Posts by Henry Dam

kwakisaki,

We did not receive any manuals with the E-controller robots we have running, I will be contacting our supplier about that. In the mean time, is there a site where I can download the manuals ?

Thanks in advance.

Ok, thanks for the link, I'll look at that tomorrow.
I have seen D-controller robots working with vision, witch dit not have any extra options set up, just the basic TCP/IP settings in the robot controller.
I don't know if this is an option, but in all the robots I work with these settings are there. (I always use TCP/IP to edit and back-up the running programs)

I have seen some commands in the vision program, using a TCP command (Like TCPsend, TCPreceive and so on)

I would like to know how this works, and what I can send and recieve.

I hope you understand what I am trying to do.

Here I am again, a new week, a new question... lol

At my job we are currently building a new robot cell using a RS80 robot, witch will be used to load 45 different pallets into a Haas UMC 750 machine.
To get this to work so I can give prioritys to certain pallets, and create some more communication options betweet the robot and the machine I am going to try to make an interface on a PC.

I would like to know how I can send and receive data using the ethernet port on the robot. What commands do I use, what do I neet to set up ?

I was just going through the manual and i found this command. I had never seen it been used before, but its a simple way to get the desired result.

I have been messing around with it a little more today, and i solved the problem by using the Lappro command instead of the lmove with shift

Works fine now, button thank you for your reply

My robot's coordinate system is the same as the cnc machine, but we use machines with 4th and 5th axis, so I can tilt my vice. I do this to drop a workpiece against two pins or something, to be more accurate when positioning. After letting go of the workpiece I want the robot to move away in the same tilt as the vice is.

Here is the current code for moving the gripper away, this should be altered to make the angle possible :

IF specin==0 THEN
LMOVE SHIFT(machineweg[pgnum] BY 0,0,inveilig)
ELSE
LMOVE SHIFT(machineweg[pgnum] BY aanvliegx,aanvliegy,aanvliegz)
END
;END
BREAK
SPEED spd_in MM/S
LMOVE machineweg[pgnum]
END
ABS.SPEED OFF
SPEED 100 ALWAYS
BREAK
CALL lossen
IF specuit==0 THEN
LMOVE SHIFT(machineweg[pgnum] BY 0,0,gripperlengte+10)
ELSE
LMOVE SHIFT(machineweg[pgnum] BY wegvliegx,wegvliegy,wegvliegz)
END

When loading a CNC milling machine, I often do this at an angle. When the gripper lets go of the workpiece it wants to move straight up, sometimes hitting the workpiece and causing problems. How do I get the robot to move at an angle ?

I think I have to do something with the POINT AOT command, but I don't exactly know what... some help please ?

I have a problem with a Kawasaki FS10N that is mounted on a 45 degree angle in reference to the table.
I've adjusted the base coordinates, when I did that the axis of the robot seem to run in the right directions, but when I start running my program, and I activate the frameset it seems to go wrong. SHIFT movements still appear to be calculated in reference to the original base of the robot, in stead of the new base.

Also, when I move the robot manual, and I only move the X-axis, it shows movement in the X and Z axis.

I know this is easy to set up in an E-controller, butd does anybody know how to do this with the older D-controller ?