Racermike's solution will work, but if you want it work at all times, you would need the worldzone option.
Posts by Nation
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You need to interconnect the SSI/SSO to the CSO and CSI bits in the safe I/O interconnect area. Then you should see the bits changing on the siemens PLC.
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While normal DI/DO can be connected to the DCS, it defeats the whole purpose of DCS. Now anyone can force IO and defeat your safety function. I highly recommend against this, and if you do go ahead with it, realize that you or your company will be responsible if/when someone gets injured or killed.
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You can still do it your user frame modification way, you just have to address the correct position of the matrix representation of the user frame when it is in the PR. The first 9 indexes are the rotations, and the final 3 are the X, Y, and Z of the user frame.
To use your original code, it would be like this:
CodeUFRAME_NUM = 3 FOR R[4] = 0 TO 3 CALL TSET PR[1]=UFRAME[3] PR[1,11]=PR[1,11]+100 UFRAME[3]=PR[1] ENDFOR
Another option is to set $PR_CARTREP to true. This forces the controller to store PRs that are normally in matrix form as Cartesian representation. With that set, your original code would work as intended.
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I assume you are asking about the IRVBKLSH program.
IRVBKLSH cancels the backlash in the robot's arm gear train by preforming a small move. Once the backlash has been canceled, the arm's real position better represents the calculated position.
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You can delete the outlier data points in the cal grid data. That should reduce the error somewhat.
Also, make sure you are running the IRVBKLSH karel program before each calibration point (if you are not using the autocal utility, it does this automatically.).
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When you save the program from the cell browser, you can select the file save type when the "where to save it at" dialog comes up. There is .tp (the default), and .ls (what you want).
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T2 is available on the RJ3iB controller. Simply unplug the T1/AUTO switch from the Op panel board inside the door of the cabinet, and the robot will default to T2. This was fixed on later models though.
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It should be something as simple as this:
This would constantly reset it as long as the signal was on. If you wanted to do something like a one shot on the rising edge of the signal, you would have to get fancier. Those are covered in the sticky at the top of the forum.
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Then you will have to do it the old school way, with safety rated cam switches on J1 to tell where the robot is. This will allow you to safely ignore the broken light screen if the robot is servicing the other fixture.
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Wire each light curtain to the extra DCS inputs on the DCS board. Then create two 'NO GO' areas for the two fixtures in DCS that are muted when the light curtains are safe. I recommend creating an internal safety relay using the safety I/O that allows the robot to move if the light curtains are muted or if the robot is in teach, so you can jog if out while standing in the light curtain.
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Are you able to load the Ethernet settings in after the robot has been created?
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On older Ford cells I've been on, they used the 1791ES-IB8XOBV4 CompactBlock Guard I/O EtherNet/IP Safety Modules. I am not sure if they were paired with safety relays though. Judging from the documentation, they probably were. I never looked at the setup very closely.
With the Guard Point Blocks, I think you would be able to use the 1734-OX2 module, and just wire the fence and stop circuits directly. I am not sure on this though either.
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It sounds like you have it if you are saving and loading programs with edits from notepad++. Unless you are compiling the programs before hand.
Otherwise you will have to buy it from Fanuc.
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The two numbers after the 7B hex code in your screen shot are 00 12, which is 0018 in decimal.
4617, which is 12 09 in hex, doesn't appear to be in your provided screen shot.
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Hello, my dcs password has been changed from 1111, not sure exactly where to look for in sys.pass file
attached is my syspass filePlease help,
Looks like it is 0018.
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I do this by using the robot's FTP server, and the inbuilt ftp browser in UltraEdit.
You can do it a bit on the cheap with two programs however, such as filezilla and any text editor. Right click open on the file in filezilla, then make changes in your text editor, filezilla will detect the change and ask you if you would like to upload the changes. Hit yes, and if you had no errors it will take. If the robot rejects the program, download ERRALL.ls and see why.
Couple of caveats with this method though:
You cannot edit a program that is selected, the robot will reject any uploads if that is the case.
Same goes for if the program is displayed on the TP in any screen.
Same goes for any program currently in the stack if the robot is running or paused.
The robot deletes the program it sees incoming before running the ASCII translator on it. So if your translation fails, and you delete your local copy, the program is gone, so make backups.
You will need the ASCII upload option in the robot. -
Restart the robot in controlled start mode, then change the variables while the robot is in controlled start mode.
On the R30iB, you can select controlled start from options when you restart. On older controllers, you will have to hold PREV and NEXT while it is booting.
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Do it at a controlled start.