Posts by IlFincoITA

  • IS THERE a SORT of HIBERNATION on FANUC ROBOT

    Hi... I still have little experience with FANUC robots, even though I’ve already worked on a few of them. I come from the KUKA environment and wanted to know if FANUC also has something like a "hibernation mode." In other words, the ability to resume the execution of a program from the point where it was when the controller was last turned off.

    For example, on the robot I’m currently working on, after powering it back on, the motion program that was running is restarted from the beginning.

  • SIEMENS S7 1214 with FANUC ROBOT via LCCF_EnetScanner LIBRARY

    Hello everyone... I’m trying to use this library to exchange signals and data with a FANUC Robot. The communication works, but it’s really slow. Keep in mind that, for example, if I activate an output on the Robot, I can see it on the PLC only after 400/500ms. I wasn’t expecting miracles from this library, but neither this kind of delay. The Cycling interrupt [OB30] that handles the communication has a clock time of 10ms. I’ve also tried decreasing it to 3ms or increasing it to 100ms, but there’s no noticeable improvement.

    From a hardware perspective, I have a CPU 1214C FW 4.5 connected to a PC running WinCC RT and the FANUC Robot LR Mate 200iD V9.30P/33 and the 1A05B-2600-R784 Ethernet/IP Adapter

    Has anyone achieved better results with this library?

  • CAN'T PERFORM BRAKING TEST MANUALLY KSS01446

    I'm unable to found which line of code generates that error since this program can't be executed using the "single step" run mode.
    I've just noticed that inside WorkVisual at the beginning of this program there is a ;fold {h} and that at the end there is the ;endfold
    This could be a sort of protection for the entire program since you can't open this folder.
    I'll try to run this program with higher privileges than exper or remove those lines and run the program again.

    I've forgotten to mention that I'm on KRC5 micro with KSS 8.7.6 with

  • 20209 - EXTERNAL CONTACTOR OPEN

    Hi! As soon as I activate the motors I receive this error. What I've checked is the A21 Panel Board and everithis is fine for me. All the LEDs are ON. No external contactor is installed and above all where is this contactor supposed to be wired? It seems an internal error... maybe in one of the board but I do not know ABB enought. Some ideas?
    The controller is an IRC5 M2004 Drive system 3G3T


  • KRC2 PA ROBOT WITH E1 SHUNK (ELECTRICAL) GRIPPER

    The fact is, I'm using the blind connector X11 that I usually use to move the old KRC2 robots, and it has always worked. I'll try to check the pinout again.

    I forgot to mention another thing. Once the controller is started, I'm reminded that the robot needs calibration and that the robot data is incorrect. I enter the correct robot data, and a message about inconsistency between RDC and HARD DISK data appears. I don't remember which option should be chosen on that system. I selected HARD DISK. Is it possible that there is an incorrect security configuration...

  • KRC2 PA ROBOT WITH E1 SHUNK (ELECTRICAL) GRIPPER

    Hi! I'm testing stand alone an used Robot. This is a KR 180-2 PA with KRC2 ed05. I've got eoor KR 310 Safety circuit not ready. It can be related to the EXTERNAL Drive? I've power cable that comes directly out on the base of the robot (no connector on robot base side). But there is another connector signed X33 that comes out of the RDC box. I do not know where that connector should go on the KRC2...

  • STOP BUTTON in AUTO EXT

    Hi! I need to understand something. When we are in AUTO and the drives are on and the program is running if I pressed to stop button (that squared red on the KCP) the robot stop and the drives still remain on. The same thing doesn't seem possible in AUTO EXT where there is no input for this purpose. The only similar thing that seemed possible to me was through the management of MOVE_ENABLE, but it's not the case. Or rather, according to the graph on page 294 of the "Operating and Programming Instructions for System Integrators," where the "Restart after motion enable" is described, if MOVE_ENABLE switches to false, the drives should remain on. However, in the description of the system variable $MOVE_ENABLE, it is explicitly stated that the drivers are turned off.

  • INTEGRATIONE OF LINEAR AXIS

    A linear axis robot system has just arrived at the company. However, in the loaded project on the controller, the axis has not been included, and I only have the robot. The insertion of the KL 4000 axis is done by importing the object from the catalog in WorkVisual. I would like to summarize below what I have done to make sure I understood correctly.

    The system appears as shown below.

    Now it seems to me that the robot is mounted at 90° and the rack is in position 1

    This following part is completely unclear to me, but according to the manual, I should simply enter the values related to how the robot is mounted on the axis. These values are reported in the manual.


    What I expect now is that this is a unified system and that each registered point will now consist of X, Y, Z, A, B, C, and E1.

    So, if I register a point relative to a base, all the coordinates will be relative to that base, including the linear axis. In other words, if I move the base, the entire system will follow it, just as it happens without the linear axis.

  • RAW KRL MOTION WITH $VEL.CP and $ACC.CP

    This is a very good idea... thanks a lot...

    QUOTE: "What you can do manually is to assign your desired values using Display-> Variable->Single. That is actually what the HMI Is doing for you under the hood when you touch up points. Assume e.g. you have a point called xP1. Than you can assign it with the above mentioned menu $Pos_act."

    I was thinking of using something like this... mainly for the customer if they need to review certain points.

    SLIN XPress_Spindle WITH $VEL.CP=MyVel

    IF FALSE THEN

    SLIN Press_Spindle Vel=0.01 m/s CPDAT2 Tool[1] Base[0]

    ENDIF

    If I may ask, is there a more concise way to write "acceleration for all axes"?

    $ACC_AXIS[1], $ACC_AXIS[2], $ACC_AXIS[3] and so on

    SLIN XPress_Spindle WITH $VEL.CP=MyVel, $ACC_AXIS[1]=MyAcc, $ACC_AXIS[2]=MyAcc, ... etc.

  • RAW KRL MOTION WITH $VEL.CP and $ACC.CP

    OK but with raw KRL how do you touch up the point? Without in line forms do you loose the ability to touch up the point.. Wouldn't there be a way to mantain the inline forms and still have speed and acceleration under variable MySpeed and MyAcceleration so I could change them on the fly?

  • RAW KRL MOTION WITH $VEL.CP and $ACC.CP

    Hi! It's my first time attempting to program movements without inline forms. The goal would be to control the speed, acceleration, and deceleration of certain movements using variables. I tried to write the movement like this:

    SLIN XPress_Spindle WITH $VEL.CP=MyVel, $ACC.CP=MyAcc

    What I see is that the speed is working, but I don't notice any differences in acceleration/deceleration, and it seems that the movement is not accelerating at all.

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