Hello,
Help me please with this info. I want to set an output to PLC if the TCP is inside a workspace or if the axis configuration is correct. Do I need to buy an option to do this or it's standard and everything is programming?
Thank you!
Posts by Casius
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Hello,
Thank you gentlemen for this information. It is helpfully. -
Hello,
It's possible to read a numeric variable (integer) from Rapid using a PLC Siemens? And to send from PLC back to Rapid. I have IRC5 controller.
Thank you! -
Hello,
You can try this:
You need to connect a interrupt with a TRAP.
Use the trap at event, START, RESTARTStopMove\Quick; \\stops the robot on the path as fast as possible
ClearPath;\\clears the whole motion path on the current motion path level
StartMove; \\restarts robot movement
MoveJ p10, v200, z20, gripper; \\ your next point
ExitCycle; breaks the current cycle and moves the PP back to the first instruction in the main routine or the last routine in which you moved the PP -
Hello, I'm trying to move robot at home in AUTO. I want to compare the last position in auto with the position if someone moves the robot in manual mode.
How can I save that last position in AUTO?
To save in manual mode I use this:
IF OpMode()=OP_MAN_PROG AND MechUnitNotMoving=1
pTemp:=CJointT();How can I save the position in AUTO before they switch to manual mode? I don't to save that position if they switch to auto and robot does'nt move.
I have multitasking option.
Does someone knew a better idea?
Thank you! -
Thank you, it's working better now.
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Hello,
I have some short distances to move, 20-30 cm between points with zone 50. The TCP'speed I use is 1000 mm but I think it will never reach it. The problem is that the structure on which the robot is attached is vibrating when the robot moves to some points or when it stops. It's possible to control those vibrations by reducing the accelerations or to use a lower speed? Most of the instructions are MoveJ or MoveAbs and the robot is IRB2600.
Thank you! -
Hello,
I need some help please. I have read the documentation and I need a confirmation about how are the signals connected from the gripper to controller. The robot is IRB2600 and single IRC5 controller. I have to use 16 digital I/O.
Do I have to connect the wires signals from sensors to R2.CP or R2CS? And this contacts communicate with R1.CP/CS? and then with XS5?
Which will be the mapping address for in software?
Thank you! -
Hello,
I need to run a background task(or routine). To write a code that set and output when the robot is in manual mode and I got an input from plc. It's possible?
Thank you!
I have IRC5 and IRB2600 with the multitasking option. -
Thank you Levotan,
The robot is IRB2600-20/1.65 and the IRC5 Single Cabinet. For the moment I'm working offline. -
Hello,
I need some ideas to change the gripper states from the FlexPendant. I don't have ScreenMaker and I need to use only the keys. I will use 2 keys to open/close 2 grippers with fingers but the problem is that I have 2 more vacuum generators with Vacuum ON_OFF /Eject ON_OFF states.
My idea is to use the PLC Master to manage the generators states using 1 signal from the robot.
It's possible to have inside the robot controller some programs that run in background and to use them in manual mode?
Please give me some better ideas because I'm new with Abb software.
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Thank you very much! I will try.
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Hello,
I don't have so much experience with Plc programming and I have a small project with an Abb robot, pick/place operations. For communication I will use direct signals 8Inputs/8Qutputs , not with profibus or other protocols. It's possible to limit the robot speed from the Plc, lets say 50%? Or maybe someone can help me with a sample program or blocks. The robot is IRB1600, IRC5 compact
Thanks! -
Thanks,
It's strange. I changed the velocity in the inline form but in .dat file is the same. I tried on many robots with software 8.2. -
DECL LDAT LCPDAT9={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0,EXAX_IGN 0}
What is VEL=2.0?, I now that isn't the programmed speed of motion.
Thanks! -
No. I will try to make a picture. Thank you.
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Thank you for your answer. It's very much appreciated.
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Hello,
To improve the cycle time how many axes I should move?
An example so you can understand what I'm asking:DECL GLOBAL E6AXIS XP1={A1 0.0, A2 -90.0, A3 90.10, A4 10.0, A5 0.0, A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL GLOBAL E6AXIS XP2={A1 1.0, A2 -90.0, A3 98.30, A4 11.110, A5 1.5, A6 2.2,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL GLOBAL E6AXIS XP3={A1 97.1, A2 -90.0, A3 105.1, A4 12.0, A5 0.0, A6 60.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL GLOBAL E6AXIS XP4={A1 100.0, A2 -90.0, A3 120.0, A4 90.0, A5 45.0, A6 90.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}Someone told me that I should move maximum 3 axes. But my real points are in Cartesian system and it's difficult. The robot will be slower if I move an axis 2 or 20 degrees in the good direction?
Thank you!
https://www.robot-forum.com/robotforum/Smi…forum/merci.gif -
Hello,
Thank you for replies!Robot model: KR210R3100ultra
KRC V8.2.17
The error: KSS01422 {$variable} value invalidKuka options:
GRIPPER-&SPOTTECH
KRMSGNET
KUKA.CPC
LOADDATADETERMINATION
PROFINET KRC-NEXXT
ROBOTSETUPMANAGER
ROBOTSETUPMANAGER
SAFEOPCRC
SAFEOPERATION
USERTECHAnd I make simple handling operation.
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Hello,
Sometimes when I run a program in T1 I get this error "ID value invalid" and I have to select a block to start again. I tried to clear data list but doesn't works every time.
I'm looking forward for an answer.
Thank you!