Hi SXJ1988,
Have you double checked that you jog with correct Frame? (e.g. S/WORLD)
The J7/J8 buttons may be configured different?!
(Config-Menu :J7/J8 jog key setup)
Or the Robot config? (integrated vs. external rail)
Hi SXJ1988,
Have you double checked that you jog with correct Frame? (e.g. S/WORLD)
The J7/J8 buttons may be configured different?!
(Config-Menu :J7/J8 jog key setup)
Or the Robot config? (integrated vs. external rail)
Hi Guest1,
Welcome.
There are things you have to do
and
there is your(!) wishlist.
First try to get the old robot running inside roboguide.
You may need to do a couple of adjustments(DCS settings to move the robot and so on)
Is the user interface working?
"UI:"
Figure out how does it work internally?
Mostly there are a couple of stm or htm files working with some karel progs....
- does the ui(htm ) set registers etc. directly?
- or is this managed by a karel prog
- using ActiveX controls?
your wishlist:
"My question is how to create such a user interface with different tabs? "
Are you familar with js/ajax/jquery --> here you go
good luck
PnsStarter
Sorry, I guess I have expressed myself unclearly. The list of facility codes I know where to find. I meant a list of the codes that are displayed in $LAST_ERCODE.
Have a look at the attached picture
We use DCS. Which file we can transfer to another robot to speed up the initial setup for the dcs menu?
DCSIOC -- IO
DCSPOS -- CPC and so on
Looks like $LAST_ERCODE does not contain the facility code. Does anybody know if there is a list of these codes somewhere or how they are put together?
Alarm Code List B-83284 (GE;EN) ; B-83284EN-1/08.01
e.g.
SRVO-033 Robot not calibrated
FACILITY_NAME | ERROR_CODE_NUMBER |
SRVO (11) | 033 |
If I remember correctly, this was introduced during RJ3iB or RJ3iC/R30iA.
Hi scotch99,
keep in mind that reading the coord motion setup vars is okay.
But I won't recommend to write them unless you really know what you''re doing..
There are settings inside CD_PAIR menu which require a cold start (or need some [EXEC] command from TP.)
Hi TitusLepic,
another way might be to set a motion group allocated in your program again.
And then setup your program to run as BG_LOGIC.
This works! At least at R30iB(V8.20 5Groups,32Axis) and V9.40(only virtual tested;1Group,6Axis)
Inside your BG_LOGIC you can handle the plc requests...
best
Hi
have you tried
No motion PR operate mode --> true
(inside config menu)
I am quite sure that there is no system variable that indicates this.
You may loop over the flags...
Like retobor wrote.
This is the way to go!
This will work or not, and sometimes you'll run into unexpected problems. Because there is a reason V8.23 exists.
Otherwise ask fanuc or the "company" which uses V8.23 for the VRC version.
too much overkill? I agree with you in part!
I have "re commissioned" at least 15 old robots in the past.
Some of them had some system variables set so, that the strangest things happened!
One notices this only later. And in the end you have to make an INIT start.
The most curious and at the same time most dangerous happened on a LRMATE100::
CODE:
But the robot behaved as if the following code was executed:
This is not a joke! He got faster and faster in T1(!) until he got off with an OVC alarm!
---
If you get a used Windows PC (from wherever) you would reset it too right?
---
So maybe:
Make AOA
Perform INIT start
restore/perfom mastering (sysmast.sv)
restore backup except system/sysvar.sv
----
Best regards
Hi hoitzing,
the INIT start will do a "factory reset"!
This comes in handy when one is in situations like yours.
First:
AOA and IMAGE backup of your system to return back to.
At startup press [PREV]+[NEXT] or [F1]+[F5](depends on controller version) to access boot/config menu.
choose INIT start
When done load/restore you're saved "sysmast.sv" because the robot won't be mastered anymore.
Since this topic is more advanced please check posts and manuals for this!
best
Hi hoitzing,
don't struggle with that!
Do a INIT start !! (and maybe upgrade software)
This way you'll avoid a lot of problems!
(you have to know what to do after init start!)
For me it turns out that this is the easiest and shortest way to get an old robot running, because you don't have to care about old sysvar settings and progs!
Best
Hi MoEL,
posreg.va always shows a 'position' type(Matrix format) as a XYZWPR type!
I think on newer controllers there is really no need to use the 'position' type.
Change the $PRCARTREP var to true, at start of commisioning , and you're fine.
Hi MoEL,
R[2] = R[1]+10
PR[R[2]] = LPOS
..
R[1] = R[1]+10
PR[R[1]] = LPOS
or using only one local var:
R[10001] = R[10001]+10
PR[R[10001]] = LPOS
best
Hi YiSI,
1.How can I determine if the stored position(PR[100]) exceeds the arm's coordinate limits?"
1.1 IN_RANGE and check_epos builtin
2.How can I determine if an error state occurs while calling TP to execute?"
2.1 Maybe use the "Monitor" instruction inside you TP prog to
2.2 Checkout the '$ALM_IF' variable structure while running your tp prog.
check this post:
best
Hi YiSI,
don't use Karel to move the robot!
Call a TP program from Karel.
You can change acceleration with
ACC command:
or indirect:
So you can change your ACC value even at runtime.
Hi YiSI,
do you mean something like SRVO ON and SRVO OFF ??
This is not possible and not needed.
(The 'RESET' signal will bring up all servos)
Or are you using an extended or external Axis?
If so, there is a function to connect and disconn servo..