You cannot configure it on TP, you have to manipulate the eio.cfg an reload it.
Posts by hermann
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You should post a Screenshot of the byte swapping in WoV. Think the problem is on that side.
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You can use axworkspaces, they are independent of the tool. It's more difficult to find good configuration, but if the mechanical setup allows it, its a good solution.
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Searching this CRC sometimes is a pain in the ass.
They have that much documentations, and many of them with silly names. Sometimes it is a big problem to find the correspondig keyword.
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The verification was successful. It works like expected.
By the way: the examples in the document "B-83594EN_01_01 iPendant Screen Customize Function" are buggy. Without some small modifications they don't work.
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Normally after setting up the panel and confirming the new setup with pressing 'COMPLETE' the Panel appears in the Browser Menu (i.e. -Menu - Next - Browser)
Attention: for the first time creating the panel you have to press two different buttons 'COMPLETE'. The first direct in the Panel you are setting up, the second in the following page.
When modifying a already created panel you only have to press on 'COMPLETE' button.
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And on newest versions you can select different combinations, don't know the exact options at the moment.
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If you want the robot to automatically select CELL whenever you switch from T1 to EXT ....
In my opinion this is not a good idea. Every time I see such a program I get high blood pressure, In case of optimization or reteaching some positions it is impossible to switch between operating modes without resetting the whole station. For me that is a nogo.
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It seems that there is configured an external axis. If you don't have one you should delete it. Therefore you have to start the controller with Controlled start, by pressing left and right during boot up, and then select -Menu-9 maintenance-. There You can delete the external axis.
But before You should create a full image of the firmware.
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The program that was selected during Estop will be continued by a signal change from 0 to 1 at $in[63].
There is no need to select it again.
The estop only stops the program, he doesn't cancel it.
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Read the manual, (1111 is standard iirc), but the robot is a used one, so may be it has been changed, but not from me, so I can't help with that.
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As the message says: you have to apply the changed DCS parameters (in the DCS settings menu, you will need the password for DCS settings) then do a reboot.
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One more thing related to the interface to siemens plc:
The plc word should/must begin on even byte number in the interface (siemens begins counting with zero), otherwise the plc programmer has to make some silly conversions. I'm not sure about double words, but I think they also have to begin on an even byte (and don't have to begin at a number that only can be divided through 4).
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So IM curious to see if there is a way to have the robot just continue its program after an estop was hit. As of now it always restarts the call. I attached the SPS and the Cell Program.
If you want to continue the program from the point it was stopped by the E-stop, just delete the cwrite statement in your first version of Sps.sub, attach in[63] to ext_start, and you are done.
This cwrite thing you only need if you want to restart the program from beginning.
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Yes it is hard stuff to learn programming, it is hard stuff to learn programming a robot, but it is harder stuff to learn programming by programming a robot.
And the next level is to learn programming on a fanuc robot with karel , that will be a pain in the ass, because the debugging possiblities aren't that good.
Good luck .
As always I recommend to learn programming on a personal computer with a common programming language like C, Pascal, Basic, and then switch to a robot, and learn the robot specific things.
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Currently I'm also creating a HMI for a Fanuc robot. At the moment my solution is a PC with a web browser (or tablet, smartphone or wathever that has a web browser on board).
On the robot I have to write some simple Karel programs and a HTML homepage with javasrcipt, css styles and so on.
Hard stuff, for a programmer who wrote 'normal' programs for over 35 years in assembler, basic, pascal, c, krl .... and always tried to avoid that web design stuff. I think if someone is familiar with html webdesign it's an easy job.
As starting point I used the manual "B-83594EN_01_01 iPendant Screen Customize Function" and https://github.com/ABC-iRobotics/fanuc-webcontrol. But the latter one once again is very hard stuff for a html beginner.
But it works, at least in roboguide. The verification on the real robot will be done next week.
Have read the fanuc documentation for 'Cimplicity HMI' and didn't find a possibilty to start a program on the robot from HMI. That would be a problem for my application. In my solution it's no problem.
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Once again the program is not correct.
Writing programs doesn't mean to shuffle program statements found somewhere in the documentation or the internet, and hope that it will work.
You should put the 'get_pos_typ' into the loop, otherwise you can leave it out, and assume for all position that the type is pt_rxyzwpr.
1. means in line 46 there is a unitialized variable, looking into the code shows that the variable 'num_pos' is not initialized before using it.
2. This is a problem of the compiler, if the program that you want to compile is selected on the virtual controller, he fails. Select a different program on the controller an compile again.
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