Have you tried to replace TP cable?
Posts by andreic
-
-
Socket Messaging, Profibus, Profinet are only a few.
-
EDCMD -> Comment from any TP program.
-
Menu - System -> Variables.
Look for $SHELL_CFG and $SHELL_NAME, enter there your program name there.
After that make $SHELL_WRK -> $KAREL_SOP to true.
Do a cold start after that.
Add WRITE instructions to debug your program. -
Try add it to shell. But it will run non-stop.
-
What type of PLC and what type of robot?
-
Glad to hear that you have solved the problems.
-
HawkME, and what happens when somebody will stop bglogic?
-
Maybe use an USB password file? And setup custom password levels to fully protect DO's?
Or shell + password protect system variables (to not be able to stop shell).
-
I don't know, sorry. Maybe you can check TBOP3-TBOP06 on the e-stop board. Somewhere there it should be a jumper, i think. But I am really not sure.
-
Hello, Can you attach the drawing? I want to try it in Roboguide, because I am also interested in CAD to Path generation.
-
Yes, you cannot move the robot until the e-stop error is cleared.
-
Hello,
Can you elaborate? Do you mean turning the DO manually from the DO screen on the TP? Why bglogic is not possible or even interconnect? The DO will be turned to the necessary state, even if somebody wants to change it.
-
Hello,
So first of all welcome into the world of industrial robots :).
To reset Pulse not established (SERVO-075) you need to move the robot in Joint more than one motor rotation. Go to -50 to +50 on each axis to be sure, even more if you can, so that pulse coders can establish a position.
To move the robot you must do:
1. Press gently the Deadman switch and keep it pressed.
2. Press Shift and keep it pressed.
3. Press one time reset.
4. Press on the axis and direction button (+J1, -J1 etc.) you want to move the robot.For SERVO-160 check the controller's E-STOP or it can be that the previous owner had an DI for external e-stop.
-
It is possible, as I've done it.
-
Depends on what you want to achieve. Make your robot the client and the other application the server.
First you have to define SM from Menu-> Setup -> HostComm.
Then I would try, if you are familiar with some programming language, for example Java to run a server: http://edn.embarcadero.com/article/31995
I've attached you some code for the Karel part (yes you will need Karel).
Please note that the code itself is a trial and error made by me trying to learn SM from the manual. Yet I do not have time to check it if it works or not (It was working at some point with Karel in Roboguide and PHP on a remote linux server.Karel Code:
ROGRAM sockMsg
%STACKSIZE = 4000
%NOLOCKGROUP
%NOPAUSE=ERROR+COMMAND+TPENABLE
%ENVIRONMENT uif
%ENVIRONMENT sysdef
%ENVIRONMENT memo
%ENVIRONMENT kclop
%ENVIRONMENT bynam
%ENVIRONMENT fdev
%ENVIRONMENT flbt
%ENVIRONMENT regope
%INCLUDE klevccdf
%INCLUDE klevkeys
%INCLUDE klevkmsk
---------------------------------------------------------------------------------------------
VAR
file_var : FILE
tmp_int : INTEGER
tmp_str : STRING[128]
STATUS : INTEGER
entry : INTEGER
loop1 : BOOLEAN
reg1, r1IntVal: INTEGER
r1Type, run: BOOLEAN
r1RealVal: REAL
STATUS2: INTEGER
numReg: ARRAY [200] OF INTEGER
checkReg: ARRAY [200] OF BOOLEAN
realReg: ARRAY [200] OF REAL
i,j: INTEGER
BEGIN
SET_FILE_ATR(file_var, ATR_IA)
SET_VAR(entry, '*SYSTEM*','$HOSTS_CFG[3].$SERVER_PORT', 5000, STATUS)
-- Connect the tag
WRITE('Connecting..',CR)
MSG_CONNECT('C3:',STATUS)
WRITE(' CONNECT STATUS =',STATUS,CR)
loop1 = TRUE
IF STATUS = 0 THEN
WHILE loop1 = TRUE DO
WRITE('Opening FILE..',CR)
OPEN FILE file_var('rw','C3:')
STATUS = IO_STATUS(file_var)
IF STATUS = 0 THEN
FOR j=1 TO 1 DO
FOR i=1 TO 200 DO
tmp_str ='0123456789012345'
-- CNV_INT_STR(source, length, base, target)
-- GET_REG(register_no, real_flag, int_value, real_value, status)
GET_REG(i,checkReg[i],numReg[i],realReg[i],STATUS2)
CNV_INT_STR(numReg[i],1,10,tmp_str)
WRITE file_var(tmp_str::10)
WRITE('Wrote 126 Bytes',CR)
ENDFOR
ENDFOR
loop1 = FALSE;
WRITE('Closed FILE',CR)
CLOSE FILE file_var
ELSE
WRITE('ERROR Opening FILE',CR)
loop1 = FALSE
ENDIF
ENDWHILE
WRITE('Disconnecting..',CR)
MSG_DISCO('C3:',STATUS)
WRITE('Done.',CR)
ENDIF
END sockMSG -
You mean Socket Messaging? Yes, it is possible to do communication using Socket Messaging from Roboguide to another application.
-
Maybe you can use Roboguide and a drawing to generate the path? You also must have accurate userframes / utools definition to be able to do it.
-
Sergei, why not? If it's the same type of controller, robot and for the same type of application? You have sysmast for mastering data.
-
You can load system files only in Controlled Start. To enter in controlled start, turn off the controller, press PREV + NEXT (keep it pressed), turn on the controller and choose Controlled start. Then you can load the file. After you're done press FCTN and cold start.
To do it in Roboguide go to Robot -> Restart -> Controlled start