Posts by mil3k

Mate, don't start every sentence with KUKA. These guys over here are more patient than PanicMode from KUKA corner of this forum, but you may piss them off and they won't help you.
It's Yaskawa and everything yo know about KUKA wont work over here. Motoman robots don't run on industrial PC with Windows or Linux but on dedicated hardware with it's own firmware.

The main way to program these robots is a teach pendant. So, find the missing one, read the manuals, befriend your local Yaskawa representative to help you fix it... And enjoy of fun with this little MH20.

Why do you want to edit program on the pendant? Every time I will choose a pain in the ass than edit on Staubli's PT. From my experience it is second worst TP, just before Mitsubishi R32.

You have a SRS use it to edit the program and then debug on the target. It means that you will edit program on the PC and run it on the robot. After you finish the program you may transfer it to the robots memory and run it from the TP.

Here is a white paper document form Staubli explaining how to setup different protocol fieldbus.

Bobsmith Did you concert to use vision sensors like Keyence IV series? It is simplified system which you teach with a nominal feature and then every time it detects the feature you have high signal on DI or network protocol.

Quote

GETPOS PX010 STEP#(1) " I have PX010 defined in the variables table. This step is meant to copy current position of the turntable & Robot and save it into PX010.

PX010 will store robot axes in P010 and station axes in EX010. When you call the move you need to use both of them. Here is an example with local position and external axis position variables. In this case we used aliases (LP_, LBP_):
MOVL LP_RobSafeApp LBP_TmpRailPos V=1600.0 PL=8 ACC=20

You didn't show the code inside the rotation-180 job. The error may be, if you have something like this:

+MOVJ E000 VJ=5 " this is where the table should rotate for 180° "

instead of that:

+MOVJ E010 VJ=5 " this is where the table should rotate for 180° "

inside the called job.

Why do you want to use PLC in the middle between Keyence (which one?) and robot? Ask your Keyence support for all manuals for your vision system and read them. Keyence vision systems CV-X and XG-X both can control robots as slaves as long as you run provided solution.

I hope your camera is not IV series, as these are not vision systems but vision sensors and can not give you coordinates.

Go to Variables/Single type $ADVANCE to see how many steps ahead controller read. Then run the program at slow speed and watch if this parameter is not changed to 0.

Learn the command CONTINUE and how to use it.

btw.: Before panic mode tell you off, paste a snippet of your program so we can understand better.

Has anyone bought any robots from this company? https://www.jcctauto.com

I'm wondering, if is legit company, but I don't have any experience with direct import from China to the UK industrial equipment.

Why don't you read whole byte from in8 and use that number as a CASE number in SELECT CASE command?

"Read value from input 8 to 15

mCase=M_In8(8)

'Use read value to 

Select mCase

case 8

'Box1 routine 

break

case 16

'Box2 routine 

break

case 32

'Box3 routine 

break

default

'Bloody hell mate! Something went wrong... CALL FOR HELP :)

break

End Select

csabizalan I was going to suggest very similar solution.

Woebot You can create a job exactly as csabizalan suggested and use it as a storage of positions which you can call from your main job with a parameter pointing to the step# with position you are interested.

Let me use csabizalan's example:

//name:PointJob

0000 NOP

0001 Jump *LABEL

0002

0003 0001 MOVJ VJ=100.00 PL=0

0004

0005 *LABEL

0006 GETARG LI000 IARG#(1) //Store first argument to first local integer variable

0007 GETPOS LPX000 STEP#(LI000)

0008 CNVRT PX000 LPX000 UF#(1) TL#(1) //You can use local variable instead of (1) and control with call parameters: 2 and 3

0009 END

From the top bar turn on display step number for better visibility. You can have up to 999 steps.

Create at least one local Integer variable to make GETARG# instruction available in the Instruction List and to store the call parameter.

Store your positions between Jump*LABEL and *LABEL, (I suggest to turn on line comment for each point).

Create main job where you will call PointsJob.jbl from:

Switch I000 (or Alias)

CASE 1

SET LI000 1

CASE 2

SET LI000 2 //Step# were the point is stored

SET LI001 1 //UF# for converting to

...

DEFAULT

MSG: Something went wrong, mate!

PAUSE

ENDSWITCH

CALL JOB: PointJob (LI000) or CALL JOB: PointJob (LI000,LI001) //You can use up to 8 arguments.

Unfortunately, the number of steps and they order must be under strict control and can not be removed without messing steps with higher numbers. To make life easier I suggest to use as step 1 HOME position and use 1 as call argument set in CASE which point you want to delete.

In other words, when you open CIO.PRG and search for the input you want to use check if it is linked with command STR or GSTR:

STR #20010

OUT #30010

or

GSTR #20010

GOUT #30010

The first example links one bit of EXT input #20010 to EXT output #30010

The second one links one byte () of EXT inputs #20010 to #20017 to EXT output #30010 to #30017

Bits #xxxx8 and xxxx9 doesn't exist in Yaskawa robots, so the next group (byte) starts from #xxx20

There is BMOV instruction on a top of that, to link bigger number of I/O in one go.

STR #70017

BMOV #20010,297,#30010

Auxiliary relay #70017 is used by system as a marker of "CONTROL POWER ON COMPLETED (NORMALITY ON)". System powered up without problems.

BMOV instruction is an output and something must be used as an input. #70017 in the example it is used for that purpose.

So the example means:

"If Control Power On is completed without problems then link (map) 297 consecutive bytes of external inputs from #20010 to consecutive external outputs starting from #30010"

Fantastic!!! It works.

Hi all,

I used to edit names of inputs and outputs to custom in this file. This time I follow the same way as usual, open the file and to my surprise instead of indent or semi indent file I had one line with 33289 characters.

I compared the file with another one I created few months ago. The same hardware Staubli D24403000 and D24403100 v0.18. The old one was in readable, indent format. Meanwhile between last time and now I updated SRS2019 to 2019.11.1 version.

Did Staubli change a format of j206_SyCon_ENI.xml file from indent to one line?

Does anyone have similar experience and found out work around?

Will Staubli ever figure it out that change signal names to something meaningful (as per Profinet setting up process) is common practice for some users?

BR

mil3k

Quote from samu1995

Good morning everyone, I have a Scara TS2-40 and I need to raise a signal when I pass over an inspection camera so that it can take a photo of the object being taken. How could I implement this function? My idea was to create a frame above the camera and then with the here() function calculate the position of the tool with respect to this frame. Do you have other ideas for realizing this function? Is there any function you can pass me on for example that creates a cube? Is there anything ready-made in the robot's functionality?

A greeting.

samu1995 Search Staubli technical database for below example:

"Monitoring the robot position in regards to an area"

Robot's BF frame is not the same as cameras BF frame.

If the camera is mounted on robot's flange than robots TF is cameras BF but you still need to calibrate camera to your tool. The controller can not convert offsets from camera if it doesn't know where it is in space in relation to robot's BF.

Check iCube documentation how set camera to robot.

Quote from Galet

You don't have the new functionalities Consumer and Feeder on SRS2019.

The solution is to create, on SRS, a second (and invisible :)) robot to move the part.

To peek (and place) the part, you can use the gripper's functionalities standard.

Have a nice day...

Invisible robot is exactly the solution I use at the moment to simulate answers from PLC.

Quote from Galet

The question is "What do you want realise ?", What type of Visual Component ?

Visual Components was an example only. I would love to use VC for my own benefits, but financial controllers are thick like a wood that I gave up on trying to convince them.

My main goal is to build a proof of concept for virtual commissioning of stand alone robot cell. Off course without a budget.

I have access to few OEM offline software packages and want to use combo of ROS and Gazebo or Unity with them to visualize the cell.

Quote from Galet

Hello mil3K,

There is different connection ti communicate with a robot (Soket, Opc server or Ua, Fieldbus...)

At the moment it doesn't matter that much to me the method of communication as long as it works.

I know there is OPC/UA server licence as plugin for SRS, but following this route I would prefer to use client on SRS and connect to external OPC/UA server run on another device.

Socket I never use it and don't understand how to use it, but one of my colleagues is very willing to write some "coupling gate" using APIs. I'm assuming that he would be willing to use it.

Fieldbus, especially ProfiNet would be my choice as this is the protocol we use in most of our machines.

Quote from Galet

Can you give us the link to your video ?

Have a nice day...

Here is one of examples: Offline Programming Staubli CS8 with VC4.1

Hi all,

I saw a video with SRS communicating with Visual Components and it was made by VC, and focus on setting up a plugin on VC side. I'm wondering how to do the same but with software or hardware PLC (preferable Siemens). What licence or plugin I need from Staubli to do it?

Unfortunately my SRS key is for 2019 only and I can't use 2022 atm. I must order new one when the next job with Staubli robots land on my desk.

I watched this tutorials many times, mostly after swear a lot on Staubli.

The video you suggested is not exactly what I was asking about, but it gave me an idea. On the video signals from the gripper are used to tell if the gripper is open or closed (at least that what I get from it).

I'm wondering what would happen if I add another behaviour and connect it status to virtual signal?