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:

    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)’.

    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.

    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.

    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

    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)