Right click on it and go to declaration. It looks like its a user made function call.
Posts by MateuszS123
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Make sure your ethernet interface has DHCP enabled and connect to service port.
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There is nearly nothing correct you have heard.
The thing with 111 I don't understand, if you use a self declared i/o group, you can use all numbers from zero to the maximum the number of bits allows. Makes only sense if you use some kind of very restricted template.
The Abb robot doesn't use highest bit in a group as sign, if you want to transfer signed integer, you must calculate them in the program.
You can group up to 32 bit to one large dnum. If your AB plc supports double words you can transfer up to 4.294.967.295 program numbers, should be enough
.The group intput type is unsigned and can hold up to 32 bits.
But analog input type can be interprated as signed (two complement), so by using analog input type you don't need to make any calculations in rapid.
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Q11. JUMP instruction with a Trap tag.
This is not the answer.
Acording to the manual the TRAP will activate the error during the execution of the movement.
He asked how to check if position is reachable before the movement.
In abb there is something like CalcJointT which will give you an error if position is outside of robot reach.
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Q16. is there a background task or job? I would like to add some code to it or rather call subroutine that contains some code. an example initialize some variables when mode is changed.
Yes its called concurrent jobs.
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If you are new to robotics you should get to know what singularity is and how to challenge them.
Robot Singularities: What Are They and How to Beat Them - RoboDK blog
In ABB there are couple funtions that can help you such as SingArea \Wrist or SingArea\ LockAxis4 but you must be extra carefull when using this as robot may not move as it may be expected.
It depends on your robot configuration and at which point in process you get the singularity.
Other easy way to beat the signularity may be to mount the gripper at a slight angle, but it really depends on application.
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You are trying to change robot targets during program execution?
The error really tells it all that you are not allowed to make this operation in manual full speed mode.
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As you can see it did not pass the self test, im afraid its dead.
You should contact ABB service or try to connect pendant to other controller and see if it works.
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On power up try holding Stop and programmable key 1 - this should reload boot image on flexpendant
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Well if you know how to exactly offset the targets in x y z and rotation than yes.
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Then you should set up base frame and gravity in your robot configuration.
Here is example for robot hanging upside down:
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Regarding the flexpendant menu i don't think there is any nicer way to make it.
I usually make something similar to easily re-teach the positions but i don't bother in making multi level menu like you.
Usually i have like 5 crucial positions that needs to be precisely teached, so i just hard code the teaching sequence in something similar to your test case.
In your teaching sequence after you prompt to jog remember to put Stop with \NoRegain parameter.
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40° is realative to the floor or relative to the conveyor?
If it is angled relative to the floor you should change the base frame and gravity alpha/beta in configuration of robot motion.
You can find it in Robot Studio help in topic How to define base frame and Gravity alpha.
If the robot is parallel to the ground and the conveyor is angled relative to the floor, then you should have WorkObj calibrated on the conveyor.
Any change to robot base frame will change your current targets workObj and any targets already teached.
Defining the proper robot base frame should be done first and prior to any target teaching.
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