Posts by ravitejagali

Im completely new to FANUC plc system, I come to know I should use Fanuc Ladder III software:

I got a backup with these files included

1)     ALL_PROGRAMM

2)     CNCIDNUM

3)     CNC-PARA

4)     DCSPMC_IO_CO

5)     DCSPMC_PARAM

6)     DCSPMC_SEQUE

7)     DCSPMC_TRACE

     MAINTINF

9)     NETWORK.MEM

10)  PMC_IO_CONFI

11)  PMC_PARAM

12)  PMC_SEQUENCE

13)  PMC_TRACE_SE

14)  PROFIMST.MEM

15)  SV_SP_ID

16)  SYS-CONF

17)  ALL_MACRO

I couldn’t able to open any of these files, should I need to convert into any other format (If so which file should I need to convert?)

Is there any system variable that says a tp job exists in robot controller, For Ex:

IF $Systmvariable = TP_Program_Name Then

Thanks

Hallo HawkMe,

Robot Static userframe I can get somehow as you said with offset or otherway,

but dynamic userframe if I try to change Z grad it works, but I want to change X +90 Grad and Z -110Grad and it doesnt work.

I created user frame for robot GP1 wrt GP2, I have a measuring plate on GP2 where I measure my robot user frame.

1)      I want to shift this user frame by X 400mm and Y 400mm, when I try to shift by direct entry method adding to the current userframe values it creates a new userframe wrt to worldframe, How can I shift my userframe origin.?

2)      I want dynamic userframe coordinate axis directions same as my static userframe, If I try to change and rotate my Dynamic userframe by direct entry it works only when positioniererGP2 is in Zero Grad, If I rotate positionierer then it moves in crazy directions J

Fanuc Robot with Two Single Axis Positionerers:

Robot can work either with GP2 or with GP3,

My question is: Robot do have userframes, When I want to define a userframe wrt to GP2, by Robot side I make userframe, there are seperate userframes for GP2 and GP3, Why Do I need a userframe For GP2? How it is useful? Its Rotating Axes.

Roby Controller is also installed with Coordination Motion Packet, How does robot program look like? (While Robot Programm is Generated by External CAD/CAM Software and is sent using FTP, I check which positionierer is on robot side, change group mask according.) Does it Comes with instruction COORD for the normal Inline form??

Many Thanks in Advance!!!

I get servo on SIN from PLC, when I make servo on, the servo on is blinking, if i try to start by dead man switch it don’t respond in teach mode... does anyone know where the problem.? Thanks in advance

panic mode, U mean if I save a Point it doesnt updates in its dat file

There are 25 Diffrent WorkPieces, By Pick Programm, Type Number is received from PLC, I copy it to INT variable

DEF PICK_AGV ()
; HandShake program start and clearence

Type_Num = Type_Num_From_SPS
; Copy the values from teached point and AGV_Pickpoint, AGV_Beforepoint, AGV_Afterpoint are globals declared as E6pos in config
AGV_Pickpoint = XAGV_Teachedpoint [Type_Num]
AGV_Beforepoint = XAGV_Teachedpoint [Type_Num]
AGV_Afterpoint = XAGV_Teachedpoint [Type_Num]

AGV_Beforepoint.Z = XAGV_Teachedpoint [Type_Num].Z - 100
AGV_Afterpoint.X = XAGV_Teachedpoint [Type_Num].X + 100

; Interpolation Points

Slin AGV_Beforepoint
Slin AGV_Pickpoint
Slin AGV_Afterpoint

; Handshake End of the program

; Nullifying the Position Variables
AGV_Pickpoint = {X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0}
AGV_Beforepoint = {X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0}
AGV_Afterpoint = {X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0}
EXIT ; End of the program and

; Here are the pick points for 25 Type Work Pieces Tought, from these points above calculation are done
SLIN AGV_Teachedpoint [1] VEL CPDAT1 TOOL Base Etc.; Type 1 Workpiece Pick point
SLIN AGV_Teachedpoint [2] VEL CPDAT1 TOOL Base Etc.; Type 2 Workpiece Pick point
SLIN AGV_Teachedpoint [3] VEL CPDAT1 TOOL Base Etc.; Type 3 Workpiece Pick point
up to 25 with same name only the index changes

END

My Questions:
I am super new to KUKA Environment and working with Workvisual,
My Idea is to teach all the pick points of different types of Workpieces and w.r.t these tought points I calculate the before and after positions, so when I define Slin AGV_Teachedpoint [1] in Workvisual, I get No declaration found. My idea is to define here and in real time I touchup these pickpoints. Any New Ideas to implement similar process would be also helpful.

Hallo All,

I am new to KUKA Environment, I want to start programming, offline using workvisual.

Opened Workvisual--> Created a KR C4 Project--> Selected Robot Model (Titan)

And under Bus Structure Selected Profinet DTM ((1) How is IO Signals Configured? and how can I configure system signals to my Digital IO's?)

Robot is Slave and is controlled by PLC.
So in Files under Program Created Cell.src

2) As far as I know the IO's and globals should be declared in config.dat under R1-->System--> Config.dat, How to I declare and create config.dat?

Thanks a lot for your time.

Yeah with FTP you can acess (read and write files), Either you can run Filezilla Client Software to connect Robot or if you have some fixed tasks you can write a batch programm(first connect robot-->get --> put).
System variables settings:
https://www.robot-forum.com/ro…ient/msg120284/#msg120284

I sent it by batch program using ftp, in my batch programm I can manipulate or remove initialisation of position variable.

95devils, Thanks a lot man. The job header section is defined and generated by external cad/cam software__ where it is initialsing the position variable to zero, where even if i use indirect addressing which doesnt help me. I tought by setting some parameter I can avoid it.

The robot program is actually generated by external software, where it also defines shift of a position variable. In the Program postion variable value is initialised as all zeros.
For the same position variable using teachpendent I wrote z value as something, as soon as I load the program to robot, it overwrites to zero, Its Clear for me as in the program the values are initialised to zero.
Is there a way to stop overwriting position vars by loading a progam ?

through ftp i sent a job and after program end, I delete job. Its going in to tash job list at some point memory problem I have. Is there a way not to keep deleted jobs in trash job list?

the informal instructions are all correct but under name inside the program it is still P5_Main it means the old program.. so i think its not changing...

Yeah Clear, u also need to give $FSAC_List[].$CLNT_Name
just give the name what u gave in setup host communication

Hallo,

I think you need to set FSAC Access Level(Sys Variable) to 8 then you can have full read/write access of (.TP, .PC, .VR, .IO, .SV)

$FSAC_ENABLE = 1 $FSAC_DEF_LV = 0 $FSAC_LIST[1].$IP_ADDRESS = 'IP of PC' $FSAC_LIST[1].$ACCESS_LVL = 8

I tested it in Simulation, it works but software package j507 ASCII Uploader must be installed

Hey Hi,

Here Main is .TP prograem, Prog_NAME_SET and SR1_SET are karel program. What does AR[1] contains?

Quote from Nation

I do something similar for one of my customers, but I use another TP program to do it. I send over 2 programs, one that sets the program name string, and the actual program.

Code

: CALL PROG_NAME_SET ;
  : CALL SR[1] ;

In this program, you would hardcode the name of the program that needs to be called.

Code

: CALL SR1_SET("MY_GREAT_PROGRAM") ;

String registers can't be set directly in TP, so I use this argument workaround.

Code

:  SR[1]=AR[1] ;

Display More

hallo ovoyevoda,

using ftp how did you convert .ls file to .tp file without uisng robguide or other softwares.? what batch commands?