Hi Guys
I want to send a Dvar Array to Mreg for PLC upload.
I know how to do this for values less than 255, but I need to send larger values as the Dvar Array will contain X and Y coordinates of robot positions.
I am currenty sending X Y coordinates from the PLC to the robot, by using bit shift and masking etc, but need to reverse the process to store the values in the PLC after using the Touch Sense Function of the Robot.
Any suggestions ? 
I will post you an example job of how i did it later when i get to the office.
I used the motoman touch sence function to create position variables and then used the position variables to create a new user frame.
Sent from my SM-J700F using Tapatalk
Sorry forgot to mention DX200
I did eventually get it all setup, and figuredout which Mregs are available.
But thanks for the telling me about your method, next time will be easier for me.
Hi All
Is there a range of Mreg already mapped in the user CIO.
I want to send data from the PLC to a range of Mregisters, but I am not sure which Mreg are free to use.
Currently I am going thru the CIO and I see a lot of the Mregisters already being used, so I was just wondering if there might already be a a range of Mregisters already mapped to the External IO, from factory default.
Thanks
I am using a UNI5C interface with the LSQ5 Q6
Hi
Those letters *A , *B etc are just labels in the program.
The code from line 0 to 12 checks certain conditions and the jumps to the appropriots
position in the code.
So example the code at line 0001 says "Jump to Lable *D IF input 6 is ON"
The robot will then jump the code to label *D and continue from there.
If the input for line 0001 is off, it will skip the Jump and goto line 0002 where it will then jump to lable *A (Line 0012) and execute the code from Line 0012.
To change the lable. Move the Cursor down to the Line. Scroll the cursor left and press select, and then select again. And change the label.
Also check that your Jump command is not trying to jumping to a Non existent label
Hope this helps..
[size=3]Hi All
Has anyone got experience with SKS.
What I would like to know is, if I set my parameters using the ARC ON or ARC OFF Command (eg. ARCOFF AC=300 AV=21.0 T=0.10) will this take precedence over the parameters set in the weld file of the SKS. I currently have a macro that calls a Weld file in the SKS.
I am having problems with the, wire burning to far back towards my tip, and I am not sure what settings I can change, and I also dont understand the SKS BurnBack parameter completely.
Initially I was getting a wires stick problem after each weld, but I have resolved this by increasing the wire feed rate during the weld.
Does anyone know where I can get a programming manual for the SKS LSQ5, as the SKS website has no information, I am new to ROBOT ARC WELDING APPLICATIONS
Thanks...[/size]
Ok, I found part of my problem.
I was using MovL instead of a Position Variable for the Job. And also i needed to create the position variable in the UFrame.
Now I just have to test too see if the torch angles also follow the created MFRAME.. I'm sure it would
Yes it is possible, you will need a communication card installed on the robot and PLC that uses the same protocol. Eg Prof-Net Card
Hi All, is there someone that can assist me and point me into the correct direction for my application ?
I have an ARC weld robot with sensing function, that senses through the welding wire. I then grab the position using GETS and store in PosVar
Is there anyone that can assist me with how to use Mframe. Just guide me in the right direction.
I am trying to move the robot around a square metal block.
I have written Job1 program using UF#1:
Home Pos
MovL X direction
MovL Y direction
MovL -X direction
MovL -Y direction
Home Pos
However the position of the metal block square can vary/change on the table by approx 5mm in either X or Y or both directions.
How do I tell the robot that the block is now in a new position on the table, while also maintaining any torch angles as programmed in the original JOB1
I am able to use the Search function to get a get a new X (P001) and Y (P002) for the work-piece and calculate the origin(P000)
so P000 --> origin
P001 --> xx
P002 --> yy
I then use Mframe UF#1 P000 P001 P002
But when i check the program in teach, the original Job does not move at the Blocks new position?
How do I tell the robot that the block is now in a new position on the table, while also maintaining any torch angles as programmed in the original JOB1
Will any of this code have an effect on the creation of the MFRAME or doesnt it matter which I use
GETS PX001 $PX000
GETS PX001 $PX001
GETS PX001 $PX002
Hi
Does anyone have any documentation on S controller, as used in Toyota.
Thanks in Advance
Hi All
I am trying to connect to the Kuka KRC4 using remote desktop, but I still cannot seem to connect.
The steps Ive taken so far:
1. Changed the KLICONFIG file as sugested in previous posts.
2. Cold start the Robot
3. Connected the Network cable to the port on the door of the Controller
3. Open remote desktop on my laptop
4. Entered the IP
My questions:
a) Which IP Address do I use? Is it the one displayed in windows embeded or the one found under STARTUP>SERVICE>NETWORK CONFIGURATION
b) When I enter the IP address into remote desktop on my laptop, do I add a port number as well eg: 192.168.1.1:10
c) Is there any admin setup I need to do on windows embeded on the robot, for example "Allow remote desktop connections"
I am not sure what I have missed.
Thanks
Max
Hi
I know on the Dx200 you can disconnect comms from TP to controller by long pressing the SIMPLE MENU key and then selecting disconnect.
Check the DX200 instructions manual for the section called Disconnection Funtion, so that you can see an example of how the screen looks in the case your screen is cracked and you cannot see the display. Maybe it can work the same for NX100
Regards
You can try the following.
Power up into Maintenance mode by holding down the MAIN MENU key while turning the power on.
Select SYSTEM menu
Select INITIALIZE
Choose your language.
You may have to be in Management mode to do this changes.
I am using the DX200 maintenance manual for the information, but I am sure it will apply to the DX100 as well.
Regards
Sorry
I didn't read you message properly. I see you did already try what I was suggesting
Hi
You can set a new second home position using the Teach Pendant TP.
Goto the Robot Menu
Select SECOND HOME POS button
Select the control group by pressing PAGE - ((If you have more than one control group))
Move the robot to your desired position or leave the position as is.
Press MODIFY ENTER.
I hope this helps, and that I have it correct as I don't have the TP in front of me at the moment.
Regards
Max
Kawasaki has Cubic S
Changing the IP address will have an effect on the communications between the robot and the other devices on the network.
The other devices will not be able to see the robot on the network directly and communicate directly with the robot.
If the I/O is directly controlled from the robot, then it shouldn't be a problem. But if the I/O is controlled thru another network device then there will be problems.
The other network devices will have to be updated/configured/setup to tell them what the new IP address of the Robot is first.
Hi All
Can someone please tell me what is the relationship between AS SPEED commane and Block Teaching Speed parameters.
In Block:
The speed can only be set from 1 to 9
eg: FJOINT SPEED9 ACCU4
In AS:
The speed can be set from 1 to 100
eg:
SPEED 60
JOINT 'location'
What effect would the AS speed command have on my block teaching.
eg.
Speed 50
Fjoint Speed9 Accu4
Thanks
Max
I think torque of the robot is measured in N.m
