wrist joint has nothing to do with the coordinate representation in your program.
It is only a movement option. it is a mix of linear and joint movement. The main axis 1-3 will be moved linear but the wrist 5-6 will be moved in joint, that´s why it is called wrist joint.
Posts by rob76
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group mask can not be changed when already points are in the program, that's why i wrote create a new program for testing.
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it seems that this robot was before connected to some additional axis and they forget to delete them also in the software.
you can try to create a new program. In the SELECT screen chose your new program an go in DETAIL.
There you find "group mask", looks like 1,1,*,*,*,*,*,*
you need the following: 1,*,*,*,*,*,*,*,*
This will define that only motion group 1(the robot) is allowed in your program.
Then try to teach some points in the new program.
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ok, that means there is more than 1 motion group.
But you have only the robot and no kind of external axis or positioners?
Then this is your problem. -
sound strange.... you wrote about external axis mode before.
should not be possible without ext axis. can you check one more thing?
if you press shift+coord button, is there anything with "group"? -
what is your earlier problem? This? https://www.robot-forum.com/robotforum/fan…-been-recorded/
If so, that has absolutely nothing to do with Karel.
Why a new thread for same problem?
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1: R[12]=R[11] DIV 100
2: R[13]=R[11] MOD 100 -
FOR loops are only available in newer software versions. Maybe your software is too old.
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Sounds for me that your external axis is not mastered/calibrated.
Check the position data of your points. In the position screen of the point press "page" to get the external axis data. I guess there is no data ****
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you should find it in the backup
For external axis look for files like: EXT1A1.DT
For positioner look for files like: POSG2A1.DTInside you will find the numbers (answers) you need. ( Motorsize, Gear Ratio and so on)
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this can easily be done with a safety bus like ProfinetSafe for example.
Then you can control those safety signals like the mode switch via safe i/o.Those self wiring solutions are very dangerous and not legal in most countrys, and of course you will lose any warranty and RIA/CE
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You will find it at Tools->Options-> Avi Size (pixels)
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If you have no idea....get a training.
Configure a safe system without knowledge is a very bad idea and dangerous for you and your customer.
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Robot speed can be found in Variable $MCR.$GENOVERRIDE, you can send this to plc via GO for example.
Or you can use the instruction OVERRIDE=100% in your main program (should only be done in auto mode or disabled TP for safety reasons)
Example:
IF SO[7:TP enabled]=ON,JMP LBL[1]
OVERRIDE=100%
LBL[1] -
Your code is wrong.
Should look like this:1: PR[7,3]=R[7] ;
2:L PR[7] 1500mm/sec CNT100 ; -
Exactly, the old one is an instruction found in "INST" and the other one is found in "EDCMD"
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Keep in mind that "Remark" is not available in older Systemsoftware versions.
Not sure but i guess it is available since V7.xx (R30iA) -
Keep in mind that everyone can change the F number in the controller, it is just a variable w/o protection.
I used in the past also the MAC, this number cannot be changed and is unique.
$TMI_ETHERAD[1] for Port A
$TMI_ETHERAD[2] for Port B -
This variable is for the "wait timeout time", not what he is looking for.
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ECHO function works only with Microsoft Internet Explorer because they use active x for this.
The newer Microsoft Edge browser does not support active x anymore, so make sure you use Internet Explorer.