That is also one possibility. But that is not exactly what I like to have. I'm just thinking is there some combination of system variables, UOs which I can monitor in BG logic or something similar🤔
Posts by RookieWithRobots
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When program is selected.....I just wanna be sure from PLC side that right program is selected before Cycle Start.
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So that is the thing, I like to set/reset DO[x] when certain tp program is selected
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Thanks for your help. But actually I'm using call command when using Karel program. Im using these settings in Karel side, maybe I miss something?
%COMMENT = ''
%NOLOCKGROUP
%NOPAUSE = COMMAND + TPENABLE
%NOBUSYLAMP
%NOPAUSESHFT
%ENVIRONMENT FDEV
%ENVIRONMENT REGOPE .
%ENVIRONMENT STRNGCould it be something related to virtual controller etc?
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So is there some setting in Karel side or something else to make it possible to execute/debug Karel program line by line? Because I have created a program which basically is doing what I like it to do. But There are some minor things which I like to improve. But that would be easier to do if I can execute program in STEP mode. Now when Im calling Karel program in TP program.....tp program continues at same time.
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Sorry about late answer,
The idea is to make one file where robot is storing some measuring data. There will be more that 1000 data. It's pretty easy to ame csv file and store data there. But then I also like to update some of those values. And the question is what is the easiest way to modifies some specific line?
about that xml parsing, I tried that but didn't succeed with that. Does anybody have any examples of that?
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So here is the issue. I have brand new controller with
*Profinet options (1A05B-2600-J709 ! PROFINET I/O + 1A05B-2600-J931 ! ProfiNET Safety)
*Hardware CP1604 + motherboard
*Latest firmware (2.7) received from Fanuc and updated to cardBut then starts to problems. I try to configure card with Tia13. New configuration was also checked from robot and it looks ok. But still I wasn't able to clear errors PRIO-621 and PRIO-622.
So I hope that somebody has some idea how should I proceed to solve this problem? And another things is that all Fanuc instructions are made with Siemens softwares but is this also possible to do with TwinCAT3
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So my problems is to generate data table to where robot is storing lot of position datas for further use.
There are some possibilities for that:
* I can make Karel program to generate CSV file. NOt so difficult to make, but the problems is that when I want to just change one specific data. How to do that. CSV is easy, but like is say if you have a long list of datas. How you can modify just some line between the whole file?
* Another way is to make Karel program and define in there a big array. But I think there is also some limitations also with that. -
Are you starting the program with administrator rights?
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Sorry I didn't read your message careful enough
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Have you tried this:
--Abort all tasks.
ABORT_TASK('*ALL*',TRUE, TRUE, i_status)-- Select TP program
SELECT_TPE('MAIN', i_status)From manual:
SELECT_TPE Built-In Procedure
Purpose: Selects the program of the specified name
Syntax : SELECT_TPE(prog_name, status)
Input/Output Parameters :
[in] prog_name :STRING
[out] status : :INTEGER
%ENVIRONMENT Group :TPE
Details:
• prog_name specifies the name of the program to be selected as the teach pendant default. This is
the program that is "in use" by the teach pendant. It is also the program that will be executed if the
CYCLE START button is pressed or the teach pendant FWD key is pressed.
• status explains the status of the attempted operation. If it is not equal to 0, then an error has
occurred. -
I had to go back down there and look, but there is no pulse coder alarm. I have had to reset the pulse coders when changing batteries on R-J3s. I think it is a function key on the alarms history screen. This R-J2 Mate doesn't even have an alarms history screen, so I'm not sure where I would reset PCA anyway.I can still jog and I can still run a program, so I haven't lost anything. Yet. And the SRVO-065 is just a warning, as I understand. With any luck, I can cycle power without losing positional data, and if I still get the alarm, well, I guess I'll just leave it on all weekend....
I think that RES_PCA soft key is below Master/Cal screen? So try to go there with MENU->0->6-> Master/Cal. If that MAster/Cal is not shown. Set system variable $master enb to 1 and try againg after that
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Hi there,
There are some mathematical commands in other robot brands how to calculate modulo (5 DIV 2 = 1, 5%2=1 etc.). But I tryed to read all KUKA manuals cannot found anything related to that ???.
So is there some or what is the easiest wau to do that with KUKA?
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I tried it and didn't get it work. PanicMode...could you tell me how this really should work ;=)
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I will....but the problem is that i dont have robot available right now. And i try to prepare my stuff before next visit to customer ar much as possible. I tried to search that CONFIRM command from Kuka manuals but havent found anything. Maybe I was searching for wrong ones so now this forum is the best place to found out.
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Could anyone tell me little bit more about this CONFIRM 0 command? What it does and how I should use it.
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Hi there,
Could you specify that little bit more? Im not totally following what and how that CONFIRM 0 should do and where. -
Hi there,
I'm planning to show some messages to operator with MsgNotify("information text") command. And it works I can show some messages. But we are having quite complex work cycle and there are coming lot of these massages. So is there any way to clear that list without pressing that confirm all button from teach pendant?
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First thanks for everybody of all KUKA support what I have receive from here. I'm still learning KUKA tricks and it is long way to go but....slowly step by step I will make this happen.
But now I have to issues:
* How I can change robot speed "on the fly"? Im getting override request from PLC and I tried to read thhat value and set it to $OVR_ROB. And I tried to put this to sps. But it didnt work
;IF($MODE_OP==#EX) and ($PRO_ACT) and (UpdateSpeedRequest) THEN
; $OV_ROB = RequestedSpeed
;ENDIF*Then another thing. How to generate easily alarm message which set robot to fault mode?
MsgQuit ("Alarm text here")