... Now its giving error on run time as its not getting the required speed...
Where is the relation to the .vr file?
What is the fault message literally?
... Now its giving error on run time as its not getting the required speed...
Where is the relation to the .vr file?
What is the fault message literally?
Think he is too lazy to create the big array im the dat file by hand.
But this is a question of one or two minutes, if you use a good editor like notepad++ with column editing possibilities or you can create the array with excel.
Loading a program should be possible over 'Menu' 'File'.
For a complete restore you need to do a controlled start by pressing 'prev' 'next' during boot
My simulation ...
Which simulation, and how do you simulate?
If you use roboguide and just run the selected program via virtual TP, the timer values are not accurate.
.. while the distance to be covered is greater
What do you mean? You should compare movements between same coordinates.
Is linear motion much faster than joint motion ?
Most time the same movement will be faster with joint movement than linear.
Is it correct to check it as in the photo (J 100% = L 4000 mm/sec ?) ?
You can check it in that manner but the 4000mm/s depend on the robot model. Most robots will never reach the speed of 4m/s. The robot axis need to accelerate and decelerate between the positions, so you need a big trajectory or an extrem fast robot.
Edit: haha, haven't seen that this is a sunrise controller, so forget what I wrote here. Sorry.
There are several predefined signals like $Aut $peri_rdy... they represent your mentioned states like 'auto mode' or 'motors on'.
You can assign them to your outputs in the configuration menu for auto extern signals (on the Smartpad).
Or you can use them in SPS.sub like
Don't think that your robot ever had a "servo tool" attached. So this is not your problem.
Normally the batteries are behind a cover at the robot base, but I don't know where exactly this cover is at those paint robots. Check the manual.
For your suggestion about the batteries: it they are dead there are normally different alarm codes, but at least you have to change the batteries before you can use RES-PCA.
Never measured things like this, but it should work as you described.
Sorry, but am I writing Suaheli or any other language? I know my english is not the very best, but in this case I think there is no doubt about it.
You asked
In a LIN_REL I'll write LIN_REL {X 30} #TOOL but this point is relative to the actual position. I want to do the same thing but making a motion that is relative to "MyPrel_Point" is it possible?
I answered:
MyPrel_Point:{x 30,y 0, z 0, a 0, b 0, c 0}
What do You think does this mean?
of course this is relative to tool. If you want to have a position relative to base you write
and if you want to have a moving instruction relative to base you write
And by the way, there is one more possibility: Just try it out on a robot or in the simulation, instead of asking for every little detail.
No #tool required/possible.
Once again: read fubinis post, he already explained it.
Had a quick look at the configuration and log. On robot side everything looks fine. Wiring description is ok.
Double check the connectors of the wiring.
Think you already did a cold boot?
As I remember most time with problems on PB slave, the problem was on wiring or PLC configuration. Robot side is really very easy, and seems to be ok.
That should be easy if you have the option. You can find it in the folder DOC/Example/Application of the option installation folder.
Yes, or you can do it in a program.
Congrats, You have calculated correct😉.
If that missalignment will not be a problem, OK, go for it.
But what application are you planning, that a minimum error of 24mm doesn't matter?
First thing I see, is that you use Tool0 and wobj0 for calculations, Think this is absolutely not leading to the goal.
For aligning wobj and tool you can try to align the workobject to the acual position (real tcp in wobj0), then you should have the distance in tool coordinates:
Ah, yes, I wanted to say that KRC4 doesn't have a RS232 on board as KRC2 has. Haven't done that unmistakeable.