Hi All,
Does anyone know the name of the system variable were the UI Enable/ Disable state is stored in a RJ30ic? The reason I ask is because I want to return this value back to the PLC through BGLogic mapping it to a DO. Thanks in advance!
Hi All,
Does anyone know the name of the system variable were the UI Enable/ Disable state is stored in a RJ30ic? The reason I ask is because I want to return this value back to the PLC through BGLogic mapping it to a DO. Thanks in advance!
Thanks JP. I actually just found the issue. It turned out to be PLC logic. I was sending a new job number and cycle start signal before the home job was complete...
Hi All,
I have four robots in a cell all working on the same work piece. When the work piece enters the station I call a program called 'INSERT'. When one of the robots faults, I send a HOLD signal to all the other robots. Now, when I send the signal to a robot that is currently in a HOLD state to go home, it goes home but does not run through all the code. I have a DO pulse for 5sec at the end of the home program and it does not turn on. Immediately after the robot reaches the home position it runs the insert program again. Does anyone have any ideas on how to stop the 'INSERT' program from running again after I home the robot???
Yes, sorry you are right.
3: ;
4: !step mode to PLC ;
5: DO[23:Step Mode]=($SSR.$singlestep) ;
6: ;
Here is a line out of one of my BGlogic programs. Works great.
: GO[3:shelf_num_remove_ack]=R[10:shelf_num_remove] ;
If you use BGLogic to transfer critical information I would also recommend setting up a heartbeat signal from the PLC and echoing it in your BGLogic program:
18: ;
19: R[15]=DI[84:BGLogic_Heartbeat] ;
20: DO[84:BGLogic_Heartbeat]=R[15] ;
21: ;
You cannot map two ref positions to the same DO in the robot. However, you can map two inputs in the PLC to the same OTE or OTL, OTU. Set up two ref positions, one called 'Home' and one called 'Cap Clean'. This way you can differentiate in the future if you want the ability to do so. For now, it seems like you want them to both trigger the same output which is easily accomplished in the PLC.
P.S. I would not set outputs throughout a program to assume the position of the robot. Either use reference positions or make a subroutine to check joint angles and determine the robots current position.
Regardless, like it has been said before, it is not an option, the robot must be faulted when that door is opened. This door must be wired through the robot safety circuit.
Does your line work with multiple unique work pieces or only one? If only one, I would suggest setting up DCS to avoid any collisions while you test different recovery methods. Here is a program flow that I use to recover a 2000iB 210F that replaces 400lb pallets on our line to and from storage racks:
1. Write all joint angles to PRs
2. Call subroutine that checks all joint angles +- tolerance against taught (PRs) storage shelf positions and conveyor position
3. If robot is near a shelf or conveyor, either lift the pallet or lower the pallet based on what the last running automatic operation was
4. Write current world coordinates to PRs
5. If the TCP is around a shelf or the conveyor pull the tool back in tool Z direction by 10mm increments until the TCP is in a safe area (move/check pos loop)
6. Go to the nearest pounce position based on joint 1 pos.
I hope this makes sense. Be creative
Hello All,
I do not have the interference check option installed yet, however, I have four robots all working within reach of each other and I want to avoid collisions between robots. I am researching the interference check option and I am wondering if, when I set up an interference zone between a robot pair, if one robot is in the zone, is the other robot not allowed to enter that zone? Or, when a robot is in that zone does it just enable monitoring to ensure that the robots do not collide in that zone? If two robots are simply not allowed in the same zone, this option is moot because you can accomplish the same thing using the Space Function. I have also heard rumours that you can use DCS to avoid robot pairs colliding but this makes no sense to me. Thanks in advance!
Well put Chipprogr, and great suggestion. Better yet, why not get someone to help (or do it yourself if capable) install a push button right next to the door that sends a hold command to the robot via PLC. Call it an access request button. This, along with an Electromechanically locking door switch is a great setup that I work with daily.
Hi All,
Does anyone here know if it is possible to create an Image Backup by executing certain Karel or TP code for that matter? I have my doubts due to the fact that normally this operation can only be completed through BMON. Thanks in advance!
I was able to use the code:
COPY_FILE('MD:numreg.va','UT1:numreg.va',TRUE,FALSE,STATUS)
Thanks again. OLCPro doesn't complain about using UT1
Thank you very much! I will try this code this afternoon.
UT1 ? shouldn't that be UD1 ?
UD1 is the port on the controller. My procedure will require the tech' to use the port on the teach pendant (UT1:)
Hello All,
Perhaps someone here can help me with the correct syntax I am looking for. I have a TP program that I have made to test the min and max torque values of each axis (preventative maintenance). At the end of this program I want to call a Karel program to copy the file 'Numreg.va' to the USB stick in the TP. I am used to KCL commands from working with some old P150s and reading through the R-30iA manual, it seems I would be able to get away with the simple code below in a .kl file but OLPCPro does not seem to like the syntax:
PROGRAM copynumreg
BEGIN
KCL>COPY MD:NUMREG.VA TO UT1:
END copynumreg