No #tool required/possible.
Once again: read fubinis post, he already explained it.
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.
Don't think that Sar92 meant that the code in the sps.sub worked but it worked that after a boot there was selected a tool and base (it's magic ).
He tried to solve the 'problem' with the statements in sps.sub, without knowing how it was realized in the system before.
That seems to be a complete image. This has nothing to do with the 118 files mentioned above, except that they are included in the image. The image is a byte wise 1:1 copy of the FROM and SRAM memory.
KRC4 controllers don't support rs232. If you want to use rs232 you need a gateway to a bussystem your controller supports (Ethercat is always on board)
krc2 support rs232.
Calculate the distance that a robot can move within 80 ms if he has a speed of only 500 mm/s. That's pretty slow for a small Fanuc.
The robot has to be at the switch in mastering position, at every mastering procedure.
.. It is strange because it worked fine previously (after restart default tool 0, base 0), but after redeployment of the project because of corrupted drive, now when KRC restarts it sets up the tool and base into ?.....
Nearly can't believe that. The only possibility may be if warm boot is active, never checked that, I always use cold boot, warm boot is source of many issues.
Anyway You will have timing issues, because TCP/IP isn't real time capable.
But give it a try.
No, but you have to pay attention which one you have configured. And may be the parameters for CD38A are on the first page of configuration screens.
It never made sense to post a screenshot instead of the whole program.
On the screenshot there is not one faulty movement.