Understood. Thank you for your explaining guys.
Posts by Matheus_Antonio
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Hey, guys! How are you? Do you know how to offset a base using a variable? I saw that to create an offset in Base, in which it moves according to its own Y axis, as an example, we must code:
However, how would it be to set a value that can change? I saw that there is this way:
But then it moves along the Y axis of World. How would it be to offset with a variable along Base's own axis?
Robot KR 16 R 1610
KRC4 8.3.18 -
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Hey, guys. How are you doing? I'm creating a program where there are variable points(those PONTO_VAR). However, the way I've done the program makes them dependent of a point that comes before and has already the parameters defined. For example, if the point before uses TOOL[7], the variable ones will use that either. How could I make them independent, so that I can set their own velocity values, tool, etc? Would it be necessary to put those instructions like FDAT and LDAT? The coordinates that vary are X and Y, others don't change. I declared the points in $config.dat so that I could use them in two src files(one is the robot's path and other attaches PLC values to the coordinates).
KSS 8.3.18
KR 16 R 1610
KRC4Code
Display More&ACCESS RVP &REL 10 &PARAM EDITMASK = * &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe DEF A1_POS( ) ;FOLD INI;%{PE} ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI ;Make your modifications here ;ENDFOLD (USER INI) ;ENDFOLD (INI) A1_VAR() ;FOLD PTP HOME Vel=100 % DEFAULT;%{PE}%R 8.3.37,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT $BWDSTART=FALSE PDAT_ACT=PDEFAULT FDAT_ACT=FHOME BAS(#PTP_PARAMS,100) $H_POS=XHOME PTP XHOME ;ENDFOLD ;FOLD LIN P1 Vel=2 m/s CPDAT1 Tool[7]:FRONIUS_RA Base[10]:BASE_MESA;%{PE}%R 8.3.37,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P1, 3:, 5:2, 7:CPDAT1 $BWDSTART=FALSE LDAT_ACT=LCPDAT1 FDAT_ACT=FP1 BAS(#CP_PARAMS,2) LIN XP1 ;ENDFOLD ;FOLD LIN P2 Vel=0.05 m/s CPDAT2 Tool[7]:FRONIUS_RA Base[10]:BASE_MESA;%{PE}%R 8.3.37,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P2, 3:, 5:0.05, 7:CPDAT2 $BWDSTART=FALSE LDAT_ACT=LCPDAT2 FDAT_ACT=FP2 BAS(#CP_PARAMS,0.05) LIN XP2 ;ENDFOLD LIN XPONTO_VAR1 LIN XPONTO_VAR2 LIN XPONTO_VAR3 LIN XPONTO_VAR4 ;FOLD PTP HOME Vel=100 % DEFAULT;%{PE}%R 8.3.37,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT $BWDSTART=FALSE PDAT_ACT=PDEFAULT FDAT_ACT=FHOME BAS(#PTP_PARAMS,100) $H_POS=XHOME PTP XHOME ;ENDFOLD END
Code
Display More&ACCESS RVO1 &REL 10 &PARAM EDITMASK = * &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe DEF A1_VAR( ) ;FOLD INI;%{PE} ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI ;Make your modifications here ;ENDFOLD (USER INI) ;ENDFOLD (INI) VALORX1 = D_WORDX1 VALORY1 = D_WORDY1 XPONTO_VAR1.X = VALORX1 XPONTO_VAR1.Y = -VALORY1 XPONTO_VAR1.Z = 700 XPONTO_VAR1.A = 82 XPONTO_VAR1.B = 4 XPONTO_VAR1.C = 172 VALORX2 = D_WORDX2 VALORY2 = D_WORDY2 XPONTO_VAR2.X = VALORX2 XPONTO_VAR2.Y = -VALORY2 XPONTO_VAR2.Z = 700 XPONTO_VAR2.A = 82 XPONTO_VAR2.B = 4 XPONTO_VAR2.C = 172 VALORX3 = D_WORDX3 VALORY3 = D_WORDY3 XPONTO_VAR3.X = VALORX3 XPONTO_VAR3.Y = -VALORY3 XPONTO_VAR3.Z = 700 XPONTO_VAR3.A = 82 XPONTO_VAR3.B = 4 XPONTO_VAR3.C = 172 VALORX4 = D_WORDX4 VALORY4 = D_WORDY4 XPONTO_VAR4.X = VALORX4 XPONTO_VAR4.Y = -VALORY4 XPONTO_VAR4.Z = 700 XPONTO_VAR4.A = 84 XPONTO_VAR4.B = 4 XPONTO_VAR4.C = 172 END
Code&ACCESS RV$ &REL 1 DEFDAT $CONFIG GLOBAL E6POS XPONTO_VAR1 GLOBAL E6POS XPONTO_VAR2 GLOBAL E6POS XPONTO_VAR3 GLOBAL E6POS XPONTO_VAR4 ENDDAT
(D_WORDX and D_WORDY are double words)
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I see. Thank you very much.
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you changed robot IP address WHERE exactly and HOW?
you entered WHAT ip address? what is the controller ip? are the in same subnet? how are you connecting to controller EXACTLY? which port?
I changed the robot IP address in the network configuration. Robot's IP is 192.168.1.10 and PC's address is 192.168.1.111. Their subnet is 255.255.255.0. I'm connecting on KLI.
Quotenext, you did not even state WoV version and what options are integrated...or what steps you used exactly.
It's version 6.0. The options are ArcTech 1.5.2, Diagnose Safety 2.0.1 and Safe Operation 3.2.0.
I was trying to open the project from the controllerQuotethe cleanest way forward is to restore known good image. one should be on hidden partition if you do not have a backup.
I see. Where is this hidden partition?
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Hi, guys. I cannot browse the controller on WorkVisual(it just doesn't appear, even if I put the IP address manually). The equipments are connected by Ethernet. The PC is able to ping the controller and the PLC can send signals to it as well.
I've already tried changing the IP(of both robot and PC) and utilizing the KSI, however it didn't work. Besides, the projects on the TP do not appear either(it shows the message "the installed projects cannot be determined". Possibly that is related, isn't?). The red "X" isn't appearing though. Would I be missing anything?KSS 8.3.18
KR 16 1610
KRC4 -
Thank you very much!
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Hello. I'm working with a KR16 1610 that will weld a piece that moves. So, I need to attribute variables to the user coordinate, so that a point that has a specific position can be changed to follow the piece. I've been trying to code that, but it's been difficult. (I'm doing it on Kuka Sim).
My code: