Posts by OliveRobot

  • Multimove Controller - Missing option files on one of two robot.

    Hello everyone,

    I'm currently working on a Welding cell including two 2600ID robot and a IRBP/R positioner.

    Our Robotware version is on 6.10.03.00 (6.13.03.00 when the comissionning began but we had to downgrade it).

    This cell options include two Bulleyes systems, one for each robot, but the BE files (.sys files and such) are completely missing on robot 2 task (but are actually presents on robot 1). Since there seems to be some hidden files in this option package, i assume this is not a good idea to try to copy the files manually from one task to another, there will certainly be a lot of missing files in it...

    Is there a way to install this particular option only on one of the task (if possible without having to reinstall the whole system)?

    Or does it need to be "activated" somewhere for every tasks that need it?

    I cannot find anything on Robotstudio nor did i find any clues on this topic trough internet searches.

    In advance, thank you very much,

    Olivier.

  • Vision integration, Robotstudio & Cognex Camera - Unable to connect or do any action after configuring the IP and name...

    Hello everyone,

    I'm currently working on a two ABB IRB2600_20_165_C  robots (both on Robotware 6.12.02 version) cell, using Robotstudio 2021.02 (64 bits). On this process i have four Cognex cameras (three on one of the robot controller and the fourth on the second one).

    Both robots and all cameras are "second-hand" devices that our client gave us for this particular project, they were all already used on other cells or for test purposes so i had to reset everything at a factory state before making anything on them.

    After everything was physically connected to the robot controller, i first tried to find them via the Add Sensor option, in the Vision Integration group, to give it a name and an IP-adress but Robotstudio never found any. I gave a try to do the same in in-sight explorer, who did recognize every cameras on the network.

    I took one of the cam, changed her name and IP-Adress that way and came back in Robotstudio to see if something changed, now the camera is on the vision "list" of the corresponding controller with an IP adress but the name is still unrecognized (see attached image 01_VUE_RS_sans_Camera_ds_SIO).

    At this moment i still cannot connect with the camera system so i tried something...

    From a backup of a robot with a similar camera, i tried to create this one manually in the SIO files:

    #

    COM_APP:

    -Name "R02_CAM1_BRCK" -Type "CAMERA" -Trp "TCPIP1"\

    -MAC "00:d0:24:4e:07:a4"

    I loaded the parameters on the controller without any error, after the controller restart, the camera that was present on the controller finally had her name.

    Problem is, i cannot make anything with it but look at the properties, i'm still unable to connect to the camera, despite it being declared on the controller (see attached image 06_VUE_ENSEMBLE_Connexion_NoK where i did a montage of the situation i'm currently in).

    Maybe i didn't used a "classic" method (also this is my very first project involving vision so il don't really know anything about the "classic" method on this) but since i cannot make any connection to the camera trough the software i'm supposed to use to set it up properly, i tried to do it another way...

    I tried numerous time to reset all the parameters on the camera (through in-sight explorer) and try to gain any connection with it on Robotstudio... that also failed.

    Any ideas of what the problem can be? Was the use of in-sight explorer to make that first -partial- configuration an error on my part ?(i heard there can be some incompatibilities between in-sight explorer and the vision integration of Robotstudio)

    In advance, thank you for your help,

    Olivier.

  • ABB Multimove: Launch a Robot B Proc from Robot A main routine?

    Hello everyone,

    The question may seems odd but i prefer to ask, it's always interesting to know the "do" and the "don't" of the robot we are working with after all!

    I'm currently working on a cell containing two ABB robots and a IRBP positionner, using the multimove system, so i have only one teachpendant.

    ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

    When the cell is running in automatic mode, when we aren't yet in production, the robot will stay on a "out-of-production" mode where it will be possible to launch various auto mode maintenance routines (welding torch cleaning, wirecut routine, Bulleyes routines and such...). When i was writing this part of the program (simple TPReadFK and a TEST in wich the robot will loop) i recalled that i only have one teachpendant for all three mech. units, so there is no way i can put the same TPReadFK and TEST on both robot!

    Is there a way to launch a Robot 2 Proc via the main Program of Robot 1?

    I'm currently trying to do it via a "shared" Task containing all the maintenance programs for Robot 1 & 2, but the problem is still the same, can robot 1 mech.unit launch another mech.unit Routine (robot 2 here)?

    As an alternative solution i tought of doing this via variables communicating between robot 1 and 2 but i fear that the TPReadFK will always still displayed on the TP, making any interactions with robot 2 program impossible (maybe by using synchronisations?). :thinking_face:

    As a last possibility, i tought of trying to create a screen dedicated to it on the PLC user interface, but that will be less comfortable for the user...

    Thank in advance for your reply,

    Olivier.

  • ABB: Installing a missing option?

    Quote from Lemster68

    The options which were purchased are encrypted into the keystring which is entered in robotstudio to create the system. I would check with purchasing to make sure that they did buy that option. If so, get ABB to correct that and issue you a new keystring. If not, then you will have to buy the option, and again, they will issue you a new keystring.

    Ok, after a complete doublechecking of the project, it seem that we does use another option that is actually installed in the robot, so finally that option issue is resolved, in some sort! :grinning_face_with_smiling_eyes:

    Anyway, that's always good to know! Thank you very much for your reply Lemster68!

  • ABB: Installing a missing option?

    Hello everybody,

    I'm currently working on the commissioning of a station consisting of two IRB 2600 and a IRBP/R positioner, i'm especially working on the I/O, trying to put the EIO.Cfg in place...

    Arriving to the declaration of the industrial bus, i discover that the bus we use on the machine (Ethernet Ip Anybus) is detected by the robot, but that the corresponding option isn't installed (option 840-1, if i'm not wrong, and when doublechecking in the controller options this one is missing).

    Is there a way to install missing options like this?

    In one of the options menu there is an "add" button but this one cannot be selected, making me wonder if ABB does have some sort of a "securized" mode for more sensitive operations like these (never heard of it if that's the case).

    Do i have to import an external file to do so? Or are they pre-installed and we have to "activate" them (like the system i saw on Yaskawa robot)? Is there a security mode i have to activate in order to do this operation?

    Thank you in advance for your help,

    Olive.

  • USER LADDER: Compiling error when trying to set an GSOUT

    Hello 95devils,

    Thank you very much for your reply!

    So if i understand correctly this #80402 (and #80403 for that matter) are only there to show the current state of the GSOUT, not to be themselves useable as an output.

    Yes, by "security PLC" i meant Safety PLC (SICK modules programmed via Flexisoft), i translated litteraly, my error! About the Safety rating, this is actually not a problem.

    I didn't tought about using the safety func., i already used it to receive signals from external components but didn't think about it for these ones.

    So i programmed both PBESP and PPESP to activate #1 GSOUT[1]. After a "Write" and "Confirm", i wanted to check if it does work properly on the "SLC Signal Display" menu, when i try to activate the P.P Emergency stop GSOUT does not visually change state.

    Do i have to do a specific manipulation to see the state of these outputs?

    Or can i see the state of the GSOut on another Place?

  • USER LADDER: Compiling error when trying to set an GSOUT

    Hello everyone,

    I'm currently working on my very first project on a GP25 robot (YRC1000), so i'm sorta novice on that one and by extension, on that robot brand.

    I was asked by a colleague if i can link at least one of the robot emergency stops to an output connected physically to an security PLC... looking at the electrical plans, i see that a GSOUT (1) is free, and i'm actually trying to do the link via USER LADDER.

    After looking at the "Concurrent IO" document from Yaskawa, i found out three interesting "status signal"...

    #80026: PPESP: Programming Pendant Emergency Stop

    #80027: PBESP: YRC1000 Door Emergency Stop

    #80402: GSOUT(1)

    Below, the lines i wrote on the User ladder section (i'm currently working on MotoSim):

    0000 0000 STR #80026

    0001 OR #80027

    0002 OUT #80402

    When i'm trying to compile that, to see if the GSOUT(1) actually change state after an Emerg.Stop i got the following error "4010: Illegal Relay No.[0]"

    * I tried the same with an STR-NOT in lieu of the STR, or an GSTR but i always got the same error...

    * I tried to do a second rung with the sames conditions but with the OUT on #80403 (since it's an security signal), but the error is still specified on the relay 0.

    * Is there a way to connect both GSOUT channels as an unique OUT on the relay?

    * I also tried to add this as a new rung but always got the same error, and always on the relay[0], and not on the one i added (Relay[29]).

    Is it purely impossible to use theses sort of signals in an User ladder or something? Or do i have to program it with a very specific way?

    Thank in advance for your replies,

    Olivier.

  • When tested in robostudio, CJointT function doesn't return any result...

    Quote from Lemster68

    Check the actual joint values, using the virtual TP, tell us what you see, values or not. What version of RS and Robotware are you using?

    Hello Lemster and thank you, since i found the solution thanks to your reply!

    Your reply made me remember that the positionner axis current value is only visible (on the virtual TP but also by any function) when said axis is activated!

    So i created a little routine that activate every axes, respectively, than write their value on a permanent variable, to be able to keep them at every moment:

    -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

    ! POSITIONS

    ! Robtarget de lecture position actuelle du positionneur

    PERS jointtarget JntT_Ecriture:=[[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9],[9E+9,9E+9,9E+9,9E+9,-39.4161,9E+9]];

    PERS jointtarget JntT_POS_IRBP:=[[0,0,0,0,0,0],[0,0,0,28.7315,89.3431,-39.4161]];

    ...

    ...

    PROC Posi_courante_tab()

    ! Routine d'enregistrement position actuelle table

    ! Lecture axe INTERCHANGE

    ActUnit INTERCH;

    JntT_Ecriture := CJointT (\TaskRef:=T_POS1Id);

    JntT_POS_IRBP.extax.eax_d := JntT_Ecriture.extax.eax_d;

    DeactUnit INTERCH;

    ! Lecture axe STN1

    ActUnit STN1;

    JntT_Ecriture := CJointT (\TaskRef:=T_POS1Id);

    JntT_POS_IRBP.extax.eax_e := JntT_Ecriture.extax.eax_e;

    DeactUnit STN1;

    ! Lecture axe STN2

    ActUnit STN2;

    JntT_Ecriture := CJointT (\TaskRef:=T_POS1Id);

    JntT_POS_IRBP.extax.eax_f := JntT_Ecriture.extax.eax_e;

    DeactUnit STN2;

    ENDPROC

    ...

    ...

    Funnily, the value of the axis STN2 is writed on the eax_e element, normally it should be on eax_f... but i adapted the program accordingly and tried it after putting every axis in a position. As we can see, the jointtarget " JntT_POS_IRBP" now contain the current position of every three axis of my positionner and will keep it until the next time the routine will be read.

    Thank you very much for your help Lemster68!:smiling_face::thumbs_up:

  • When tested in robostudio, CJointT function doesn't return any result...

    Hello everyone,

    I'm currently working on a cell containing two ABB robots and a IRBP positionner, using the multimove system, one of the robot is the master and the IRBP is connected on the same controller, the other robot have his own controller.

    Since i have to control all the movements of the positionner, i have to check often on his current position then see what i have to do according to what the PLC is asking me, and then execute my MoveExtJ...

    After searching on the ABB technical reference manual, i found the CJointT function, the positionner work with the external axes eax_d/eax_e/eax_f and doesn't have any TCP associated so i decided to use this function in my program.

    Excerpt from my program:

    --------------------------------------------------------------------------------------------------------------------------------------

    (Task: T_POS1)

    MODULE MainModule_POS1

    ...

    ...

    ! Jointtarget de lecture position actuelle du positionneur

    PERS jointtarget JntT_POS_IRBP:=[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,0,0,0]];

    ...

    ...

    ...

    !

    PROC main()

    Initialisation;

    Rapp_Mvts_Axes;

    !

    ! Renvoi position actuelle à l'API

    JntT_POS_IRBP := CJointT (\TaskRef:=T_POS1Id);

    IF JntT_POS_IRBP.extax.eax_d=0 THEN

    etc... ...

    --------------------------------------------------------------------------------------------------------------------------------------

    Problem is, when i test it with robotstudio, the jointarget always give me the same result:

    PERS jointtarget JntT_POS_IRBP:=[[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

    I tried to change the argument "\TaskRef:=T_POS1Id" by the "Taskname" argument and tried with "JntT_POS_IRBP := CJointT ();" but the result is the same.


    Does any of you have an idea of the actual problem? Is that a limitation of Robostudio? Did i declare something wrong? Is there something i ignore about how to use this function?

    In advance, thank you very much!

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