Posts by ElEsgalho

    Hallo everyone,

    Wishes for a great 2023!

    With the beginning of the new year, I would like to hear your opinions on SRS2022.

    I don't have an SRS licence, working with the 2019 free version, and I found someone selling an SRS2022 dongle on eBay.

    He told me that he upgraded it from SRS2019 to 2022, but because SRS2022 is very unstable he is trying to sell it and buy an SRS2019 licence.

    I know this sound like a scam, but I will collect it in person :D

    Also, where can I get the new SRS2022 free version, is no longer publicly available on their web page...


    Would you please share with me your experience and opinions?

    Hi,


    Do you have a customer account at the Staubli technical database?

    They have an interactive spare part catalogue with an exploding view of the entire wrist.



    Never opened one but it looks like a wormgear driven.

    Thank you for coming back and posting the solution!

    Hello, what do you mean by XML file? What exactly do you need?


    I have a JSON file with the offset between joints, and it's possible to get the robot's Denavit–Hartenberg parameters of the robot.

    Not sure if this is what you are looking for.


    {

    "name": "Tx60l",

    "root": {

    "name": "base",

    "nodes": [

    {

    "name": "j1",

    "offset": "T(0mm,0mm,210mm)",

    "axis": "Vz(1mm)",

    "type": "rotoid",

    "minimum": "-180°",

    "maximum": "180°",

    "geometries": [

    {

    "name": "ShowHardStop",

    "type": "cad",

    "visibility": "ShowHardStop",

    "path": "J1_HS.xcgm"

    },

    {

    "name": "j1",

    "type": "cad",

    "path": "J1.xcgm"

    }

    ],

    "nodes": [

    {

    "name": "j2",

    "offset": "T(0mm,117.35mm,165mm)",

    "axis": "Vy(1mm)",

    "type": "rotoid",

    "minimum": "-127.5°",

    "maximum": "127.5°",

    "geometries": [

    {

    "name": "ShowUlLamp",

    "type": "cad",

    "visibility": "ShowUlLamp",

    "path": "J2_UL_L.xcgm"

    },

    {

    "name": "j2_l",

    "type": "cad",

    "path": "J2_L.xcgm"

    }

    ],

    "nodes": [

    {

    "name": "j3",

    "offset": "T(0mm,0.25mm,400mm)",

    "axis": "Vy(1mm)",

    "type": "rotoid",

    "minimum": "-152.5°",

    "maximum": "152.5°",

    "geometries": [

    {

    "name": "j3",

    "type": "cad",

    "path": "J3.xcgm"

    }

    ],

    "nodes": [

    {

    "name": "j4",

    "offset": "T(0mm,-97.6mm,90mm)",

    "axis": "Vz(1mm)",

    "type": "rotoid",

    "minimum": "-270°",

    "maximum": "270°",

    "geometries": [

    {

    "name": "j4_l",

    "type": "cad",

    "path": "J4_L.xcgm"

    }

    ],

    "nodes": [

    {

    "name": "j5",

    "offset": "T(0mm,0mm,360mm)",

    "axis": "Vy(1mm)",

    "type": "rotoid",

    "minimum": "-122.5°",

    "maximum": "132.5°",

    "geometries": [

    {

    "name": "j5",

    "type": "cad",

    "path": "J5.xcgm"

    }

    ],

    "nodes": [

    {

    "name": "j6",

    "offset": "T(0mm,0mm,70mm)",

    "axis": "Vz(1mm)",

    "type": "rotoid",

    "minimum": "-18000°",

    "maximum": "18000°",

    "geometries": [

    {

    "name": "j6",

    "type": "cad",

    "path": "J6.xcgm",

    "offset": "T(0mm,0mm,-70mm)"

    }

    ],

    "nodes": [

    {

    "name": "flange",

    "offset": "T(0mm,0mm,0mm)",

    "type": "fixed",

    "behaviors": [

    {

    "type": "frameContainer",

    "name": "FrameContainer",

    "frames": [

    {

    "kind": "handler",

    "name": "Flange"

    }

    ]

    }

    ]

    }

    ]

    }

    ]

    }

    ]

    }

    ]

    }

    ]

    }

    ]

    }

    ]

    }

    }

    Exaclty, with uniVAL PLC you should have it already mapped. There is no need to program anything neither configure anything.

    As Galet said, the module is a EtherCAT slave.

    Because the module is a slave, you need a master connection to connect to it.

    Either from another module/PLC or if you want to do it from the controller I would advise configuring J206 it's a master EtherCAT and is available by default, or the optional Fieldbus card it's an option that could cost you more.


    Configuring it should be easy, I have some configuration files from previous machines, just transfer them and you be alright.

    Magical Tip for CS9 : You can reboot the SP2 pendant (Not the main CPU) by pressing simultaneously the Home, Back and Legacy Mode buttons...


    Hidden feature :)

    Really?

    Does that get over the connection issue that sometimes randomly happens with the SP2 losing the connection?

    Well if the exact same robot I believe you don't need to change the controller .cfx or .zfx configuration files.

    These files store all the relevant information according to the robot model. Same as Fanuc, if you load an image backup from one controller to one with a different robot, you no longer have straight lines :D


    As soon as you connect the new robot it should pop up a message telling you that the current controller data for the calibration "its zero position encoder reading" is different from the one present on the starc board on the robot's base.


    This is true because the new robot will have a totally new encoder reading for its zero position.


    I believe there is an option to accept either the controller data, the robot's starc board data or to recalibrate.


    My suggestion is to accept the robot data because you have in fact swapped the robot.


    After that, just make a quick check of the robot's position...


    Again, I have never done it, but I have seen those pop-ups every time you connect a different robot to a controller.


    Let me dig a bit more into my notes...

    The application can change this speed with the function setMonitorSpeed (only if the controler is in RemoteAuto mode)... You can looking for this instruction...


    Sorry EIEsgalho :

    num setMonitorSpeed(num nSpeed)

    This instruction modifies the current monitor speed of the robot. setMonitorSpeed() is always able to reduce the monitor speed. To increase it, setMonitorSpeed() is effective only if the robot is in remote working mode and if the operator does not have access to the monitor speed (when the current user profile does not allow use of the speed buttons, or the MCP has been disconnected).


    Again, you can reduce without being in remote mode :D


    Keep in mind the problem was with the reduction of speed...


    Hello

    I have a staubli robot in a production cell

    in automatic mode, I raise the speed value in the pendant to 90, but when the robot fails for some reason the cell doors open, the robot starts the cycle at a very low value 40,


    where can I find that value to be able to leave it at 90?

    The application can change this speed with the function setMonitorSpeed (only if the controler is in RemoteAuto mode)... You can looking for this instruction...

    That's not quite right, setMonitorSpeed() allows you to reduce the speed always, but only increases if the selected profile doesn't have control over the speed monitor.

    Nothing to do with the remote mode...


    This could be a "translation" of what you asked.

    Variable to be created:

    -bRobotAtHome as bool

    -jHome as joint

    -diProgramSelected as digital input

    -nProgramNumber as num

    -aiSelectedProg as analog input

    -diSig1033 as digital input


    Programs to be created:

    -pg01

    -pg02

    -pg06

    -pg08

    -pg10



    Again, this is something that could have similar results for what you are looking... At least compiles :)