Posts by SomeTekk

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 ,

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.

I email the local (country [for me that's ABB USA Tech Support]) and ask for a link to an installer file.

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.

...

(routing via Test Case of nAxisNum for GO setting - I MAY try AliasIO, for now this works)

...

nTrqVal{nAxisNum}:=TestSignRead(1);

nAbsTrgVal:=Abs(nTrqVal{nAxisNum});

SetGO go_TrqAx...,nAbsTrgVal;

...

ENDPROC

This code is executed as part of a few background tasks.

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!

A reasonable place to start would be to look into the instruction GetDataVal.

From this facilities RW 5.16 system (differences only):

Request Packet Interval: 30 ms

Configuration Assembly: 0

No info to share regarding PLC side.

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.

• 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

Check the thread >>HERE<<

I have used micro-grabbers connected to a multimeter and look for very close resistance values on the X & Y coils, 150 to 200 ohms, and ≈ 35 ohms for the exciter coil.

I have found problems with resolver performance when the difference in the X & Y DC coil resistance is more than 10 ohms or so.

To reflash the pendant it is programmable key 1.

Key 4 will throw out screen and joystick calibration and then invoke the screen calibration app followed by the joystick calibration app.

Unsure about results of keys 2 or 3 being depressed during pendant booting, my vague recollection is nothing happens.

Check This Out

Also maybe Google abb robot disable uas

Good Luck

Perhaps a reference to an outstanding post from Skooter may be in order:

A Great Tool From Skooter

Is this a multi-move system?

If so, always turn off the control module (where the main CPU is) first, then any secondary modules. To power on do the reverse; secondary modules on first control module last.

A multi-move system looks for the axis CPUs on the secondary on power up, if they are not in error 39522 will occur.