I need to remotely clear errors on a 4 axis denso Robot from Denso connected to a Beckhoff PLC.
The error should be displayed in the TwinCAT HMI and then a manual Bool Signal (In the HMI) should be used to clear that error.
The robot is a SCARA Robot 4-axis (Model No.: HSR065A1-N20-NNN), controller: RC8A, and the PLC is a Beckhoff C6015-0020.
My question is: Is it possible?
If yes, is there any standard way or does it need to be coded?
So I am working with a ROBOT DENSO SCARA HSR-065A1-N20-RC8A.
There are 3 workplaces with an angle of 80º (from base).
I need that when the robot is on those workplaces and I move the Z axis it follows that angle.
Can't find a way to move the robot based on the WorkPlace Coordinate System that I define. Only XYZ, Joint or Tool
Does the $PERY_RDY goes FALSE when the drives also go off? I am using a KRC4 with KSS 8.6.10
Does this variable also works with Safety Barriers/Lightnig Curtains? For example is the barriers are crossed can I use that $USER_SAF to turn ON a red light?
Is there any system variable for that Operator Safety Gate status?
Once again thank you so much guys!
I don't have the option to SafeOperation so I will search for those "Standard Workspaces". Any recomendation on where to start? Or where to search information about this topic.
In order to create some "Virtual 3d Areas" or "Working Zones" where the robot reduces speed, stops or even speeds up once it gets in that area, do I need the KUKA.SafeOperation? Or is there any free option to create something like this?
no rule that i know of. the good idea is to put parts of code into folds to reduce number of lines of code scrolling on the screen and make it easier to follow.
Can this be done inside a Module ?
All HMI Genesis, Zenon or EasyHMI are paid?
No free option?
So the question is.. Is there any common rule for a "main screen" while a program is running in AUT mode?
Instead of letting the operator see the pointer going through the code.
Maybe just showing some "stages" of the cycle, what is the signal the robot is waiting at a certain moment, etc etc...
Sorry. The controller is a KC4 (KSS 8.6.10)
I have a KR 16 R1610-2 with two different feeders for two different operations (but still on the same area).
Is it possible to select one of two different programs/modules with an external Selector switch?
I am not using EXT AUT. Only AUT (there is no PLC with the robot but a EK1100 for some I/Os).
Client insists in selecting the different operations/programs via a phisical selector instead of selecting it in the pendent.
I am using AUT mode only. No PLC in the system...
I have a pair of Light Curtains integrated with a KRC4 - 8.6.10 Controller and a KR16R1610-2 Robot.
If the operator interrupts the curtains the robot stops and its needed to restart in the "Movement conditions" "I" and then "Play" again.
Is there any way to do this restart with a push in button? If yes, where should it be connected in the X11?
Or should this button be connected to start/restart the curtains and the robot should be restarted via de pendant anyway?
But what happens if I use RETURN in the Main Program? (This main program is the one that is calling all the other subprograms).
Does it also stops it?
I need to use 3 different GOTOs and Labels that after a few actions lead to the END of the program.
Of of them is inside a loop.
Basically I am checking the value of a variable in 3 different places in the same program. (One of the verification is inside the LOOP and the idea in this case is to jump out of that LOOP).
The idea was to have something like:
DEF Main_Ciclo( )
IF lowerIndex < 0 THEN
GOTO Execption0
ENDIF
Program1()
Program2()
Program3()
IF lowerIndex < 0 THEN
GOTO Execption1
ENDIF
Program4()
Program5()
Program6()
LOOP
IF lowerIndex < 0 THEN
GOTO Execption2
ENDIF
Program7()
Program8()
Program9()
ENDLOOP
Execption0:
;Some movements of the robot and routines and eventualy
END (End of the running program)
Execption1:
;Some movements of the robot and routines and eventualy
END (End of the running program)
Execption2:
;Some movements of the robot and routines and eventualy
END (End of the running program)What set the end of these Markes/Labels since there will be some code and movements on them?
why use old manual for KSS8.2 (KSS_82_SI_en) when you are using much newer KSS (8.7)?
three are rules when and unconditional jumps are possible. for example you cannot jump out of program or across incompatible blocks (for example from one CASE block to another, jumping into loop etc.).
CodeGOTO program_middle program_start: ; do something (part A) GOTO program_end program_middle: ; do something (part B) program_end: ; do something (part C) GOTO program_startalso i am way to skeptical that someone unable to figure out GOTO can understand how interrupts function. and one should not do anything time consuming inside interrupts, or something involving complex motions like moving robot through the maze even if one calls that home recovery (bringing robot home).
same goes for selecting/cancelling/resetting program. all of this is documented and as stated in the documentation - this need to be done in another interpreter. if you want to start submit #4, you can do that from robot program or submit #7 or submit #2 but not from submit #4 (never itself). if you want to start (or reset) robot pram you can do that from one of submits bit from robot program itself.
Regarding those GOTO, what sets the end of the Marke/Label?
I am trying to connect some light curtains Safety Barriers from Schneider - Telemecanique (XUSL4E/XUSL2E...) to a X11 on a KRC4. The barriers have OSSD1 and OSSD2 outputs.
My question is, where exactly should I wire this two OSSD1 and OSSD2 signals on X11 plug? (Operator Safety (A) and Operator Safety (B) maybe)?
Or do I need some kind of relay in between those Operator Safety that activates with those OSSDs?
Can the Acknowledge Operator Safety (after passing the Safety Barriers) be done on the Pendant?
