Hello,
It can be callibrated any kind of tool in MENU - SETUP - MOTION - FRAMES - TOOL .. for tool like welding torch or spot welding gun choose Local and 4 -points method..
Hello,
It can be callibrated any kind of tool in MENU - SETUP - MOTION - FRAMES - TOOL .. for tool like welding torch or spot welding gun choose Local and 4 -points method..
Hello in winC5G for this error code it show me this: (Attachment)
Hello,
In documentation is about arc_spot that is a optional function and i dont know if you must buy it from Comau directly..
I don't have smartarc anymore because we make onw app for comau robots for welding so i cant make some tests..
when you try it do you get some error message?
Great Vladarius, very nice porject. Did you integrated the Lexium32 to the C5G CPU or you are sending commands to the driver?
Thank you,
Yes.. communication is via profinet and on c5g is running nohold program for controlling.. even you can have your own commands in IDE editor program like run motor on position or run with specific velocity etc..
Hello,
Im glad i helpt.
In COMAU you can make these background programs calld nohold even with graphics and your own icon on teach pendant... For example we created whole software for comau robot to control welding source LORCH because official comau has no support for this brand.. or software for control conveyor belt without plc .. belt is controlled direct from robot etc..
here is one more example from youtube.. robot direct control schneider lexium32 drive via profinet..
/watch?v=iL993HtH1To
Hello,
That program will cycle.. there is command cycle after begin.. and this nohold program will run allways and running in background just load him in prog .. it will have green circle.. that means the program is running.. it is simple program just waiting for din 1 signal.. and deactivating and activating resets the main program.. just try it and let me know..
And one thing.. if you don't have free hardware digital input you can make vitual device in io_cnfg / network and put digital inputs/outputs there...
Hello,
here is code for reset program...
--$PROP_REVISION:$
--$PROP_TITLE:$
--$PROP_HELP:$
--$PROP_VERSION:3.11.004$
--$PROP_DATE:2020-04-27 14:35:18$
--$PROP_AUTHOR:VLADIMIR$
--$PROP_HOST:C5G_2226877$
--$PROP_UVL:0$
--$PROP_UML:0$
PROGRAM reset NOHOLD
BEGIN
CYCLE
WAIT FOR $DIN[1]+ -------wait for digital imput 1 from false to true
DEACTIVATE MAIN ------- deactivate main program... program must have name main.cod and must be in memory
ACTIVATE MAIN ------ activate main .. program will start over..
END reset
Hello,
You can use external input to $DI and make in robot nohold program where when is this DI true then Deactivate MAIN.cod and Activate MAIN.cod.. it resets main program.. i hope you need something like that..
Hello Silverstamp
I don't kwon if you help something from this:
In comau you can do these things:
In Menu/Setup/System/Startup you can put your startup.cod program.
Create your main.cod program with your things
and in startup.cod program write
...
SYS_CALL('ML', 'UD:\\usr\\main.cod') -- command for load from disk to memory main program
SYS_CALL('PA', 'main') -- command for activation main program
...
do cold restart
when you in auto mode press drire and start main program will activate
Hello,
Can you describe more about you want to achieve?
Hello,
I sent to you schematics in attachment.
Also i think you must put together e-stop channels like pins 5 - 6 and 12 - 13 to cancel external stop.
Because you must setup it in I/O Map in application section there is something lire dry run etc usually we give them some $din and in these inputs connect 24v permanently .. when it will be right you dont must press it at all..
Hello,
Problem is missing signal in outputs for welding machine in setup / map application .. sorry i don't know write it form head and don't have access to this kind of robot anymore.
Hello,
I have 1.13 and then only 2.40.007
i think nothing bad happen when you try 2.40.. I have installed this verision on robot from 2012 year with older TeachPendand and it works.
Hello,
Some this features is available in COMAU RoboShop software.
Comau directly.. they provide to you manuals for free..
You can ask directly about the COMAU manuals and suitability..
Hello,
When I try map Flex value on 2 bits and add to port 2 number it map Flex 1 but also Flex 2 it's like for much quicker mapping function.. I don't know about other function..
Hello adrian123 in menu - display - vars .. you can find system variables and $HOME variable.. change that variable with your current/desired position .. then save configuration in setup menu and make cold reset.