Hi
Did you check the COMARC manual?
It is good reference for your programming and understanding.
Hi
Did you check the COMARC manual?
It is good reference for your programming and understanding.
If you will have accurate path for this shape, it is better to use 3D drawing and CAM function (in Motosim you can use)
other way in the pendant is use POS ADJUSTMENT function, you can teach a circle in the first and copy from this circle in your job and change the value of X or Y (according to moving robot direction) in the POS ADJUSTMENT page.
I do same as it, you can see in the picture.
I don't have its manual and i don't know which website can find all ABB manuals.
Please let me know the web site.
Any feedback!!
Nobody has done this work before?
in this communication the PLC is Scanner and YRC1000 become Adapter.
for setting in the robot go to MAINTENACE mode, SYSTEM , SETTUP, OPTION FUNCTION, go to ETHERNET I/P (CPU BOARD).
select DETAIL in front of ETHERNET I/P (CPU BOARD).
select DETAIL in front of ADAPTER in this page ENABLE the ADAPTER and do setting same as your PLC.
For more info about setting, see EtherNet/IP COMMUNICATION FUNCTION.
For use move with P variables, press INFORM key and go to MOTION menu and select one of MOV instruction (MOVJ/MOVL), press INSERT + ENTER for input the instruction in the job.
You can change the P number in front of MOV in your job to any number (ex. 66).
MOVJ P0066 VJ=20
For change the value of P0066, go to VARIABLE menu and select P VARIABLE, in down of windows press PAGE and input 66, the position variable 66 appear. Press SELECT and select one of types (PULSE, BASE, ROBOT, USER) according to your needs.
Move the robot to position that you like and press MODIFY + ENTER or if you know value for X,Y,Z and other input values.
Know if the job run, robot from current position will go to P0066.
For this reason, you can create a MASTER job, select it in the MASTER JOB SETTING under JOB menu. This job can call manually from MASTER JOB SETTING under JOB menu or can call by external input signal or if you have HMI can call by press a key.
For select this model, you must use DX200 controller.
In the motosim select DX200 and under robot model you can see MPX2600.
You can select and see jobs only in playback not running, in the running you can see only job that are running.
If you are using PSTART instruction (parallel start jobs), you can use PAGE key for see jobs that are running.
No all positions are zero in 3 lines.
I use other program too and use EX0000 variable, it have 0 value. but with this job is same too. after MRESET, the pulse have value.
Thank you, the problem solved, that was for parameter setting.
I see a new problem when the job run and end.
i have a S1 job, in the first step the PULSE of positioner is 0, when start the job it turn and in the end of job i reset the PULSE with MRESET instruction. after reset the PULSE the value in current position is not 0 and have a negative value.
Why is not the pulse value to zero after reset (MRESET) and it has a value?
please see picture.
Hi,
I am using external endless function, i need the external axis turn always. I write two type of jobs.
JOB1:
NOP
MOVJ VJ=10 MTE=20
MOVJ VJ=10 MTE=20
MOVJ VJ=10 MTE=20
MRESET
END
JOB2: // use MOVJ with EX variables
NOP
MOVJ EX000 VJ=10 MTE=20
MOVJ EX000 VJ=10 MTE=20
MOVJ EX000 VJ=10 MTE=20
MRESET
END
When i use program 2, external axis turn without any problem.
But when i run job 1 it give alarm 4490 subcode 3.
Do anyone where is the problem and how it can solve?
what do you want to do?
Please explain about your needs. We can help more to you.
Hi,
Did you do the tool calibration and laser calibration by yourselves?
For a good working of laser tracking, the correct tool data needs, therefore in first step check the tool data and if it need calibration again.
After that you must calibration the robot and laser, with this calibration the tool frame of laser and robot will be same.
There are a job for automatic calibration in the robot ( i think the Scansonic gave to you), before use this job you must have a plate for calibration (explained in the laser manual), for calibration by plate, you must move the robot by instruction explained in the manual and set this positions in the automatic robot, after set positions you must start robot, robot automatically turn ON/OFF laser and move according to positions that set.
After running the job, the robot and laser will calibrate and you can see the accuracy of the calibration in the pendant.
If you are using the user coordinate 2 in position variable, go to current position, on the pulse press SELECT, go on the USER in the menu, press SELECT and input number 2 and press ENTER.
All value in the page will show in user 2 and now, you can use these value.
Take picture and input value in position variables.
I forgot to tell you, Your controller must have the search function enabled before because touch sense use this function for find the workpiece.
To use touch sense you must load jobs on the controller, the jobs are MACRO jobs and you need MACRO JOB function that must active on your controller.
In the Morosim you can active same as relative job in the option function menu.
Hi,
I will use conveyor tracking and CAM function in same time. I will import the 3D drawing in the Motosim and take code in CAM function. it is easy when there aren't conveyor tracking but i don't see any option in CAM function when there are conveyor tracking.
do anyone know about it?