SPS should always be running, but if i read your post correctly you assume that because the SPS is stopped that the main robot program also should be stopped and it is not?
The SPS and the Main motion program are 2 completely different things and they can run independently of each other. So you can start the main program with the SPS stopped.
thanks.
Hello,
how robot starts when sps is not running EXT mode ? Normally, the robot should not be running. I have a such problem with my robot. What would be the reason ?
24V'u XD12 veya XD12.1'e bağlamanız gerekir. Güç ve cihazların XG12 arabirimine bağlanmasıyla ilgili tüm bilgileri KR C5 mikro belgelerinde bulabilirsiniz.
thank you
HI EVERYBODY
How to make 24v supply of sensors with krc5 micro xg12 socketyou are only sorting timer value so info about timer number is lost. if you want to keep track of that too, your record that is being sorted must also include other field(s). in this case it would need to include timer number.
btw, in this case both elements of the record could be INT but i show value as REAL just to illustrate that structure could contain anything
Thank you very much, that's exactly what I wantedThere are 5 timers. I'm able to sort with an array of 5 elements, which is greater. But I don't know which timer is in the first row. How can I learn this? I am sorting them with the codes shown in the picture. but it just gives me numbers. I need to find out which timer is in the first row.Display Moreas everyone already suggested - make sure that robot does not collide with things. this causes severe stress on the robot arm and controller. both of them could be damaged by this even if it is not showing up as obvious damage. Often one collision is enough to create a problem, such as stretch the belts or strip the teeth...
this is no different than driving a car. do not hit anything (other cars, stationary objects, pedestrians...).
number of collisions is inversely proportional to skill and competence level of of the driver (or in this case programmer).
but if that happens you also need to find WHY points do not match any more... what exactly has moved?
maybe it is the robot axes. This requires arm inspection and mastering of the robot.
maybe it is the tooling. This requires repairing or remeasuring tooling
maybe it is the fixture that robot is reaching into. That requires remeasuring base associated with the fixture.
maybe the robot foot is not in the same place any more (support moved or robot slipped relative to support). Properly mounted robots are anchored securely to sturdy support and have locating pins to prevent slipping.
...etc. and maybe it is more than one thing...
when collisions cannot be avoided, they need to managed. this means using suitable strategy such has moving slowly, sensing situation, use collision detection, limit torque etc.
Please do not think of this as a collision. eg flange angle changed for some reason. How can I most easily arrange the previously taught points relative to the new flange.Totally agree deteriorated positions as you call it is something a process should never generate. Reteaching the positions is a solution if something like this happens but not the problem. The problem should be solved. So again: What is the problem? Otherwise if all points refer to a common base of course the "error" can be compensated by shifting the base as Leon said.
Fubini
I tried something like this. I introduced one base. I then simulated the points distorted by changing the angle of the flange. I bought a base again as it is. but when I play the program, the corrupted points are not fixed. what do you think is the reason? where am i doing wrong?Depending on how hard and where the robot was hit, maybe consider remastering the robot's axes to
I tried something like this. I introduced one base. I then simulated the points distorted by changing the angle of the flange. I bought a base again as it is. but when I play the program, the corrupted points are not fixed. what do you think is the reason? where am i doing wrong?I want to correct my deteriorated positions without teaching.
Do not hit the robot! Thats cruel.
Are those hits unidentienal or by purpose because you want to achieve something. If latter waht are you trying to do?
Ever heard of CollissionDetection? Might be a direction for some cases.
Fubini
I want to correct my deteriorated positions without teaching.
Hello ,
I have a project with a lot of programs.
In this project, sometimes the robot is hit and the positions run away. I fix all the points by re-teaching. I need an easier and simpler method. I ask for your help.
