Hi Vadimas,
I believe it is in your hands.
you can check the value befor writing to GO...
best regards
PnsStarter
Hi Vadimas,
I believe it is in your hands.
you can check the value befor writing to GO...
best regards
PnsStarter
Hi joshrice1,
Background logic can't lock a motion group!
create one or more tp programs that will move the group to the needed position(s).
(Maybe with a Skip Condition inside for the DI)
Start these programs via Manual Function or DI...
check out if this is a "safe" solution!
best regards PnsStarter
As HawkME wrote: "J2 & J3 will jog together to roughly keep the faceplate parallel to the ground, or matching it's current orientation."
but maybe you can use something like this:
--- $MOR_GRP[1].$current_ang[9]
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF: Not
available CRTL: Not available Data Type: REAL Memory: Not available
Name: Current Angle
Description: Indicates the joint angles, in radians, of the output of the filter. This is the motion
command to the servo system.
Power Up: Data is updated dynamically by the motion system. At a cold start, this variable is
reset to its default.
Screen: POSITION
---
$MCR_GRP[1].$forceupdate
Minimum: Not available Maximum: Not available Default: Not available KCL/Data:
Not available Program: RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available
Name: Update current angle with machine puls
Description: Do not change this system variable. 0 : NOTHING 1 : PUT ON ECC BIT AND
FORCE UPDATE $MOR_GRP[].$current_ang WITH MACHINE PULSE.
Power Up: Changes to this variable take effect immediately
----------
I have never used this "in the wild" , and I don't know about the update timing or "stability"
---
4: R[7:temp]=$MOR_GRP[1].$CURRENT_ANG[1] ;
5: R[1:J1]=R[7:temp]*57.2958 ;
6: R[7:temp]=$MOR_GRP[1].$CURRENT_ANG[2] ;
7: R[2:J2]=R[7:temp]*57.2958 ;
8: R[7:temp]=$MOR_GRP[1].$CURRENT_ANG[3] ;
9: R[7:temp]=R[7:temp]*57.2958 ;
10: R[3:J3]=90+R[2:J2]+R[7:temp] ;
11: R[7:temp]=$MOR_GRP[1].$CURRENT_ANG[4] ;
12: R[4:J4]=R[7:temp]*57.2958 ;
13: R[7:temp]=$MOR_GRP[1].$CURRENT_ANG[5] ;
14: R[5:J5]=R[7:temp]*57.2958 ;
15: R[7:temp]=$MOR_GRP[1].$CURRENT_ANG[6] ;
16: R[6:J6]=R[7:temp]*57.2958 ;
Display More
::: "57.2958" factor, convert from radians to degrees
- ADD a "constraint" to Axis3-OutputRegister
8: R[7:temp]=$MOR_GRP[1].$CURRENT_ANG[3] ;
9: R[7:temp]=R[7:temp]*57.2958 ;
10: R[3:J3]=90+R[2:J2]+R[7:temp] ;
- Connect the register via OPC...
best regards
PnsStarter
Hi,
I believe RJ2 controller does not support Argument/Parameters ! And because of that the compiler for that version does not know the "GET_TPE_PRM" builtIn..
Best regards
PnsStarter
Hi,
you can only execute a program from TP at the primary(left) window!
Best regards
PnsStarter
Hi,
this is not a problem of the Karel Prog!
Macros can't be executed in T1/T2 -Mode with an DigitalInput per default.
..
Best regards
PnsStarter
Hi ,
you don't need to use $PR_CARTREP!
But if you use the "POSITION"-Representation (it will be used automatically when executing PR[x] = UFRAME[x]) you have to use it like PR[100,7], PR[100,8]...
AT the the TP-screen checkout the PR-Position-SubMenu (---But I get completly different numbers in PR---) there is a page button !
Best regards
PnsStarter
Create a new motion instruction like "L P[1] 100mm/sec Fine"
setto the end of the Line : "..FINE ___" press "choice" and then Incremental.
The values of P[1] will be cleared. Put (manually , in caseof P[x]) the the neede values inside...
best regards
PnsStarter
Hi Asafa,
INC means incremental.
The movement is not absolut it's incremental.
Best regards
PnsStarter
TP Prog!
move_to_pr as name
Hi JerryI859,
check out MENU --> Error(Severity)Table.
See also HandlingTool PDF.
Best regards
PnsStarter
Hi rudolf1385,
The Karel builtIns for that are:
OPEN_TPE(prog_name, open_mode, reject_mode, open_id, status)
GET_POS_TPE(open_id, position_no, status <, group_no>)
XYZWPR(EXT) only will be returned (no JPOS)
XYZWPR_VAR =GET_POS_TPE(open_id, 1, status )
But I believe you can't open a TPE-Program when it is already open!
SO GETPOSITION can't be called within your specific TP-Prog!
best regards
PnsStarter
Correct me when I'am wrong,
but Fanuc used "negativ logic" until RJ3iB!
So the answer of antonin will not work.
In this case you should get 24V between pin 18/19/20(24V) and PIN1 (RDO1)
best regards
PnsStarter