Posts by Dig

    until now i see many robot brands (ABB,DURR,Kuka,Fanuc,Staubli,COMAU) and for my personal opinion, the better one for programming
    and user-friendly is ABB.
    With Rapid Language you can do a lot of thing, if you know how to program it, the rapid language is pretty near a pc high level language, so any
    higher option price worth its buying, and you can easly find manuals for free also askying directly to customer support. Robot Studio is freely downloadable and you can easily learn and test your programs.

    Hi Everybody,
    i'm here to ask you some suggestions/opinions/experiences about HMI panels,
    i'll try to explain...
    I have a robot cell, ABB Irb910 for the moment but it can change, i'd like to mount
    a HMI panel on the cell to let the operator interact with robot program without using
    the teach pendant of the robot. To be more precise my robot program has a lot of
    parameters that you can manage from the teach pendant, but many customers have
    a lot of difficulties to learn how to use it, so i'd like to make the "receipt" on the HMI
    and send it to the robot through ethernet, for example with FTP protocol. I already did
    this with siemens and wincc but i'm try to find some cheaper alternative with smaller display,
    i don't need an industrial PLC. I'm searching the web but i cannot find many information
    about it. I found schneider has some panel with VBA scripting support and FTP protocol but
    i never used them and i don't know the prices, maybe weintek can be an alternative but i don't
    find anything about ftp protocol and vba support. Anybody of you has some experience with
    other hmi brands, or even with those, that are capable of what i need to do?
    Thanks for you help!

    Hi Everybody,
    i solved it!!!The solution was done by a colleague of mine, he has tried the card before sending it to me and he tried it with step 7, so he sent me
    the ldb and the gsd files and it starts to work immediatly...I had just a problem on IO.sys about the offset byte but i solved it...Anyway i found this
    document that i think it can be very helpful because there are written all the steps to make it works, the only problem is that it is on a japanise site
    and you cannot download it...If i'll have time i'll try to make a pdf page by page, if anybody already own it, please share it! The link is the following...…73d1e.html?re=view&pn=151

    If you use google translator you can read all the documents, it has also the log file error explanations....

    PS.: The switch on the robot connector must be set to ON position...

    Thanks, again everybody...

    every component or card should at least have label like this

    Well yes i was meaning that i cannot find the a label like that a read a wago manual but i cannot find the way
    òto get the right model. I download from wago website some different gsd file, i loaded into the s7 catalogue and
    i generate my ldb file, becasue of this, i tried to start the robot putting all gsd files i loaded into s7 but it still desn't work,
    i think i made a good profibus cable, i respected all details, and i'm sure about the addresses. My doubt is just that i don't know
    what to do anymore... Thanks!

    Well thank you for your answer all my experience is on the field...Siemens and Kuka training are expensive for my company so i need to read manuals, search on internet and trying to test by myself also at home to solve problems, it's a difficult world you know...Thanks for your help i appreciate it...

    Well thank you very much that's why i wrote here... ;)
    Unfortunatelly in the company we have rule i cannot share robot backup, but i can share single parts...
    I know the profibus can be better than devicenet but i started struggling with this since this morning at 7:00 am...
    Last thing i did is to follow this guide :…ion-create-ldb-file/2962/

    through step 7 i generate a new ldb file, adding the gsd files downloaded from the wago website, now i don't what is the
    exact card i put in the simatic project because they have different names from the simatic catalogue, but i put all the gsd in the robot
    path so i tried each one...The address is the 12 as i wrote in the first project i uploaded, the error is a communication error with modul
    12 (wago 750-323) and error in read and write to CP561DRV. I understand that everyone cannot know everything but i would expect to
    get good and overall clear information from the producer to configure and install what i need...I don't know anything anymore, i'm struggling
    from 12 hour and i have the customer breath on my neck...I'm sorry and i really appreciate your help, but if i setup a PB slave in half an hour
    i would like the same with a master...So i think i'll move to device net that is already configured and working just if i don't turn off the controller...

    We already using Simatic Manager Professional V5.5. We did not encounter any problem. Simatic NCM part of Simatic Manager. This mean you and I already using same program. I think there is no need presented KUKA NCM if you have Simatic Manager.

    Everything has been changed but now i got 2 comunication error:
    one with plc and one with wago card...I think i'll give up and let the customer buy a new
    device net card, i really don't understand how is possible than an error message is so generic...
    I'd even prefer if the krc tell me "you're jerk pall! You forget this...." but not "comunication error" for plenty
    of wrong configurations...

    How was the file Kuka_CP5613.Ldb generated? When I was doing Profibus on KRC2s, setting up the Master channel was an utter pain -- the creation of the LDB file would only work if I did it with the version of NCM_MANAGER that's packaged in the D:/KUKA_OPT/PROFIBUS folder on the robot -- other versions, even with identical Siemens version numbers, would not work, for no reason I was ever able to discover. Also, getting the correct GSD file was extremely painful (at least for Siemens hardware) -- there had to be an exact match, and often tiny differences in version numbers or revision levels would be badly documented (or not at all), leaving me to just keep trying different GSD files one after another until one worked.

    I think i'm feeling the same pain...I generated that file with simatic step 7 saving and compiling the hardware configuration. I downloaded the gsd from wago web site like suggested by fluke, i modified the hardware configuration setting the right addresses and the modules and i copied that file inside the controller. I didn't use any NCM_MANAGER, i try to open it..., thanks

    -You must copy Wago modüle GSD files to robot configuration path. (Init folder) You must have done import GSD files to Simatic Manager. You can use same GSD files or download on Wago web site.
    -Terminator resistance must be on master side Off position, last modüle On position.

    Well yes i founded it, it's because i'm using a colleague laptop...i loaded the gsd files and set the terminator in corret position,
    when i turn on the robot controller i got a communication error on address 2 ( that is the wago PB address) and the PLC communication
    doesn't work until i reset alarm on plc touchpad screen, and i've also write and read error on dirver CP561DRV.
    Where is the mistake? Where i have to start check? It's like i've no clues, i think i followed instructions in the right way... :wallbash: :wallbash: :wallbash:
    Thanks for your patience...


    Did you copy Wago GSD files to robot? You must try to change profibus address of Wago, because master card address probably is 2. This address used for itself. You can check termination resistance switch on profibus connector. Master side must be Off position, last modüle must be terminated with On position.

    Thank you fluke,
    no i didn't copy the gsd where i can get it? And what is the right path to copy it in?
    No, now the terminator on the robot master connection is setted to "on position".

    Hi Everybody,
    i'm a little bit struggling here with an old KRC2 because of profibus! I hade a controller with a profibus car with double connector and
    i had a devicenet card, due to the strange function of the device net that loses the configuration everytime i reboot the robot, and i had to
    pull out/pull in the power and reconfigure io couple of times to make it starts, we decide to swap it with a profibus slave.
    We choose a Wago 750-323. Now the situation was that the robot was a slave in a profibus netowork with this configuration :





    and pfbms.ini was like this :


    The profibus network worked with the omron PLC and everything was fine.
    Now i create a Ldlb database from a step 7 project adding a wago card and changed the configuration like this:

    pfbms.ini :


    and iosys.ini :



    the wago card is setted with address 2 and the profibus card with 11. Now the probibus network with plc works
    but the one with wago don't i have a write and read error on driver cp561drv on kcp and the wago card is in bus fault.
    I' m really struggling since this morning at 6:00 is possbile that i need to create a file with step 7 to configure the profibus on
    a robot? And this bad kuka manuals that don't explain nothing very well are letting me gone crazy!!! Can please somebody
    help me? I don't know even which model of profibus card i have in the controller, there's no label on it because the robot is refurbished,
    amd because my customer is so hard that instead of buying a new devicenet card it take a used profibus wago...Thanks!
    PS.: I really don't understand if it is possible for the robot to work on two separate profibus networks one like slave with plc and one like
    master on the wago card. Thanks in advance!

    Hi, I don't know if it could help you but I made something similar using matrix of robtargets. You can then change the position in a matrix just changing the index through a mask created for the user. In my program I've also had a struct with options to reach the final point such as the orientation of z because sometime the pallet was a closed box. So I added to the final point what needed time by time. Hope to be clear enough...Bye.

    Hi everybody,
    I'm gonna facing OS installation and programming of an ABB flexpicker now I have a lot of experience with ABB robots since S3 but I never programmed or installed one of those. Can anyone tell me what are the main differences from a "normal" abb robot? I know that there's a visioning system, but the robot programming is the same in Rapid? Someone as some manuals? I cannot find them anywhere...Thanks!

    Well, thank you i think i solved the $Tool and $Base problem...
    I added $ACT_BASE and $ACT_TOOL intructions into the function and the $base and $tool set seem to work!
    My exact function is as follow so if somebody as some new idea about speed and aproximation
    may help, thanks!

    GLOBAL DEFFCT E6POS POffset(Point:IN,OfX:IN,OfY:IN,OfZ:IN,Zone:IN,Vel:IN,nTool:IN,nBase:IN)

    E6POS Point
    REAL OfX,OfY,OfZ
    REAL Zone,Vel
    INT nTool,nBase

    Set_Lin_Zone(Zone) ;From Bas.src
    Set_Lin_Vel(Vel) ;From Bas.src

    ;Set Tool
    ;Set Base

    Punto.X = Punto.X + OfX
    Punto.Y = Punto.Y + OfY
    Punto.Z = Punto.Z + OfZ


    and i call it from anywhere in the program in this way :

    LIN POffset(XFirstPiece,0,0,nPalletHeight,fine,vL08,1,4) C_DIS

    fine = is declared in config.dat
    vL08 = is declared in config.dat

    I don't think KRL has offset function, the closest to ABB's offset is LIN_REL which "Executes a linear motion to the end point. The coordinates of the end point are relative to the current position." But I am new here so I don't know everything.

    Yes, thanks but LIN_REL works for backwards path! I need something to reach a final point so I create this function that, sorry I repeat myself, works very well except for setting base, tool, speed and approximation...

    Will I'm sorry you're correct it's called moveoffset but I wrote the message down from my phone, at least what I remembered so there is some mistakes...Anyway the function works very well if you call it through LIN instruction.
    The problem is not the offset, the problem are bases, speed and approximation. Thanks anyway...

    Hi thanks for the reply. I'm trying to avoid the use of inline forms so I wrote this function, also to avoid the touch-up of many points and also because I have 11 bases to palletize. My func is something like:

    Fct e6pos movoffset(pointoff:in,xoff:in,yoff:in,zoff:in,zone:in,vel:in,tool:in, base:in)

    Decl e6pos pointoff
    Deck real xoff,yoff,zoff,zone,vel
    Decl int tool,base




    Return pointoff
    Don't take care of writing errors I made now is that I'm writing from the phone. The function works and move where I want but just if I put an I line movement before my problem is that I don't want to put those before to set the base and another problem is that the robot doesn't seem to change the speed and the approximation. Today I tried to execute in T1 and it moved at same speed like it was in t2 and plus it tries to move respect the last base I used in the program. For example: I have a base with A=0° and another with A=180° if I move to the 180° base from the 0° after the first movement that is an e6axis position it tries to move to the offset but respect the 0° base! It doesn't take care of the instructions inside the sub! I tried also adding a fdat variable but it doesn't work. Tomorrow I will try to set $bas_act also but it's strange to me, that if it works in bas.src it should work also in mine! For approximation and speed I didn't find any clues yet...I'be also copy the code of speed from the bas.src and put it in my func but the speed doesn't change yet...Thanks for your help!