Posts by HawkME

PR will use the currently selected User Frame coordinates. I suggest you set that in your program.

If you want to move in tool coordinates you must use a Tool Offset on the end of your motion instruction.

Did you set up a large enough size on the PLC for IO?

You can monitor the position via system variables in BG logic.

Are the robots the same, are you sure that UF and UT are the same and selected, is the motion config string the same? Are you starting from the same position? Are you using joint or linear motion?

Show pictures.

You cannot use motion groups in monitor action programs.

Can you tell us what you are trying to achieve?

Looks like you may need to use the skip instruction.

Payload is fine to copy paste, but frames should always be taught individually to account for small differences with each robot.

Is it every file or certain ones?

How far do you have to ship? What do you consider a reasonable rate?

Just a hunch, but check out the tcp/up and FTP settings in the Host comm menu.

Make sure the PC and robot can talk to each other.

There is a system variable that can disable frame checking. I can't remember it off the top of my head.

You could just use a BG Logic program to simulate your PLC.

In that situation it really doesn't matter. You aren't going to hurt it by pressing hold. Step may be convenient to stop it on an exact motion, but either way is fine.

If you have to stop it in this place frequently then you may consider adding a wait instruction with a register.

: Wait (R[1]=0);

Then anytime you want it to stop at that point you just change the register value to anything other than 0.

Depends. What is your reason for stopping? Safety, debugging, preventing a crash?

You don't have to power off for UF changes to take effect.

Also, there could be other potential causes.

1. Mastering

2. UF changes

3. UT changes

4. Physical/mechanical changes or damage

5. Program changes

Use the process of elimination to find the cause, then fix it.

If it is off after mastering then either the mastering was wrong before or after. Verify that first. If mastering is good then simply touch up your user frame. User frames are usually taught using a pointer and the 3 point method.

I don't recall if you can indirectly address Points. Typically I use PRs for that.

Set it to False.

Try disabling IO auto config.

$IO_AUTO_CFG=0

If you have to reset a single channel fault "res_1ch", then it means you're safety wiring is done wrong or faulty.

You need to fix the wiring.

Nice! You don't actually need line 4. The For loop will always initialize the Register to 1.