Posts by Plc_User

The call of the declaration of the world zones, should it be done in the eventroutine 'Power on', or are other events also possible?
It concerns IRC5, rw6.

I have some signals configured as analog input that come from Profinet communication sent by Siemens PLC.
I have filled in a default value different from 0.
When connection is ok, value of f.i. 56 is sent and received ok in the robot.
When I pull out the profinet cable I get value 0 in the robot.
What is the default value then used for?
How can I achieve that the default value is used when the connection is down?

Thanks.

We have tool that is rather long and is mounted on on the robot flange with a rotation on x and y axis (see picture).
We received cad data of the gripper, so we could find the coordinates for the tcp.
However I am afraid that in practice there will be multiple tolerances, so the cad data might not give the exact physical tcp.
The most important is that the tool arm is vertical towards x- and y-as (as in the picture).
If it would be that in practice I have to corrigate to have a perfect vertical position of the gripper, what procedure could I do?
I know there is a tool configuration procedure with multiple positions while the tcp position stays the same.
But are there other ideas for if f.i. the rotation along the x-as has to be adjust to achieve perfect vertical position?

Do you mean if I connect the robot by the Serviceport to a VPN connection that I don't need the 'Pc interface' for remote (by the internet) monitoring and changing of the program in the robot?

Our robot will be connected on a large plantnetwork together with plc's and other devices. The customer will give us remote acces to login to that network.
That means we need a separate network to connect the service port or lan, and also need remote connection to that separate network?

I am used to always connect to IRC5 by the service port.
Now I should want to connect by the Profinet device interface (also for remote connection).
I cannot see the controller from robotstudio when it is connected to the profinet interface.
Is there a special procedure or settings necessary to connect by the Profinet interface?

I have a KRC4 8.3.34.
Is there a system variable that tells that the robot has come to its endpoint of a movement?
For instance if a PTP P1 was initated, the system variable should come high when the robot has stopped in P1.
If it stops somewhere before P1, the variable should still be low (although the robot may be on path).
We would send the status bit to a connected plc.
Or is there a workaround to achieve this status information?

I am interrested in the statement that analog inputs could overload the system processing them.
In my case I would read in the analog inputs (integers that come from Profinet) in the normal robotcycle (not background) at some point the cycle.
It comprises some 20 analog inputs. Must I be afraid that going through these 20 analog inputs would cause a very large processing time?

I have an IRC5 rw6 Robot, without the option 'multitasking'.
It is connected to a Siemens Plc by profinet.
A bit that is send from the plc to the robot will be set high.
On the high level I will execute a trap routine in the robot execute some code.
I also want a handschake to the plc that the bit is received : this bit sent from robot to plc
and is set high as long as the commandbit from the plc is high, and goes low again when the command bit goes low.
Can I be absolutely sure that for every acknowledge I give, that there is alway a trap excecuted?
Or is evaluation of DI's to generate interrupts (to which my trap is connected) executed in the same cycle as the crossconnections are processed?

Ok, Thanks

If I have IRC5 connected as Profinet device to Siemens S7 plc, and a bit in the receive area for the IRC5 is always set high from
the code of the S7 plc. When the Profinet cable is unplugged, will it have value 0 (or default value)?
I would use this for check if communication with S7 plc is still ok.

Ok, Thanks.
Yes the byte swapping between Siemens Plc and IRC5 should be big-little indean.
If i configure my sigals as you said : 15-0, and then I send f.i. -800 to the robot (or the other way around),
will these negative values be possible without further conversion?
Is the solution with the configuration of the input integers as analog input (in spite of group inputs) also
a possibility (to avoid problems with byte swapping and negative values)?

How can I 'reset' my IRC5 robotprogram from a digital input?
I mean what I normally do manually on the teachpendant : setting the program pointer to main.
Before I may be in the situation that the program pointer is gone (f.i. after download from Robotstudio) or it is present but I want to restart it from the beginning of the main routine?

I have a very long tool that preferebly is always in horizontal direction.
I see when executing MoveL from point 1 to point 2 where both points have a horizontal direction, that during the path the tool stays horizontal.
If I use MoveJ it does not stay horizontal (of course it will be in start and end point).
Is there a way to use MoveJ and keeping the orientation of the tool the same as startpoint or endpoint during the path?

I have read somewhere that sending negative values to group input output is a problem, and that configuring the signal as analog input output is a solution for this.

If I want to sent 16 bit integers (-32768 to 32768) to and from a Siemens S7 1500 plc, and I configure them on the IRC5 side as analog input resp. output, will I need to do bytswapping on the Siemens side?
If my communication would only consist of consecutive booleans, will in that case swapping be necessary on the Siemens side?

As you can see in the screenshot, it seems rw6 is installed.
But no gsd to find.

I do not have this directory on my pc (Windows10).
I searched the whole C-drive for gsd-files, but did not found any ABB gsd-files.
Is there a download portal from ABB?

No ideas?

I could solve it by crossconnections.
It seems able to write to the profinet internal digital inputs by an output with the cossconnection mechanism.
This solves my simulation isue.