Posts by ssaul

I use this program and it works well

Hello
Did anyone find the variables?

Quote from jmyersCA

Hi, excuse if this is a basic question but I am new to robots.

I am trying to set a home or Perch position, but I do not see the "Is a Valid HOME" option that I am seeing in most tutorials online.

Looking for any help.

Thanks!

Could you put an image where you try to activate it?

Quote from Cesar_Ticante

For example, this line:

Code

:	L P[11] 800mm/sec CNT100
:	SPOT[SD=10, P=4, t=2.9, S=7, ED=10]

If I wish to know the parameters for this spot welding, I should check the Schedule #7 in the welding equipment's interface, right?

Thanks in advanc

that's how it is

Quote from Famous_Fella

I have spent many, many hours trying to convert the values from system variables concerning torque, max. torque, disturbance torque to match the Teach Pendant monitor values and I have concluded that the numbers in system variables concerning the HPD_TRQ[] array are double types and they in fact represent Amps (A) and match what you see on the Teach Pendant. So this you can use safely.

Now concerning MOR_GRP system variables this is a whole lot different story. Values stored in $TORQUE, $MAX_TORQUE, $CUR_TORQUE are of type UINT and they are raw data coming straight from the Servo's DSP (Digital Signal Processor) cast internally by the Teach Pendant's Kernel to represent a measured value for MONITOR. I have not found a way so far to "pull" the value of the TP monitor screen because that value in my opinion is not stored in a system variable rather it is processed on-the-fly and updated.

A method around I used to tackle this problem was to collect a big sample of data seperately for each axis from both the value of the variable and the value on the teach pendant and compare the mins and max between specific time intervals to find MINs and MAXs as a percent.

Creating a Real-time robot torque monitor in PLC HMI

This was a project of implementing a Live Robot Monitor directly on the PLC's HMI. Scroll to my last post and you can see a video.

Could you share the program you used in this project please?

Quote from Famous_Fella

I finally chose to use the explicit message way as I was unable to setup the SNP communication successfully on the HMI side. I was not able to establish a connection from the HMI to the robot as an external device. The only external devices I could add from sysmac studio were other Omron CPUs and the vendor list was only Omron. anyway, here is a quick video with the result IMG_1036.mp4

Yeah, J6 is partying a lot on those kinds of programs

Could you share the variables you used in this project please?

SD, ED, and P can be found on the "data" key on the teach pendant.
t = thickness value in mm, which you configure in menu-setup-servogun/thickness check.
And finally, "S = Schedule number" is generally managed using the welding equipment's interface.

This macro runs in bglogic

DI 24 SAFETY SIGN

DI27 TECNICO

DI28 SUPERVISOR

DI29 ADMINISTRADOR

Hi guys

Actually, yes, it's possible. I implemented it at my workplace. Now, from the View panel, we unlock the robots with our user account. The PLC sends DI signals to the robot.

Quote from JWP888

So how accurate are these L10 screens?

Should I reset these screens?

HI
HOW WOULD YOU RESET THE SCREENS?

Quote from neighbour1

What about $FMR_GRP.$REM_LIFE[axis]?

In the axis diagnosis it gives the value as a percentage and in the variable $FMR_GRP.$REM_LIFE it gives another type of value, how is the percentage of the diagnostic screen related to the variable?

Quote from neighbour1

The screen shows the maximum values from the parameters listed on the other diagnostic screens, so I'm not sure this exists somewhere, but only calculated.

I have some of them, but not all, look into $FMR_GRP

1. $REM_LIFE -> reducer

You have to get them, calculate the maximum and then you have it.

But mind that the values could be different, becasuse sometimes they recalculate it somehow and then post to the screens, especially according to DIAG and DISTURB screens.

Hi neighbor1

Do you know how the variable relates to the percentage shown in each reducer?

Hi Bishoco69

I know this thread is old, but I'm looking for the same variable for the gearbox.

I'm wondering if you were able to find it or if you know how Fanuc gives that % result for each axis to get the diagnosis.

Quote from PnsStarter

Hi ssaul

now I'm confused!

What do you mean? It's writeable.

But I do not know if it's is 'allowed' to change this 'manually' since this var is part of a struct so maybe you'll get unwanted behavior..

Hello, good morning. It won't let me write it, hahaha. I write it, and the variable doesn't change color to indicate that it's being viewed. Sorry for my English. I use a translator.

Quote from PnsStarter

Code

-- Asignar el valor de prog_name a $PRO_CFG.$PROG_NAME
SET_VAR(ENTRY, '*SYSTEM', '$PRO_CFG.$PROG_NAME', prog_name, STATUS)
IF STATUS <> 0 THEN;POST_ERR(STATUS, '', 0, 2);ENDIF	

you have also to add "ENTRY : integer" to var section...

please get familiar with the (common) builtins..

I haven't tested and I won't give you FULL program.... learning while coding

I don't want you to write the code, I just need to know if you can use the variable in Karel because I think it's protected.

Quote from PnsStarter

Hi ssaul,

have you tried with SET_VAR builtin? Please try.

Info: Not all sysvars are directly supported within RG (maybe you have to set an(other) %environment), if not familiar with that, use SET_VAR.

hi PnsStarer

Currently this is my program, but I think the variable is not available for karel

PROGRAM set_prog_name
VAR
prog_name : STRING[32] -- Variable para almacenar el nombre del programa
status : INTEGER -- Variable para almacenar el estado de la operación
BEGIN
-- Inicializar la variable de estado
status = 0

-- Leer el valor de SR[1] y almacenarlo en prog_name
GET_STR_REG(1, prog_name, status)

-- Verificar si la operación de lectura fue exitosa
IF status = 0 THEN
-- Asignar el valor de prog_name a $PRO_CFG.$PROG_NAME
$PRO_CFG.$PROG_NAME = prog_name
-- Mostrar un mensaje de confirmación
WRITE('El nombre del programa ha sido establecido a: ', prog_name, CR)
ELSE
-- Mostrar un mensaje de error
WRITE('Error al leer el registro de cadena SR[1]', CR)
ENDIF
END set_prog_name

Quote from PnsStarter

@ssaul what is "$pro_cfg.$prog_name" used for?

what error code do you get?

The variable $pro_cfg.$prog_name saves the name of the program that will be analyzed in Motion Profiler. I want to automate it to change the name of the program without having to go to the teach pendant.

Hi guys, I want to change the name of a variable ($pro_cfg.$prog_name) but in Karel it doesn't let me and I can't do it from the TP either. I wanted to make it equal to an SR (string Register). Any idea on how to change the name?

I have the same problem and I still can't find a way to solve it.

Quote from Shubham Malhotra

What to do if your
$AWEPOR[1].$ARC_ENABL
is write protected.

I am using SKS as the welder with FANUC R1000, R30iB

it does not metter that the variable is protected, if you run the program it will change it