Posts by dewitm

I've had controllers where the keyswitch of Auto/T1 was not functioning OK. When switching from Auto to T1, the info on the Teachpendant still displayed Auto. We had to fix this inside the cabinet, something was broken there (don't remember what anymore).

Yes, same request here. Reads very wierd from down to up.

In top of Roboguide, you see File, Edit, View... etc.
Go to Robot > Default Webbrowser
(Or direct entry http://127.0.0.1/)

You will open a webpage with this, go to TP Programs available on MD:

A table of 3 columns appears, on left TP, middel in text-format, on right description of program (if entered)

Such simple grippers like this, direct entry is most easy and effective.

Two things you have to find out is:
The rotation around Z-axis.
Center (Z-value), what do you want, in the middle of the curve or end of gripper...

Sorry, really don't know how to do that.

Hi,

Never worked with slave devices before. What kind of slave devices do you mean?

Make a program with (in my example called: COND_ERROR):

Quote

1: WHEN UO[6:Fault]=ON+,CALL ERROR_OUTPUT ;
2: WHEN UO[6:Fault]=OFF-,CALL ERROR_OUTPUT ;

Another program with (in my example called ERROR_OUTPUT):

Quote

CALL ERROR_TO_REG(10) ;
MONITOR COND_ERROR ;

The (10) is the register where the code is written to, when you see the karel-code below, the register after the input is also used. So you will recieve the error in register 10 and 11 with my example, choose freely your own registers.

Karel-program with:

Quote

PROGRAM error_to_reg
%NOLOCKGROUP
%NOPAUSE= COMMAND + TPENABLE + ERROR
%NOBUSYLAMP
%NOABORT = ERROR + COMMAND
%COMMENT= 'ERROR SEND'

VAR
par_no,par_typ,par_int,int_reg:INTEGER
par_real:REAL
par_str:STRING[10]

seq_num,error_code,cause_code,time_int,severity,STATUS :INTEGER
error_string,cause_string,prog_nam:STRING[40]
prog_stop:BOOLEAN

BEGIN
par_no=1
GET_TPE_PRM(par_no,par_typ,par_int,par_real,par_str,STATUS)
IF (par_typ=1) AND (STATUS=0)THEN
int_reg=par_int
ENDIF

ERR_DATA(MAXINT, error_code, error_string, cause_code, cause_string, time_int,severity, prog_nam)
SET_INT_REG( int_reg,error_code DIV 1000,STATUS)
SET_INT_REG( int_reg+1,error_code MOD 1000,STATUS)

END error_to_reg

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Perform a controlled start
Change next variable: $TPP_MON.$GLOBAL_MT
To $TPP_MON.$GLOBAL_MT=2

Restart controller with cold start [FCTN -> Cold Start]

Make a condition monitor with ERROR_OUTPUT
Menu > 0 > Status > Type: Condition
System: COND_ERROR

Register 10 = Facility Code
Register 11 = Error Code

Example: Facility Code: 11 stands for SRVO

Good luck!

It is possible to send the alarm to the PLC with 2 GroupOutputs.
However, you will only recieve the code, not a string. So you will still have to look it up.

Quote

PROGRAM unsim
VAR
STATUS : INTEGER
BEGIN
KCL('unsim all', STATUS)
END unsim

So make a new file in Karel, copy paste this, save the program. Build the program, it will come in the programlist as unsim.pc
Than with macro, call it with the desired DI you want.
Need to mention, it only works when no other program is active.

I've done this with over 20 robots and it works fine..

'control robot moves' can mean a lot of things, do you mean:
1. Jogging the robot
2. Select a predefined position and move the robot to that position
3. Use calculations based on inserted values on hmi and move to the calculated position...

First make sure you connect the cable in each controller in the same port.

Make sure the text on the TP is Port#1 and not Port#2, check for that in the 3rd controller..

Looks useful, don't have a robot to test this right now.

Only disadvantage I see right now is that you are not able to see which direction you are going with the offsets without looking into the PR[]'s itselves. I did indeed use the normal Offsets and the calculation was visible in the movement program. I also only need 1 taught position, but as you mentioned, it was not always perfect in reference with the user frame.
By the way, the disadvantage is easily solved with putting comments between the movements.

81:L PR[59:Dp1 Cv Ref Pos] max_speed CNT100 VOFFSET,VR[2] Tool_Offset,PR[32:1] ;
82:L PR[59:Dp1 Cv Ref Pos] max_speed CNT100 VOFFSET,VR[2] Tool_Offset,PR[33:2] ;
83:L PR[59:Dp1 Cv Ref Pos] max_speed CNT100 VOFFSET,VR[2] Tool_Offset,PR[34:3] ;
84:L PR[59:Dp1 Cv Ref Pos] max_speed CNT100 VOFFSET,VR[2] Tool_Offset,PR[35:4] ;
85:L PR[59:Dp1 Cv Ref Pos] max_speed CNT100 VOFFSET,VR[2] Tool_Offset,PR[36:5] ;
86:L PR[59:Dp1 Cv Ref Pos] max_speed CNT100 VOFFSET,VR[2] Tool_Offset,PR[37:6] ;

The :1,:2,:3 is to count the distinct moves or does this have a function?

When you are in a TP-program you see POINT or TOUCHUP, but when press NEXT, you see [INST] or [EDCMD]

Press [EDCMD]
In my version you get EDCMD1 and EDCMD2 (2 lists of possible commands)

For turning on or off colors, EDCMD2, option 2 "Color"
For seeing comments of DIO, Registers etc.. EDCMD1, option 7 "Comment"
For seeing the actual status of DIO in the program, EDCMD2, option 3 "IO Status"
For disabling certain lines in the program, EDCMD1, option 9 "Remark" (this will put // before a line and the line will be ignored
(This remark is different than the remark found under [INST], Instruction 2, Miscellaneous, Miscellaneous Statements 1, Option 5, Remark, which is putting (yellow) comments in the program with !)

First of all, what is the reason they want this? And like macru said, this causes a huge safety risk.
Second, if the robots are interacting with axis 7 and 8 at the moment of pressing the E-stop, and axis 7 and 8 have a delay, this can cause a crash?

Show me screenshots of the code please, because the explanation is not clear for me or the others. And show screenshots of A_program and B_program..

I have the official Error List of FANUC right here in my hands, it says exactly what I mentioned. KAREL can also contain motion tasks.

The error means that both programs are trying to perform motion tasks.
That is not allowed when it is the same motion group.

So Run is only allowed to perform calculations or for motion control of another group.

Logbook is only a short overview of the history.
The only change i see is of P[4], but that shouldn't cause a total program shift.

Do you have a master position to check the tool? If the tool is bended, all positions will show an offset.
However, I don't think this is the case because you see a shift with both robots..

No, the system does not calculations for offset 1 and 2, it will start immediately at 3.

We have build a lot of cells without TP's connected.

All we needed was a dummy connector where the emergency circuit is bridged.
But before you disconnect the TP, all settings need to be OK (Auto, not in step mode etc. etc.). Then press emergency button on controller. disconnect the TP, put the dummy back. Release emergency button on controller in order to reset the emergency circuit.