Before I read your update I was figuring that the PLC was stopping it. You can simulate any program stop or motor off system inputs before going into auto as another remedy.
Posts by Lemster68
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Not really. But since Rapid is a great, open language for programming, you could write your own custom MoveL/MoveJ routines which could set a group output to indicate the position that it is going towards. You would have to do some testing/debugging to ensure that the read ahead is not tripping you up. The other option is to use TriggL/TriggJ move instructions.
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If it is brand new it is very likely, or even newer. Should be a sticker somewhere on it with the article number.
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Product manual for IRC5 controller
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Is the main computer a DSQC 1000? Is the DSQC 669 fully seated? You could verify that no pins were bent or broken during installation. Finally, I would not be surprised much if it only comes "alive" after the option is added.
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Since you said that you are doing sealer, I will throw in this tip for ABB. The parameter event preset time, part of the motion planner, often needs to be increased to make the process work best. It anticipates the equipment lag time. I.e., time for pressure to build, start flowing and especially increasing or decreasing flow rates as the robot speeds up and slows down. Often overlooked.
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Yes, the Loaddata is specified in the tools' data, carried or not. And If the mass of the carried load is significant enough, you should run loaidid with the gripper only and then gripper holding the part in the fashion that I described even though the tool is not held.
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Fixed pedestal sealer--I expect that means that it is pointed down. You can go through the teaching of the tcp, but I usually just jog my held tcp to the fixed, take note of the world coordinate values and plug those in manually for its tcp. If you are fortunate in that the fixed tip is directly opposite to the robot and not rotated, the quaternions are 0,0,0,1. Otherwise you can calculate the quaternions.
2. Having the wobj same as tcp is fine, it could even be 0,0,0. Don't worry about oframe, leave it no change.
3. Since the tip is fixed, the speed (and consequently your analog for flow control) is calculated from workpiece moving across the tip, not held tcp. I have had to follow up on programmers who did not used fixed tcp for sealing, it was a nightmare. Reorienting was jacked up. Much nicer to use that fixed tcp, especially for reorienting, because no matter where it is on the workpiece, it will not walk away from (or crash into) the tip.
For the LoadID, just activate the fixed tcp and held wobj, and run LoadID as otherwise normal.
Correct that both tool and wobj both cannot be robhold or both not robhold at the same time. It used to be that when you switch in the jog window you immediately get the robhold confusion error. AT times, you had to be real quick to acknowledge the error and quickly change the other component before it threw that error back up again.
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Make sure that the cable inside is actually plugged into the back of the external port.
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There should not really ever be a need to simulate an output as you can turn them off and on as needed. The effect of simulating an output is that the signal does not ever turn on. It may show 1, but the voltage is not applied to the output signal.
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Is it a simulated INPUT or OUTPUT?
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My mistake, I was thinking most common IO. I can't find it either.
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Many times. Just copy v5, call it v1 and make v_tcp 1.
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Have a look in the manuals sub forum.
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It is actually more likely that it DOES need to have a DO tied to a RefPos so it can tell the machine that it is home.
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OK, I only got a license a couple months ago, so I have not used it much. Here is what I tried. I opened a demo station, which was a multimove system. From the home tab, virtual controller, new controller. Eventually had this box
Notice where it has a drop down for use existing library. I chose one of the arms already there. So it added a new controller which controls this arm. BUT....the other multimove controller T_ROB_2 also controls that arm! What I think that you can do for your situation is to create the new controllers from backup. Add them to your station, and tell it to use the existing station arm like I did.
Good luck!