Dear Fubini i have read that post but still i don't get it. That is why i posted a part of a code so someone could guide me to a right track,becouse i have tryed various things but with no results .
Posts by DobermanQuantum
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Bewtween SPLINE motion and SLIN motion i get small stop. Is there a posibility to somehow avoid that stop?
This is that part of a code :
$OV_PRO=50
PTP_SPLINE
SPTP Point1
SPTP Point2
SPTP Point3
SPTP Point4
SPTP Point5
SPTP Point6
SPTP Point7
ENDSPLINE C_SPL
TRIGGER WHEN PATH=0 DELAY=0 DO OutVacuumOn=FALSE
TRIGGER WHEN PATH=0 DELAY=5 DO OutGripp=FALSE
$OV_PRO=100
SLIN Point8 -
The bytes were ok but i didn't had x311 conector jumper placed incide of the robot cabinet. After puttin it on place everything worked .
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Robot : KR180R3200PA
PLC : AB Control logix L 72 s
I already set comunication between these two. Normal i/o(32 bytes) is configurated and also Safety through Ethernet Ip(2 bytes),in Automatic and Automatic External everything is ok,but in T1 and T2 mode i can't use robot becouse i have error Safety Stop.
In description says : Path maintaning Emergency stop
Input of active comands(robot motions,robot start) is blockedPosible couses:
MCFB option has not been instaled
Instal MCFB optionPlease advice how can i get robot to work also in T1 and T2 mode
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I get it now. AOP is used from KUKA official,and set comunication to 16 bytes and also on KUKA side maped I/O on 16 bytes and now works Thank's a lot for your help
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I did it,just i change the size becouse i want to use DINT and now i have 2 In's and 2 Outs(first photo). After transfer to controler i get an errors : '' Error on reading/Writing: EIP-ADAPTER","Timeout establishing conection between PLC and AB PLC",and "Stop due field bus error ". From the other side i did also like you said,but those errors are still there.
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I set Ip of the KLI to be in range of PLC and the other components (192.168.20.203), for my laptop i chosed (192.168.20.244), and EtherNet /IP (192.168.20.3). And now i can ping bouth and PLC and robot. I did everything until third thing in section 4. ( - click on "Slave1" and configure first KRC4 slave connection). But still i can't add 1756-EN3TR Ethernet/IP under ethernet IP. Again the same "7:18:10 PM Error in DTM 1756-EN3TR: The device 0001000C00DB0A01.eds cannot be assigned a default chassis."
and if i chose to add Generic device it doesn't see it,can't conect . -
Ok,
Let's start over. But just put yourself in my position. When you started you carrier as a programmer and didn't know lot's of things,that someone answers you as you answered to me ,how would you feel? There is always several ways to say something.... I didn't know for "do not try to contact me directly, ask robot related questions in the robot forum..." rule,so sorry about that,if i knew i wouldn't write you directly. As i said i am completly new at this world off programming.Related to topic : KSS version 8.3.290, RS logix 1756-L72S, EtherNet/IP module 1756-EN3TR (192.168.20.3),about type of conection i am not shure, whole system shoud be under Perfrmance Level D – kategory 3. I need to send and recive BOOL and INT signals. I folowed instructions from EtherNet/IP manual but unsuccessfuly