Hey
My Best guess is that the problem is with some failing part.
Do you get any other errors with the robot ?
Hey
My Best guess is that the problem is with some failing part.
Do you get any other errors with the robot ?
i have s4c so i looked into it , and should be under misc-system parameters -teach pendant -types
thats because they are not connected to any hardware, DI is like a response from hardware that its active.
You should use DO signals and program your keys to work in automod.
SYSSIG_IN:
-Signal "di_2_sensor_stop" -Action "Stop"-its value will change when sensor activates on collision.then it will stop the robot. and i tried to activate it by useing shortcut key , didnt work.
as the main user you have to change the permissions then restart. that would be my first guess.
well first check if they are Push to activate or Hold to activate.
second are the signals marked Digital Input(DI) or Digital Output(DO).
okei i looked into this little more.
well first you need to have DO signal and DI signal. DI signal has to be connected/programed to some action( sensors or something) DO has to be programed to the same action.
well easiest way to explain is just to show you.
MoveL * v1000,fine,tool;
SetDo do_vacuum,1;----- DO signal that turns vacuum action on
IF di_vacuum_ok=1 THEN---DI signal that confirms that the vacuum was turned on
MoveL *v1000,z,tool-move to work station
ELSE
MoveJ Home v1000,z,tool----DI signal was 0(low) moved home position.
and for the last i tried it out and i got to say i dont think it ist possible to program shortcut keys for motion. and if they are then i dont see away you can run the program in automod couse when the check up line comes up it will just pass that line if the DO action isnt turned on.
maybe there is a way but im guessing its so much work that its not worth it.
hey !
got IRB6400 myself , do you get any error message or something?
maybe you can take a picture of the screen or something so i could see whats happening. cause its kinda hard to think of anything right now.
MD.
well dont know much about that but i think you may get some help from here
http://www05.abb.com/global/scot/sc…2576cb00528fdd/$file/3HAC026552-001_revE_en.pdf
start at page 30 that will explain you where to connect what. CS is customer signals and CP is customer power. so for signals im guessing R2CS
yeah SharplesR is right just add new signal into EIO file.
yes it has worked before and i did get it working again, just used ConfL/Off not ConfL/On.
I keep getting this 50080 Error , something about that cant move to target location or something .
maybe there is something wrong with my robtargets.. not sure
Location of the unloading pallet.
CONST robtarget lava_5_ylhaalla:=[[1578.28,282.49,1864.94],[0.032404,0.466071,0.883973,0.017889],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
Lowest point it will search for the pallet
CONST robtarget lava_5_stop:=[[1578.28,282.49,270.6],[0.03149,0.46519,0.88453,0.0144],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
and this is the searching program.
MoveJ [[1578.28,282.49,1864.94],[0.032404,0.466071,0.883973,0.017889],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v1000,z50,tool130;
ConfL\On;
IF Suorita_L5_haku=1 THEN
MoveL Offs(lava_5_ylhaalla,L5_x,L5_y,L5_z),v500,fine,tool130;
SearchL\Stop,di_1_anturi_haku\Flanks,lava_5_jatto,Offs(lava_5_stop,L5_x,L5_y,L5_z),v50,tool130;
SetDO do_9_alipaine,0;
PulseDO\PLength:=0.5,do_10_puhallus;
MoveL Offs(lava_5_jatto,L5_x,L5_y,L5_z),v1000,fine,tool130;
MoveL Offs(lava_5_jatto,L5_x,L5_y,L5_z+20),v1000,z15,tool130;
SetDO do_9_alipaine,0;
PulseDO\PLength:=3,do_10_puhallus;
WaitTime 2;
PulseDO\PLength:=3,do_10_puhallus;
MoveL Offs(lava_5_ylhaalla,L5_x,L5_y,0),v500,z10,tool130;
Clear Suorita_L5_haku;
Add L5_z,25;
MoveJ koti,v1000,z50,tool130;
i have tried to change the location , used ConfL/On. and still nothing . im guessing im missing something
Hey!
I dont think it is possible to operate robot with out teach pendant because thats where you move, program, and run the robot. you can write programs in computer with Notepad++ but to run, calibrate and so on you will need controller(teach pendant)
My first idea would be that there is something wrong with your controller.
got irb 6400 my self and havent seen anything like that before.
what happens when you use automatic mode? everything is normal? if so then yeah there must be something wrong with your controller.
Just wanted to say nevermind:D i got it working , just added one more move into the program , just before it inserts the product into machine . that fixed it.
hey guys ! me again.
Got stuck again , no error this time but just some questions about programming.
im trying to write a program for a robot where it will start from its home position, then move to spot 1 to find and pick up a product, then move to conveyor set it on it . move to other end, pick it up , then move the product to Gannomat TwinCat ( CNC controller Point-To-point drilling, gluing and dowel inserting machine).
Well the program is all good up to the point when robot gets to twincat it has to have very accurate coordinates when its placing product in there. i tried to set it with modPos but that didnt work out that good... so my question is there any other way to set it?
MoveL akp_tapitus_1,v100,fine,tool130 -thats the line i tryed to set with modPos
akp_tapitus_1 has preset location
CONST robtarget akp_tapitus_1:=[[-2130.68,-983.1,1164.9],[0.034749,0.949563,0.309154,-0.039323],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
maybe its all good and i just have to set more moves so the robot would be close as possible to the end point.
also but up the full program file
hmm i may have some ideas, but what kind of controller and robot you have ?
i got irb 6400 m97 s4 controller, and i have set P1 key to turn vacuum ON/OFF also got P2 set to turn on CNC and P3 to manage belt conveyor. for that you just have to add signals to those actions.
something like this .... and when you set the signals you can just use those commands in program.
EIO_UNIT:
-Name "BOARD10" -Type "d328" -Bus "BASE" -Address "60" -TrustLevel 0\
-Digin 16 -Digout 16 -PollRate 10
#
EIO_CROSS:
-Lact "do_11" -Lres "di_10"
-Lact "do_12" -Lres "di_11"
-Lact "do_13" -Lres "di_12"
#
SYSSIG_OUT:
-Status "MotOnState" -Signal "do_4_servot_hair"
-Status "AutoOn"-Signal "do_3_kasi_ajo"
-Name "do_5_k1_levypaik" -Type "DO" -Unit "BOARD10" -Phsig 5
-Name "do_6_k2_StartVas" -Type "DO" -Unit "BOARD10" -Phsig 6
-Name "do_7_poyt_levypa" -Type "DO" -Unit "BOARD10" -Phsig 7
-Name "do_8_k2_startOik" -Type "DO" -Unit "BOARD10" -Phsig 8
well i hope it gives you some ideas:D
Hey there!
Well i think ya can get user manual for irb 1400 from here , http://ebookily.net/pdf/product-on…00-2746890.html dont download anything , its online user manual. i hope it helps.
what kind of controller ya have ?
thanks for the hint. got to say i have learned so much past 2 months. and a lot thanks to this forum. 2 months ago i knew nothing about robots or how to program them.
hey and thanks for replays
I got S4 controller. Well for some reason the error has stopped. but i guess i should order new batteries.
hey guys!
well my robot has been working for a while , was away for 3 weeks and when i got back on monday the robot was messed up again, seemed like power went out on weekend and it seemed the batterys ran out, so 18h recharging... well updated rev counters again and so on, but now i started getting some weird errors like
rlmsrc.c 1697 ipm_execute error , anyone got any ideas whats that error about?
and for second , whats the lifespan for batteries? (just for a note, have had to charge batteries for 3 times now and i have no idea how old they are)
waiting for some ideas
i had almost the same problem , not the crash but with the working range, first it tried to calibrate the rev counters but no luck , then i checked the motors calibration and those were off, you should have the original calibration numbers writen down ( somewhere inside the controller cabin). after i calibrated the motors i just updated rev counters and all was good again.
not sure it will help ya but that fixed the problem for me.