Posts by Patrik Paukov

Hi,

any idea where i can get training for Fanuc VASS 6 in Europe (Slovakia)?

I have found that VW is doing certification, but not a training,

Thank you,

we will change type of service key to normaly closed.

But still, it is pity that is not possible to create logic for system inputs.

Hi,

i am working with KRC4 KSS8.6.6

Is it possible to invert "physical" value of input signal $IN[]?

What i need?

I have robot without PLC, so i need to set correct signals for ext aut.

On operator panel i have key - service mode on(1)/off(0)

I would like to map system input SIGNAL $I_O_ACT to service key, but i need inverted value of input signal, so it is active when service mode is off.

Broader question:

Is it possible to use logic for system inputs? For example $EXT_START = ((bool1 and bool2) or $IN[3]), something like ABB crossconections.

I tried to use FLAG or BOOL, but it makes STEU\MADA\$machine.dat file inconsistent and put system in error.

Otherwise, writing directly to system inputs is not possible as it is write protected.

Thanks

Hi,

i am trying KUKA.Sim pro 3.1 for the first time and I have some issue.

I can easily create program and basic trajectory, but i cannot find the way to create offset point (tool or base) or work with parameters (for example: XPOS=XpP1_1:{X 0,Y 0,Z -2000,A 0,B 0,C 0})

Am I missing something? Can you help me, with implementing offsets in trajectory?

Thanks in advance.

Thank you, with linear movement it works great
Rest of the code remain same. Just copy point, change abc orientation and linear movement.

Thanks again.

With problem with ABC i mean that while point with tool1 have orientation A +90, B -20, C -90 the same point with tool2 should be A -, B +20, C +90.

As panic mode suggest i made this:

XP3=XP1
XP3.A=XP3.A*(-1)
XP3.B=XP3.B*(-1)
XP3.C=XP3.C*(-1)

But for proper work i had to add
XP3.T=58

While changing orientation is easy i find it dificul to correct T for each positon. Also i would like to teach only four corner positions and calculate rest. Now o think it is problem becouse of T parameter.
Is posible to set robot to come to position in nearest (undefined) T configuration?

Tools are defined by direct numerical input. I check abc orientation so the movement is same.

Hi everybody, i am solving this interesting problem and i would like to ask you for your opinion if its posible to solve.

I have robot holding two parts on oposite side of greifer and puting them to palet. To each palet position robot can put first or second part, depends on the plc signal.

I would like to make my program so i teach position with first tool and then somehow change tool number and come to same position. Position have to be in xyzabc becouse i use offset for them.

I tried to change FDAT parameters in program but i have problem with abc orientation, is imposible for robot to came to position.

Do you have any ideas?
Thanks in advance.

Thank you for answers.
We have porduction this week, so i will try to disconnect it in T1 when I have chance.

Hi,
does anybody know for what is this thing with label Enabling SW.?
I take it out from controller and it looks like nothing change.

--
The controller is R-30iB

Quote from cobenson

So here is what I just did, and it works. Not the easiest, but it works.

1. J P[1] 100% Fine DB 1.0mm, Call xxx

In program xxx is: R[xxx]=R[xxx]+1

It will count every time it gets to this program. At the beginning of the program I have R[xxx]=0. This is to 0 out that register every time that program starts. As well as a description of what I am doing.

This is actually better than to write point logic in every point. Now I am able to define point and put them in trajectory in one press.
Thank you for idea!

Hi, i have same PROFIsafe error as you had. Can you please tell me if you were able to fix it?
I thing my configuration in robot is ok, because have normal comunication with PLC working. But when i turn safety to enabled, then i get error.

So i were not able to resolve this in any clever way.
I prepared all points with "after time 0, point logic" in which i wrote r=r+1. After i end with making of trajectory i renumber the points (it ask if i want renumber also repeating points, yes in this case) and then i wrote the value to register in the beginig of program.
I am not really satisfied with this solution, but it works as shoud. So we are keeping it. I hope next time i will work with karel option so i can make something better

I am sending you some pages of manual.
My basic idea is to create some user alarm events like start of production, e-stop pressed etc..
then through variable you change severity to 128 (alarm appears in the log, but doesn't show up on the TP display line, and doesn't stop the robot).
then you add this user alarms in your robot programs. (like in picture 5)

when this alarms happend, it will be writen in the alarm logs. for example errall.ls or errsys.ls

Thank you for ideas. I think thats the correct way how to do it, through Karel programing.
Unfortunately this robot i am working with doesnt have Karel option.
So i gues, i will have to write the values by hand and make manual for others.

If you have any other idea, how to make this without Karel please do share with me

well, you can start with User Alarms with severity 0 or 128. Then you only need to extract this data from alarm log.

yes, that is true.
But in my solution I need robot to read this "largest number" and store it in the register. I mean in program, so anytime when i open diferent trajectory (program) or i add some points, the value will refresh automatically.
For example in ABB are all points stored as robot targets and its possible to acces them from separate routine.

Try to chceck your settings in Menu->System->Config, line 8-10.

Hi everybody,
im dealing with one interesting problem.
Robot makes some diferent trajectries and customer want this kind of information: [actual point on trajectory] and [total number of points].
While is easy to determine actual point, I can not think of a way, how to count all points on the begining of program.
Of course I can count them manually and write to register by myself, but is possible that in future will someone change the trajectories and add or delete some of points.
That is reason why I want to make it by software.

Have anybody idea? have you ever dealt with this kind of problem?

Thanks in advance.

Ok, so another question, maybye someone catch.

I made profinet safety enabled in DCS, and in robot I can see that SSI are changing when i change T1/T2/Auto mode, but when we check signals on PLC, we can see normal comunication, on slot 3 and 4, but nothing on safety modul 2. He is using siemens s7 v5.5 with CPU 317F.

Any ideas? Should I setup the SSI/O in robot somehow or should it be running independent?

Hi,

In Roboguide you make AOA, same as in robot. On teach pendant: menu -> file etc. You will find it saved in Documents/My Wokcells/..../Robot_1/MC (for example).

But I didnt work with FTP yet, so i dont know what you can send directly to robot.
Informations about FTP are in "R-30iB_Internet_connectivity_operator_manual_MAROBINT804121"