From looking at my RJ3 manual, it looks like PLC I/O maps to the robot physical digital I/O as a remote I/O rack for the PLC; i.e. the PLC has direct control over them and they logically bypass the robot controller completely.
Posts by TitusLepic
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Check "Collect Profiler Data" and "Collect TCP Trace" should become available
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Test-Run > Run Options > Collect TCP Trace
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I'm not 100% sure I understand what you're trying to do, but this might help:
make a batch file, putTxt.bat. It has one line:
ftp -i -s:putTxt.ftp
then make a file in the same directory called putTxt.ftp:
open <robot IP address>
<Username>
<Password>
binary
cd fr:
put <filepath of file to upload> <filename you want on the robot>
disconnect
quit -
Also look into flip/non-flip configuration. One or the other may be better at keeping you away from the limit.
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Is there a way to export the execution history as a text file? I'm wanting to write a karel program that would copy the execution history to my FTP server when the robot has an error to help with debugging after the fact. I was hoping to find a .ls or .dg file containing the history on the MD but no such luck...
RJ3iB V6.31
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srvo-223 is a symptom of srvo-058. Here's the troubleshooting steps for the srvo-058:
SRVO–058 FSSB init error (Group : i Axis : j)
(Explanation)
Communication was interrupted between the main
board and servo amplifier.
(Action 1)
Check whether fuse F3 in the power supply unit has
blown.
(Action 2)
Turn off the power and disconnect the CRF7
connector on the servo amplifier. Then turn on the
power and check whether this alarm occurs again.
(Ignore the alarm SRVO–068 because of
disconnecting the CRF7 connector.) If this alarm
does not occur, the RP1 cable of the robot connection
cable or the internal cable of the robot may be
short–circuited to the ground. Check the cables and
replace it if necessary.
(Action 3)
Check whether the LED (P5V and P3.3V) on the servo
amplifier is lit. If they are not lit, the DC power is not
supplied to the servo amplifier. Make sure the
connector CP6 and CRM67 on the E–stop unit and the
connector CRM67 on the servo amplifier are connected
tightly. If they are connected tightly, replace the servo
amplifier.
(Action 4)
Check the communication cable (optical fiber)
between the main board and servo amplifier. Replace
it if it is faulty.
(Action 5)
Replace the axis control card on the main board.
(Action 6)
Replace the servo amplifier.
(Action 7)
If the other units (the servo amplifier for the auxiliary
axis and the line tracking interface) are connected in
the FSSB optical communication, disconnect these
units and connect only the 6–channel servo amplifier
for the robot. Then turn on the power. If this alarm
does not occur, search the failed unit and replace it.
Before continuing to the next step, perform a complete controller
back–up to save all your programs and settings. Failure to perform
this could result in damage to equipment or lost data.
(Action
Replace the main board. -
I'm working on my first karel program, a pretty basic data logger. My basic idea is like this:
Existing karel program reads bar code and calls appropriate PNS program
PNS program runs my datalogger
datalogger starts a cycle timer and grabs barcode data from existing karel program
datalogger waits on semaphore from TP production program
PNS program calls production program
production program does it's thing
production program ends and sets semaphore
datalogger stops cycle timer, grabs the value of a half dozen or so registers, writes timestamped entry to log fileI've figured out how to do all this (although if there's a better way I'll take any suggestions anyone has), my problem is how to deal with an abort between when the datalogger starts and the production program ends? I still want to log the attempt at production including all the register values as well as what triggered the abort (eg; condition handler, FNCT > Abort (all), limit error) but I'm not sure how to set up a listener for this.
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Are you running it as administrator?
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Setting up a production log showing what products we ran (I currently have 127 different models we run on this robot, not counting options), timestamp, cycle time, any errors, iterations and convergence of my search programs, etc.
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I ended up digging up a copy of WinOLPC+ V6.31 that could do the translation for me. I'm still curious what was up with roboguide, but I have a solution.
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Thanks for that link. I've been beating my head against the wall trying to teach myself Karel with just the reference manual to go by, that's a perfect tutorial for what I'm trying to accomplish.
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Thanks. I PMed you a link to the packaged cell. My Roboguide version is 8.30104.00.35.
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It's V6.31. I already have the KAREL (KARL) option. There's an option called "KAREL Edit/Trans/Comp" (K_DP) that's unselectable; mouseover reads "Not supported by SimPro core system." There's another option called "KAREL IDE (Beta)" (KLID); but adding that to the robot still doesn't allow me to compile.
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I decided to teach myself Karel, opened up roboguide, added a new .kl file, and wrote a "hello world" program. The problem is that the "build" button is greyed out. The build option is also greyed out when I right click on the file in the cell browser. Am I missing something obvious here?
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Something I've done that doesn't really fix the problem but would prevent the crash is to use a register to keep track of where in the motion program the robot is. In my case, the structure looks something like this:
R[25] = 1
motion statements to get robot from perch to over tool changer
R[25] = 2
tool change logic and motion
R[25] = 3
motion statements to get robot back to perch
R[25] = 0At the beginning of the program, it checks the state of R[25] to see if/where the program was aborted. If R[25] = 0, then it runs the program like normal, 1 or 3 it runs the appropriate motions to safely get to a known location then runs the program like normal, and if it's 2 it requires someone with a password to come put the robot right and reset R[25] before it will run. Like I said, this won't keep them from aborting the program but it should prevent a crash if they do.
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On the PC side of things, I use the settings mentioned in this post: https://www.robot-forum.com/robotforum/fan…93501/#msg93501. Also set Default remote directory: \
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I do this all the time using tool offsets. Example in this thread: https://www.robot-forum.com/robotforum/fan…77334/#msg77334
Update link
Re: Problem with simple circles, is there direct input method for programming them
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Found a solution; I remapped the "always on" DIs to rack 35 slot 1 and added more DIs mapped to the physical input card.
I'm still curious about why the image backup doesn't look like it has everything on it though...