Changed to a joint move with no issues. Linear move was taking jt6 to 425 im guessing because it thought that was quicker?
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Changed to a joint move with no issues. Linear move was taking jt6 to 425 im guessing because it thought that was quicker?
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Keep getting this error when trying to move to a point. Both start and end points are well within motion limits of all joints. Moving from current position in bottom right window to pr61 in left window gives the error. Any ideas?
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You are connecting to the bottom port on the board right?
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In a c controller it is in the Aux 900s I believe. Not sure what he's using
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I will try it and i will send a feedback for you.I set com1 in KRterm and PC device manager with same baud rate and ....
If I change com port to wrong port in KRterm (for ex Com3)
When i click in connection button, i have a error message.
When i connect with correct port ( com1 ) i don't have any error.
And its ok ( connection button will be OFF and disconnection button will be ON)I found 1 floppy disk for this Controller.
It has KC-monitor and KCwin.
But those are so old version and need win 95.
But I can execute it with compatibility option in windows 7.
I will check it and inform you.Thanks for your kindly attention.
Best Regards,
Just because you don't get an error doesn't mean it's connected. When you select a different COM port the error is probably because there is no COM 3 or 2....etc. when you select 1 it works because that is a valid port to communicate on. try what was mention about connecting and cycling power. If you don't see anything during boot then I'd say ur not communicating. If u have a gender changer for 232 maybe try and eliminate the wiring between board and door and connect straight to the board. Also I remember seeing an Aux function for environment setting that had terminal connect/disconnect. This may be the same as the termon command though.
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Ok so I tried this today and it works fine on cnet. Looks like 16 words both ways available
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Well the plcaout command will write to the integer table if I look at the io monitor. Whether it gets to the plc idk yet
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Can anyone else explain how to use integers over networking. Over control net is it PLCAOUT # (where # is the integer u want)?
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One thing I don't get is why the other controllers don't even have this in the dedicated signals?
Maybe newer c30 Controller?
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Holy cow I got it! None of our other robots have this but there is a dedicated input signal called tp_enable. I made an I/f panel switch and used signal 2003 and when I turn it on the pendant works. Have to turn it off for repeat tho.
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I'll try and get a file save and possibly swap the 1HP. Would be an easy thing to try.
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The hold/run switch is actually just jumped out so it is always in run. As for tb2 I actually took a meter and checked the pins on the CN1 connecter to make sure the jumpers on tb2 were working and they are.
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Also tried flipping switch 8 to initialize and still no good
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All I did was went to the initialize function. Dont remember the number. This was to try and fix this issue though it didn't create it.
I just went through tb2 again all is fine. Traced wires on 1HP cn2 to make sure they were correct on the teach/repeat switch.
And yes I have check the inching and man. Tried it both ways. And also when trying I'm looking at the joint angles I see no movement, not just watching the arm.
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As for the file saves. One of the things we tried was system initialize which wiped it. I habe no backups for this controller. I have sever others but if I try and load one of them it switches to japanese on me and I can't finish it.
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Whether you're in Repeat or Teach - K1/K2/K3 are used in the same way:
K1/K2 provide 3 phase supply to the servo amp module for initial pre-charge circuit.
K3 is energised after pre-charge is complete and supplies DC to the servo amps = servo's energised and brakes released.So, it is safe to assume that if this is the case in Repeat, then all of the hardware is operating as expected.
So for Teach Mode could you try this and let us know the outcome: (specifically K1, K2 and K3)
Key switch to Teach.
Confirm no Estops are active (TP, OP and Ext).
Run/Hold switch to Run.
Teach Lock to On.
Motor Power On.
Depress one of the Triggers (deadmans).
K1 and K2 should energise (same time), then approx. 0.2 secs after K3 should energise.If the above works ok, then the hardware is all ok and it maybe that the Teach Pendant maybe stuffed.....
Have you another Teach Pendant with the same software available you could try, just to rule that out?Also on 1HP board (small board in card file rack at the left hand side) are all connections firmly in place (CN1 - CN4)?
Visually if you have jumpers installed does not necessarily mean they are electrically connected....
TB2 gets disturbed/nudged (unknowingly) when connecting/disconnecting the main robot umbilicals or moving cabinets around, so I would definitely check/verify the integrity of these connections.Let us know how you get on........
So we just tried swapping the tp. Same result. K1, K2, and K3 all working properly in teach and repeat.
Status screen shows run not hold, shows teach not repeat, teach lock on, motor power on, estop ok. Only thing I am noticing now is the 4 small indicators. The one that says teach is blue the rest are red. Like teach is still not enabled?
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I will try this and see.
Another thing that seems weird is to even get motor power in teach I must have the Deadman pressed. If I let off I must hit the motor power button again. None of our others are like this
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Not sure if k3 was pulled in for teach. I assume it was because the brakes released on the robot and was held by the servos.
I'll have to get a list tomorow but our tb2 connects is an external motor power on and the estop. Everything else is just jumped out.
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It is a old robot and controller pair.
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Ok. So I made a quick 7 step program and shifted the steps around with online edits and it runs in repeat. So the controller is fine and robot is fine but still can't move with the pendant???
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