Posts by luetin

Afaik the Fanuc CRC site is only available to customers of Fanuc America.

Verify that your TCPs are correct as well.

Hey guys,

I'm completly new to Kuka-robots and I'm trying to setup external automatic configuration with an external PLC. I'm reading the manual "KSS_83_SI_en.pdf", section 6.11.2 and I am a bit confused with the I/O-mapping.
There are types listed as "input/output" and "variable or system variable". Am I supposed to link all of these to the PLC interface or is it only "input/output" types I should link?

For example there is the PGNO_FBIT that is listed as a input-signal, does that mean I should link this to an integer in the PLC or should I just set this variable to a value internally in the kuka-system?

Hey,

Here is a profibus.sv with those units configured. The slaves with adress 3 and 4 are the Siemens ET200ecos.

Also check that the system variable $KAREL_ENB is set to 1. This enables you to select and run karel programs.

See this post:

http://www.robot-forum.com/rob…roblem/msg68223/#msg68223

Thanks for the feedback.

Yeah, I suspected it is something like that. I execute some vision processes in a row with no delay in between them, so I guess I'll start by slowing it down a bit.

Hi,

I sometimes get an alarm "OS-147 Assert main %d %d %s" when the robot is executing a visionjob. Has anyone experienced something similar and found a solution to it? The errormessage is supposed to generate parameters I think, but in this case it doesn't.

Robotsystem is R30iB.

I usually just remove the sysmast.sv file from the backup I want to use. Then when I restore the system on the new robot I get prompted that the sysmast.sv file is missing, but this is just a warning you can skip.

So far there seems to be no problems with this method as far as I can tell.

In your TP-program:
INST->Collision detect->COL GUARD ADJUST

You can read the robots current position to a position register, then you can evaluate that position register in your "GO HOME" program.

You can use either LPOS or JPOS for this:

PR[100] = LPOS; //Store current position in cartesian
PR[100] = JPOS; //Store current position in joint values

Probably related, see post from !2Sharp:

http://www.robot-forum.com/rob…ndor-contact-an-administ/

OK, there isn't "system modules" in Fanucs, like there is in ABBs. You have the before mentioned ways to run things in background tasks though, so you have to investigate what your robots configuration is like. It differs from one integrator to another.

"Noview" TP-files I have never seen, maybe someone else knows. Could he be talking about karel-files? They are compiled and downloaded to the controller and can not be viewed. You'll need the source code and recompile it to make changes.

Well, have you determined which type of background tasks you have running on your robots? That was what my first post was intended for.

To check what tasks are running : Menu -> status -> program. Use "prev" and "next" to cycle through all tasks. This will list all your program tasks and their status, including karel.

Then there are other ways of running things in the background. You have background logic. Check what background logic tasks are running : Menu -> setup -> background logic.

Then there could also be the PMC controller, which is an PLC running on the robot controller. This is an option that you might or might not have. Menu -> I/O -> PMC/PMC Display. To program this you need the FAPT-Ladder software from Fanuc.

Isn't it some program/macro that is forcing the status screen?

If you stop program execution, are you able to open the editor and display the program? If you can, then it's called regularly from the normal task and you should be able to locate it quite easily. If you can't - then it's run from a background task/macro/pmc etc. and you need to dig a bit deeper. I would start looking for Karel filesin that case, I think that's the most common way to force the status screen.

You have to compile the screenmaker projekt and then download it to the pendant. As far as I know there is no way to decompile the code once it's done, so I think you'll need the source code.

1. No
2. Yes
3. Yes

You loose all of the functionality except the "online"-part after 1 month with the trial version. So you can't work with virtual robots, cad models, cycletime-simulation etc.

Yes, you need to swap the bytes in the siemens PLC. Google how to use the instruction CAW in stl.

Quote from Racermike123

Sure it would look like;
L P1 100% Fine
P1, 3=P1,3+100
L P1 100% Fine

This would raise the robot 100mm in Z

Display More

Can this really be done with "standard" positions? You can't use the above syntax AFAIK.