Hi all,
I am testing weavings for welding. I have very strange weaving with variable (modulated by sin) amplitude (pic. 1, blue line). Why amplitude of weaving is not a constant?
P.S. There is a code on teach pendant.
Hi all,
I am testing weavings for welding. I have very strange weaving with variable (modulated by sin) amplitude (pic. 1, blue line). Why amplitude of weaving is not a constant?
P.S. There is a code on teach pendant.
Hi all,
I have troubles with calibration IRBP A using IRB 2600 (IRC5). There is calibration by 4 + 4 points (link1 + link2). But after calibration I have rotation of 50 deg around Z of frame (Workobject) on plate.
What is the right way to calibrate positioner? I can't find manuals about it. Is the first point of plate's calibration = direction of X? How can I calibrate this rotation around Z?
I programmed complex welding in RobotStudio (offline programming). I thought that X of plate's frame is on line with 0 deg of J2.
I set manualy this parameters (pic. 1) to rounded values...but it is not right solution:
Hi all,
I have IRB 2600 with positioner IRBP A. How can I set position and orientation of poisitoner in robot frame from teach pendant? I find only calibrating by 4 + 4 points but I know this data. Can I set in in manualy?
I have this scene in RobotStudio but there is a bug and I can't deploy it to robot.
I took a look inside the Systemsoftware, Weaving Option (J504) installs more than 40 different systemfiles.There is nothing like "weaving.pc" inside.
Thank you for answer!
Where can I find this 40 systemfiles?
No : ))))
I want to move robot with LIN command to any point with using T (turn) configuration for A6. Can I do it?
Hi all,
I have KR10 R1100 sixx (KR C4). Robot has position A6 = 100 deg. I use LIN motion to move robot to A6 = -81 deg. It moves to A6 = 279 deg because it's closer. But I want to move robot in -81 deg, not 279 deg. How can I move robot with LIN not to nearest position? May be there is a flag..
The Software Option "J504 Weaving" is not just a simple Karel prg.So...
1. Nowhere, does not exist.
2. No.BTW, Fanuc stopped the development of Karel Motion in the 90´s.
Why do you want to use karel for that?
rob76, Thank you for answer!
We are developing system for remote control for FANUC, KUKA, ABB, etc. We don't use teach pendant. Path for robots is generating on external computer. We send data from external computer to KAREL. Motions are in KAREL. We don't use TP and we don't want to use TP because of hard synchronization with KAREL. Motions from KAREL are good but we don't know how make weavings from KAREL. I heard that weavings is program in KAREL.
Hi all,
I heard that weaving in welding is a KAREL program. It is called from TP program by command weave sine[]
I want to call this program from KAREL.
1. Where can I find KAREL program for weaving?
2. Can I control weaving from KAREL without TP?
Hi all,
1) Is singularity (|A5|<=0.01812) in LIN motion always (100% situations) causes error?
2) Can I use system flags to influence it?
3) Why A5=0 while LIN causes error: "STOP due to software limit switch -A4"?
4) Is it only "math" limitation or it is also "mechanical" problem?
still no answers to all questions.
btw, you may want to try %i instead of %d
As I understand, %i is the the same that %d - "Integer number represented as a decimal"
My code:
;FOLD Declaration
CHAR bytes[200]
DECL EKI_STATUS RET
INT OFFSET, i, int1, int2, int3
DECL STATE_T state
REAL real1, real2, real3
;ENDFOLD
;FOLD INI
;FOLD BASISTECH INI
; BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
int1=0
int2=0
int3=0
real1=0
real2=0
real3=0
;ENDFOLD (USER INI)
;ENDFOLD (INI)
FOR i=(1) TO (200)
Bytes[i]=0
ENDFOR
RET=EKI_Init("XmlServer")
RET=EKI_Open("XmlServer")
EKI_CHECK(RET,#QUIT)
wait for $FLAG[600]
OFFSET = 0
wait for $FLAG[21]==TRUE
RET = EKI_GetString("XmlServer","Buffer",bytes[])
offset = 0
msgnotify(bytes[])
SREAD(bytes[],state,offset,"%d,%d,%d,%f,%f,%f",int1,int2,int3,real1,real2,real3)
...
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bytes array is:
I tried with %i. Error is KSS02255 "Expression not equal to CHAR, INT, ENUM"
I want to use comma separator, not space
Geee... how long you have been here?
1. KSS version?
2. What is the EXACT message you get?
3. What is the EXACT code you use (not just that line)? Did you initialize offset?
4. SWRITE is used to COMPOSE string, SREAD is used to PARSE string.
Yes, of course it is SREAD : )
KSS 8.3.290
Offset is 0
Hello,
Is it possible for you to send only one packet with size 30 and after cut in the robot ?
Yes, of course! You want to send RAW BYTE package with size 30 to robot? You can use examples from EthernetKrl 2.2 "BinaryFixed.src" (attached) and "BinaryFixed.xml"
BinaryFixed.xml:
Hello all,
I receive some data on the robot and want to send response (send INTs from robot to external computer). And I have difficulties with function CAST_TO
XML file:
<ETHERNETKRL>
<CONFIGURATION>
<EXTERNAL>
<TYPE>Client</TYPE>
</EXTERNAL>
<INTERNAL>
<ENVIRONMENT>Program</ENVIRONMENT>
<BUFFERING Mode="FIFO" Limit="512"/>
<BUFFSIZE Limit="65534"/>
<ALIVE Set_Flag="600"/>
<Meassages Display="disabled" Logging="disabled"/>
<IP>172.31.1.147</IP>
<PORT>54600</PORT>
</INTERNAL>
</CONFIGURATION>
<RECEIVE>
<RAW>
<ELEMENT Tag="Buffer" Type="STREAM" EOS="255,255,255,255" Size="3600" />
</RAW>
</RECEIVE>
<SEND/>
</ETHERNETKRL>
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This code works fine. I received all data
{FF}{FF}{46}{46}{46}{46}{46}{46}{46}{46}{46}{46}{46}{46}{46}{46}{46}{46}{46}{46}{46}{46}{FF}{FF}
on my external computer:
...
CHAR bytes_response[16]
...
FOR i=(1) TO (16)
bytes_response[i]=70
ENDFOR
...
RET = EKI_Send("control", bytes_response[])
But this code doesn't work. I received only
on my external computer. Why?
call them differently... Buffer1 and Buffer2 for example
Yes, of course you are right. I corrected question. But the main idea that I can't send from robot two RAW BYTE packages with different size via one connection .
Hi all,
How can I send two pockets (RAW DATA, BYTE, without EOS) from robot with different size via one connection by EthernetKRL 2.2?
I want to send pockets with size=10 and size=20:
If I use this config - appeared error "Interpret of configuration failed" while executing command RET=EKI_Init("RawServer")
...
<RECEIVE>
<RAW>
<ELEMENT Tag="Buffer1" Type="BYTE" Size="10" />
<ELEMENT Tag="Buffer2" Type="BYTE" Size="20" />
</RAW>
</RECEIVE>
<SEND />
...
As I understand, I can use <SEND> ... </SEND> only for XML?
Hi all,
Can I set a configuration of FANUC of the goal position in linear motion? I worked with KUKA and there we can set the configuration but KUKA doesn't look at it and moves in point with most "convenient" configuration.
Hello, all
I am trying to find smart text (program) editor for KAREL for Windows with syntax highlighting, error/warning showing, etc...
Is there something similar?
Hi all,
Does KUKA have option similar to SoftMove (ABB)?
http://new.abb.com/products/robot…ending/softmove
Hi all,
Does FANUC have option similar to SoftMove (ABB)?
http://new.abb.com/products/robot…ending/softmove