Posts by ljuba
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So, did it work?
Did you manage to solve it?
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Yes MT21, you can do it in motosim.
Just right click on the model and than "Set Origin POS". there you can insert the coordinates or pick a position
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I agree with 95devils
I think that you should check the concurrent I/O
Here on forum you have a link to download software named Mladder. In this software you can see graphically the CIO file, and would make it easier to compare
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You can set it in Robot -> Home Position via management mode.
It is the way to do it on robot, but I can't find in Delmia V5.
Software need those info to generate the program.
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Hello people,
I've been doing some tests with delmia V5 and Yaskawa robots.
I was about to export a program and test it in motosim.
But at the moment of post processing a program for yaskawa, it says that the encoder values for the axis are not set. And I can't find the place where I can insert it.
Can anyone help me with info where can insert those values?
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Have you double checked that the inputs and outputs are correctly mapped in the WoV project?
I/O mapping on krc2 is set on different way. WorkVisual is just for KRC4.
Hello, We are attempting to set up a Turck fdn20-16xsg via Divicenet and want to have 8 set as Digital outputs and 8 set as Digital inputs.
We have wired it and set the settings as good as we can understand following the Devicenet manual from Kuka and reading multiple topics here on Forums. We are not getting any errors on pendant and the Turck Module light is solid green stating it has an established connection. 121 Ohm resistor is installed on combicom plug on Turck module and also had one on the combicom plug that is plugged into MFC Card.
When using a jumper from 24V+ to try and simulate an input it does not show up in the I/O Monitor and when changing the output it does not switch a 24v+ reading with voltmeter.
Robot was a Decommissioned unit from Ballard International. We think it was in an Automotive Plant.
Robot is KR2210 2 us s c2 flr zh210
Kernel System KS V5.6.54 RTAcc
iosys.ini file is written as follows
[CONFIG]
Version=2.00
[DRIVERS}
MFC=0,mfcEntry,mfcdrv.o
DEVNET=2,dnInit,dn2drv.0
DIAGDRV=22,cp_DiagInit,diagdrv.o
[MFC]
[DEVNET]
OUTB1=22,1,1
INB0=22,1,1
[DIAGDRV]
devnet.ini file is written as follows
[krc]
debug=0
baudrate=500
[1]
Macid=22
I have worked on Fanuc systems before but this is my first KUKA and learning as we go.
I'm not 100% sure, but I think that the mapping is done in machine.dat.
Guys that know very well krc2 and could help you are massula and panic mode
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Are you sure that it is kuka?
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Vlad, the endless rotation is an FD parameter. You need to contact local yaskawa representative for it.
You are right about endless rotation on axis 6.
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Yaskawa robots use ladder as kuka use submit. So ladder is cyclic and you can do a lot of stuff with it. Also in ladder you can define "input groups" in order to receive let's say program number.
Yaskawa also has, switch case... Check if your input language is set to expanded. If it already is expanded and "switch" does not appear you need to contact local yaskawa representative in order to enable function parameter for it.
Forwarding some signal can also be set in ladder.
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There is FD parameter for if, then, case...
Local yaskawa representative could help you with that.
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There is a backup file of the cmos.bin that is saved every time you shut down the motosim.
So only thing you need to do is create a new simulation using existing file (cmos.bin), from the folder is the simulation that is crashing
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Why don't you create cycle flag depending of the signal and robot actual position, instead of turning the sensor off and on?
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Hi.
I AM having problem with macros. I have 3 robots dx200 with spot welding. I wrote macro for checking if tip change or tip dress are needed. So inside that macro i AM calling Jobs for actions mentioned above. Programs are the same. On 2 robots when there is a fault you can reset and continue with macro execution. But on one robot macro is aborted. Any idea?
When you are setting the macro, you can set that certain macro interrupt some other routine. Check if anything is set there
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I think I've read something about it on motosim manual. But however you can just click on a parte and robot would be placed in that position. You don't need to move the robot it self e as you would do in real life.
Take a look at pdf manual. There is a separate one just for cam option.
You can find it on "help".
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There is a command in "inform list" that you can use for relative moves (points). Like switching the frames. I mean the point stays where it is, just coordinates are changing according user frames that you want to use.
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As I understood he wants to change the system language.
As Fabian wrote in one thread SHIFT+AREA change the language, but I don't know if it works on mrc.
Probably you can change it also from maintenance mode.
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It depends on what you actually want to do.
I don't know if the ladder editor is already enabled on YRC1000, because it is FD (optional).
Also you can change the ladder file in text editor.
Here on forum, there is a thread about the Mladder software. It shows you graphically the ladder but the changes need to be made in text.
If you tell as exactly what you want to do, we (the whole community) can give you more ideas.