BNI EIP 508 005 Z015 013
That one uses ethernet/ip!
EOAT with IO LINK.
Are you sure?
First, please check you're setup/hardware...
BNI EIP 508 005 Z015 013
That one uses ethernet/ip!
EOAT with IO LINK.
Are you sure?
First, please check you're setup/hardware...
..I think the results are quite okay for an old robot...
Hi
UK user key
SU shift userkey
MF manual function --> check manual
SP ?
DI digital Input
RI robot input
UI (system UOP input)
F flag
M marker
Hi MANIKANDAN_S,
Check the Handling Tool manual
Your six axis "robot or manipulator" is connected to the controller.
This might be the first group.
When you have to control a couple of arms/manipulators with ONE controller these arm will be group2-group5 (or more).
Similar with rails or servo grippers. These can be configured to be a independet group.
Each group can contian up to 9 Axis.
--> group 1 is used by specific program 1,*,*,*,*,*
--> group 3 is used by specific program *,*,1,*,*,*
--> groups 1,3,5 are used by specific program 1,*,1,*,1,*
In this case used means locked or allocated by the program
So another program is not able to run alongside a program which allocates the same group.
When changing to *,*,*,*,*,* NO group will be allocated. So the program might be able to run alongside and/or in background.
In general you're not able to use Posregs inside the programs. Because the controller doesn't know which group the PR belongs to (this is more complex but for explanation it should be okay)
Best
Please try to describe in more detail what you want to program.
BG Logic : Program runs cyclic and "always".
you can jump over parts of the program with
IF and FLG[X]
PNSxxxx : Program that is started by/from PLC
With cnc machined parts for the gripper, I would use CAD-Data.
When everything is proper engineered you might be able to teach/use only one Position for both gripper sides...
Hi younesstazi,
Unfortunately Roboguide has very poor or no CAD functionalities.
A CAD file is always imported as ONE part!
It does not matter how many parts or assemblies there are in the file.
The CAD data must be prepared so that (at least) all moving parts can be imported as single file.
You can practise with Roboguide first:
Have a look at the help for Machines.
And open Example workcell if necessary
In your tests, link the parts to signals or positions...
Good luck.
Hi StoopidEngineer,
first get a proper cable (and usb converter)
then install dosbox
(in (windows) usb settings set com1 as port )
start dosbox
--> com port mapping
- serial1=directserial realport:com1
--> mount your kfloppy to dosboxes c
-mount c c:\kfloppy
-->type
- c:
- kfloppy.exe
- in "kfloppy settings" set port number com1
good luck..
just connect via FTP to roboguide robot (127.0.0.1:21 for first6 robot) and paste
SYSFRAME.SV+ FRAMEVAR.VR
on MD; just like on real robot
Or I am missunderstanding something?
If you run into issues where 370 position registers are insufficient, I feel like there's some underlying software design issues.
YES.YES. software design issue...
You can always "store" your PR's inside a recipe TP program or load csv files or calculate nearly everything...
Keep in mind : use local vars as much as possible and not the other way around
And since a couple of years you're able to use local PR's
What then? Are FANUC representatives coming to update the operating system/modify the control cabinet?
Yes, not onsite but reinstalling/reconfiguring the software at their own controllers and sending you a new image (Europe).
I have seen that they did so to increase TP-Pool as much as possible..
Hi Tat_Iron_Man,
This depends heavily on the robot configuration.
Additional options can influence this:
For example, you can configure fewer PRs for controllers with several groups.
Fanuc decides this when creating the specific operating system or it is "calculated" automatically
As fanuc has hundreds of options and some of these intervene very deeply in the system, none of this is exactly predictable.
And the "default" values may also change from version/revision to version/revision...
As end users, we do not really have the option to intervene.
Just because we think we can control everything via sysvars doesn't mean it's always a good idea...
Best
Hi Shubham_23,
I have not tested/looked at the code. But you write :
NOTE: Little Endian is False always
On Windows computers with (x86/64/Intel) the endianness is Little endian.
On the actual robot with Motorola controller it is Big endian.
Best
Pretty rare you need to increase the stack size of a program.
I would completely agree with you if I hadn't seen last year at a Fanuc showcase that the stack had to be increased for a palletizing program (CRX pal template)..
The term Fault is a little misleading.
This is because the signal is also present if everything is OK, but the "final" reset signal is not yet present or has not been applied
For example, when switching from T1 to automatic or when the dead man switch in T1 is released.
Hi hoitzing,
It's actually quite simple:
Select another program ( e.g. a TP Program like abortit).
Check that none of the programs is running (bg, shell or "front")
Then delete all(!) programs that refer to named arrays/structures/vars.
(Since TP programs can use karel vars too, you might have to delete them also)
The order of deletion can also be important, depending on how the variables and routines are shared.
Afterwards delete the VR file(s). (also pay attention to the order here)
No restarts are necessary for this.
(maybe use controlled start)
Hi Xav91
This is a rare combination of features and workflow (nowadays).
The programs (kl source) still have to be translated on the controller. That's why you can't load them "directly".
There are several ways to translate the programs on the controller:
(check the karel manual)
Via KCL or with the help of another Karel program:
or
OPEN FILE util_file ('RW', 'hello.kl')
WRITE util_file ('PROGRAM hello', CR)
WRITE util_file ('%NOLOCKGROUP', CR)
WRITE util_file ('BEGIN', CR)
WRITE util_file (' WRITE (''hello world'', CR)', CR)
WRITE util_file ('END hello', CR)
CLOSE FILE util_file
TRANSLATE('hello', TRUE, status)
IF status = 0 THEN
LOAD('hello.pc', 0, status)
ENDIF
IF status = 0 THEN
CALL_PROG('hello', prog_index)
ENDIF
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In general, I would recommend loading the programs automatically on the controller(FTP script) and having another ls/tp program created via script. This should replace the Karel program and call the individual programs. Since you know the Prognames during or befoer upload, generating another LS Prog is not a big task.
There are more solutions, like calling your progs indirect with SR's
best
Hi trobo0009,
I think you can order "shape generation 3 (R801)" for you crx...
Hi,
, I use external tools/ scripts like ftp batch and totalcommander to overcome these limitations....
Hi HalbesYoyo,
frame "information" is stored in framevar file.
e.g. TouchUp positions and comments.
(Inside SETUP_DATA Array...)
best