Posts by Ninad Joshi

DI DO configuration is done as follows:

Rack Slot Start Status

DI [1-1] 0 0 1025 Active

DI [2-2] 0 0 1026 Active

DI [3-3] 0 0 1027 Active

For UI, rack 0, slot 1 start 1 is used. So I assume that UIs are mapped on the IO board on the slot 1.

But for DI-DO, how are these signals transferred to PLC? Also, in the teach pendant, I can't see the option of Profinet/Profibus in the IO screen.

Please help.

Hi all,

there is a requirement of the customer where he has fanuc robot P250iB available in his shop. He wants to use the robot in the machine shop for pick and place application.

I have not physically checked the robot but received the backup and some images inside the robot controller.

I have the following questions.

Can this paint robot be used for the pick and place application?

If yes then how can I communicate the IOs with Siemens PLC? (I need 32 or 48 IOs for the application). In the version screen, the robot shows the package 1A05B-2400-J713 Profibus is installed. The controller image shows that there is IO module installed inside the controller.

Can I use the profibus protocol for soft communication with the PLC? or do I need to use hard wired communication with PLC?

I have attached the images for the reference.

Thank you!

Hi all, I know this is a very late reply, regret for this! The problem was solved on 5th August. I just want to update.

The software package for line tracking installed in the robot controller was of High Definition Input Line Tracking (HDI Line Tracking) but the hardware installed was of Standard Definition. So, the trigger input was not getting identified. The hardware setup was chanegd to HDI and the tracking starts working! Thanks for your help.

Hello all, I checked by simulating the encoder (not running the actual conveyor), I set the encoder simulation ON and the simulation rate as 5. The tracking program was synchronized with the simulated encoder. When I ran the program, the robot started to make noise at the start and the end of the tracking program. After searching on the robotforum for the solution on this, I found out that the encoder scale factor is less. It was 11.7 counts per mm, so I tried to execute the program by changing the scale factor, so at a scale factor greater than 90, the robot seemed to run the tracking smoothly. This worked when I simulate the encoder.

Now when I turn the conveyor ON and move a part across the photo eye to get the trigger value, the tracking program is still not allowing me to enter and teach the program as it is giving me Part Detect Timeout popup. I have set the encoder scale to 100 now. It is not calculated, it is not correct as per the mechanical set up but I thought of trying to check wether I can teach the tracking program.

It would be a big help for me if anyone can guide me in this.

Thanks

Okay. I checked on the tracking set-up when I moved the conveyor ON.

First, I opened the tracking program and it popped up for synchronising, when I selected YES, and moved the conveyor, the part crossed the photo eye, but at the time of crossing the photo eye, the trigger value did not get updated.

I have set the trigger input to DI 52. I performed the cold start but the trigger value is not getting updated when the part crosses the photo eye.

I am checking the manual and it has been specified that "The line tracking system will take care of monitoring the part detect switch and recording and storing the encoder count/trigger value (Provided you have properly set up the encoders and tracking SETUP menu parameters) to be used during the path teaching sessions."

Let me know for any suggestions you have for me.

Hi all, I am trying to teach a pick position in the line tracking program. Encoder and tracking set up are done. I did the line tracking in the software by simulating the conveyor which was fine, now trying to do it in the real world. When I select and open the tracking program, message gets popped up: "the current part detect trigger value MAY NOT be valid. Resynchronize the tracking system?" When I enter the YES option, it says "Move a new part past the part detect switch and into the robot workspace or press enter to cancel." Now when I turn the conveyor ON and move the part past the photo eye and then stop the conveyor at the pick position, I can't open my program. In the tracking program, only pick (approach and retract offset) position is defined. I need to teach the pick point. What should I do? Thanks

Yes, I figured it out! I thought it stores the trigger value in the specified register. Thanks for the help.

Thanks beanluke. I made the changes as you stated and it worked! Thanks a lot.

But I have a couple of questions. I tried the above program by changing register numbers. I can conclude that when register number in LINECOUNT[1] R[x] and SETTRIG LINESCHED[1] R[x] is same, then we can see the trigger value on the tracking set-up screen updating when the conveyor is running.

I checked in the manual, I haven't seen anywhere it is stated that both the register numbers should be same. However, in the sample programs given in the manual, both the registers are same.

SEETRIG instruction stores the trigger value in the register. So why can't it be stored in another register?

Hi everyone, I am working on a Line Tracking application where a robot needs to pick a set of sheets using line tracking. I completed the encoder. I verified the encoder setup by checking the encoder counts by making the simulation ON (Simulate Enable in the Encoder Setup Screen) and also by running the actual conveyor. The robot gets the encoder counts (current counts in the encoder set up screen) updated as the conveyor runs.

Then I set up the tracking schedule 1. The nominal tracking frame is calculated. The encoder scale factor is 11.7 counts/mm. DI number is provided to the trigger input number for the part detect switch.

I tried to verify the tracking schedule (As stated in FANUC Line tracking manual) by making the simulation ON. I created the following program (Non-tracking program).

Line[1] ON

LINECOUNT[1] R[3]

SETTRIG LINESCHED [1] R[4]

I run the above program and the robot is getting the linecounts in R[3] but the tracking value on the Setup Tracking screen is still zero when I turn the trigger input ON. Am I supposed to get the encoder counts at the time of the trigger input? Please help. Thank you.

Quote from Shellmer

You are likelly missing the DO update betwheen PLC cycle scans and I/O updates, every BGlogic loop runs at a minimum of 8ms tick rate, it depends on the controller type, only way to ensure you are executing the bglogic at a minimum of 8ms is to set it to priority hight, if it's on normal it can vary.

And even that way, it seems I/O update time on the robot side is done every 20ms or so (at least with siemens cards), so if a signal changes OFF/ON/OFF on that interval you will not notice on the PLC side.

This is a problem I have right now with a communication I need to do in real time, I've not found a way to transfer I/O changes faster than that even implementing cyclic interrupts on the plc side, the communication is slower than what I need.

Please, provide an example of your normal TP program and also the BGLogic one, in order to help you we need to know how are you handling the movements and I/O changes.

Display More

Thanks for the involvement.

Below is a part of PNS program.

11:LBL[1] ;

12: ;

13: R[20:TEST]=100 ;

14: OVERRIDE=R[7:Old_OVR] ;

15: R[20:TEST]=0 ;

16: CALL CONFIRMORDER ;

17: //OVERRIDE=20% ;

18: R[20:TEST]=1 ;

19: SELECT R[1:Work No]=5,CALL RECOVERY_HOME ;

20: =10,CALL PICK_LH_PALLATE ;

21: =20,CALL PICK_RH_PALLET ;

22: =30,CALL WELD_1 ;

23: =40,CALL WELD_2 ;

24: =50,CALL WELD_3 ;

25: =60,CALL WELD_4 ;

26: =70,CALL WELD_5 ;

27: =80,CALL WELD_6 ;

28: =90,CALL WELD_7 ;

29: =100,CALL WELD_8 ;

30: =130,CALL DROP_PARK_STATION ;

31: =140,CALL PICK_PARK_STATION ;

32: =110,CALL DROP_LH_PALLATE ;

33: =120,CALL DROP_RH_PALLATE ;

34: ELSE,JMP LBL[110] ;

35: ;

36: JMP LBL[1] ;

37: ;

38: LBL[110] ;

39: MESSAGE[Wrong Work Nn] ;

40: JMP LBL[1] ;

Now when R[1]=30; WELD_1 program is executed. Below is a part of WELD_1 program.

61:J PR[30:PreWeld1] 85% CNT100 ;

62: R[5:Recover Data]=15 ;

63: ;

64:L PR[31:Weld1] 500mm/sec FINE ;

65: R[5:Recover Data]=16 ;

66: //L P[2] 100mm/sec FINE ;

67: ;

68: //DO[104:OFF:WELD1]=ON ;

69: CALL CONFIRM_POS(67) ;

In CONFIRM_POS program, DO is set. Number of the DO is AR (67 in this case). So DO[67] is set. Now the cursor goes to CONFIRMORDER program as soon as it completes WELD_1. Below is the CONFIRMORDER program.

1: LBL[2] ;

2: ;

3: DO[31:OFF:Action Finish]=ON ;

4: ;

5: WAIT DI[19:OFF:Spare 1]=ON ;

6: ;

7: DO[31:OFF:Action Finish]=OFF ;

8: ;

9: GO[1:5:WORK NO ACK]=0 ;

10: ;

11: DO[26:OFF:Read Prg No]=OFF ;

12: ;

13: DO[28:OFF:Read Work No]=OFF ;

14: ;

15: DO[27:OFF:Wait Work No]=ON ;

16: ;

17: WAIT DI[27:OFF:Work No Valid]=ON ;

18: ;

19: R[1:Work No]=GI[1:0:Work No] ;

20: ;

21: GO[1:5:WORK NO ACK]=R[1:Work No] ;

22: ;

23: DO[28:OFF:Read Work No]=ON ;

24: ;

25: IF R[1:Work No]=0 OR DI[28:OFF:Work No OK]=OFF OR R[1:Work No]=R[4:Last Work No],JMP LBL[2] ;

26: ;

27: DO[27:OFF:Wait Work No]=OFF ;

28: ;

29: DO[28:OFF:Read Work No]=OFF ;

In BG logic program, following is the code.

DO[100:OFF:Robot In Motion]=($MOR_GRP[1].$ROB_MOVE) ;

IF (DO[100:OFF:Robot In Motion]=ON) THEN ;

DO[67:OFF:Weld1]=OFF ;

ENDIF ;

I have also checked by using flags but same result. This works in Manual mode but in Auto mode, when the cursor goes to CONFIRMORDER, output goes off.

Quote from Patrik Paukov

How is your movement program looks like?

You have J/L movement and on next line you set DO? If so, what is approximation setting of movement (fine, cnt0, cntX?

Or are you setting DO in your movement instruction? Like J ... DB 0.0 DOx = ON?

Maybe use pulse for timing output. That way you dont need to turn it off in BG.

It sounds like your DO is turned off instantly, because robot is still moving.

These are linear movements with approximation setting FINE when the robot set DO ON. I am setting DO in a new instruction like DO[65: Robot At Weld Position] = ON.

For working this now, I have removed resetting DO in BG. Now resetting in next program before next movement starts but I would like to do this based upon the robot position; like even I jogged the robot, DO should switch OFF.

I will check by using pulse in this case. Thanks.

I am working on the Fanuc R2000iC robot with r30iB plus controller. After the robot reaches a certain specific position, I need the PLC to know the robot has reached the desired position.

I need to do this without using reference positions. So I switched ON a digital output when the robot reached a position and used the $MOR_GRP[1].ROB_MOVE variable in BG Logic to know whether the robot is in motion. When the variable returns 1, the DO is switched off in BG logic. This works fine in manual mode but in auto mode, even if the logical instruction gets executed, the output gets switched off.

How to make the above logic run in auto mode?

Any help would be appreciated. Thanks.

Quote from hermann

Somewhere in the menu there is an entry like 'user rights management', just search around the menu a little bit, you will find it, or read the manual. There you can set the rights.

At the moment don't know the correct menu list entry and the real English label, normally I use the German UI.

Okay, I will search for this. Thanks for the input.

Thanks, it means I can create/convert local points in a particular .DAT file into GLOBAL by changing the declaration and by adding the PUBLIC suffix to DEFDAT line.

Quote from SkyeFire

There's also the question of where you will DECL these points. It's possible to change their DECL to GLOBAL in the module they were created in (although this requires adding the PUBLIC suffix to the DEFDAT line of the .DAT file), but KSS 8.6 supports the new GLOBAL_POINTS file. I haven't used this, but as I understand it, this is supposed to allow Inline Form points to be created as Global variables instead of locals, and Global points created via ILFs are stored in GLOBAL_POINTS.DAT.

Code

DEFDAT  GLOBAL_POINTS PUBLIC

ENDDAT

Hello all, I recently worked on a KUKA robot with KRC version 8.6.9. Currently the robot is in running condition in all three shifts. All the motion points are local. The customer requires all the points to be declared as global. When I tried to convert a point into global by checking the box in the change option, the message appears: In order to be able to change this setting, you must have rights for global TouchUp. I checked the KSS 8.6 manual which states that user rights must be Teach/modify global points, but this function group is deactivated by default. How to activate the function group?

I am attaching the images of the manual for the reference.

Also, can this task be done in offline way, like converting all the local points from the robot backup into global using workvisual ?

Thanks a lot. PLC outputs were not connected to the actual Robot IOs. Correction is done and now it's working.

Hi all, I am working on Fanuc robot CR15iA with R30iB mate plus controller.

I/O mapping is done as shown above.

All is working with PLC.

At first, 8 GIs were configured, and were working fine. Robot was receiving group inputs to these GIs from PLC. and GI

We needed some more GI for the programming. In PLC, the programmer increased the allotment and it shows no error. I added it in the Robot (GI8 and GI9), no error. But I don't receive any values on GI8 and GI9 when PLC sends.

What can be the solution? Is there any memory allotment issue for GIs?.

Thank you.

Thanks for the reply. I checked, debugging is not possible in workvisual in Auto or AutoExt mode. I wanted to monitor DI-DOs in workvisual in AutoExt mode.

Hi all, I am working on KUKA KR210 R2700-2, KRC4 controller (KRC version- 8.6.7). I need to monitor some large number of DI-DOs using WorkVisual. I can go online with the controller using WorkVisual but how to monitor DI-DO status in the workvisual environment? Thanks in advance.

Hi all, I am trying to test the code generated from RoboDK in roboguide. When I loaded the .ls file into roboguide, ASBN-002 alarm occurred. I tried to search for the errors but couldn't find the cause for not getting uploaded. Attaching the code generated from RoboDK. Thanks.