S4 controller.
EIO:CFG_1.0:3:1::
#
EIO_UNIT:
-Name "IOBOARD1" -Type "d328" -Bus "BASE" -TrustLevel 0 -Digin 16\
-Digout 16 -PollRate 250
-Name "PROFIBUS" -Type "d352" -Bus "BASE" -Address "12" -Digin 128\
-Digout 128 -PollRate 40 -Param "PROFIBUS_VAL"
.
..
...
#
PROFIBUS_VAL = EIO_PARAM_VALUE:
-Name "MasterInputSize" -Value "3"
-Name "MasterOutputSize" -Value "3"
-Name "StationAddress" -Value "100"
In this case the operator needs to adopt a procedure, if some error happen the operator clear the error and press the bottom "start_cycle" this bottom is connected
to input system startmain. This input only work if the robot is no running and without error it works.
Now, when a startmain is done, all variables goes to declared status. That way you can use a variable to check this like this:
VAR bool fAutoReset:=FALSE;
PROC main()
rCondInitial;
IF fAutoReset=FALSE THEN
rAutoReset;
rHomePosition;
fAutoReset:=TRUE;
ENDIF
PROC rAutoReset()
TEST nControlPosition
CASE 0:
CASE 1,4:
CASE 2,3:
ENDTEST
RETURN;
ENDPROC
So, each case will have one path to return to home. Each area that robot enter you changes the variable nControlPosition this variable must be PERS.
Using a PLC, is possible handle the signals easier and not depends on operator.
Which panel have you?
I don't know which HMI is compatible but the communication through rs232 is used to send and receive "strings". The robot uses some instructions to receive
the package and after split it to separate into variables and so on.
But the communication by rs232 depends on the robot system too. Some model panels needs have advanced functions ... etc
The cable and connectors are low cost, don't worry.
The code would be something like this:
Open "printer1:",serial\Write;
Write serial,"Robot_2"\NoNewLine;
Write serial," "\NoNewLine;
Write serial,stDataPlt\NoNewLine;
Write serial," "\NoNewLine;
Close serial;
and
Open sio1,com1\Read;
stReadPort:=ReadStr(com1\Time:=10);
Close com1;
Show your worldzoneinit to us.
See a very simple example below:
MODULE WZHOME(SYSMODULE)
!
!
PERS wztemporary wztemp_Home:=[1];
PERS pos pos_Home_Low:=[-2855.51,-2498.47,-1209.21];
PERS pos pos_Home_High:=[3144.49,521.53,4790.79];
VAR shapedata shape_Home;
!
PROC wz_Home()
pos_Home_Low.x:=pHomeInj.trans.x-3000;
pos_Home_Low.y:=pHomeInj.trans.y-3000;
pos_Home_Low.z:=pHomeInj.trans.z-3000;
pos_Home_High.x:=pHomeInj.trans.x+3000;
pos_Home_High.y:=pHomeInj.trans.y+20;
pos_Home_High.z:=pHomeInj.trans.z+3000;
WZFree wztemp_Home;
WZBoxDef\Inside,shape_Home,pos_Home_Low,pos_Home_High;
WZDOSet\Temp,wztemp_Home\Inside,shape_Home,do02_RobotOUT,1;
RETURN;
ENDPROC
ENDMODULE
SYS:CFG_1.0:5:0::
.
..
...
#
CAB_EXEC_HOOKS:
-Routine "wz_Home" -Shelf "POWER_ON" -Task "T_ROB1"
-Routine "wz_Home" -Shelf "START" -Task "T_ROB1"
-Routine "wz_Home" -Shelf "RESTART" -Task "T_ROB1"
Your question is related the ISO 9283 standard of Performance Criteria and Related Test Methods.
Many robot manufacturers and users utilize this standard to determine the requirements and actual performance of their products and
publish extended specifications based a subset of the tests recommended in ISO 9283.
This ISO is only standard of requirements, but if you search some studies about this subject you will find many ideias about repeatability.
Like Joan Murt said, there is somethings that changes the situation.:
Internal controls definitions.
Errors coordinate transformation.
Differences between the dimensions of the articulated structure and those used in robot control (direct and inverse kinematics).
Mechanical failures, such as wear, hysteresis, friction and external influences such as temperature.
I'm sure You'll find some thesis about ISO 9283, read it and after will be clearer.
There is an ABB internal document wiht the combination between boards and system pack.
With experiencie this table can be make by tecnichian.
In your case, 335/325/317 accecpt
M94 system
2.0 system
2.1 system
3.0 system (The system 3HAB2375-1 without key disc)
I don't know which program you are using to make gif files, maybe would be better try to use other software.
look the attached, this is a page from ABB document and there is a statement about this figure.
Ok, let's go see if the nimatics g3 are live.
Follow the attached, pay attention STEP-BY-STEP.
Cable, address, connections...
What was the result?
Maybe someone had this fault.
We have the Controller MRC with SK6 and the TP show us the message on the top.
"DROP TEACH CYCLE EMERGENGY STOP"
But, everything about emergency looks like ok. Inclusive the TP was changed.
Someone have any tip ? Suggestion?
Hi,
Sorry by delay.
The problem was solved.
The controller is NX100.
Solution:
The yaskawa came back and changed some FD. After this the formcut enable the movement, clock wise / counter clock wise.
Thank you guys!
Yes!
I saw the difference!
Thank you, Fabian and 95Devils.
I'll try to do this.
Thank you 95Devils,
But I didn't find it.
On my backup I have the files on the attached.
I open all files to see, but I didn't find this parameters.
For example my FORMCUT.CND
//FORMCUT 1
0,16.400,0.000
0.000,0.000,10.000
0.50,0.00,2.50
0.00,0.00,0.00
0.250,0,0,0,5.0,45.0,0.0
//FORMCUT 2
0,16.400,0.000
0.000,0.000,10.000
0.50,0.00,2.50
0.00,0.00,0.00
0.250,0,0,0,5.0,45.0,0.0
//FORMCUT 3
0,150.000,0.000
0.000,0.000,10.000
0.50,0.00,25.00
0.00,0.00,0.00
0.250,0,0,0,5.0,45.0,0.0
And so on.
By on TP during the defining parameters don't have this option CW CCW...
Could tell me where do I need to do the changes?
Thank you!
Hello,
Does someone would know to tell if is possible to change the direction of circle movement from the FormCut?
All holes are made on clock wise and I need to do on anti-clock wise, to improve the cut.
Thank you and a Happy new year to everybody!
How are the hardware connections between the devices? Are there a hub switch? Cross connection cable...? Standard cable?
To make a customize INSTRUCTION... Sorry, but I've never seen an instruction created by users...
You could do a routine with parameters and/or a Function.
For example a routine wiht parameters to do a circle:
PROC rFigCircle(
robtarget PosCenter,
num SpeedCut,
num Zona,
num Radius,
num DisBetweenHoles,
wobjdata wobjControle)
!
MoveL RelTool(PosCenter,0,0,0\Rx:=0\Ry:=0\Rz:=0),v100\V:=SpeedCut,z1\Z:=Zona,toolCaneta\WObj:=wobjEstacao;
MoveLDO RelTool(PosCenter,Radius,0,0\Rx:=0\Ry:=0\Rz:=0),v500,fine,toolCaneta\WObj:=wobjEstacao1,do13_LiberaAgua,;
MoveC RelTool(PosCenter,0,Radius,0\Rx:=0\Ry:=0\Rz:=0),RelTool(PosCenter,-Radius,0,0\Rx:=0\Ry:=0\Rz:=0),v100\V:=SpeedCut,z1\Z:=Zona,toolCaneta\WObj:=wobjEstacao;
MoveC RelTool(PosCenter,0,-Radius,0\Rx:=0\Ry:=0\Rz:=0),RelTool(PosCenter,Radius,0,0\Rx:=0\Ry:=0\Rz:=0),v100\V:=SpeedCut,fine\Z:=Zona,toolCaneta\WObj:=wobjEstacao;
rControleCaneta\DesligaAgua;
ENDPROC
And call routine like this:
rFigCirEst1 [[884.94,1218.5,262.77],[0.104796,-0.266659,0.047049,-0.956921],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],SpeedCut,5,8,0,wobjEstacao;
Instead of only movements, you could use logical instructions and so on.
But to do all checks that you need on full time, I don't think this is the better way...
If this is what you're looking for, go ahead!
OK...
Which robot do you have? I'm asking because I see one other way to do this and you could use the programmable keys, M97 or later.
Instead of TPReadFK you need to use only TPWrite, BUT, using a WHILE condition.
For example...
TPErase;
TPWrite "IF you want to end the glue, Press P1 (programmable key with IO simulated - "DI01_Sim" );
ClkStop clkGlue;
ClkReset clkGlue;
ClkStart clkGlue;
SetDO DO_GLUE;
WHILE DI01_Sim=0 and nTimer<60 DO
WaitTime 0.1;
nTimer:=ClkRead(clkGlue);
ENDWHILE
Reset DO_GLUE;
TPErase;
This is only a suggestion and the syntax needs to be double checked of course.
Screen Maker is a possibility,
But, if you just want to use a image on background the procedure is very simple.
CONTROL PANEL-> FLEXPENDANT->BACKGROUND IMAGE.
Only *.GIF images are available to use.
Hi,
The system pack depends on the key of the robot.
You need the software RobInstall and the Key.
If you have the key I can help you, I make the discs and send to you.
RobInstall is too big to send by email.
But, TPReadFK only get out if someone to press the key or by MaxTime.
What do you really need to do?
