Posts by HawkME

Check for macros and condition monitors.

You need to show all of your setup and IO config.

Is SNPX working to turn on/off DIs and set register values? If so then keep using that, and add a BG Logic program to control UIs through flags.

Then you can use a DI to trigger your start, though BG Logic, to start a main program. Then in your main program, use a select statement and register to call your other programs.

Keep using linear for the pick and place moves.

What you need to add is a joint move at the beginning and end of your program(or this section of your program) to ensure the wrist returns to a neutral position (105 degrees in your case).

This is one situation where using ACC150 is not a bad idea. Your speed is low, and you want to maintain constant velocity while dispensing.

Also, consider purchasing the TCP speed output option. There is nothing quite like doing it right.

I don't pretend to understand how it works, but I think it is very disappointing that in the year of 2023 we still need backup batteries for encoders.

This will work in BG Logic:

Monitor the jogged system variable. Then control UOP cstopi through a flag. Pulse the flag using the counter method (use a register to count BGLogic scans).

Generally a warning would mean the alarm is displayed, but the robot keeps running.

Pause would display the alarm and hold the robot.

Stop would be similar to a safety stop event.

I believe those are supplying 0 and 24v. Check it with a meter.

Try disabling the IO auto config and UOP auto config system variables.

Is your PLC communication working correctly?

Sweet! You should add those to the tools section of the forum.

Nice work! That will come in handy if working on a robot without that is option.

You need to use Matrix multiplication to manipulate a frame relative to itself.

This has been discussed several times before if you search the forum.

Another option is to just add an offset onto each position, then it will do the math for you.

Skip is a good solution.

A general solution would be using UOP to abort, reset, and prod start again, then have a robust recovery routine at the beginning of your main program.

Manually copy it into your V9 robot once, then save those files for future use. Put them in a folder labeled for which software version they are compatible with.

Definitely sounds like Gimbal lock. A quick fix is to use a tool offset for your rotation.

Only use the regular offset for x,y,z frame offsets.

Always use tool offset for w,p,r offsets.

If you follow that rule then you shouldn't experience Gimbal lock.

You can apply both a frame and tool offset onto a single motion instruction if needed.

No need to use RoboGuide just to transfer files. Any FTP client can do that.

Why do you need to spin the robot around, why can't you just go directly to the final position taking the shortest path?

As an analogy, when you drive a car and need to turn right, do you just turn right or do you turn left 3 times.

Remaster and calibrate the robot, then reset and see if it clears.

Bzal means your encoder batteries were either dead or disconnected while the robot was powered off, so you lost all of your encoder counts. Even after that battery power is restored you still get the alarm until you master the robot.

Start a new thread and post screenshots of what you have so far on both the robot and PLC side.