AID16D This modul Analog Input (24v) modules. This module allows you to enter the analog signal to the robot. This analog signal when it comes, do you want to start the robot?
This module is 16 digital input
AID16D This modul Analog Input (24v) modules. This module allows you to enter the analog signal to the robot. This analog signal when it comes, do you want to start the robot?
This module is 16 digital input
Hello everybody, i have received and old robot ARC Mate120ib from a customer.
I´m going to use it in a new project, but i want to start it remotly by a PLC.
I´ve seen in the teach pendant that in the menu of UI signals i have 18 signals but the are don´t mapped to any rack and slot and they haven´t any comment in noone.
I have an input card AID16D.
I don´t have found the CRM15 or CRM16 connections (i think this robot doesn´t have them because is older)
Do i have to map these signals, like pns_strobe,start,etc.. to that input card??
The mapping must be RACK 1, SLOT 1??
all i want is to increment a register near those points to know where is the robot for next, recovery it to HOME
Well, I think there is no dedicated function for this - as you have probably already noticed, Fanuc uses no direct distinction between the "robot cursor" and "program cursor". Also, the thing is, that you are using the CNT motion type, which practically means that the robot never reaches the taught points, just approaches them, depending on the value of the CNT parameter. You can try to play with that value for the last point or create a loop which checks the current position of the robot and allows the program to continue (jump out of the loop) only if a certain coordinate value (or joint pos. value) fulfills a certain condition, like this:Code... (motion instructions) ... LBL 1 PR[100]=LPOS R[100]=PR[100,1] IF R[100]<1000, JMP LBL[1] ...
(assuming that you want the program to continue if the X value is greater than 1000mm).
thanks, i´ll try it.
I have found a instruction called Distance Before.
I´ll try both and see the result
have u tried just setting the motion type of the last point to FINE? The program should then wait for the robot to get into position and then continue.
Yes, but i loose a lot of cycle time. I want to know if i can do anything with the points CNT.
hello, there is any instruction to wait the cursor of the program in a wished line??
that is to say, i have 5 CNT point but when the robot is in the point 2, the cursor is in the line 5 because the program goes faster that the movement of the robot.
I have any instruction to solve this?? In ABB i think i have Waittime \Inpos
Which one ended up working best for you?
Reltool.
I have a "master" point and then i add offset to x,y,z to move that point like i want.
Shouldn't need to, but have you tried re-naming wobj1, then saving the modified version as wobj1?
No. I tried to edit wobj1 and then save it with the name "wobj1" but I can´t because it tell me that wobj1 already exists.
i´ve read more and more and now i understand. Thanks a lot
Try RelTool or Offs (read manual)Sent from my SM-G925F using Tapatalk
I´ve read the manual but i haven´t got clear, that´s because i ask
Otherwise, thanks
hi everybody,
I´m in a fine point of my path and i want to advance that point in X 100mm, then when i get to that point i want to up in Z 100mm
coul you tell me how to give an offset in that coordenates??
Yes, make an edit-> define and then modify the 3 points, in the end press "OK".
When you press "OK" you are actually redefining your workobject, after that robot will ask if you want to save the points. Not really necessary, just press "NO".
Thanks a lot
You are confusing two different things.Presumably you have created just one workobject. The fact is when you define the workobject, the robot ask if you want to save the "points" you have used to define the workobject. If you answer "yes", the robot creates a module with the points you have used to define the workobject. This is what you see in RobotStudio, it's not the workobject, just two modules with the points you have touched.
Thanks. So, can you tell me what is the process to re-define de wobj1?
Edit-->Define??
And then?? i have to press ok and save it with another name??
Or i don´t have to do anything because when a re-define de X1 for example, it´s recorded in the moment??
Sorry, but i´m a newbie and i´m a bit confussed
thanks a lot
plCurrent:=CRobT(\TaskName:="T_ROB1"\Tool:=tool0\WObj:=wobj0);
With this, the actual position is saved in the robtarget "CRobT" .Is ok??
Could I do...plCurrent:=Robpos for example??
Hello everybody,
there´s any instruction to record the actual position to any point??
In fanuc ther´s a instruction that is called LPOS and in the program you can write LPOS=P(1)
with this instruction you record the actual position in the P(1)
But i don´t know how to do it in ABB
Are you able to edit on Laptop after the fact? If you save the workobject as Wobj11, you can then go in and delete the original Wobj1 and replace it by renaming Wobj11 as Wobj 1.
In robotstudio i see Wobj1 and Wobj11, but in the teachpendat, when i want to select one workobject in the robot menu i only can use wobj1
I don´t know if they are linked each other
have you tried saying "No" to saving the x1,x2,y1 points? They are not needed for a functional work object.
Yes, if i not save them the workobject is not saved
its saying that after you EDIT>DEFINE the workobject?
yes
Just to be clear, do you mean that you are modifying the work object with X1,X2, and Y1?When you do this, you need to modify the existing, not create a new one. To modify, perform the following button clicks on the teach pendant (Assuming IRC5)
ABB>Program Data> WobjData > Wobj1 > Edit > Define
From here you can do the same teaching you did before, but it will modify instead of creating new.
yes I´m modifying with X1,X2 and Y1 but once I modify them i have to save the new X1,X2 and Y1 and the teachpendant doesn´t allow me to save the workobject with its old name. In this case "wobj1". It say me to save with the name wobj11