OK, so make a fresh backup, copy it. Replace your EIO.cfg in one of them and then do a restore with it.
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Posts by Lemster68
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Try shutting it down vs. restart.
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But what I am saying is that we should be the first ones entering through the gate. I think that I do recall working in some places where another gate opening would do like you are saying, and I suppose for the very reason you are talking about.
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Display MoreYeah... no...
While it technically would accomplish the job, you don't want to wire safety functions to system inputs.
Depending on the age of the controller it might be a different drawing set but look at this diagram and the run-chain.
(open the cabinet do you have black or silver drives ? back wall straight ahead)
https://abb.sluzba.cz/Pages/Pu…/3HAC024480-011_rev11.pdf
You want to use general stop for gate switches and light curtains.
I agree to using the panel board but disagree about using the general stop for the gate switch. General stop also stops you in teach so you cannot go in through the gate to teach the robot. I would use auto stop for gate, light curtain is optional for whichever. Although it is annoying when one is teaching and some goober decides to break the light curtain and gives you a general stop.
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Make an assignment, choose num datatype. Then reg1:=Dist(p1,p2). You will see functions tab next to data.
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This comes from the dispenseware option:
%%%
VERSION: 1
LANGUAGE: ENGLISH
%%%
MODULE DPUSER (SYSMODULE, NOSTEPIN)
!---------------------------------------
! RobotWare Dispense User Module:
! Used to customize the dispensing functionality for a
! specific dispense equipment.
!
! Module description:
! This is the general default version of the DPUSER module.
! It is possible to change data and routines in this module to customize
! the dispense functionality and adapt to different types of dispense
! equipment. For more information, read the chapeters System module DPUSER
! and Customizing in the Dispense Application manual.
!
!---------------------------------------
!---------------------------------------
! D A T A T Y P E S
!---------------------------------------
!
! Definition of open datatypes for RobotWare Dispense
!
RECORD beaddata
string info;
num flow1;
num flow2;
num flow1_type;
num flow2_type;
num equip_no;
num gun_no;
ENDRECORD
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It seems like you are wanting to make your own datatype. You do so by declaring a RECORD. Hint, put it at the top of the module, just after module name. If you do not, the controller gets upset.
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Are they all straight seams? You can use the Dist() function to get the distance from arcstart to arcend and add them up. In other words, like Fanuc--no.
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You can find it in C_MOTSET in the motsetdata program data type. View all types, change scope to current execution. Read in the value to a variable before changing and the you can restore it. An Assignment would look like:
nMyAccSet:=C-MOTSET.ACC.ACC;
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The nearest thing to what you are asking is AliasIO. Otherwise, you have to configure your EIO.
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This may be addressed by your weld timer. If you set current enable off, it might run the weld schedule without actually firing the current. Check the docs for your weld timer. Otherwise you could set a waittime in your swuser module If dry cycle mode is enabled,
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Your software tcp must match the robot tcp.
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Check your TCP, check rev counters and calibration offsets.
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Quaternions must be normalized, there is a function to do such. But, it is the sum of the square roots which should add up to 1, or very close. How far off do you mean when you say wrong position? A few millimeters or much more? It could also be the axis configurations that make it seem a bit off. You could try inverting some of them to see if it gets closer.
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Yes, that is what I'm trying to do. But I should stress that it is a Safety-PLC.
And Frankly I don't see why not?
The E-stop on the pendant should work like any other E-stop button -stop/de-energize the whole machine/line, not just the local application/cell.
I've seen it done a lot of tiimes before.
I agree that the e-stop should also stop the cell in which the robot resides. I have also seen this done many times. But the implementation I think you are describing is not the right one. The controller will have connectors on the panel into which you wire the external e-stop. Additionally, you get contactors to wire from the controller to the cell so that when the robot e-stop is pressed, it e-stops the cell. No need for a safety plc, it was done in such a way before those things came around.
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Look into the limit switch wiring.
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5 Lbs. is not very much. I am not familiar with the wolf system, but if you just have a routine telling the robot to move here, move there, without arc commands, I don't see why not.
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The 2400 does not have a big payload, especially if it is 2400L. What kind of weight are you talking about handling? Do not for get to include gripper weight.
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