Error indication in case of stud welder not ready and so on.
Posts by spiral
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Change the limit for E1.No big deal.
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Just set a Flag in each programm. Then link the Flag to Output in sps.sub to PLC.
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Use variables to control the orientation:
$ORI_TYPE and $CIRC_TYPE
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Try maybe combination of $LINE_SEL_OK and $ON_PATH true.
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you can play with the acceleration.can bring you a lot of time.
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try to change the motor.
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ramping the laser power can be done within the laser programm also
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you can decrease them all individually by subroutine or simply use a trigger.
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your code can work only if written in sps.sub, so you have cyclic execution. In subroutine like in your case,
will work only once per call. Or if you want your code to work in subroutine too,you have to use interrupt. -
dont use the windows ip,the range is reserved for other processes. Apply any other then 192.168.xxx.xxx 172.16.xxx.xxx and 172.17.xxx.xxx in the robot controller, then should be ok
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Switch to either T1 or KRF mode.you can move the Robot then.
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it looks like you have permanent drives on.this can be either the KCP or safety board itself.change the KCP first.if the problem still remains change the safety board.
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I stand not for submit, stand for drives. S is submit Status.
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you dont change that code. as i said there is a menu in the System, ist called cell configuration. open that and select the progeamms that you wanna run.
There is extra compiler in the VW System will Change the code for you. -
put the programms/folge that you want to run in automatic in cell. There is cell configuration menu for VW System.
Remeber this is your extern mode,VW dont use automatic, so you have to have plc. -
yes you can.E6POS looks like this.
DECL E6POS XP1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,S 0,T0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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Change e6pos to Frame data type.or add s,t e1-e6 to e6pos
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the card with the single FO is your master. the modules that are controlled by the robot are connected to that card.the card with two FO´s is your slave.
it is used for communication with the PLC. The FO cables are going out from the Robot Controller,thats why you cant see anything.
use the ibs cmd software btw. then you can see the modules that are conected to the Card. -
use iosys.ini. activate the interbus driver and do the mapping.