Hello,
I need some information please regarding the right way to use the backups.
I have a backup from an old project. Now I have a new project with the same robot and controller IRC 5 and the robot programs should be the same.(trajectories, I/O, everything is a copy.)
If I use restore I will overwrite some specific data for the new robot and may not work properly?
Which file should I load manually from SYSPAR?
To install an option do I use Robotstudio or should be installed by ABB support? (Promia is my option required)
Thank you!
Posts by Casius
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Hello
I have a ABB project with Promia. I have a backup of the robot and I want to check the modules. I can't use system builder in robotstudio because Promia version 50.61 is missing from Media. Can someone help me please with a link to download this option?Maybe some training manual. I have knowledge about ABB robot programing but this Promia is new for me.
Thank you. -
Thank you :)Great help
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Hello
I need some help please. It's possible to hide the buttons for T2 and Aut for user operator when you switch the key?
Can someone offer me some information how to do it?
Thank you! -
Hi
If the robot was moved manually it will be difficult to move the robot in automatic mode to a safety position. Or if was another program loaded.
-In my application I memorized the last position in automatic mode.
-I check this position in the submit interpreter with the actual position of the robot +- 2deg.
-If is not the same position then I ask manually a safety position. The safety position is checked using the axis workspace.
If the program was changed but not moved manually then I cancel the program and start the "Main Program" were I move the robot only from HOME (axis workspace)There is an other way with ON_PATH signal but I haven't used it.
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Hello
You are right Panic, thank you.
I have attached some img of the robot label and the KCP screen. -
Hello
Regarding the restoring of first mastering if it has been lost.
I want to use "Check load mastering with offset (with SEMD)" because I don't want to remove the gripper. But if I select this option I can see only 2 axis: A2 and A5. If I want to reteach the offset for tool (after delete)I can see also the same axis. The robot is fine now but for future collisions this will be a good idea to check the reference.
Have I made something wrong?
I have a second robot but on that one I can see all 5 axis (A6 is with the mark) in the checking.
Robots are KR10 R900 sixx and KRC4 8.3.
Regards, Casius -
Thank you Joan Murt.
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Hello
After we transported the station with 2 robots we got messages with "Perform mastering A.." at first power on.I have to do it with EMD or is an other option like modify a file?
Thank you! -
Thank you Panic,
Are you asking about Force/Torque sensor?
http://www.ati-ia.com/products/ft/sensors.aspx
That situation of collision should not happen only if the operator manipulate the parts. -
Thank you Panic for you answer.
I set the collision detection True using the inline form for each motion.
I tested the program in T1
I deactivated the CD
To calculate the values I ran the program in T2 at 100% 3-4 times. In the manual says that the values are calculated.
I activated the CD on KCP and PLC.
And then I created the collision test using T2, only 30% velocity to have time for reaction.
I read that CD also works in T2.
When I ran the program, in the CD windows there was a green square for TM.
And is to late to use a sensor...
I will try with ext mode maybe it will be a difference -
Controller KRC 4-8.3.14
Robot KR 10 R900 sixx -
Hello,
I need some help please with collision detection.
I have an application to manipulate a part. If you take a look at images you will understand my problem.
The pin should enter inside the "channel"(I don'tknow the word in english).This is the motion to that position, is around 1,5 cm long.
;FOLD LIN CH_120 Vel=0.05 m/s H Tool[12]:Gripper_CH_Full Base[0] CD;%{PE}%R 8.3.32,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:CH_120, 3:, 5:0.05, 7:H
$BWDSTART=FALSE
LDAT_ACT=LH
FDAT_ACT=FCH_120
BAS(#CP_PARAMS,0.05)
TQM_FIFO_READ(TM3)
TRIGGER WHEN DISTANCE=0 DELAY=0 DO iTQM_TRIGGERID=3
TRIGGER WHEN DISTANCE=0 DELAY=0 DO TQM_START_MON(TM3) PRIO = -1
TRIGGER WHEN DISTANCE=1 DELAY=0 DO TQM_SWAP_VALUES(TM3) PRIO = -1
LIN XCH_120
;ENDFOLDDECL TQM_TQDAT_T TM3={T11 7,T12 17,T13 11,T14 26,T15 55,T16 26,T21 2872,T22 4392,T23 1726,T24 1241,T25 2214,T26 2656,K1 303,K2 301,K3 305,K4 305,K5 319,K6 314,O1 5,O2 5,ID 3,OVM 30,TMF 1.00000}
Using the KCP ,I modified the torgue and impact at 5.
The controller doesn't react with collision but after 60 sec I got the message "Current overload after 60sec (A5). (HoldingCurrent)". $torg_diff[5]=75. I tried in T2, 30% velocity.
I want to detect the rotation of pin with collision detection and to stop the process.
THank you! -
Thank you!
Yes there is an option in Safety Control to select the Operator Safety Ack. By default was "by external unit." -
Hello
We have a KRC4 V8.3 with compact controller and X11 for safety circuit. Our electrician wired the X11 connector with an acknowledged button to confirm that the doors are closed.
The problem is that the robot starts to run immediately as the doors were closed and it's not necessary to push the button.
In the PLC we confirm all the stop messages on the controller every 500ms . It's this the reason? Is there a software option for this acknowledment?
Thank you! -
Thank you RS!
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Hello,
It's possible to stop the operator to teach points and select blocks in T1?
Thank you! -
Hello
In the sps you cand write this to call/cancel/reset/stop your program. You shoud check if the submit interpreter is running and make the tool logic there.; START THE MAIN PROGRAMME FROM PLC
IF(CMD_STARTMAIN AND ($PRO_STATE1 == #P_FREE)) THEN
CWRITE($CMD,STAT,MODE,"RUN /R1/MAIN()")
ENDIF
; STOP THE CURRENT PROGRAMME FROM PLC
IF (CMD_STOP AND ($PRO_STATE1 == #P_ACTIVE)) THEN
CWRITE($CMD,STAT,MODE,"STOP 1")
ENDIF
; CANCEL THE CURRENT PROGRAMME FROM PLC
IF(CMD_CANCEL AND ($PRO_STATE1 <> #P_FREE)) THEN
SWITCH $PRO_STATE1
CASE #P_STOP,#P_END,#P_RESET
CWRITE($CMD,STAT,MODE,"CANCEL 1")
DEFAULT
CWRITE($CMD,STAT,MODE,"STOP 1")
ENDSWITCH
ENDIF
; RESET THE CURRENT PROGRAMME FROM PLC
IF(CMD_RESET AND ($PRO_STATE1 <> #P_FREE)) THEN
SWITCH $PRO_STATE1
CASE #P_STOP,#P_END
CWRITE($CMD,STAT,MODE,"RESET 1")
DEFAULT
CWRITE($CMD,STAT,MODE,"STOP 1")
ENDSWITCH
ENDIF -
Hello
I used the function SET_TQ_VALUES(25,25,25,25,25,25) and I had problems in T2 when the torques values were 25. At 80% was ok but at 100% the robot didn't stop. Are the brakes affected if i change the Torqmon[1..6]?
I deleted that function and I tryed 10 times and the movements were ok.
Thank you -
Hello
I need please some informations about torque in external mode.
Does this function SET_TQ_VALUES (15,15,15,15,15,15) needs to be called in all subprograms? Because if I display the $TORQMON[1] is 0.
I need to stop the robot if the torque change. I have slow liniar motion and I don't want to bend some metalic pins on the part.
I need low torques variation, does 15 represents 15% above nominal torque? Can I start from 1 and increase this values?
And also I need some global home points and I can't use collision detection.
Thank you