Posts by addittech

Hi x9tech

Thanks for the tip. So am I understanding correctly, BCO run is more or less a safety feature to make sure that the robot is in the correct position before setting it off on it's journey?

Cheers
Aran

Hi Everyone,

When I start my program, I have to press start to get through INI to the next line, and then when it gets to PTP XHOME, I have to hold the start button down. As soon as it has achieved XHOME then pressing start sets her off running the program in Auto mode.

Is there an explanation, or a way to press start once? Is it a safety feature that the first time it drives to XHOME is done in more-or-less T1 mode?

Here's the start of my program:

$VEL_AXIS[1]=30
    $VEL_AXIS[2]=30
    $VEL_AXIS[3]=30
    $VEL_AXIS[4]=30
    $VEL_AXIS[5]=30
    $VEL_AXIS[6]=30
    $ACC_AXIS[1]=30
    $ACC_AXIS[2]=30
    $ACC_AXIS[3]=30
    $ACC_AXIS[4]=30
    $ACC_AXIS[5]=30
    $ACC_AXIS[6]=30

    ;welding speed for CMT with 1.4 m/min feedwire - synergic
    ROAR_CMTSPEED1 = 0.005
    ROAR_CMTACCEL = 10.0
 
    ;set the home position to the master position
    ROAR_HOME = {AXIS: A1 0,A2 -90,A3 90,A4 0,A5 0,A6 0}


    ;create the base reference frames
    ROAR_BASE1 = {X 1363.0, Y -8.0, Z 136.0, A 90.0, B 0.0, C 0.0}


    ;create the tool reference frames   
    ROAR_CMTSHORT1 = {X 4.30, Y-14.70, Z 229.0, A 0.0, B 0.0, C 0.0}




  ;ENDFOLD (USER INI)
;ENDFOLD (INI)




    
;set the base and tool 
$BASE = ROAR_BASE1
$TOOL = ROAR_CMTSHORT1


;there's no place like home - this sets the tool orientation 
;TODO - Get the HOME position out of the controller and hard code it
PTP XHOME


...... BLAH BLAH BLAH .....


END

Hi Panic Mode,

Great guide. No BS. Got the comms up and running.

My R&D project uses a MIG welding process, but not in the ArcTech sense i.e. the only functionality I am interested in is arc-on, arc-stable, arc-off, robot ready, crash sensor. I have a Kuka Kr45/2 KRC2 control, with a Fronius CMT TPS4000, communication over deviceNet.

My question relates to how to proceed from the successful DevNet connection to actually talking to the welder.

Would I be right if I copied the A20.dat and $CONFIG.dat setup for an ArcTech setup? I currently have a practically empty $CONFIG.dat, so I assume this is not going to work. I did simulate $OUT[15] = TRUE, since I understood that this was the robot-ready signal, however my Fronius still didn't make it out of the error 038 "STOP" mode, so I don't think it worked. I used exactly the same I/O config you have above, so should I have used 160 + 15, i.e. $OUT[175] = TRUE instead... so many questions!

Please be gentle, I am a NooB but I'm not stupid.

Cheers and thank the gods for this forum
Aran