Posts by Imran Khan

Quote from DS186

This is the Z stroke for axis 3. The unit is meter. No, 9E9 is fine, do not enter -9E9.

Can you please post the values of jPlace?!

CONST jointtarget jPlace:=[[27.2459,42.2349,-6.57816,63.2511,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

Hello.

I'm working with an IRB 6700 robot with an IRC5 controller installed with Safemove2. After configuring my safety zones + TPO I noticed they behave differently in manual/T1 mode versus automatic mode.

Unlike normal operation in auto, in manual the robot can still be jogged freely after acknowledging the TPO violation. Is this standard? What would stop an operator from driving the robot into the safety guarding?

Hello.

I'm working with an IRB 920 SCARA robot that must pick from two separate locations and place in one, given a linear offset in axis 3 + angular rotation in axis 4 from a PLC.

Since axes 3 and 4 will vary at the place position in this way, I want to define its world zone using only axes 1 and 2 in my delta jointtarget. However, when I insert 9E9 to remove axes 3 and 4 from testing, I'm met with the following error message:

"50261: WZone outside work area
Description
The definition of minimum limit for the World Zone wz_jPlace is outside work area for: rob1_3rob1_4 ...
Actions
Change the definition of the World Zone so the limit will be inside work area or insert 9E9 to remove an axis from test by the WZone."

It seems I'm not the first with this issue, according to the thread below, though I didn't gather a solution from it:

Thread

World Zones - error 50262

have a 4 axes 910SC scara - using WZHomeJointDef along with WZDOSet - keep getting :

50262: WZone outside work area
Description
The definition of maximum limit for the World Zone refHome is outside work area for: rob1_3 ...
Actions
Change the definition of the World Zone so the limit will be inside work area or insert 9E9 to remove an axis from test by the WZone.

have following settings
PERS wzstationary refHome;
PERS jointtarget jntHome:=[[0,0,0,0,9E9,9E9],[9E9,9E9,9E9,9E9,9E9,9E9]];
…

amar15t

September 6, 2018 at 6:00 PM

Below are the parameters for joints 3 and 4 in the MOC file. As per the thread, joint 3 goes from 0 to approx. -0.18, though I'm unsure what unit this measurement is. Perhaps I should insert -9E9 instead?

-name "rob1_3" -use_arm_type "ROB1_3" -use_acc_data "rob1_3"\
      -use_customer_arm_load "r1_load_3" -use_arm_calib "rob1_3"\
      -upper_joint_bound 0 -lower_joint_bound -0.180000007\
      -upper_joint_bound_max 0 -lower_joint_bound_min -0.180000007\
      -cal_position 0.00200000009

      -name "rob1_4" -use_arm_type "ROB1_4" -use_acc_data "rob1_4"\
      -use_arm_calib "rob1_4" -upper_joint_bound 6.98131704\
      -lower_joint_bound -6.98131704 -upper_joint_bound_max 6332\
      -lower_joint_bound_min -6332

Attached is my code:

!R1 at Place

    CONST jointtarget jPlace_Delta:=[[2,2,9E9,9E9,9E9,9E9],[9E9,9E9,9E9,9E9,9E9,9E9]];
    VAR shapedata shape_jPlace;
    VAR wzstationary wz_jPlace;
...
 PROC R1_wzCall()
        !Place posn
        WZHomeJointDef\Inside,shape_jPlace,jPlace,jPlace_Delta;
        WZDOSet\Stat,wz_jPlace\Inside,shape_jPlace,oPLC_At_Posn03,1;
        ...
 ENDPROC

Quote from gmumaugh

1,2, and 3 on X6 all need jumped together, as well as 4, 5, and 6. The provided jumpers are missing their middle legs so you'll have to use different ones or small wires.

I understand now. We initially didn't jumper them out in groups. With jumpers in 1-2-3 and 4-5-6 I can override the superior stop. Thank you!

Quote from gmumaugh

1,2, and 3 on X6 all need jumped together, as well as 4, 5, and 6. The provided jumpers are missing their middle legs so you'll have to use different ones or small wires.

I tried this and still get a superior stop when I try to turn the motors on.

I'm trying to jog an IRB 6700 robot using an IRC5 controller. It has Safemove configured but no PLC, so it's stuck in a superior stop.

I tried setting the controller to Safety Commissioning Mode and Service Mode, and neither option worked.

X5 is jumpered out in the default configuration according to this diagram:

I tried putting jumpers in the X6 terminals for SS1-,SS2-,SS1+,SS2+, but when I reboot the controller I still get the superior stop status.

How do I get around this so I can move the robot?

My customer wants an option to deactivate Safety Zones via key switch so an operator can manually jog the robot out of a TPO violation. When the PLC deactivates them, I want the robot to output a feedback signal.

As shown in the attached screenshot, I tried mapping feedback signals to the "Function active status" in each zone, believing they would set to 0 when the safety zone is deactivated. According to the manual for Functional Safety and SafeMove 2, it seems this is not the case:

I then tried using the Cross Connection function to map a PLC input to a safety output:

But then I received the error, "Event Message 71164: Internal I/O signal in cross connection." Apparently I can't cross-connect a user-defined I/O signal to a safety signal.

How can I send a safety feedback signal to my PLC when the zones are deactivated?

I'm working with an IRB 1600 robot using RS Version 24.2.10821.1

I'm having trouble with my robot jumping to routines out of sequence, and I need a sanity check on this.

My robot program pointer starts at Main and tests for a job number from an Allen-Bradley PLC. When it completes its job, it returns to to Main, but then jumps to the same routine even when the PLC resets the job number. Then the robot gets stuck waiting for a digital input from the PLC that it will never receive, since it began the routine out of sequence.

I think this is due to the scan time of the PLC, where it does not reset the job number before the robot jumps to the routine again.

I don't want the robot to wait for a separate digital input to proceed from Main.

What could be done on the robot side to prevent this? Can I "slow down" the program pointer?

    PROC R1_PrgmNumSelect()

        TEST iPLC_Task_Number

        CASE 1:
            R1_Homing;

        CASE 2:
            R1_moveMaint;

        CASE 101:
            R1_RDM_5010_09_CoverFace_v1;

        CASE 102:
            R1_movePurge;

        CASE 103:
            R1_moveSolvent;

        ENDTEST

    ENDPROC

General question, is there something like an "on path" instruction? That is, is there an option to determine if the robot's current position is located along a given path, where the robot controller sends a signal to a PLC if it is not?

If there is an option like this, I'm unfamiliar with the terminology.

Thanks for any input.

Hello.

I'm configuring SafeMove in an IRB 1600, and was asked to make my safe zones deactivate with an HMI key switch in the event of a SafeMove violation, allowing the robot to be jogged out of the TPO violation.

Is this a recommended procedure? I'm new to using SafeMove, and I'm leery of the concept, so I'd like some input from more experienced programmers.

Is there a list of robot statuses I can use to configure certain outputs? Here's what I have in my EIO file:

SYSSIG_OUT:

-Status "AutoOn" -Signal "oPLC_Auto_On"

-Status "CycleOn" -Signal "oPLC_Cycle_On"

-Status "EmStop" -Signal "oPLC_Emergency_Stop"

-Status "Error" -Signal "oPLC_Execution_Error" -Arg2 "T_ROB1"

-Status "MotorOn" -Signal "oPLC_Motors_On"

-Status "MotorOff" -Signal "oPLC_Motors_Off"

-Status "MotSupOn" -Signal "oPLC_Motion_Supervision_On" -Arg1 "ROB_1"

-Status "MotSupTrigg" -Signal "oPLC_Supervision_Triggered" -Arg1 "ROB_1"

-Status "TaskExecuting" -Signal "oPLC_Task_Executing" -Arg2 "T_ROB1"

-Status "RunchOk" -Signal "oPLC_RunChain_OK"

I want to map more DO signals to statuses like "Program Paused" or "Signal Simulated," but I don't know the correct nomenclature.

Quote from nicolahinssen

Are you sure the 3-pin jumpers at the top row actually have 3 pins? The jumpers installed by default look like they have 3 pins, but the middle one is missing the pin itself.

They indeed did not! Good catch.

And since we're using CIPSafety we aren't running anything to X5, so placing the jumpers in the default positions eliminated the autostop.

Thank you!

Hello, all.

I'm programming an IRB1600 robot with an IRC5 connected to an Allen-Bradley 5069-L330ERMS2 PLC.

When I switch to Auto, the pendant displays the following:

"Event Message 90205

Auto Stop open

The Automatic Mode Safeguarded Stop circuit has been broken."

I reached out to tech support, who turned me over to the panel board in the robot controller. The AS1 & AS2 indicator lights are NOT illuminated. This was our layout for X5 and X6:

ABB suggested I jumper out X5 according to the default layout, shown below:

After jumpering out X5 terminals 1-2-3, 4-5-6, 7-8-9, 10-11-12, I rebooted the controller. The Auto Stop Open fault remains.

We also tried jumpering out our safety gate to no avail.

Should I try jumpering out X6 as well? I didn't think to because none of the connections appear to be wired to AS in the diagram.

Hello all.

I'm a PLC newbie with experience in robotics. I'm working with an IRB1600 robot, and I'm trying to set up communication between the safety controller and an Allen-Bradley PLC.

Attached is the information from the Ethernet safety standard module.

Under CIP Safety I have input the following information, including the Safety Network Number generated by my PLC:

But when I write to the controller, my Safety Configuration Report replaces the SNN with generic number 123456789ABC, as seen below.

Why won't my robot controller accept my SNN? I need it to communicate with my PLC.

Quote from SkyeFire

image.png

Right there. You can add a vertex using +, subtract a vertex using X, and the XY values can be changed in those boxes. Or, you can click&drage the vertices in the graphic, although that tends to not be terribly precise.

I understand that, but that menu isn't appearing at all. I cannot see the Visual SafeMove Properties popup window. I can only move each vertex by hand.

Hello. I'm commissioning safety zones for the first time using an IRB1600 robot, and I'm having trouble setting coordinate values/configuring supervision priorities.

Below is my robot with a generic safe zone and safe range:

I cannot see an option to set the X and Y-coordinates for the vertices according to the chapter "Configuring SafeMove" in the Robotstudio Help manual:

How do I access the Visual SafeMove Properties tab as shown above?

Hello. I'm sort of a newbie and have some questions about backups and software commissioning.

I'm tasked with programming a line of ABB robots and made simulations for each with a virtual controller in Robotstudio. Soon I'll be working with FANUC robots as well. I was asked if the FANUC controllers will require downloading external software.

I didn't have to do this when we powered on an ABB dispensing robot, as it arrived with the Dispense application already installed in the controller. I simply copied my program to the physical controller and took a backup containing the usual data, i.e., BACKINFO, CS, HOME, RAPID, SYSPAR, etc.

I understand FANUC controllers have options for MD and IMG backups. I've been asked to take image backups of the ABB robots, too.

If an IMG backup comprises everything in an MD plus the robot’s core software, patches, and any software customizations, then is my ABB backup already an image? If not, how might I get an image of the system? And is it necessary to have to load an image onto a brand new controller?

Nevermind, I fixed this by aligning the witness marks on the robot. False alarm.

Hi all. I'm dumping my simulation programs into a real IRB1600 controller, and my positions are all off.

As seen below, J5 for jointtarget jHome is in the wrong position compared to Robotstudio:

CONST jointtarget jHome:=[[16.37951763,-8.258800928,47.919743198,-63.791856319,15.230495396,76.960911832],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

I updated the rev counters as soon as we powered on by jogging all axes to 0 degrees.

However, I noted the virtual robot has the pose SyncPosition with joint values (0,0,0,0,30,0).

I tried updating again by jogging J5 to this values instead, but the position barely changed.

Is there something I'm missing? I don't want to have to touch up every point in my program.

Because I want to map to specific device numbers. Without a device to assign my signals to I can't do this.