To save a single program, without sub programs called inside this program use:
SAVE /P /SEL file = program
To save a single program, without sub programs called inside this program use:
SAVE /P /SEL file = program
Hi, when you calculate the new coordinates in reals, you can just use:
POINT newpoint = TRANS(px, py, pz, p0, pa, pt)
You can use dedicated output signals for this.
Easiest way to set is via the Function-Menu:
6: Input/Output Signal
2: Dedicated Output Signals
Press Next Page until you see 'Program number'
Enter the number of signals and the first signal number (LSB).
I just tried in the simulation, the output shows the selected program. But if there is no program running, the outputs are not being reset.
It depends on your robot model. UD, UX robots do not have a terminal with keyboard. You can connect a 25 pin sub-d (use google for pin assignment from 9p to 25p) to the serial port and you need KMON to communicate. KMON needs a 16 bit operating system, but you can use DOSBOX to run the software.
J-Series are usually equiped with a terminal with floppy disk. As far as I know you can't use serial communication as a terminal. But, if I recall rightly, some Arc-robots have a possiblity to communicatie with KMON.
If you use strings to communicate with you PLC you probably have unreadable data in your strings. You can use these strings but I suggest you to clear the string after decoding it. Control characters (Like NULL or &02, &03, &04 etc) make the string unreadable for the terminal. It can give problems with backups. Best thing is to overwrite your strings with empty string. E.g. $plc[0]="", $plc[1]="".
In your program you get:
TCP_RECV rstat,sockid,$plcdata[0],recvcount,1,127
CALL decode
FOR .i = 0 to recvcount
$plcdata[.i] = ""
END
Looks like your robot is protected. Which user level is set? You can see it in the top section of the screen. LVL1/2 or 3. Can you change your user level in aux-menu 8-98?
Working space is set in AUX-Menu 403 (Basic Settings, Working space).
Set the upper and lower limits in XYZ. When the Tool Center Point is inside this virtual box the dedicated output is set or reset, depending on setting logic positive or negative.
To set the dedicated output signal go to AUX Menu 602 (Input/Output signals, Dedicated output signals).
Find 'WORK_SPACE..' and set to 'DEDICATED'. Input the signal number and you are done.
Task(1) returns 1 if any program is running.
It returns 2 if the program is stopped and can be continued. (E.g held or paused or stopped by an e-stop).
It returns 0 if no program is running or the running program is halted. Prime or program selection is needed before starting the robot cycle.
1. TASK gives the status of the robot program (1) or the background programs (1001-1005):
>type task(1001)
1 <- 1=running
>pcab
PC program aborted.No = 1001
>type task(1001)
2 <- 2=paused
>pckill
Are you sure ? (Yes:1, No:0) 1
>type task(1001)
0 <- 0=not running
To see if a specific program is running, you can use WHICHTASK
WHICHTASK("main") returns -1 if no program exists or if program is not active.
It returns 1 when started as robot program, 1001-1005 when started as pcprogram 1-5.
2. If you want to know if your main program is at step 1, you can do something like this
In your PC-Program:
IF (WHICHTASK("main")==1) AND (WHICHTASK("gohome")<0) AND (WHICHTASK("cycle")<0) AND (SYSDATA(STEP)==1) THEN
SIGNAL s_initialized
ELSE
SIGNAL -s_initialized
END
3. What do you want to know? WORKSPACE outputs a signal if the tool center point is within a defined area. Is this what you mean with WORKING AREAS?
I can't do any testing right now but as far as I understand:
With CBS_REFLECT-CBSTOOL ON you should only be able to change the tool shape points 1-8 in CS-Configurator
With CBS_REFLECT-CBSTOOL OFF you should only be able to change the tool shape points 1-8 in As-software/Aux menu
Tool shape points 9-20 can be changed only from CS-Configurator.
I think you need the following steps in this order:
It is possible to set all toolshape point from CS-Configurator.
It is not possitble to set toolshape point 9-20 from the pendant/AS.
To enable changing tool shape point 1-8 from CS-Configurator type CBS_REFLECT_CBSTOOL ON.
Which Cubic-S version do you have? I mean the version you set in CS-Configurator. And, which AS-version is installed in the robot? You can type ID in the terminal or check to header of your backup files.
If you just need the teach pendant and the terminal, without 3d environment, you can use PCAS. It lightweight and easy to learn. Your distributor will be able to provide it for free.
If your flange always points downwards, make sure to enable the FSPAL switch.
With this switch enabled, JT 4 will always be kept 0 degrees. You will be able to move in linear motion with JT5 through 0 degrees. Robot behaves like a 4/5 axis robot.
To enable use the command FSPAL ON, to disable use the command FSPAL OFF.
When enabled it is not possible to rotate the flange around RX and RY axis. To rotate the head in TEACH, use JOINT mode and rotate JT 6.
The function can be used inside the robot program, so you can enable and disable whenever you want.
POS.MOD can modify the location variable in a line like:
JMOVE #pos1 (#pos1 is modified to current position)
or
JAPPRO pos1,100 (pos1 is modified to current position + 100mm in tool-z direction)
It cannot modify a position in a calculated step with SHIFT-instruction like
JMOVE SHIFT(pos1 BY row * rowdist, col * coldist)
Also make sure you are not editting the program where you change a position. You get an unreadable message in information section of your teachpendant (Only see a '.' dot).
Your welcome. Best is to play a bit with the different settings, find out which joint are 'pushed' away. These joints should have a lower gain.
- Set the weight proberly with SAGRAV.
- Set free moving direction with SAXYZ (base direction) OR SATXYZ (tool direction)
- Limit free movement with SALENGTH and SADEGREE
- Start softabsorber with SASTART
- Wait a short time,
- Set all the signals, wait for ejectors
- Stop softabsorber with SAEND
If you need more help just ask.
Sure this is possible. Please use the soft absorber function. You can find the manual in the attachment.
Find the distributor in you country. What's your location?
V31 is from august 2016.
and... not sure what KRI stands for?
I've Wrist Load Capacity v31. I don't know about arm load documents? Looking for a specific robot model?