COTS (Commercial Off The Shelf) CFs will not work. A CF with an ABB Boot Image is required.
Posts by SomeTekk
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Look into Event Routines
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To summarize, for a WZ to work as intended, it is best practice to create a Power On Event routine to define the WZ. Once power is cycled motors must be powered on AND based on the shown jPosDelta all 6 robot joints must be +/- 3 mm from the definition of jHome.
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A common practice is to delete an interrupt first, even if it is not defined, so a 41452 Argument Error 'Already connected' error does not occur.
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Canyou X-Start the IRC5 and see if there are already systems on the Compact Flash?
Also, if you are able to get to the Boot Application you could set an IP up for the LAN port and ftp to the CF and see if there is a problem.
Finally, if the CF is a clone, good luck. VxWorks (the control kernel) is very difficult to get working as intended. -
If it is in the RW5.15.XX or newer family, there is a choice in DriveModule Options for Drivemodule only or No IRB manipulator.
I am many years removed from anything newer than 5.15, but suspect it is possible with newer RW.
A user known to me does have a multi-motor construct WITHOUT a TCP-robot running with RW6.0X. I do not know how those are created in Installation Manager. -
The RelTool function does support rotation around X, Y,and Z of a tool coordinate system.
Check out RelTool in the RAPID Reference manual -
The max values are not displayed anywhere but in the text of a MOC file. They must be edited offline and loaded in the control.
Why?
If an entity wants to limit potential disastrous changes that uneducated programmers may accidentally introduce, like opening a boundary up to a value that will allow full speed collision into a hard stop, hidden min & max values are a possible solution.
There isn't a correlation I am aware of between delta values and max values. Not sure about the history of this chain, but if the max values are too restrictive boundary violations will be generated and adjusting the joint boundary values shown on the pendant and RS will be valueless. -
The pendant's version of WindowsCE must be matched with the RW version. Conveniently the controller checks the pendant OS version, if it does not match an image download is automatically performed without any need for user intervention. It can take a while but eventually the pendant should boot up.
The above is true for IRC5 controls. I cannot confirm the authenticity of the above for pre and post IRC5 controllers ,
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I suggest investigating ABB's TuneMaster Log Signals program. It should be in the same folder as Test Signal Viewer (TSV).
One facet TuneMaster possesses that I really like is that it interrogates the MOC file and determines mechanical units. -
Good ol' ABB, making simple requests torture. Also ABB can make it difficult to convince customers to try their products because of their rigidity.
I suspect ABB will be pleased to have you try their Remote/Connected $ervices which will make it 'easy' for the end-user to stay on top of their robot population's health.
Here's the text from the manual (emphasis mine):
Only test signals for external axes can be reached. Test signals are also available on request for the robot axes and for not predefined test signals for external axes.
Yes, in this facility only external axes are measured.
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I email the local (country [for me that's ABB USA Tech Support]) and ask for a link to an installer file.
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Look in the root directory of your backup folder for a file with the name system.xml.
Open the file (I use a web browser after right clicking on system.xml). The used media is specified quite close to the top of the file.<UsedMedia>
<Media path="C:\PROGRAM FILES (X86)\ABB INDUSTRIAL IT\ROBOTICS IT\MEDIAPOOL\ROBOTWARE_5.15.8017" name="RobotWare" version="5.15.8017.08"/>
<Media path="C:\PROGRAM FILES (X86)\ABB INDUSTRIAL IT\ROBOTICS IT\MEDIAPOOL\SAC_5.15.8017" name="SAC" version="5.15.8017.08"/></UsedMedia>
Make sure your media pool contains the those files. -
I found a lot of problems with RW5.15 & 16 in getting torque to be measured consistently, even following the examples in the RW manuals. After a fair amount of time experimenting, eventually consistent success was found. It was simply adding a delay between the TestSignDefine instruction and TestSignRead function.
Here's a snippet of (a fairly involved torque measuring) bit of RAPID:PROC rAxisMeas(num nAxisNum)
TestSignReset;
TestSignDefine 1,9,A_mecunit,nAxisNum,0.001;
WaitTime nSigDelay; ! Experiment with variable to get reliable readings.
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(routing via Test Case of nAxisNum for GO setting - I MAY try AliasIO, for now this works)
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nTrqVal{nAxisNum}:=TestSignRead(1);
nAbsTrgVal:=Abs(nTrqVal{nAxisNum});
SetGO go_TrqAx...,nAbsTrgVal;
...
ENDPROC
This code is executed as part of a few background tasks.
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In the root directory of a good backup open the system.xml file and observe the 'used media' information. That will let you know what ABB media will need to be to present and in what location.
If you do not have the necessary media contact your local (country's) ABB office and request the installer files. Ensure the paths the installer uses match your system.xml options.
E.g.:
<Media path="C:\PROGRAM FILES (X86)\ABB INDUSTRIAL IT\ROBOTICS IT\MEDIAPOOL\ROBOTWARE_5.15.8017" name="RobotWare" version="5.15.8017.08"/>
Good luck! -
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From this facilities RW 5.16 system (differences only):
Request Packet Interval: 30 msConfiguration Assembly: 0
No info to share regarding PLC side.
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First, did you create a system with the option selected?
Experience has shown that option should install all the files needed for ENIP in the EIO.CFG file.
It is advised to ensure the Fieldbus Adapter eds file inputsize & outputsize matches the sizes assigned to the Unit Type entry for the Fieldbus Adapter. -
In this facility a large number of problems occurred (especially with RS!) after, without any announcement, the IS team presumably ran a script which moved all kinds of files, and many Windows registry entries, off of local machines and moved them to MS OneDrive (
).
To obtain any degree of success with virtual systems I've had to move files to a local PC location that does not get older files deleted as well is shielded from OneDrive activities.
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- Open RobotStudio (RS)
- Under the File tab in the Documentation section launch RS Help
- Under the Contents tab in RS Help check out the ScreenMaker subject