Posts by phuong.vt

Quote from Alexandru

It has ULIMIT (upper limit) and LLIMIT (lower limit) and from aux functions -->
Advanced settings ---> 7. Motion limit

Thank you

Seems that the motion limit function is not suitable for my robot because it has to rotate a lot and the working area is very wide

Quote from Alexandru

You need to build your own program to detect if the robot moved in manual mode. For this you need a background program.
Blocking the automatic start requires:
- The position where the robot was when the automatic ended;
- The allowed movement distance to the original position;
- Robot at the home position, so the start is not blocked;

Thanks for your reply

Does the robot have built-in operation range limit functionality (hardware or software)??

Hello everyone.

I have RS013N robot with F01 controller. The program is complete, now the robot has gone into production operation.

But for safety reasons, I want to limit the robot's operating range in case someone controls the robot to any position and then the robot move to its original position, it will collide with another mechanism.

I have searched the documentation but have not found any mention of this issue. Is there any solution?

Thanks in advance

Quote from kwakisaki

Where was the location 'dest' taught with reference to what BASE?
I suspect that is your issue.

When doing recovery, you should really use HERE and obtain a current location referencing the current BASE you are using and carry out element comparison arguments using the HERE elements instead.

Yes, I misused it.

"Dest" return the transformation values of the destination of current robot motion NOT for the current position.

Btw, can you show me how to use compound transformation value?

Eg: I had a base call "frmaster" and a point "setup" relative to that base

BASE frmaster

LMOVE SHIFT(setup by 2, 0, 2)

Without changing base to "frmaster", how to implement this movement use BASE NULL?

I tried frmaster + setup + trans(2,0,2) but it seems wrong

Quote from kwakisaki

If you weren't using the BASE for the world coordinate, many people use the BASE for that purpose but depending on the application, could get messy with many BASE changes.

I'm in trouble with BASE command now

I have some subroutines with some different BASE respectively

So, I write a "safety" subroutine, it's purpose is move robot to the "safety position" no matter where the robot is.

When I call "safety" subroutine, I change base to BASE NULL and check the robot's coordinate, then based on that position, give the corresponding movement command.

The problem is: although i change to BASE NULL but it seems robot still use the previous base in subroutine

Below is my code

.PROGRAM escape_safety() 		

BASE NULL

rtn_x = dext(dest,1)
rtn_y = dext(dest,2)
rtn_z = dext(dest,3)


;----base on above value to jump to correct command---

	IF (rtn_x <= -1200) THEN    
		safe_return = 1
		GOTO escape1				;inside_molding
	END
	
	IF (rtn_x <= -795) AND (rtn_x > -1200) THEN
		safe_return = 2
		GOTO escape2				;molding -> waitdoor
	END



;----command to return safety-----------
escape1:
	LMOVE #be4_setup_md
escape2:
	LMOVE #waitdoor	
done_escape:	
	JMOVE #safety_pos
	RETURN
.END 

I know that we can use transformation value by operator "+" in stead of change BASE. But is there solution for this problem?

Thanks in advance

Quote from ShAdOwDrAgOnS

As Kwakisaki mentioned if you have the option enabled there is a menu that shows up in the AUX advance menu where you can change the Collision/Shock threshold for both repeat and teach mode.

If the menu isn't available then it's likely that the option is turned off.

As a side note you can change the thresholds from within the motion code if you ever need to quickly change between low/high settings on the fly for certain motions but you'll need a way to adjust the settings as it will override any settings people make to the collision settings in the AUX menu.

It's all detailed in the manual.

If I buy this option, do I need to install any hardware on robot or controller?

Thanks in advanced

Quote from kwakisaki

KISSING it......Keep It Simple Stupid
Simply put your dump instructions into a subroutine and CALL it after the label.
Then you have your dump subroutine that can be called by other programs.

Code

.PROGRAM main();
HOME;
CALL pick;
CALL place;
HOME;
.END

.PROGRAM place();
ONI/LVL -1009 GOTO eof;
;
JAPPRO place, 100;
LMOVE place;
OPENI;
BREAK;
IGNORE 1009;
LDEPART 100;
RETURN;
;
eof:
CALL dump;
RETURN;
;
.END

.PROGRAM dump();
JAPPRO dump, 100;
LMOVE dump;
OPENI;
LDEPART 100;
RETURN;
;
.END

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Many thanks for your help. I appreciate that

But if you feel uncomfortable when reply such stupid question, you dont need to do that.

That's a silly question for you - someone who has years of working with robots and with AS language. But for me - a newbie with everything, that's not easy.

Anyway, thank you

Quote from kwakisaki

ONI or ON starts the monitoring of the condition and is cancelled when the condition occurs or IGNORE is used to cancel the monitoring.
So there is no need to 'look' for the signal again when ONI or ON has been executed.

It depends on how you look at it.
An example below (it is just an example, not something to copy and paste).
The place routine has 2 parts to it controlled by the RETURN instruction.
By default it will always place and RETURN or if interrupted, dump and RETURN.

Code

.PROGRAM main();
HOME;
CALL pick;
CALL place;
HOME;
.END

.PROGRAM place();
ONI/LVL -1009 GOTO eof;
;
JAPPRO place, 100;
LMOVE place;
OPENI;
BREAK;
IGNORE 1009;
LDEPART 100;
RETURN;
;
eof:
JAPPRO dump, 100;
LMOVE dump;
OPENI;
LDEPART 100;
RETURN;
;
.END

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Your idea works properly ! Thank you

But I want to separate the subroutine called by ONI instruction because I will CALL it in others subroutine. So I can use it multiple times with just 1 write.

What happend if I use this follow:

Assume 1009 is signal "suction OK" from ejector

.PROGRAM setup()

ONI -1009 CALL box_ng

IF SIG(-1009) GOTO end_sub

;some move instruction while signal 1009 ON

end_sub:

.END

.PROGRAM box_ng()

; move to box

; release products;

.END

Quote from kwakisaki

- Application.
- PLC interface to Robot type.

I used software ethernet

Quote from kwakisaki

- Using PC tasks and Program Task or just Program Task.

Actually they're all subroutine.

My flow is: main program and many subroutines

Subroutine 1 is to suction 4 products from A and insert to B.

While robot moving, if robot drop any product, I will CALL to subroutine 2 that move robot to position C and release the others into a box.

Then I want stop subroutine 1 and 2, so the next move of robot will be control by the main program

"- Why does it need to stop at end of subroutine, just return to main routine and scan for new task." (sorry but I dont understand why I cant quote that :D)

Yes, that's exactly what I want

Thanks for your reply

Hello everyone

I am working on a Kawasaki RS013N robot with F-Controller.

I want to control the robot to move as follows:

- The robot executes some movement commands, whenever it receives a PLC signal, it will CALL a subroutine

- The robot stops at the last command of the subroutine and does not return to the previous program

I tried ONI...CALL but it seems wrong. Anyone has another idea???

Thanks in advance

By the way, can I set the moment of inertia threshold and know when the robot collides or not?