Posts by knowledgesharing

  • Conveyor tracking - paint robot- wobj lost - Testing

    Controller: IRC5P

    Robot : IRB5510-12

    Robotware : 6.15.03

    RobotStudio : 2024

    Application : Powder spraying

    Conveyor Tracking:

    1. We created a new module and workobject. But the workobject is not connecting with the conveyor. Robot is in manual mode.

    The conveor is active(during startup)

    2. workobject is not connected. It says CTerror- object lost.

    3. Dropwobj is always high(tried to make it zero, but in background task its written when not connected make dropwobj high). Connected signal is low and the conveyer running is high, but the speed is zero.

    offset : 0

    startwindow : 1600

    minimum distance : -600

    maximum distance 20000

    My questions:

    1. When the robot is in manual mode and when the conveyor is running. can we see the conveyor position in jog window?( or the robot must be in automatic?)

    2. when the robot is in manual. I have loaded new module and wobject(Lets say workobject xx). how will the robot know that new workobject xx? should the plc send the program number or is it enough if I load the module to task?

    3. My goal is to test the module in manual mode the robot is with convyor tracking: I am keeping the robot in manual mode and make the conveyor to run till 1200 and stop the conveyor then test robot points manually with pendent. Is this correct way to test the module OR the robot must also be in automatic to connect the wobject? Can you recommend a way to test this module in manual.

    Thanks for the support and Time.

  • paint robot to automatic

    Controller: IRC5P

    Robot : IRB5510-12

    Robotware : 6.15.03

    RobotStudio : 2024

    Application : Powder spraying


    Problem,

    1. Unable to turn Automatic : I have changed the key from manual to auto then acknowledged it and then I pressed Motor ON. BUT it says guard stop. The chain is not closed
    2. when i press motors off, It says relays KA16 KA17 SIB is not activated.
    3. In manual mode I can turn on the Motors ON and move the robot. Then chain is closed when pressing the pendent.
    4. The Estops and safety doors all are okay.
    5. The robot is connected with PLC.
    6. ASstop is true in robot.
    7. Checked with robview, Safety chain viewer. unfortunatley it's only the signalviewer is not connecting to the robot.

    My question :

    1. I believe its either from the PLC signal for auto is missing or the booth sensor signal for auto is missing. Is this correct or could there be any other possibiities?

    Can you please assist us, To find the fault in taking the robot to automatic.

    Thanks in advance.

  • Robot not stopping in safe zone

    I sent safety config file to abb.

    They loaded in Virtual computer and they are saying it's stopping for them. which means there is no error in safety configuration. other possibility comes to my mind is wiring.

    In our cell, Safety is harware wired. when door is open robot will not got to auto. When Estop pressed robot will not move.

    My question:

    1. In the safemove pro.for cell violation. do we need to connect to Gs or AS or... through hard wired cable.

    we are not using profisafe.

    Thanks in advance

  • Robot not stopping in safe zone

    Stupid question first: did you reboot the IRC5 after Writing the SafeMove config to the controller?

    YES(when I downloaded the safety config from robot studio to robot. The controller was restarted. Warm restart)

    Second question: what safety mode is the robot in?

    Safety supervision mode.

  • Robot not stopping in safe zone

    Hi,

    1. Safe move pro
    2. Configured cell area using safe zone(allow inside).
    3. and used Tool position supervision and configured to stop catagory 0 with permentant active.
    4. screenshots attached

    When I jog the robot out of cell area. only the message is coming in TP that cell area is violoated and it not stopping.

    Can you anyone know the cause why its not stopping?

    Thanks in advance.

  • Joint to Cartesian?

    Hey Kawasaki

    Once again am telling that am not focusing on the syntax. am focussing the transformations only.

    you have written all the transformation commands.

    My main point is

    1. Dynamics behind adding two points?

    2 Difference between two co-ordinates? Just subtracting two pos will not give you difference. That's 3d dynamics.

    3. transforming frames.

  • Joint to Cartesian?

    Hi Kawasaki,

    My point of interest is not in syntax. My point of interest is in transformations. That's why for understanding I wrote frames and point without syntax.

    MoveL fruits+orange;; from current position it goes to z100+ in base co-ordinate

    DrawT fruits+orange;; from current position it goes to z100+ in tool co-ordinate

    MoveL fruits+orange+apple;;;; from current position it goes to z100+ and x100+ in base co-ordinate

    DrawT fruits+orange+apple;;;; from current position it goes to z100+ and x100+ in tool co-ordinate

    Can you please tell the dynamics of

    1. POINT test = test1+test2 ;;;(visually its adding of two pos) what is the dynamics?

    2. how to make a inverse of a position? inverse of chocolate? is it aa= -chocolate or ..?

    3. aa=-chocolate+teashops. will give the difference between the pos. correct or ?

  • Joint to Cartesian?

    Let's Say

    Frame testframe (200,100,500,45,56,90)

    tool alpha (50,50,100, 10,0,0)

    point apple = Trans(100,0,0,0,0,0)

    point Orange = Trans(0,0,100,0,0,0)

    teashops (456,234,598,34,23,78);;;Teached pos

    chocolate(45,34,45,60,67,110);joint pos reached

    frame addframe(100,0,100,0,0,0)

    tool alpha

    MoveL testframe+teashops;; Move to teashops with respect to testframe. with the alpha TCP

    here testframe+fruits ; records the current position with respect to testframe and with alpha TCP

    MoveL fruits+orange;; from current position it goes to z100+ in base co-ordinate

    DrawT fruits+orange;; from current position it goes to z100+ in tool co-ordinate

    MoveL fruits+orange+apple;;;; from current position it goes to z100+ and x100+ in base co-ordinate

    DrawT fruits+orange+apple;;;; from current position it goes to z100+ and x100+ in tool co-ordinate

    point chocolate=#chocolate,teashops;;Converts the chocolate joints to cartesian with teashops configuration.

    frame newframe=testframe+addframe ;; adding x100 and z100 to the testframe.

    MoveL newframe+chocolate; moves the TCP to chocolate with respect to newframe.

    1. Is the comments wrote behind the command are correct ? If not please correct me.

    2. How to find the difference between two position? is it aa=chocolate-teashops??

    3. how to make a inverse of a position? inverse of chocolate? is it aa= -chocolate or ..?

    Thank you.

  • Joint to Cartesian?

    Thank you.

    As far us I understood

    for joint toCartesian

    point Pcartesion=#PJointvar

    For Cartesian to joint

    point #PJointvar=PCartesian

    1. am I correct?

    2. While converting from joint to cartesian. Does it gives the value with world frame and null tool OR ..?

    3. While converting from joint to cartesian. How to convert to cartesian with specific to certain tool and frame?

    4. In Kawasaki is there forward and inverse transformation function?

    Thanks in advance

  • Syntax for Function?

    Hi,

    Can you please tell me what is the syntax for user defined function?

    For Eg

    .DEF testfunction(.apple,.orange)

    .Result=.apple+.Orange

    Return .Result

    .END

    whatis=testfunction(3,2)

    so whatis will be 5. I made a syntax error in user defined function.

    Can you please tell me what is the function of the user defined function?

  • Collision detection variable

    Hi,

    Can you please tell me what is the software variable for collision detection? And the variable to set the collision detection?

    Note: am not talking about turning on through teach pendent

    for eg,

    If (colldectionvariable=off then

    colldetectionvariable=True

    col_j1=500

    col_j2=500

    col_j3=500

    col_j4=500

    ....

    Thanks in advance

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