Posts by enagy

Quote from robotero

Yes, is correct. Just update the orientation of the wobj0

Thank you Rotoero,

I'm still having an issue of jogging the robot Axis 1 past the 180 degree point though when I rotate the wobj0. Keeping in mind, I'm only doing this in Robot Studio at the moment, I haven't tried it on the actual robot yet (holiday installation).

Quote from SkyeFire

You should be able to use the PoseMult function to do this for you.

For the Axis 1 error, you may need to use CONFJJOFF and CONFJ\ON before and after moves that cross certain quadrants. You probably want to break those moves up some, to minimize the amount of time/distance you spend with the Configuration Checking off.

SkyeFire, thanks for the feedback, I'll give the CONFJ a try and see if that addresses that issue.

In regards to the PoseMult, never heard of that one before and the manual is pretty vauge… Can you explain a little on how that works? I'm sort of getting the feeling that it will shift a position, are you suggesting possibly shifting the world zone?

Thanks again!

My application has a robot rotated -45 degrees in relation to the cell. In order to get the WorldZones to line up, I changed the base frame Q1 to 0.92388 and Q4 to -0.38268.

My understanding is that this will change the world co-ordinate system by 45 degrees so I can make the WorldZones line up with the cell.

Is this the correct way to do this?

Second, I'm having issues moving Axis 1 past 180 digress with the new world co-ordinate system. I've adjusted ROB1_1 upper joint bound to 3.927 (225 degrees), but it still gives an out of range error when I hit 180 degrees (I have restarted the controller). Is there another setting I need to change?

Typically I've basically used the "Start" system input and things have worked fine. Is that how you are restarting the program?

I’m working on an S4CPlus controller (IRB400) and the backup seems to be getting larger and larger and filled with Fxxxx.tmp files. Just wondering what’s causing this as the boot times seem to be getting longer and longer on the robot.

I am using Filezilla to FTP in through the service port to retrieve backups for offline editing and then transferring the backups back before restoring them on the robot. Not sure if that’s causing the issue or not.

That's exactly what I was looking for... Thank you very much!

Quote from Lemster68

Use the function DOutput, e.g., IF DOutput(DO1) = 0 THEN...

I'm trying to read the output of my RIO in an IF compare statement on an S4CPlus

I've for this:

IF do01=0 THEN
do something......
ENDIF

But, it dosn't like that. Give me an error "Type signaldo for left operand of '=' or '<>' operator not value or semi-value type.

Thanks!

I've been doing this and calling the Procedure as required.

PERS speeddata vCreep;
    PERS speeddata vSlow;
    PERS speeddata vMed;
    PERS speeddata vFast;
    PERS num CurSpeed;


    PROC SetRobotSpeed(\switch Slow\switch Medium\switch Fast)


        ! **
        ! Robot Speed Setting
        ! Set CurSpeed to Speed Selection
        ! (1 - Slow)
        ! (2 - Medium)
        ! (3 - Fast)
        !**


        IF Present(Slow) THEN


            ! Set Speeds to Slow Setting
            ! Typically used for Homing
            TPWrite "Setting Robot Speed to *Slow*";
            vCreep:=v30;
            vSlow:=v50;
            vMed:=v150;
            vFast:=v300;
            CurSpeed:=1;


        ELSEIF Present(Medium) THEN


            ! Set Speeds to Medium Setting
            ! Typically used for Testing or Homing from a Known Position
            TPWrite "Setting Robot Speed to *Medium*";
            vCreep:=v30;
            vSlow:=v150;
            vMed:=v500;
            vFast:=v1000;
            CurSpeed:=2;


        ELSEIF Present(Fast) THEN


            ! Set Speeds to Fast Setting
            ! Typically used to Regular Production
            TPWrite "Setting Robot Speed to *Fast*";
            vCreep:=v200;
            vSlow:=v1000;
            vMed:=v4000;
            vFast:=v6000;
            CurSpeed:=3;


        ENDIF


    ENDPROC

ABB support helped me with this. Seems that there is an issue where it retains this error in memory (the clue on mine was the date on the error message didn't change, just kept coming up).

We backed up the robot, did a system reset and restored the backup. After that, the error disappeared. Maybe give that a try!

I've also send a diagnostics report to them so that they can hopefully track down the issue.

Let me know if that works!

Looking for some assistance.

I'm getting an Illegal Type Name error for "IOVIEW_BLOCK" in configuration file MMC.cfg cannot be found in domain MMC.

The MMC doesn't have that entry. I found a MMC from a solution I created that has an entry of:

IOVIEW_BLOCK:
-name "IOViewBlockIfMotorsOff"

When I try to add this it gives me a configuration file error (which I expected since it's not in the domain MMC, but wanted to try anyways).

Anyone know where this is coming from?

I found some information, I see you need to change the Gravity Beta to 3.14rad.

Anything else need to be changed? Or how I can have the robot in the correct orientation in Robotstudio?

Thanks again!

Hi everyone,

I've got a project with an IRB 4600 that will be mounted upside down. Just wondering if there are settings somewhere to configure this so that the controller knows that it's upside down?

Thanks!

RoboWeld,

Thanks for the information, I was thinking something along those lines also since posting.

Would you recommend using the external enable (EN1_1 and EN2_1) or maybe the superior stop (SS1 and SS2)?

I would still like to monitor the robot motors on though, that way a single switch would be sufficient and then as long as the other robot motors are not on, both would be enabled until one of the motors goes on.

Thanks!

It's for an IRB 4600 Robot.

I've got an application where two robots are in one cell. The customer has requested that if the cell is in teach mode (selected with a safety key) then only one robot can be manipulated at a time.

The idea is that we can drop the fence so the robot can be manually moved by holding the deadman switch, but is there a simple way to disable the other robot if one already has it's motors on (and vice versa).

Thanks!

I'm hoping someone can assist. My experience with IRC5 SafeMove is somewhat limited at the moment for setup from scratch, but I'm looking to change that!

I've got some robots (IRB4600) with IRC5 Single Controllers fresh out of the crates. I powered them up and saw that I had a SC Power Supply Error and realized that we need to provide a 24VDC to A44 X11:0 and -VDC to X11:1.

I rebooted the system and now have the following errors:

- 20476: SC 1 Disabled
Expected, since I haven't configured anything yet, but not sure if this is leading to my next error

- 20200: Limit Switch Opened by SC -
This occurs when I activate the deadman switch on the robot. I've tried cycling the E-Stops and then Motors ON, but still get this error.

I've checked that all my safety jumpers are in place for the ESTP and Gates and verified that all the LEDs for the safety are ON.

I'm basically looking to move the robots to assist the millwrights in installing the EOAT at this moment, but I can't get past this error.

Any suggestions on what I am looking for?