i] = 0.0
ENDFOR
--Save current angle axis 1 GP2
jp_new[1] = jp_old[1]
WRITE (jp_new[1] , CR)
FOR i=0 TO count DO
jp_new[1] = jp_new[1] + increment
--WRITE (jp_new[1] , CR)
CNV_REL_JPOS (jp_new, joint_pos, status)
WITH $GROUP[2].$SPEED=spd,$GROUP[2].$MOTYPE=JOINT,$GROUP[2].$TERMTYPE=NODECEL MOVE TO joint_pos
ENDFOR
END move_to_GP2 -
ROBOGUIDE has a setting $EIP_ENBL_IO=1 which allows use of ROBOGUIDE as EIP Scanner (SCN) or Adapter (SDP). This is not a standard product. To use, please set the $EIP_ENBL_IO system variable to 1 (default is 0), then cycle the workcell's robot power. The EIP SCN/ADP will use your PC's real IP address. If you setup the Scanner Connection it will try to connect to an Adapter device on the network. It does not support R-30iBs capability to use two IP Address. Use the V9.10P EIP Manual for setup details.Thank you! it works. I now connected RG and the robot via EiP. The software 8.30.
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Hi.
1. RoboGuide communicates with virtual RobotServer using PCDK commands.
2. Using cell RG on computer "A", you can always refer to this cell from computer "B", etc. Provided that there are libraries PCDK.
3. PCDK has 30 days of free time without a license. Then the work of your NET application will end.
4. Ask questions. -
$PARAM_GROUP[...].$SV_OFF_TIME
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Hi.
Please use option j539
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