Posts by Kawaguy
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.PROGRAM getvalue(.result,.startbit,.negative) .value = BITS(.startbit,16) IF .negative THEN IF .value>32768 THEN .value = .value-65536 END END .result = .value.END
For signed integer use:
CALL getvalue(value, signalnumber,1)
For unsigned integer use:
CALL getvalue(value, signalnumber,0) -
I would suggest to write a new text only when the value changes to prevent flooding and reduce processing time.
IF (.$msg1 <> .$msg1old) THEN
.$msg1old = .$msg1
IFPWPRINT 1,1,1,10,6 = "Message: ", .$msg1
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You are looking for the ONI function.
ONI signalnr CALL subprogram
or
ONI signalnr GOTO label
Cancel the interrupt with:
IGNORE ABS(signalnr)Be careful when using ÓNI .. CALL ..
When the subprogram is completed, the program returns from the step where the interrupt came, which is most of the times not desired, especially if there are motion commands in the subprogram.
Personnaly I only use the ONI .. GOTO .. or I use the method from Alexandru, with a pc-program.
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Attached image is a part of manual 91610-2752DEB, stopping time.
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Safety door in repeat mode and emergency stop have the same stop times. The stop distance and time depend on the robot model. Which robot is it?
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First tell us which robot and which controller(eg. AD/C/D/E/F) you have. Instruction may vary between the different robot controllers.
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AD controller needs a teach pendant dead man switch (trigger) to enable motor power in teach. Try to hold the switch and then turn on motor power. Maybe trigger is defected?
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zzero 103 resets the encoder counter.
zzero 3 sets zero position for robot.Both commands should be executed after replacing the motor.
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It's to big for the forum, but you can download it here (link will be valid for 7 days):
https://goo.gl/yuWC8E -
There are different options without using extra hardware. With AUX-function 8-96 and 8-97 you can change the user level of the different menu's and functions of the teach pendant. If you set the user level to '3' normal users can't access them. Only Level 3 users can. To go to level 3 you need to go to aux-function 8-99 (invisible).
Another approach, which can be combined with the first approach, is to make a pc-program that forces the if-panel to show, if a password doesn't march. Something like this:
Code
Display More.PROGRAM autostart.pc WHILE TRUE PCSCAN 0.1 IF (code<>codeok) AND SIG(-s_ifpulse) THEN IFPDISP 1 PULSE s_ifpulse,1 END IF code==0 THEN PULSE s_codetimer,codetime*60 END IF SIG(-s_codetimer) THEN code = 0 END END .END
Create a 'variable data display' on the interface panel in aux 5-09 with the variable 'code'.
Define the variable codetime to set the number of minutes before resetting the code (e.g. codetime = 5)
Define an internal signal s_codetimer (e.g. s_codetimer = 2011). This signal is used to reset the code after 'codetime' minutes.
Define an internal signal s_ifpulse (e.g. s_codetimer = 2012). This signal is used to prevent flooding the system. It will switch to the if-panel once a second. If you don't do this the panel may become unresponsive.Switch on the autostart of the pc-program: AUTOSTART.PC ON.
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Please try to initialize the controller.
On 1KA set switch 8 (white/red switches) to ON en switch ON the controller.
Follow the instructions to initialize on the screen and load the backup of the robot. You will probably see a check-sum error in the process, use the command CHSUM to reset the check-sum.
Don't forget to set switch 8 to off after you power off the controller after initializing.
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Can you roughly describe the gripper size and weight in 'cubes'?
I need the following data of each cube:
Length;width;height;weight;center of mass x;y;z.
All measured from the NULL-tool -
I just recall I had similar problems with my first installation. I think I forgot to change the size of the process image i/o. This means the number of IO which is updated automatically. See the screenshot for the correct settings. (right-click on your CPU, choose properties)
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I think it's in the following lines:
IF (nr_bledu==0) THEN
IFPWPRINT 1,1,1,4,10=$komunikat
ENDWhen IFPWPRINT is executed many times a second the panel may freeze. Try to update the text only if it changes:
IF (nr_bledu==0) THEN IF ($oldtext <> $komunikat) OR updatetext THEN $oldtext = $komunikat updatetext = FALSE IFPWPRINT 1,1,1,4,10=$komunikat END ELSE updatetext = TRUE END
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Attached is my working tia portal setup. I'm using RT Standard
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Can you attach the backup of the robot data?
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Try to set the correct robot type with zrobot command.