Posts by xVican

Quote from 95devils

Did you reteach the user frames referenced in the EIMOVL instructions?

Yes, I offset the frame by the same amount as my positions!

Hello,

We expanded a robotcell with more production, which lead to us having to rotate our robot 90 degrees. I didn't want to reteach all positions as they are very precise, so I just found the correct pulse value for S-axis and changed the position data accordingly.

All positions are correct now, however for some movements we use EIMOVL and for some reason those instructions does not move at the correct speed. I tried creating a normal MOVL instruction to the same positions, with the same velocity (V=500) which had a much higher speed.

I've never seen this problem before, so I wonder if any experts here have any clues what I may have missed?

A few things that comes to mind.

1. Modifying points

Have them moving an object from a to b. Move the object to a different location. Do this enough times and they'll get tired. Then show them how to use the shift function.

2. Tooldata

Make them move a object from a to b, then switch the tool to a similar but where the TCP coordinates aren't the same. Tell them that they are not allowed to modify the points.

3. Workobject

Use a table on wheels and have the robot move a part from a to b. Move the table. Also here they aren't allowed to modify any points.

4. Optimization

Create a slow and weird process and make them optimize the movements.

Quote from SkyeFire

BitSet and BitClear would seem to be the functions you want?

I could use those, yes. But they make the code ugly imo

One thing that would be nice though would be if you could map a record to a GI. Imagine not having to modify the sysconfig every time you want to rename a signal.

To be able to set a bit in a word simpler, in PLCs I usually use a word called nHandshake.

nHandshake.%X1 := TRUE;

Would make my mapping easier.

Also that the damn pulse function would stop retaining the value if the robot is stopped during the time it's executing. I don't know how many times I've had to fix this error by adding the \high parameter to a pulse or just replacing it with set/reset instead.

This is possible, but it requires some hacking. I made an rs add-in a few years back where I read/wrote directly to the memory used by PLC-sim.

There is also the possibility to use OPC-UA or SIMIT nativly in rs.

WaitUntil is the perfect function for this.

WaitUntil sensor1 = 1 \Header:="Operation failed" \Message:="Operation failed" \VisualizeTime:=1\UIActiveSignal:=do_1;

The robot will wait here until sensor1 = 1. If it waits more than 1 second the text "Operation failed" is shown to the operator and output do_1 is set. When sensor1 = 1 robot continues operation and resets do_1.

Hello experts,

I'm trying to setup automatic backups for the robots (YRC1000) in our facility with the FTP option. I've read through the manual RE-CTO-A221 chapter 9.3, but there is no mentioning of FTP even being an option.

Settings in robot:

IP : 192.168.0.10 - My PC running FileZilla server

Username : test

Password : test

Folder : rob1 - Subfolder on the server

To test I opened the auto backup menu and set the robot to create a backup when mode is changed. It shows that a backup is being created, but no connection has been made to the server (checked in the admin interface for FZs). I get no error codes, and I am able to ping my PC.

Does anyone here know what I am missing?

Thanks

EDIT:
I'm stupid, port 21 wasn't opened for incoming traffic on my PC.

But the auto backup still isn't working, I've managed to use the SAVE function though...

The bit #50767 = 1 (data backup transfer) for a while, but nothing happens server side.