Posts by jaraviensis

Hello markopo,

I have the same problem. Mark M1 ($CYCFLAG) stop updating after a backward movement.

Can you please share how did you solve it?

Thankyou

Please write to me if you still need it.

BR.

V.

Hello all.

I have many docs, 60 pdf files, 16MBytes.

How can I upload all the files?

BR

Enrique.

Hello.

I have a KRC4 backup and I need to read the I/O mapping.

I don't have physical access to the robot but from the files in the backup I know the following:

am.ini

[Version]

Version=V8.3.20

[TechPacks]

TechPacks=BoardPackage|DiagnoseSafety|EthernetKRL|KS26_V8_3_20_Basic|LoadDataDetermination|ProConOS 4-1|Profinet KRC-Nexxt|SafeOperation|WorkVisual AddOnVKR|WristMamesOffset|

BoardPackage=1.4.0

DiagnoseSafety=2.1.0

EthernetKRL=2.2.8

KS26_V8_3_20_Basic=1.0.0

LoadDataDetermination=6.2.8

ProConOS 4-1=4.1.4

Profinet KRC-Nexxt=3.3.1

SafeOperation=3.2.4

WorkVisual AddOnVKR=1.1.0

WristMamesOffset=1.0.1

Questions follow:

The backup contains a lot of .WVS files. Opening \Registry\LMSoftware..amr I can read:

"Current Project Name"="robot100"

So I assume the right project to open is robot100.wvs

Q#1: Is this the proper way to know which is the working project?

Q#2: How do I know which WorkVisual version is the right one to install in Windows to open the project?

Q#3: Can more than one version of WorkVisual be installed simultaneously in Windows 10 or should I i.e. uninstall version 3 - install version 4 ... and son on?

Thank you!

Quote from Nation

I'll add to fastfingers post:
Rack:
0 process I/O boards (also memory image)
16 AB or Genius I/O
32 Slave SLC2 I/O
33 internal relay/register
34 flag marker
35 always on/off port Slot 0 = OFF Slot 1 = ON
36 DCS port
48 address mapped I/O for LR Mate Peripheral connectors
64 ME-NET
65 INTERBUS-S
66 PROFIBUS DP master
67 PROFIBUS DP slave
68 FL-net
69 FL-net status
70 InterBus-S master
71 InterBus-S slave
72 IO-LINK II master
73 IO-LINK II slave
74 FIPIO master
75 FIPIO slave
81 first DeviceNet board
82 Used by DeviceNet
83 Used by DeviceNet
84 Used by DeviceNet
85 controlnet; also used 86
86 Used by ControlNet
87 RoboWeld
88 Ethernet Global Data (GE-EGD I/O)
89 EthernetIP (ControlNet over ethernet) I/O
90 Arclink Rack Number
91 WTC Serial Weld Controller I/O
92 CC-Link RD
93 InterBus PxC PCI master
94 InterBus PxC PCI slave
95 InterBus PxC PCI cmd
96 Modbus TCP
97 TOYOPUC PC3J Interface
98 InterBus PxC Slave interface
99 PROFINET I/O Controller
100 PROFINET I/O Device

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Rack 106 Slot 1 EtherCAT slave board, as seen in EtherCat_operator_manual_[B-83704EN_01].pdf

Flags can also be modified by a running PMC program.

PMC = a Programmable Logic Controller (PLC) built into FANUC controller

Quote from Sergei Troizky

Any idea what is this?

From the "R-J3iB Mate LR Handling Tool B-81524EN-01.pdf" manual:

RACK
The rack indicates the master of I/O link, the CRM79 interface, and the kind of hardware which composes I/O module to robot control PC board.

– 32 = I/O Link slave interface (at slave mode)
– 48 = CRM79 interface

SLOT
The slot indicates the number of I/O module parts which composes RACK. However, it is fixed to 1 for the CRM79 interface.

V.

Well it's our PLC man who wants to know whether the robot is on path or not. "Better safe than sorry", he says.

I have already found $MOR_GRP[1].$JOGGED which becomes true if someone jog the robot.

J.

Hello colleagues,

Is there a way to know if the FANUC robot is on path?

I look for system variables, if any, similar to KUKA's $ON_PATH and $NEAR_POSRET.

Thankyou
Jaraviensis

Hello all,

the following link inside the forum appears to be dead

https://www.robot-forum.com/robotforum/kuk…33467/#msg33467

"An Error Has Occurred!
The topic or board you are looking for appears to be either missing or off limits to you."

Please, can any admin check this issue?

Maybe the problem is cable too long. RS-232 is not recommended for electrically noisy environments (servos, motors, welding equipment, power cables, ...).

I suggest using a *shorter* cable. Put the PC closer to the robot cabinet, I bet you'll end receiving ASCII garbage.

Another idea would be to insert RS-232 to RS-485 converters in each end of the cable (robot side and PC side).

RS-485 is much better, it uses balanced/differential signals and succeeds where RS-232 fails.

Good luck,
V.

Hello. I would very happy if you could upload the following ones:

00757079 E-Gun
00757088 Fieldbus and Ethernet (hope there is something about Interbus there!)
00757116-g PLC Manual (didn't know about PLC capabilities in Comau !)
00757135-g EZ Programming Environment
00757165 A-Stud

Thank you in advance,
V.

"Kurzbeschreibung" from an old KRC30/51 german manual...

$OV_ROB is der aktuell wirksame Override für das Robotersystem.

Berechnung von $OV_ROB:

Handverfahren: $OV_ROB=$OV_JOG
Kommandoverfahren: $OV_ROB=$OV_PRO
Bewegungen in Roboter Programm: $OV_ROB=$OV_PRO * $RED_VEL_C

$OV_ROB spiegelt den aktuellen Overridezustand für die Roboterbewegung wider und kann nicht direkt über Programm- oder Bedienhandlung verändert werden.

Regards,
V.

"according to the Kuka manual, it is impossible to send data through the rs232 connection while the robot is moving."

That can be solved, I know two ways to do it:

a) precede each COPEN/CREAD/CWRITE/CCLOSE with a CONTINUE statement to let the program interpreter to execute those instructions it in advance. Depending on the instruction mix, you'll need to set $ADVANCE=5 or

b) design a state machine which will run in a .sps file, which will handle all the communication in the background. While this approach is complex to program, it is more flexible.

V.