Posts by MIRobotGuy

    you can wait for the signal to be on, then wait for it to be off for a timeout value. If the timeout value is exceeded it could be considered as a good signal. If not, you might consider the signal a ghost signal.

    Hello Lemster68,


    I am testing this as the foreground program, but eventually it will be ran in the background. I am actually I am not testing this on a real robot, but simulating it in RobotStudio, could this be the issue?


    Right now, im just trying to capture the error and store it in a number for testing.


    Thanks,

    Hello,


    I am trying to create a routine that will act as an intteruppt to send the error code to the plc when any fault occures on the robot.


    Using this forum, I have created this logic, but this is not working. Does anyone have any corrections, or another way to do this?


    Thank you,

    MiRobotGuy




    PROC main()

    !setup for error trapping

    CONNECT err_interrupt WITH trap_err;

    IError COMMON_ERR,TYPE_ERR,err_interrupt;

    !

    BeginLbl:

    !

    nCycleCount:=nCycleCount+1;

    !

    rDoSomething;

    !

    WaitTime 1.0;

    IF bZ_Reloop=TRUE THEN

    GOTO BeginLbl;

    ENDIF

    IDelete err_interrupt;

    ENDPROC


    TRAP trap_err

    !Trap to get fault data + fault history

    GetTrapData err_data;

    ReadErrData err_data,err_domain,err_number,err_type;

    !send error code

    SetGO GO_RbtErrCode,err_number;

    ENDTRAP

    Hello,


    I am working on a rapid monitoring module and I am trying to determine which robtarget (or motion instruction) was last commanded by the robot. Is there some data in the robot to get this information directly? or is there an instruction such as "GetDataVal" with a switch that can pull this information?


    Many Thanks,

    MiRobotGuy

    Hello,


    Does anybody know where to find how much processing memory it takes to run a background task? and/or what is the limit for running background or foreground processes? Kinda like the limit on DCS boxes?


    I am working on a fault data logging karel utility to load into an existing robot. I want to make sure there is very little impact to the existing process.


    Thanks,

    Hello,


    I am working on a Fanuc robot that is using EthernetIO and socket messaging.


    I saw the system variable $HOSTC_CFG[1].$USE_VIS_PRT, and I was wondering if anyone knew if I could use this setting to be able to send TCP/IP messages through the ethernet port for the IR vision system?


    My target robot does not use IR Vision, but still has the ethernet port.


    Thanks,

    MiRobotGuy

    This will work. I have used this in the past.

    To answer your question, YES. You can modify the .ls file of the program offline. However, to load the code back into the robot, you need 1 of 2 things.


    1. If your robot has the ASCII upload option, you can load the .ls file directly to your robot.

    2. If your robot does not have the ASCII upload option, you must compile your code and load the .tp file to the robot.

    I believe there is an option to setup 2 Digital IO bits on the robot so that the PLC or HMI can controll the override of the robot.


    Menu -> Setup -> Override Select.


    Just a thought,

    Hello,


    Does anyone know if there is a system variable or an event that happens when the robot controller is fully booted up. I'm trying to delay the execution of a background task that is triggered on power up, but I need the logic to wait until the controller has completely finished booting up.


    Thanks,

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