Posts by Sir.Oupie
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Hello need help with ERROR 71090 ,
How can i change vendor id?
Im using S4C.
Thank you! -
Hello I need help.
X9 is connected to (1) DRT1-OD16X And then to another (2)DRT1-OD16X then to (1) DRT1-ID16-1 then to (2)DRT1-ID16-1
And Another (3)DRT1-ID16-1.
By 5 wire connection.How can i control those Inputs and outputs from Teach pendant or do i have to get hardware to manage those I/O?
Thanks!
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Here is the System Parameters from Controller.
EIO:CFG_1.0:3:1::
#
bc_VAL = EIO_PARAM_VALUE:-Name "LinkAddr" -Value "1"
-Name "DataRate" -Value "0"
-Name "StartQ" -Value "0"
-Name "RackSize" -Value "0"
-Name "LastRack" -Value "0"
#
eb_VAL = EIO_PARAM_VALUE:-Name "DataWidth" -Value "3"
MMC:CFG_1.0:3:1::
#
MMC_PALETTE_HEAD:-name "Common" -type "MMC_COMMON"
-name "Prog.Flow" -type "MMC_PROG_FLOW"
-name "Various" -type "MMC_VARIOUS"
-name "Settings" -type "MMC_SETTINGS"
-name "Motion&Proc." -type "MMC_MOTION"
-name "I/O" -type "MMC_IO"
-name "Communicate" -type "MMC_COMMUNICATE"
-name "Interrupts" -type "MMC_INTER"
-name "Error Rec." -type "MMC_ERROR"
-name "System&Time" -type "MMC_SYSTEM"
-name "Mathematics" -type "MMC_MATH"
-name "M.C 1" -type "MMC_MC1"
-name "M.C 2" -type "MMC_MC2"
-name "M.C 3" -type "MMC_MC3"
-name "MotionSetAdv" -type "MMC_MOTSETADV"
-name "Motion Adv." -type "MMC_MOTIONADV"
-name "Ext.Computer" -type "MMC_EXTCOMP"
-name "MultiTasking" -type "MMC_MULTI"
-name "RAPIDsupport" -type "MMC_RAPID"
-name "Service" -type "MMC_SERVICE"
#
MMC_ACT_PALL:-name "act_pall" -pall_nr 11
#
MMC_HIA_MODPOS:-name "modpos" -type -tuning_in_auto
#
MMC_HIA_ROBRULE:-rule "SEQ"
#
MMC_CURRENT_PACKAGE:-use_prog "NONE" -use_prod "NONE"
#
MMC_OPT_PROG_PACKAGE:-name "NONE"
#
MMC_OPT_PROD_PACKAGE:-name "NONE"
#
MMC_PARAM_LAST_NAME:-name "common_point" -last_name "p4"
-name "common_speed" -last_name "v200"
-name "common_zone" -last_name "z50"
-name "movej_tool" -last_name "tool0"
-name "movel_tool" -last_name "tool0"
-name "gripload_load" -last_name "load0"
#
MMC_ROUT_LAST_STRUCT:-name "movej" -last_struct 0,1,1,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-name "movel" -last_struct 0,1,1,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-name "gripload" -last_struct 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
#
HIFI_USER_TYPES:-name "pfg" -description "Program" -textid 74
#
HIJ_USER_INCR_STEPS:-type "linear" -value 5
-type "axes" -value 0.1
-type "reorient" -value 0.3
#
MMC_TP_RUNMOD:-name "AUTO" -text_id 34,14 -mode "CONT"
-name "MANUAL" -text_id 34,15 -mode "CYCLE"
#
WM_PROGRAMMABLE_KEYS:-name "P1" -type "NONE"
-name "P2" -type "NONE"
-name "P3" -type "NONE"
-name "P4" -type "NONE"
-name "P5" -type "NONE"
#
MMC_MOTION = MMC_PALETTE:-name "ArcL/On" -param_nr 1 -alt_nr 1 -instr_name "ArcL"
-name "ArcL" -param_nr 1 -instr_name "ArcL"
-name "ArcL/Off" -param_nr 1 -alt_nr 2 -instr_name "ArcL"
-name "GlueL/On" -param_nr 1 -alt_nr 1 -instr_name "GlueL"
-name "GlueL" -param_nr 1 -instr_name "GlueL"
-name "GlueL/Off" -param_nr 1 -alt_nr 2 -instr_name "GlueL"
-name "GlueC" -param_nr 1 -instr_name "GlueC"
#
TP_CLIENTS = AUTH_CLIENTS:-name "hiats" -permission "HIA_PERMISSION"
-name "hic" -permission "HIC_PERMISSION"
-name "his" -permission "HIS_PERMISSION"
#
HIA_PERMISSION = AUTH_CLIENT_PERMISSION:-name "LAUNCH" -text_id 1,7 -userlevel "OPERATOR"
-name "EDIT_PROGRAM" -text_id 3,375 -userlevel "OPERATOR"
-name "DELETE_INSTRUCTION" -text_id 3,308 -userlevel "OPERATOR"\
-confirm "YES"-name "MODPOS" -text_id 3,414 -userlevel "OPERATOR" -confirm "YES"
-name "DELETE_OBJECT" -text_id 3,309 -userlevel "OPERATOR" -confirm "YES"
-name "CONFIRM_START_FROM_CURSOR" -text_id 3,313 -userlevel "OPERATOR"\
-confirm "YES"
#
MMC_TYPE:-domain_type "HIA_PERMISSION" -text_id 3,307\
-attributes_id "HIA_MMC_ATTRIBUTES" -outline_type "MMC_OUTLINE"\
-outline_inst_name "mmc_hia_outline"-domain_type "MMC_HIA_MODPOS" -text_id 3,353 -outline_type "MMC_OUTLINE"\
-outline_inst_name "modpos_outline"\
-attributes_id_hook "hia_modpos_cfg_hook"-domain_type "HIC_PERMISSION" -text_id 7,75\
-attributes_id "HIC_MMC_ATTRIBUTES" -outline_type "HIC_MMC_OUTLINE"\
-outline_inst_name "mmc_hic_outline"-domain_type "MMC_CURRENT_PACKAGE" -text_id 34,10\
-attributes_id "MMC_CURRENT_PACKAGE_ATTRIBUTE" -outline_type "MMC_OUTLINE"\
-outline_inst_name "current_package_outline"-domain_type "HIFI_USER_TYPES" -text_id 34,4 -add_f 1\
-attributes_id "MMC_HIFI_USER_TYPES_ATTRIBUTE" -outline_type "MMC_OUTLINE"\
-outline_inst_name "user_types_outline"-domain_type "MMC_TP_RUNMOD" -text_id 34,16\
-attributes_id "MMC_TP_RUNMOD_ATTRIBUTES" -outline_type "MMC_OUTLINE"\
-outline_inst_name "runmod_outline"-domain_type "WM_PROGRAMMABLE_KEYS" -text_id 1,99\
-outline_type "WM_PROGRAMMABLE_KEYS_OUTLINE"\
-outline_inst_name "wm_programmable_keys_outline"\
-attributes_id_hook "wm_prog_attributes_id"-domain_type "HIS_PERMISSION" -text_id 8,163\
-attributes_id "HIS_MMC_ATTRIBUTES" -outline_type "HIS_MMC_OUTLINE"\
-outline_inst_name "mmc_his_outline"
#
MMC_OUTLINE:-Name "mmc_hia_outline" -header_id 1,87 -dsp_parms 1,2,3,0
-Name "modpos_outline" -header_id 3,354 -dsp_parms 1,0,0,0
-Name "current_package_outline" -header_id 34,13 -dsp_parms 1,2,0,0
-Name "user_types_outline" -header_id 34,3 -dsp_parms 1,2,0,0
-Name "runmod_outline" -header_id 34,17 -dsp_parms 1,2,0,0
#
HIA_MMC_ATTRIBUTES = MMC_ATTRIBUTE:-attribute_id "name" -text_id 1,84 -present_type "SIMPLE_TEXT_ID"\
-change_type "NONE"-attribute_id "userlevel" -text_id 1,85 -present_type "SIMPLE"\
-change_type "CHOICE_LIST" -choices_type_name "MMC_USER_LEVELS"-attribute_id "confirm" -text_id 1,86 -present_type "SIMPLE"\
-change_type "CHOICE_LIST" -choices_type_name "MMC_CONFIRM"
#
MMC_HIA_MODPOS_1_ATTRIBUTE = MMC_ATTRIBUTE:-attribute_id "type" -text_id 3,354 -present_type "SIMPLE"\
-change_type "FKBAR" -fkbar_id "MMC_MODPOS_TYPE_FKBAR"-attribute_id "tuning_in_auto" -text_id 3,370 -present_type "SIMPLE"\
-change_type "FKBAR" -fkbar_id "MMC_MODPOS_TUNING_FKBAR"-attribute_id "mode" -text_id 3,363 -present_type "SIMPLE"\
-change_type "FKBAR" -fkbar_id "MMC_MODPOS_MODE_FKBAR"-attribute_id "limittrans" -text_id 3,359 -present_type "SIMPLE"\
-change_type "FLOAT"-attribute_id "limitrot" -text_id 3,360 -present_type "SIMPLE"\
-change_type "FLOAT"-attribute_id "limitexttrans" -text_id 3,361 -present_type "SIMPLE"\
-change_type "FLOAT"-attribute_id "limitextrot" -text_id 3,362 -present_type "SIMPLE"\
-change_type "FLOAT"
#
MMC_HIA_MODPOS_2_ATTRIBUTE = MMC_ATTRIBUTE:-attribute_id "type" -text_id 3,354 -present_type "SIMPLE"\
-change_type "FKBAR" -fkbar_id "MMC_MODPOS_TYPE_FKBAR"-attribute_id "tuning_in_auto" -text_id 3,370 -present_type "SIMPLE"\
-change_type "FKBAR" -fkbar_id "MMC_MODPOS_TUNING_FKBAR"-attribute_id "ifauto" -text_id 3,379 -present_type "SIMPLE"\
-change_type "FKBAR" -fkbar_id "MMC_MODPOS_IFAUTO_FKBAR"
#
MMC_MODPOS_TYPE_FKBAR = MMC_FKEY:-text_id 3,357 -fktype "SETA" -setcode "1"
-text_id 3,358 -fktype "SETA" -setcode "0"
#
MMC_MODPOS_MODE_FKBAR = MMC_FKEY:-text_id 3,364 -fktype "SETA" -setcode "1"
-text_id 3,365 -fktype "SETA" -setcode "0"
#
MMC_MODPOS_IFAUTO_FKBAR = MMC_FKEY:-text_id 3,381 -fktype "SETA" -setcode "1"
-text_id 3,382 -fktype "SETA" -setcode "0"
#
MMC_MODPOS_TUNING_FKBAR = MMC_FKEY:-text_id 1,124 -fktype "SETA" -setcode "1"
-text_id 1,125 -fktype "SETA" -setcode "0"
#
AUTH_INTERACTIVE_UNITS:-name "TP" -clients "TP_CLIENTS"
#
HIC_PERMISSION = AUTH_CLIENT_PERMISSION:-name "LAUNCH" -text_id 1,7 -userlevel "OPERATOR"
-name "CHANGE_PASS_CODE" -text_id 7,76 -userlevel "OPERATOR"\
-confirm "YES"-name "DELETE_INSTANCE" -text_id 7,77 -userlevel "OPERATOR" -confirm "YES"
#
HIC_MMC_ATTRIBUTES = MMC_ATTRIBUTE:-attribute_id "name" -text_id 1,84 -present_type "SIMPLE_TEXT_ID"\
-change_type "NONE"-attribute_id "userlevel" -text_id 1,85 -present_type "SIMPLE"\
-change_type "CHOICE_LIST" -choices_type_name "MMC_USER_LEVELS"-attribute_id "confirm" -text_id 1,86 -present_type "SIMPLE"\
-change_type "CHOICE_LIST" -choices_type_name "MMC_CONFIRM"
#
HIC_MMC_OUTLINE = MMC_OUTLINE:-Name "mmc_hic_outline" -header_id 1,87 -dsp_parms 1,2,3,0
#
MMC_TOPICS:-topic_text_id 34,0 -domain_name "MMC" -domain_type "NA"\
-domain_attribute "NA"-topic_text_id 34,20 -domain_name "PROC" -domain_type "NA"\
-domain_attribute "NA"
#
MMC_USER_LEVELS = MMC_CHOICE:-text_id 1,6 -setcode "OPERATOR"
-text_id 1,2 -setcode "SERVICE"
-text_id 1,3 -setcode "PROGRAMMER"
-text_id 1,8 -setcode "SERVICE&PROGRAMMER"
#
MMC_CONFIRM = MMC_CHOICE:-text_id 1,31 -setcode "YES"
-text_id 1,32 -setcode "NO"
#
MMC_CURRENT_PACKAGE_ATTRIBUTE = MMC_ATTRIBUTE:-attribute_id "use_prog" -text_id 34,11 -present_type "SIMPLE"\
-change_type "CHOICE_INSTANCE" -choices_type_name "MMC_OPT_PROG_PACKAGE"-attribute_id "use_prod" -text_id 34,12 -present_type "SIMPLE"\
-change_type "CHOICE_INSTANCE" -choices_type_name "MMC_OPT_PROD_PACKAGE"
#
MMC_HIFI_USER_TYPES_ATTRIBUTE = MMC_ATTRIBUTE:-attribute_id "name" -text_id 34,1 -reconfig -present_type "SIMPLE"\
-change_type "TEXT" -char_length 3-attribute_id "description" -text_id 34,2 -reconfig \
-present_type "SIMPLE" -change_type "TEXT" -char_length 20
#
MMC_TP_RUNMOD_ATTRIBUTES = MMC_ATTRIBUTE:-attribute_id "name" -text_id 34,18 -present_type "SIMPLE_TEXT_ID"\
-change_type "NONE"-attribute_id "mode" -text_id 34,19 -reconfig -present_type "SIMPLE"\
-change_type "FKBAR" -fkbar_id "MMC_TP_RUNMOD_FKBAR"
#
MMC_TP_RUNMOD_FKBAR = MMC_FKEY:-text_id 1,64 -fktype "SETA" -setcode "CONT"
-text_id 1,65 -fktype "SETA" -setcode "CYCLE"
#
WM_PROGRAMMABLE_KEYS_OUTLINE = MMC_OUTLINE:-Name "wm_programmable_keys_outline" -header_id 1,100 -dsp_parms 1,2,3,0
#
WM_NO_PROGRAMMABLE_KEYS_ATTRIBUTE = MMC_ATTRIBUTE:-attribute_id "name" -text_id 1,101 -present_type "SIMPLE"\
-change_type "NONE"-attribute_id "type" -text_id 1,102 -present_type "SIMPLE"\
-change_type "NONE"-attribute_id "connection" -text_id 1,103 -present_type "SIMPLE"\
-change_type "NONE"
#
WM_N_TYPE_PROGRAMMABLE_KEYS_ATTRIBUTE = MMC_ATTRIBUTE:-attribute_id "name" -text_id 1,101 -present_type "SIMPLE"\
-change_type "NONE"-attribute_id "type" -text_id 1,102 -present_type "SIMPLE"\
-change_type "CHOICE_LIST" -choices_type_name "WM_PROGRAMMABLE_KEYS_TYPE"-attribute_id "connection" -text_id 1,103 -present_type "SIMPLE"\
-change_type "NONE"
#
WM_PROGRAMMABLE_INPUT_KEYS_ATTRIBUTE = MMC_ATTRIBUTE:-attribute_id "name" -text_id 1,101 -present_type "SIMPLE"\
-change_type "NONE"-attribute_id "type" -text_id 1,102 -present_type "SIMPLE"\
-change_type "CHOICE_LIST" -choices_type_name "WM_PROGRAMMABLE_KEYS_TYPE"-attribute_id "connection" -text_id 1,103 -present_type "SIMPLE"\
-change_type "CHOICE_INSTANCE_BY_METHOD"\
-choice_method "wm_hic_input_signals"
#
WM_PROGRAMMABLE_OUTPUT_KEYS_ATTRIBUTE = MMC_ATTRIBUTE:-attribute_id "name" -text_id 1,101 -present_type "SIMPLE"\
-change_type "NONE"-attribute_id "type" -text_id 1,102 -present_type "SIMPLE"\
-change_type "CHOICE_LIST" -choices_type_name "WM_PROGRAMMABLE_KEYS_TYPE"-attribute_id "connection" -text_id 1,103 -present_type "SIMPLE"\
-change_type "CHOICE_INSTANCE_BY_METHOD"\
-choice_method "wm_hic_output_signals"-attribute_id "function" -text_id 1,104 -present_type "SIMPLE"\
-change_type "CHOICE_LIST"\
-choices_type_name "WM_PROGRAMMABLE_KEYS_OUTPUT_FUNCTION"-attribute_id "auto" -text_id 1,128 -present_type "SIMPLE"\
-change_type "FKBAR" -fkbar_id "WM_PROGRAMMABLE_KEYS_OUTPUT_AUTO"
#
WM_PROGRAMMABLE_KEYS_TYPE = MMC_CHOICE:-text_id 1,105 -setcode "NONE"
-text_id 1,106 -setcode "INPUT"
-text_id 1,107 -setcode "OUTPUT"
#
WM_PROGRAMMABLE_KEYS_INPUT_FUNCTION = MMC_CHOICE:-text_id 1,108 -setcode "INTERRUPT"
#
WM_PROGRAMMABLE_KEYS_OUTPUT_FUNCTION = MMC_CHOICE:-text_id 1,109 -setcode "TOGGLE"
-text_id 1,110 -setcode "SET0"
-text_id 1,111 -setcode "SET1"
-text_id 1,112 -setcode "PRESS"
-text_id 1,113 -setcode "PULSE"
#
WM_PROGRAMMABLE_KEYS_OUTPUT_AUTO = MMC_FKEY:-text_id 1,31 -fktype "SETA" -setcode "1"
-text_id 1,32 -fktype "SETA" -setcode "0"
#
HIS_PERMISSION = AUTH_CLIENT_PERMISSION:-name "RESTORE" -text_id 8,164 -userlevel "PROGRAMMER" -confirm "YES"
-name "FINECALIB" -text_id 8,2 -userlevel "OPERATOR" -confirm "YES"
#
HIS_MMC_ATTRIBUTES = MMC_ATTRIBUTE:-attribute_id "name" -text_id 1,84 -present_type "SIMPLE_TEXT_ID"\
-change_type "NONE"-attribute_id "userlevel" -text_id 1,85 -present_type "SIMPLE"\
-change_type "CHOICE_LIST" -choices_type_name "MMC_USER_LEVELS"-attribute_id "confirm" -text_id 1,86 -present_type "SIMPLE"\
-change_type "CHOICE_LIST" -choices_type_name "MMC_CONFIRM"
#
HIS_MMC_OUTLINE = MMC_OUTLINE:-Name "mmc_his_outline" -header_id 1,87 -dsp_parms 1,2,3,0
#
MMC_COMMON = MMC_PALETTE:-name "MoveJ"
-name "MoveL"
-name ":="
-name "ProcCall"
-name "RETURN"
-name "IF"
-name "Set"
-name "Reset"
-name "WaitDI"
-name "WaitDO"
-name "WaitUntil"
-name "WaitTime"
-name "Compact IF"
-name "FOR"
-name "WHILE"
-name "MoveC"
#
MMC_PROG_FLOW = MMC_PALETTE:-name "IF"
-name "WHILE"
-name "FOR"
-name "TEST"
-name "GOTO"
-name "ProcCall"
-name "Label"
-name "RETURN"
-name "EXIT"
-name "Compact IF"
-name "CallByVar"
#
MMC_VARIOUS = MMC_PALETTE:-name ":="
-name "Comment"
#
MMC_IO = MMC_PALETTE:-name "WaitDI"
-name "WaitDO"
#
MMC_INTER = MMC_PALETTE:-name "CONNECT"
#
MMC_ERROR = MMC_PALETTE:-name "EXIT"
-name "RAISE"
-name "RETRY"
-name "RETURN"
-name "TRYNEXT"
#
MMC_MATH = MMC_PALETTE:-name ":="
#
MMC_MC1 = MMC_PALETTE:-name "MoveJ"
-name "MoveL"
-name "MoveC"
-name "ProcCall"
-name "Set"
-name "Reset"
-name "WaitTime"
-name "WaitDI"
-name "IF"
-name "Compact IF"
-name ":="
-name "Incr"
-name "Add"
-name "Decr"
#
MMC_MC2 = MMC_PALETTE:-name "MoveJ"
-name "MoveL"
-name "MoveC"
-name "ProcCall"
-name "Set"
-name "Reset"
-name "WaitTime"
-name "WaitDI"
-name "IF"
-name "Compact IF"
-name ":="
-name "Incr"
-name "Add"
-name "Decr"
-name "ArcL/On" -param_nr 1 -alt_nr 1 -instr_name "ArcL"
-name "ArcL" -param_nr 1 -instr_name "ArcL"
-name "ArcL/Off" -param_nr 1 -alt_nr 2 -instr_name "ArcL"
#
MMC_MC3 = MMC_PALETTE:-name "MoveJ"
-name "MoveL"
-name "MoveC"
-name "ProcCall"
-name "Set"
-name "Reset"
-name "WaitTime"
-name "WaitDI"
-name "IF"
-name "Compact IF"
-name ":="
-name "Incr"
-name "Add"
-name "Decr"
-name "ArcL/On" -param_nr 1 -alt_nr 1 -instr_name "ArcL"
-name "ArcL" -param_nr 1 -instr_name "ArcL"
-name "ArcL/Off" -param_nr 1 -alt_nr 2 -instr_name "ArcL"
MOC:CFG_1.0:3:1::
#
MOTION_SYSTEM:-name "system_1" -std_servo_queue_time 0.193536\
-max_servo_queue_time 0.193536 -min_temp_ambient_cabinet 5\
-max_temp_ambient_cabinet 45 -min_temp_ambient_robot 5\
-max_temp_ambient_robot 45 -perpendicular_acc_ratio 1 -micro_ipol_type 0\
-tuned_with_gain_1_04832
#
RELAY:-name "irb_brake" -out_signal "BRAKE" -in_signal ""
-name "irb_run" -out_signal "CHAIN1" -in_signal "K1"
-name "irb_run2" -out_signal "CHAIN2" -in_signal "K2"
#
ROBOT:-name "master" -use_robot_type "1400_1.44_5" -use_joint_0 "irb_1"\
-use_joint_1 "irb_2" -use_joint_2 "irb_3" -use_joint_3 "irb_4"\
-use_joint_4 "irb_5" -use_joint_5 "irb_6"
#
MOTION_SUP:-name "irb" -path_col_detect_on -jog_col_detect_on
#
ARM:-name "irb_1" -use_arm_type "IRB1400_1" -use_acc_data "irb_1"\
-use_arm_calib "irb_1" -upper_joint_bound 2.96706\
-lower_joint_bound -2.96706 -upper_joint_bound_max 2.96706\
-lower_joint_bound_min -2.96706-name "irb_2" -use_arm_type "IRB1400_2" -use_acc_data "irb_2"\
-use_arm_calib "irb_2" -upper_joint_bound 1.22173\
-lower_joint_bound -1.22173 -upper_joint_bound_max 1.22173\
-lower_joint_bound_min -1.22173-name "irb_3" -use_arm_type "IRB1400_3" -use_acc_data "irb_3"\
-use_check_point "irb_3" -use_arm_calib "irb_3" -upper_joint_bound 2.44346\
-lower_joint_bound -2.35619 -upper_joint_bound_max 2.44346\
-lower_joint_bound_min -2.35619 -upper_joint_coupl_bound 1.13446\
-lower_joint_coupl_bound -1.22173-name "irb_4" -use_arm_type "IRB1400_4" -use_acc_data "irb_4"\
-use_arm_calib "irb_4" -upper_joint_bound 2.61799\
-lower_joint_bound -2.61799 -upper_joint_bound_max 2.61799\
-lower_joint_bound_min -2.61799-name "irb_5" -use_arm_type "IRB1400_5" -use_acc_data "irb_5"\
-use_arm_calib "irb_5" -upper_joint_bound 2.00713\
-lower_joint_bound -2.00713 -upper_joint_bound_max 2.00713\
-lower_joint_bound_min -2.00713-name "irb_6" -use_arm_type "IRB1400_6" -use_acc_data "irb_6"\
-use_arm_calib "irb_6" -upper_joint_bound 5.23599\
-lower_joint_bound -5.23599 -upper_joint_bound_max 1885\
-lower_joint_bound_min -1885
#
PARALLEL_ARM_CALIB:-name "irb_2"
-name "irb_3"
#
ARM_CHECK_POINT:-name "irb_3" -checktype "POS" -position_x -0.33 -position_y 0.05\
-position_z 0.21
#
ARM_LOAD:-name "load_1"
-name "load_2"
-name "load_3"
-name "load_4"
#
ARM_CALIB:-name "irb_1"
-name "irb_2"
-name "irb_3"
-name "irb_4"
-name "irb_5"
-name "irb_6"
#
JOINT_CALIB:-name "irb_1"
-name "irb_2"
-name "irb_3"
-name "irb_4"
-name "irb_5"
-name "irb_6"
#
MAINS:-name "mains" -u_tolerance_min -0.15 -u_tolerance_max 0.1
#
CURRENT_CONTROLLER:-name "c_c_slow_1" -Kp_d_factor 0.2 -current_forced_factor 0.5\
-delay_filter_time 0.000252
#
DRIVE_UNIT_SUPERVISION:-name "ext_d_u_sup" -err0mask_motors_off 0 -err0mask_motors_on 440\
-err1mask_motors_off 31 -err1mask_motors_on 31
#
CABLE:-name "cable_4.5_30" -use_cable_type "cable_4.5" -length 30
-name "cable_3.0_30" -use_cable_type "cable_3.0" -length 30
-name "cable_1.5_30" -use_cable_type "cable_1.5" -length 30
-name "cable_1.0_30" -use_cable_type "cable_1.0" -length 30
-name "cable_3.0_50" -use_cable_type "cable_3.0" -length 50
-name "cable_2.0_50" -use_cable_type "cable_2.0" -length 50
-name "cable_0.75_50" -use_cable_type "cable_0.75" -length 50
#
MOTOR_TYPE:-name "IC_motor_1" -pole_pairs 3 -torque_0 1 -ke 0.5 -i_max 3\
-r_stator_20 5 -l_stator 0.02-name "IC_motor_2" -pole_pairs 3 -torque_0 1 -ke 0.5 -i_max 3\
-r_stator_20 5 -l_stator 0.02
#
MOTOR_CALIB:-name "irb_1" -valid_com_offset -cal_offset 5.81839 -valid_cal_offset
-name "irb_2" -valid_com_offset -cal_offset 5.73718 -valid_cal_offset
-name "irb_3" -valid_com_offset -cal_offset 5.03328 -valid_cal_offset
-name "irb_4" -valid_com_offset -cal_offset 5.98061 -valid_cal_offset
-name "irb_5" -valid_com_offset -cal_offset 2.98474 -valid_cal_offset
-name "irb_6" -valid_com_offset -cal_offset 4.36964 -valid_cal_offset
#
STRESS_DUTY_CYCLE:-name "irb_1" -torque_turbo_acc 2.76 -torque_turbo_dec 2.76\
-torque_max_acc 2.76 -torque_max_dec 2.76 -speed_max 248.1\
-speed_turbo 248.1 -speed_absolute_max 248.1 -torque_absolute_max 100000-name "irb_2" -torque_turbo_acc 2.76 -torque_turbo_dec 2.76\
-torque_max_acc 2.76 -torque_max_dec 2.76 -speed_max 248.1\
-speed_turbo 248.1 -speed_absolute_max 248.1 -torque_absolute_max 100000-name "irb_3" -torque_turbo_acc 2.76 -torque_turbo_dec 2.76\
-torque_max_acc 2.76 -torque_max_dec 2.76 -speed_max 248.1\
-speed_turbo 248.1 -speed_absolute_max 248.1 -torque_absolute_max 100000-name "irb_4" -torque_turbo_acc 0.83 -torque_turbo_dec 0.83\
-torque_max_acc 0.83 -torque_max_dec 0.83 -speed_max 196.22\
-speed_turbo 196.22 -speed_absolute_max 196.22 -torque_absolute_max 100000-name "irb_5" -torque_turbo_acc 1.04 -torque_turbo_dec 1.04\
-torque_max_acc 1.04 -torque_max_dec 1.04 -speed_max 183.38\
-speed_turbo 183.38 -speed_absolute_max 183.38 -torque_absolute_max 100000-name "irb_6" -torque_turbo_acc 0.47 -torque_turbo_dec 0.47\
-torque_max_acc 0.47 -torque_max_dec 0.47 -speed_max 190.71\
-speed_turbo 190.71 -speed_absolute_max 190.71 -torque_absolute_max 100000
#
CONTROL_PARAMETERS:-name "irb_1" -friction_ffw_level 0.08
-name "irb_2" -friction_ffw_level 0.08
-name "irb_3" -friction_ffw_level 0.09
-name "irb_4" -friction_ffw_level 0.04
-name "irb_5" -friction_ffw_level 0.04
-name "irb_6" -friction_ffw_level 0.04
PROC:CFG_1.0:3:1::
SIO:CFG_1.0:3:1::
#
COM_PHY_CHANNEL:-Name "sio1:" -Type "ethernet"
-Name "sio2:" -Type "sio" -Channel 2
-Name "bbc" -Type "ethernet" -Channel 3
#
COM_TRP:-Name "bbc" -Type "TCP/IP" -PhyChannel "sio1:" -LocalAdress "192.168.125."
SYS:CFG_1.0:3:1::
#
CAB_TASKS:-Name "MAIN" -Type "NORMAL"
#
CAB_REGAIN_DIST:-Tcp_dist 0.05 -Tcp_rot 0.2 -Ext_dist 0.05 -Ext_rot 0.2
-Name "AUTO" -Tcp_dist 0.5 -Ext_dist 0.5
#
CAB_EXEC_HOOKS:-Routine "SYS_RESET" -Shelf "RESET"
-Routine "SYS_RESET" -Shelf "START"
-Routine "RESTORE_IO" -Shelf "POWER_ON"
-Routine "SYS_POWERON" -Shelf "POWER_ON"
#
CAB_TASK_MODULES:-File "ram1disk:base.sys" -ModName "BASE"
-File "ram1disk:user.sys" -ModName "USER"
Thanks.
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-
How to i do that?
Thanks.
-
I have IRB 1400 And just mounted 4.9kg tool to robots 6 axis.
When i try to speed it up a bit. V200 is moving.
But V500 Starts and moves 2-4 mm then Stops instantly, dosn't go to right point.
And says ERROR 50204.
Need help.
Thanks, Sir.Oupie.
-
Repeating positions , at high speed 1m/s.
-
Does RS232 To Ethernet adapter work?.
-
Hello i need help with IRB1400 Accuracy.
How Accuracy is IRB1400?
0,05mm?Thanks.
-
Thanks
I Tried Rs232 to Ethernet but nothing is working. -
Yeah SD-Card , it was Bought and then installed in there.
I tried EIO.cfg that i made in robotstudio and tried to put it in Controller. But it said ERROR 60011 , i can give you the error line in param.err what did i get.
But i dont just get it.Why cant i simply just upload it to Controller.
CFG FILE INSPECT: EIO.cfg
DOMAIN NAME = EIO
Errors:
Unrecognized attribute name in line 5:
-Name "Virtual1" -ConnectorID "SIM1"
^Unrecognized attribute name in line 13:
-Name "MyUnit" -UnitType "Virtual" -Bus "Virtual1"
^Unrecognized attribute name in line 17:
-Name "diTest1" -SignalType "DI" -Unit "MyUnit" -UnitMap "0" -Access "All"
^Unrecognized attribute name in line 19:
-Name "doTest1" -SignalType "DO" -Unit "MyUnit" -UnitMap "1" -Access "All"
^Unrecognized attribute name in line 23:
-Name "All" -Rapid -LocalManual -LocalAuto -RemoteManual -RemoteAuto
^Thank You!
-
Thanks You Hermann.
I wanted to ask few more things.
How can i transfer System files via SD-Card To Controller?
It dosent reconise the .sys file That i saved as virtual floppy image.
And when im trying to load the RAPID that i saved on SD-Card , it says: Syntax Errors.
And No Inputs And Outputs in RAPID and System Param.
How can i fix it?By Ethernet Board And Pc connection in RS , As a relation?
Thank You!
-
I want to look at the I/O-puts and easily write a programm into controller.
These are the main things, i need to get working. -
Hello I need help with IRB 1400 M98.
I want to connect IRB 1400 M98 to PC.
I Have S4C Controller.
So im asking your help.What program do i need?
What Connections do i need?
What Cables ?Thanks.