Posts by bsrr

The file name ending with .917 is Work Program (Executable format). The Robot language program(Source program) ending with -A.917 is a text file editable on a PC.

The method to Convert the Work program to Robot language is as below

Service->Program Conversion->Language->Select Source->(Source<-Exe)-->Select Appropriate Pose conversion and File Number--> Select Destination folder

Quote from dkeranen

DIM

GETPOS

OPEPOS

POS2POSE

The above Function descriptions are available in the Command reference manual TFDEN-092

Check attached

The direction of the tool based on the machine coordinate should be in the order of Roll (Z), Pitch (Y), and Yaw (X)). Roll is the angle of the tool (deg) (Around the Z axis), Pitch -Around the Y axis, and Yaw -Around the X axis

I have no idea

If you want to call the program using Interface Panel, then make the condition for running as External

• Make Teach Play condition to Run the Robot with External for Motors ON, Playback mode Program sel
• Assign Interface Panel for

2 buttons(Push Button Stay-3002) for Ext Stop, Ext Motors ON

1 button(Input 3 digits-3030) for Prog No

1 button(Push button Release-3003) for Ext Start

• On the software PLC, Link the above Outputs to the Input.
• In the Input Signal assignment-Assign the above Inputs for Ext Stop, Motors on, Prog Sel, and Ext Start.

See below an example for SOCKCREATE and SOCKCONNECT

'CREATE SOCKET

'The Client must first create a socket

'using the SOCKCREATE function.

'This socket number should be the same as the server.

SOCKCREATE 1,0

'CONNECT SOCKET

'The client attempts to connect to the server.

'2ND PARAMETER BELOW HAS TO BE SERVER'S IP ADDRESS LAST NUMBER!

SOCKCONNECT 1,11,48952,20

I will be setting the TCP IP address on the computer in which FDonDesk is running

It could be an issue with the incompatible software version between FDonDesk and CFD, or try installing FDonDesk with a different PC.

Change the 13. Record of Pose from Disabled to Enabled in the Teach Play Condition setting. Select the appropriate Pose file No to view Pn. Viewing is possible after the Pose file has been executed.

Command - WAIT, FN code- 552

WAIT I10,3,8

Wait for Input 10 for 3 seconds, and if not ON then jump to step 8

I would be Monitoring the V10 and V12 variables while stepping through the Program and troubleshooting when the V10 changes from 400 to 410 and V12 Changes from -1000 to -1050

Procedure to edit program using FDonDesk 2 Light

1. File-> New-> Project Name
2. Right Click Project-> Make a New Folder (for backup of the robot)
3. Connect and Download work data from the controller-> Enter the IP address of CFD
4. The work Folder is copied to your PC. You can edit, and save programs using the PC.
5. Save Project as a Dap file

Is there any error, and what is the LED status? Is it set up for slave? Has the card been setup as per instructions in the manual

Did you try by Checkmark on Input, Output PLC for through?

Not sure why you would remove the CPU board for an ESTOP error. I think you now have a CPU board issue as the Troubleshooting suggest

Troubleshooting states to replace Motor or Encoder. You will need to do that

1. IF V20%>=10 THEN 2 ELSE 4

2. IF V20%<=80 THEN 3 ELSE 4

3. CALLP 10

4. END

Check Strobe Signal, If you are not using then Set it to Unused in Teach/Play Condition

In Constant->Signal->Hardware setting, Make setting for Input- PLC Through