Hello,
Where we connect the 24V in KRC 1?
Posts by job111a
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I want to do this
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Hi,
Is it possible to call home position by PLC when UI7 (home) is ON?
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Hi,
Can someone have an exemple of macro for do this?
I want my robot move to home position when UI7 is ON
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I have forget, is a simulation in roboguide
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Hello,
I have a problem to use pns with fanuc R30iB, when i set pns strobe, i have fault SYST-014 program select failed and SYST-016 ENBL signal is off
Can someone help me?
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Hello
Can i make that in SPS 4.1.4
;Selection outil noir 1 ou noir 2
IF (E_NOIR_2 == TRUE) THEN
TOOL_DATA[3]=TOOL_DATA[11]
ELSE
TOOL_DATA[3]=TOOL_DATA[10]
ENDIF -
Sorry,
Its ok, i found it, in logic station create relation Oupout station with Inpout smart component
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Hello,
Can someone help me?
How to synchronize I/O of smartcomponent with I/O of Rapid?
I want set Output in my Rapid programme for active Input of my smart component
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Hello,
Is it possible t import a tool (IGES or Step)in RoboDK ?
And attached it at robot? -
Thanks....
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Hello,
How can we create a program call coding with 8 external inputs, as on kuka
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Hello,
is it possible to put or write " wait in [?] and out [?] = true or false" in robodk? -
hellos,
Is it free off-line programming software?
Which would you advise for beginners -
Ok thanks,
I have a other question
I have a palletizing application .... I created this
Code
Display More&ACCESS RVO1 &REL 5 &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEF roller_5( ) ;FOLD INI;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P ;FOLD BAS INI;%{E}%V3.2.0,%MKUKATPBASIS,%CINIT,%VINIT,%P GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BAS INI) ;FOLD A20 INI;%{E}%V3.2.0,%MKUKATPA20,%CINIT,%VINIT,%P IF ARC20==TRUE THEN A20 (ARC_INI) INTERRUPT DECL 6 WHEN $CYCFLAG[3]==FALSE DO A20(TECH_STOP2) ENDIF ;ENDFOLD (A20 INI) ;FOLD A10 INI;%{E}%V3.2.0,%MKUKATPARC,%CINIT,%VINIT,%P IF A10_OPTION==#ACTIVE THEN INTERRUPT DECL 4 WHEN $CYCFLAG[2]==FALSE DO A10 (#APPL_ERROR) INTERRUPT DECL 7 WHEN A_ARC_SWI==#ACTIVE DO A10 (#ARC_SEAM) INTERRUPT DECL 5 WHEN A_FLY_ARC==TRUE DO A10 (#HPU_ARC) INTERRUPT ON 5 A10_INI ( ) ENDIF ;ENDFOLD (A10 INI) ;FOLD GRIPPER INI;%{E}%V3.2.0,%MKUKATPGRIPPER,%CINIT,%VINIT,%P USER_GRP(0,DUMMY,DUMMY,GDEFAULT) ;ENDFOLD (GRIPPER INI) ;FOLD SPOT INI;%{E}%V3.2.0,%MKUKATPSPOT,%CINIT,%VINIT,%P USERSPOT(#INIT) ;ENDFOLD (SPOT INI) ;FOLD TOUCHSENSE INI;%{E}%V3.2.0,%MKUKATPTS,%CINIT,%VINIT,%P IF H70_OPTION THEN INTERRUPT DECL 15 WHEN $MEAS_PULSE[TOUCH_I[TOUCH_ACTIVE].IN_NR] DO H70 (6,CD0 ) INTERRUPT DECL 16 WHEN $ZERO_MOVE DO H70 (7,CD0 ) INTERRUPT DECL 17 WHEN $TECHPAR_C[FG_TOUCH,8]>0.5 DO H70 (8,CD0) H70 (1,CD0 ) ENDIF ;ENDFOLD (TOUCHSENSE INI) ;FOLD USER INI;%{E}%V3.2.0,%MKUKATPUSER,%CINIT,%VINIT,%P ;Make your modifications here ;ENDFOLD (USER INI) ;ENDFOLD (INI) ;FOLD INITIALISATION VARIABLES ;INITIALISATION VARIABLES RENTRE_RETAQUAGE=TRUE OUVERTURE_PINCE=TRUE HL_ROLLERS_PLEIN= FALSE HL_DEM_ACCES= FALSE HL_FIN_CAMPAGNE= FALSE DEM_ACCES = FALSE FIN_CAMPAGNE = FALSE NB_RANGEE = 0 NB_COLONNE = 0 NUM_DEF=0 DECL E6POS Depose_Boite = {X 100, Y 75.25, Z 100, A 0,B 0,C 0} ;ENDFOLD ;ENDFOLD ;******************** ;*DEBUT DU PROGRAMME* ;******************** $timer[1]=0 $timer_stop[1]=FALSE WAIT FOR (SQ2_PINCE_OUVERTE OR ($timer[1]>2000)) WHILE NOT SQ2_PINCE_OUVERTE IF NOT SQ2_PINCE_OUVERTE THEN NUM_DEF=2 msg_defaut ( ) HALT NUM_DEF=0 ENDIF ENDWHILE $timer_stop[1]=TRUE ;FOLD PTP HOME Vel= 30 % DEFAULT;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:30, 7:DEFAULT $BWDSTART = FALSE PDAT_ACT=PDEFAULT BAS(#PTP_DAT) FDAT_ACT=FHOME BAS(#FRAMES) BAS(#VEL_PTP,30) $H_POS=XHOME PTP XHOME ;ENDFOLD REPEAT ;******************************* prise_boite() ;* Appel programme prise_boite * ;******************************* ;FOLD PTP HOME Vel= 30 % DEFAULT;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:30, 7:DEFAULT $BWDSTART = FALSE PDAT_ACT=PDEFAULT BAS(#PTP_DAT) FDAT_ACT=FHOME BAS(#FRAMES) BAS(#VEL_PTP,30) $H_POS=XHOME PTP XHOME ;ENDFOLD IF DEM_ACCES==TRUE THEN HL_DEM_ACCES=TRUE HALT HL_DEM_ACCES=FALSE DEM_ACCES=FALSE ENDIF ;FOLD PTP App_1_Depose_Boite Vel= 30 % DEFAULT Tool[1]:Pince Base[1]:Prise boite;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:App_1_Depose_Boite, 3:, 5:30, 7:DEFAULT $BWDSTART = FALSE PDAT_ACT=PDEFAULT BAS(#PTP_DAT) FDAT_ACT=FApp_1_Depose_Boite BAS(#FRAMES) BAS(#VEL_PTP,30) PTP XApp_1_Depose_Boite ;ENDFOLD ;FOLD MACRO PALETTISATION ;MACRO PALETTISATION FOR NB_COLONNE = 0 TO 1 FOR NB_RANGEE = 0 TO 4 NextPos = Depose_Boite NextPos.X = NextPos.X + (NB_COLONNE* OFFSET_X) NextPos.Z = NextPos.Z + (NB_RANGEE * OFFSET_Z) App_2_Depose_Boite = NextPos App_2_Depose_Boite.Z = App_2_Depose_Boite.Z -40 App_2_Depose_Boite.X = App_2_Depose_Boite.X -40 App_3_Depose_Boite = NextPos App_3_Depose_Boite.Z = App_3_Depose_Boite.Z -40 Deg_1__Depose_Boite = NextPos Deg_1_Depose_Boite.Y = Deg_1_Depose_Boite.Y -13 Deg_2__Depose_Boite = NextPos Deg_2_Depose_Boite.Y = Deg_2_Depose_Boite.Y -13 Deg_2_Depose_Boite.Z = Deg_2_Depose_Boite.Z -25 LIN App_2_Depose_Boite LIN App_3_Depose_Boite LIN NextPos ;FOLD WAIT Time= 0.5 sec;%{PE}%R 4.1.7,%MKUKATPBASIS,%CWAIT,%VWAIT,%P 2:0.5 WAIT SEC 0.5 ;ENDFOLD OUVERTURE_PINCE=TRUE $timer[1]=0 $timer_stop[1]=FALSE WAIT FOR (SQ2_PINCE_OUVERTE OR ($timer[1]>2000)) WHILE NOT SQ2_PINCE_OUVERTE IF NOT SQ2_PINCE_OUVERTE THEN NUM_DEF=2 msg_defaut ( ) HALT NUM_DEF=0 ENDIF ENDWHILE $timer_stop[1]=TRUE LIN Deg_1_Depose_Boite LIN Deg_2_Depose_Boite ENDFOR ENDFOR ;ENDFOLD ;ENDFOLD ;FOLD PTP App_1_Depose_Boite Vel= 30 % DEFAULT Tool[1]:Pince Base[1]:Prise boite;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:App_1_Depose_Boite, 3:, 5:30, 7:DEFAULT $BWDSTART = FALSE PDAT_ACT=PDEFAULT BAS(#PTP_DAT) FDAT_ACT=FApp_1_Depose_Boite BAS(#FRAMES) BAS(#VEL_PTP,30) PTP XApp_1_Depose_Boite ;ENDFOLD ;FOLD PTP HOME Vel= 30 % DEFAULT;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:30, 7:DEFAULT $BWDSTART = FALSE PDAT_ACT=PDEFAULT BAS(#PTP_DAT) FDAT_ACT=FHOME BAS(#FRAMES) BAS(#VEL_PTP,30) $H_POS=XHOME PTP XHOME ;ENDFOLD IF NB_COLONNE == 1 THEN NB_RANGEE = NB_RANGEE + 1 ENDIF IF NB_COLONNE == 0 THEN NB_COLONNE = 1 ELSE NB_COLONNE = 0 ENDIF IF DEM_ACCES==TRUE THEN HL_DEM_ACCES=TRUE HALT HL_DEM_ACCES=FALSE DEM_ACCES=FALSE ENDIF UNTIL NB_RANGEE == 5 ;**************************************** ;*Fin de programme si 5 rangees empilees* ;**************************************** END
firstly , that it seems you okay ?
And, secondly,i wish I could learn my original point ( Depose_Boite) in my program with touch "mod_pos"
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I have a final point who is "depose_boite"
before i want a another point who is -950mm in Z direction of base 10 relative to "depose_boite"
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Thanks....I make that
TOOL_DATA[10]=DEFAULT_VALUE+OFFSET
And it's ok
Other question please...
How to make offset point relative to a base?
I tray this, but it's not working,robot move only at the same point (depose boite)
Code;FOLD LIN {X 0,Y 0,Z -950,A 0,B 0,C 0}:Depose_Boite CONT Vel= 0.05 m/s CPDAT7 Tool[1]:Pince Base[10]:Offset ;%{PE}%R 4.1.7,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:Depose_Boite, 3:C_DIS, 5:0.05, 7:CPDAT7 $BWDSTART = FALSE LDAT_ACT=LCPDAT7 BAS(#CP_DAT) FDAT_ACT=FDepose_Boite BAS(#FRAMES) BAS(#VEL_CP,0.05) LIN XDepose_Boite C_DIS ;ENDFOLD
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I'll change my tool and not to have to relearn all my trajectory, I will wish to put offset in my current tool
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Hello,
Can someone help for how to offset a tool?
KRC1 V4.1.4
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wait 1s work but not wait 0, it's ok for me...thanks