Posts by TitusLepic

When I set up my robot, I mapped UI[1-3] & UI[8] to the same physical input point, and let the PLC control all 4 at once with a single output.

As far as what each rack is, this is a list that somebody posted on this forum a few years ago:

Quote

Rack:

0 process I/O boards (also memory image)

16 AB or Genius I/O

32 Slave SLC2 I/O

33 internal relay/register

34 flag marker

35 always on/off port Slot 0 = OFF Slot 1 = ON

36 DCS port

48 address mapped I/O

64 ME-NET

65 INTERBUS-S

66 PROFIBUS DP master

67 PROFIBUS DP slave

68 FL-net

69 FL-net status

70 InterBus-S master

71 InterBus-S slave

72 IO-LINK II master

73 IO-LINK II slave

74 FIPIO master

75 FIPIO slave

81 first DeviceNet board

82 Used by DeviceNet

83 Used by DeviceNet

84 Used by DeviceNet

85 controlnet; also used 86

86 Used by ControlNet

87 RoboWeld

88 Ethernet Global Data (GE-EGD I/O)

89 EthernetIP (ControlNet over ethernet) I/O

90 Arclink Rack Number

91 WTC Serial Weld Controller I/O

92 CC-Link RD

93 InterBus PxC PCI master

94 InterBus PxC PCI slave

95 InterBus PxC PCI cmd

96 Modbus TCP

97 TOYOPUC PC3J Interface

98 InterBus PxC Slave interface

99 PROFINET I/O Controller

100 PROFINET I/O Device

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You can use the SUB_STR built in to remove the leading blank

To make an Image Backup on an RJ3iB controller:

• Press and hold F1 and F5 and cycle controller power. Continue holding F1 and F5 until the BMON MENU is displayed.
• At the BMON MENU, select ‘Controller Backup/Restore’.
• Select ‘Backup Controller as Images’.
• Select the device you want (typically MC for Mem Card). Enter a 1 when ready.
• You will be notified of the amount of free space needed. The card will not be formatted and the card’s contents will not be deleted.
• The controller will be backed up to the selected device. If there is not enough room on the card you will be informed of this and will be able to remove the card, free up some space using a PC or another robot controller, and then resume the Image Backup.
• When done press ENTER.
• Press 0 to return to the Main Menu.
• Select ‘Configuration Menu’.
• Select ‘Cold start’.
• When Controlled Start completes press FCTN and select ‘START (COLD)’.

Change the units from mm/s to deg/s

Also, here's a related thread you might find helpful (or confusing): RE: Karel Program

You're missing the "CALL"

[INST] > Miscellaneous > Parameter Name

What are you searching on? What's the geometry like? Are you using TOS or I/O for your input? What accuracy do you need? What offset type? Volume, 3 Planes, XYZ?

There's a discussion that you might find helpful here: Question about IRCalibration Frame Shift

Go to Menu > Setup > Menu Utility

Select "2 Prompt box yes/no" and hit F2 - "detail." Hit F3 - "create." You'll have to assign it a menu number; the next screen will let you add your text.

To use the menu in your program, go to [INST] > MACRO > Prompt Box YN. You'll need to pass it two arguments, the first argument is the menu number and the second is the register you want to store the response.

So for example, if you gave it menu number 1 and you want the y/n response in R[20], this would look like "Prompt Box YN(1,20)" A yes is a 1, a no is a 0.

Quote

Thanks...but Unchecking "Lock Teach Tool" did not seem to make any difference. The cursor still disappears when over the background.

Weird, that definitely toggles it on my version. Hope you find a solution.

Uncheck "Lock Teach Tool Selection," either from the menu or by clicking on the icon (see attached pictures)

So you are only trying to change the XYZ of the UTool and leave the WPR alone, right? Should the registers on line 22 be added to each other instead of subtracted from?

Post your code

How are you passing your new values to the karel program? I'm not a karel expert, but I think that I would create a karel program to create your html file line by line. Any time there's a change, delete the old html file, build the new file with the new parameters, write out the new html file line by line, and save.

View > Program Details > Position Connector Lines

Post the exact error code with description. I'm guessing "MOTN-170 Load is close to capacity?" This is just a warning and shouldn't be preventing you from running. You can get a more complete description with corrective steps by selecting the message on the error screen and hitting "Shift+Diag." But in any case when you get an error, you should try to understand what it's telling you and what the root cause is - not jump straight to bypassing it. The manufacturer put it there for a good reason, not just to annoy you.

I recommend searching this forum for "Payload" and "Inertia." You'll learn a lot about payloads, how to set them, how they effect performance and robot life, etc. If you still have questions, post them here along with information about your situation (What robot, what your payload settings are, what you're doing with it, etc)

I think that with the RJ3iB, if you save a UF to a PR it always saves in matrix representation. To be sure, see if you have the system variable $PR_CARTREP and if you do, set it to true and ignore the rest of this post.

The way I do it (I have 50+ programs that have 2 UFrames each) is to put this code at the beginning of my programs:

Lines 1-5 store 2 UFrame values (we have an asymmetric rotating wall)

Lines 8-16 selects the correct frame value into a buffer based on a sensor reading which side of the wall is active

Lines 17-21 further adjusts the frame value based on an argument from the calling program (some of our products are identical, but 2 inches taller) and also adds an adjustment that the operators can manually enter.

Line 22 loads the modified buffered value into an actual UFrame

   1:  JMP LBL[1] ;
   2:  !UFrame data ;
   3:L P[1:Side 1 UFrame] 1000mm/sec FINE    ;
   4:L P[2:Side 2 UFrame] 1000mm/sec FINE    ;
   5:  LBL[1] ;
   6:   ;
   7:   ;
   8:  !Start UFrame Load ;
   9:  OVERRIDE=100% ;
  10:  IF DI[15:Side 2 active]=ON,JMP LBL[2] ;
  11:  PR[8:UFRAME BUFFER]=P[1:Side 1 UFrame]    ;
  12:  JMP LBL[3] ;
  13:  LBL[2] ;
  14:  PR[8:UFRAME BUFFER]=P[2:Side 2 UFrame]    ;
  15:  LBL[3] ;
  16:  !End UFrame Load ;
  17:  R[43:isAFR]=AR[1]    ;
  18:  IF R[43:isAFR]<>1,JMP LBL[4] ;
  19:  PR[8,3:UFRAME BUFFER]=PR[8,3:UFRAME BUFFER]+50.8    ;
  20:  LBL[4] ;  
  21:  PR[8:UFRAME BUFFER]=PR[8:UFRAME BUFFER]+PR[13:UF Manual Adj]    ;
  22:  UFRAME[1]=PR[8:UFRAME BUFFER] ;

Quote

SCIO-037 Invalid item in mixed logic line

Cause: Invalid item is taught in mixed logic line.

Remedy: Please delete invalid item in this line.

Post your code.

Weird, it's always been there for me. I wonder if it might have to do with versions or controller options? I'm running roboguide 8 revK with a 6.31 controller with the following options:

There is a way to check in roboguide; select your program, hit cycle start, and let it generate a profile. When it's done, open the TCP trace you just made, select "color by near axis limit," then select the joint you're interested in and set a tolerance. It will show you potential problem points as shown in the picture below (I set the tolerance to +/-30° just so it would display something for this trace, a more reasonable value would be be +/-5° or so)