Where are you seeing this? Usually a register has no units assigned to it the place where your using it can assign units to that value but the register should not have units.
Posts by Jct171
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I did something like that with a flag however when I ran It I got an OS 144 error in roboguide which I did not want to have on the robot. Would a register behave differently?
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Is there a way to turn off/on BGLogic in a TP program?
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I don't know if you can do this with an Rj3 but see if you can set up a monitoring function.
You will have to build at least 2 programs 1 as a CH program and one that will run whatever you want to happen. In your CH program have is say something like:
WHEN ERR_NUM=0, CALL (other program here) ;zero is a default for any. Then have your other program disable any I/O you want turned off
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Do you know where I can look that up? I cant find it in my manuals.
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Hello,
Is there a way to modify a programed path in real time instead of only at programed points?
I have a quasi circular path that I need the robot to follow however it will change with every part I send through the cell. I am currently using feedback from an external sensor over an analog input and have built a PID controller to drive that input to a specified value by adjusting an offset value. My problem(or I currently think my problem) is that I can only make adjustments at a point on the path which I can only space ~6mm apart or the robot really slows down and I would like to be able to make adjustments quicker than that.
I am using a R30ib controller and an 2000iC 125L robot. Thanks for any suggestions.
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Try something like:
R[150]=1
R[151]=21
R[152]=41
...
R[155]=101
LBL[1]
IF (R[150]=20), JMP LBL 20
R[R[150]]=something
R[R[151]]=something
...
R[R[155]]=something
R[150]=R[150]+1
R[151]=R[151]+1
...
R[155]=R[155]+1
JMP LBL 1LB 20
whatever your doing nextThis way you aren't overwriting your registers your incrementing through while recording your data. It does burn through a bunch of registers though so make sure you know how many you have available
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Check the way you have wired the input, I had this problem and it fixed once I made sure that the wiring and the configuration matched. Depending on your input setup the input module will expect either current or 0-10v. I believe that the difference is jumping 1 connection but it may be 2. The wiring diagram you need should be in the input module manual.
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kluk-kluk no I haven't thanks for the suggestion
dmbj nope copying from the teach pendant
HawkME I did it because I only want the jump to execute if both statements are triggered the next line of code is an end and then return to another program. I can reprogram to use a flag after I just hadn't thought of that yet. -
I cant find where this is a mixed logic error. Can someone point it out? I am using the same structure in another program (I tried to copy paste from there to this program) and its fine but this one throws an error at line 96 INTP-443.
94: !wait for angle ground ;
95: IF (R[21:Direction]=(-1)) THEN ;
96: IF (PR[18,6:Current Angl]<(R[20:Total Grind Angl]*R[21:Direction])) THEN ;
97: DO[1:GRINDER PWR]=OFF ;
98:L PR[75:Start ID] R[16:v LIN (mm/s)]mm/sec FINE Offset,PR[76:Retreat ID] Tool_Offset,PR[13:Offset ID Left] ;
99: JMP LBL[2] ;
100: ENDIF ;
101: ENDIF ; -
Could your wires short when the collision causes an momentum impulse? I want to say just avoid collisions because I think you would see a spike during a collision and if your not idk
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If you have BG Logic you could set up something there where RO[5] triggers a pulse and once that pulse ends DO[*] turns on but I like vipipunneri's solution better
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Do you know where I could find something about that? I have edocs with a bunch of manuals but Im not sure what to look for.
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I would like to track analog inputs and register values as real numbers. Positions would be useful but I don't need them.
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Hello,
Is there a way to record data so that I can look for trends in robot performance? I would like to be able to track some of my analog inputs over time and see if/how fast my setup is degrading. R 30 ib controller R 2000ic robot.
Thanks for the help
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I believe that waiting time is the time when to robot is doing nothing no motion no logic etc....
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Hello,
Does anyone know if there is a system variable that will update if a motion has been completed? I want to slow down a controller I made in BG logic so I would like it to only calculate after the robot has moved and used the first correction. R30ib controller roboguide v 8.3 r2000ic robot.
Thanks