Profinet CIP safety Signals will use the CIP Saftey Inputs and Outputs, CSI and CSO.
You need to get a copy of the DCS manual. Everything is detailed in there.
Profinet CIP safety Signals will use the CIP Saftey Inputs and Outputs, CSI and CSO.
You need to get a copy of the DCS manual. Everything is detailed in there.
Move each joint of the robot to 0 degrees and see if the witness marks line up. The robot should be standing with the arm straight out at a right angle when all joints are at 0.
If it isn't at the zero marks then your master counts are wrong.
With the USB drive in UD1. To install software you have to power on the controller while holding F1 and F5. Then you select all software install.
If you then restore an AoA backup you should be good again.
If you have pulse mismatch then set mastering done = true in the system variables, then in the master/cal menu press reset PCA, and press calibrate.
If you installed options with a PAC you may need to redo that and then auto update.
What controller model?
There is no known way to do this via software automatically, but you can wire a relay to the Ext Off terminal on the estop board. I know this is available on R30ib and R30ib+.
An auto-update usually makes you take a backup first. Check the flash drive again and see if you find a folder named backup or 00 or files named from and sram.
If so then restore the image backup.
To your questions:
1.The factory USB drive is not an image backup but contains the original software installation. If you don't have an image backup then you could use this to reset it to your original purchased condition. Then you will need to restore your files and mastering from the AOA backup.
2. Just load the sysmast file from your AOA backup.
3. Yes, this helps a lot as I stated above.
4. Dont use UT1 for image backups. Sometimes it doesn't work. Before you proceed with an auto update, make sure you have a good recent image backup. I always use UD1 for taking and restoring images. You can backup to the same flash drive that the update software is on.
It sounds to me like you are re-inventing the User Frame.
The station should be defined by a user frame and the offsets should just be regular points taught in that user frame.
R[n] = $mnuframe
I don't believe it will stop, but you could test it and find out. Either solution should work.
I would use the wait command.
: WAIT DI[60]=OFF;
Then you can turn on DI[60] to cause it to wait at that line.
Yes. If I remember correctly you should be able to enter what degree you are mastering at.
In any case, if it only allows 0, then just master at 7, jog to -7, and master again.
Never seen that before, but I would check for loose, disconnected, or damaged cables.
You could train them to correctly orient the tool. Maybe even have an arrow pointing or pictures in an instruction manual.
If they need a diagonal slot or routing on a slanted surface then tool offsets would cover that situation.
If you only want orthagonal then I would suggest creating points with preset orientations for the different faces. Then they could select the from a starting orientation and jog x,y,z to the starting point.
I think I've got your solution.
Make the moves all tool offsets from the starting point. Then your slot, rectangle, or any shape you program is always relative to the tool orientation, without you needing to do any complex math.
Probably a wiring issue. The fence circuit is a 2 channel safety circuit. Both contacts must be opened and closed at the same time.
Do you need to do this in the program or would an offline calculator work?
Do you need a general mathematical solution or is it just in a certain range of orientations? In some orientations it will match the r angle from LPOS. If your situation matches this then that would be an easy way.
Flags are not required to link them. When on the UO screen press 'config' and see the rack, slot, start assignment. Then see if the DO config matches. If so then they are not so much "linked" as they are mapped to the same item.
Is your UO[3] for program running coming on?
In addition to the ITP time you would have to consider the communication time. For example with EthernetIP I believe the minimum RPI is 8ms.
Yeah, I remember thinking the same thing.
To move just the robot you change X.
To move just the rail you change X and E1 the same amount.
If you only change E1 then the robot will move -x to maintain the same TCP position relative to your frame.
So you have to keep track on your program that the robot is not going to hit a stroke limit.
Sounds like when you changed the memory you lost your mastering counts. Hopefully you have a file backup or the original mastering counts that you can re-enter.
If you have the file backup then reload sysmast.sv. or if you have the mastering counts then enter them in the $DMR_GRP variables. I woulc check to see if the counts are still there first. Once the mastering counts are in, then you can set mastering done variable to true. Then go to the master/cal menu, reset PCA, and calibrate.
After that take each axis to 0 degrees and check that it lines up with the witness marks.