Rack 0: Internal relay
Racks 1-16: I/O Unit Model A/B
Rack 32: I/O Link slave
Rack 33: PMC
Rack 34: Flags
Rack 35: Always ON
Rack 36: DCS I/O Monitor
Rack 48: Peripheral device interface LR Mate I/O
Rack 81: DeviceNet
Rack 88: EGD
Rack 89: Ethernet IP
Posts by fastfingers
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I have used Roboworld for water based spray systems and am very pleased with their suits. They offer heavier and a better variety of materials than some of the other suit manufacturers I have dealt with. Pricing is fair as well.
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Adding to what's already posted...
In your case, PR[5,3] refers to the third element in position register 5. The position register elements can be viewed by pressing F4 'POSITION' in the position registers menu.
For example:
X 100.000
Y 249.375
Z 10.129
W -89.40
P 75.329
R -179.544In the example above, the instruction would refer to the Z value of PR[5] which is 10.129mm. If the number after the comma was 1, the X value is referenced. If 6, the R value is referenced and so on. These instructions allow for modifying and referencing individual values within position registers. Hope this helps.
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Check out the iPendant Customization Guide in the documentation supplied with your robot. It contains a lot of good information that will help you develop custom tp screens. If you have the Panel Wizard option installed, you can make up semi-custom pages right through the pendant. As you might expect, the screens developed with Panel Wizard are somewhat primitive compared to those you make with other software. I like to use MS SharePoint Designer (be sure to use the 2007 version only) for developing custom tp screens.
The file type is .stm and the files can be copied to the FR: (FROM) disk on the controller (via USB, MC, ftp, etc.) and accessed through the robot browser on the teach pendant. The custom pages are most useful with the newer controllers equipped with touchscreen teach pendants. I'm not sure how far back in controller software versions you can go with custom screens; maybe someone else can chime in on that.
If you're already familiar with HTML code, you have a pretty good head start.
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I don't know of an easy way to track pos reg changes either but have found myself in situations where it would be helpful to know. The Operation Logbook option (J695) allows tracking of pendant key strokes and will document any changes made through the pendant.
Are you having issues with operators or maintenance personnel making changes? -
Good to hear you have it working!
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Fabian- Yes, it ends up being trial and error and I understand why you gave up. My application was pretty straightforward and was working within a couple hours.
On another note, HawkME's idea, keeping an output on when the robot is safe sounds like it should solve your problem. -
Per the question in the original post, I have three separate reference positions on a material handling cell to verify the robot is in a safe place. This case was for a recovery program on an inverted, DCS equipped robot. I’m sure DCS would have worked but I wanted to see if it could be done without. Each reference position monitors an axis- one for J1, one for J2 and another for J3 with the ranges for other axes left wide open in each reference position setup table. Based on conditions of the reference position outputs and the MCH_POS_Z variable, the robot will either make a move to a safe area or go directly home.
19: !Get Robot Home ;
20: IF (DO[27:J1 @Piece] OR DO[28:J2 @Piece] OR DO[29:J3 @Piece] OR $SCR_GRP[1].$MCH_POS_Z>=900),CALL SAFE_MOVE ;
21: IF (!DO[10:Robot @ Home]),CALL HOME_ROBOT ;
22: !Get Table Home ;In response to turning the robot into a yellow sheet, many times when my group automates equipment, we leave any light curtains in place to prevent operation of presses, etc. In addition to the other checks already mentioned, could you prevent the press from cycling if the robot’s heartbeat is absent? That way, if the robot was in the press with the robot controller power off, it would be unlikely (gravity aside) for the press to crunch the robot.
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Check the system variable $SCR_GRP[1].$coord_mask. This variable allows one to disable any of the jog modes. Look at the variable in the robot that has user jog enabled and set the variable in the robot with user jog disabled to the same value and you should be set.
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I'm guessing you're trying to setup gravity compensation. The edocs aren't terribly clear on this......
If you're working with an R-30iA or newer controller, you can run the gravity compensation through the Force Sensor Utilities menu. It's located under Tool Weight and COG Calculation. Set three points for the calculation- follow the directions in the edocs for this. Then highlight Execute and the robot will move through the three taught points much like it would during payload calculations. I believe the 'execute' command does the same thing as running the wcg_main.pc program. Hope this helps.