De que robo es este error?
Posts by ElEsgalho
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Hello mil3k,
can you further specify what you would like to compare?
Is it just code or 3D environments? Those are two completely different stories.
If it's juste code, you can use:
- the integrated comparing tool Home -> Tools -> Comparison Tool
- open both applications in SRS and compare by yourself
- open both files in any text editor tool and compare by either yourself or any comparing method provided by that tool
If you need to compare the 3D environment, you might need to set up a virtual machine and run a second SRS instance in there.
Does the license work across a virtual machine?
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Hi,
Is that even Staubli? I believe it's unimation.
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I would advise you to reset the move ID counter either at the end or the beginning of the loop:
With the setMoveID() you have better control of the movement IDs.
This is not the best solution, because if you add a few more moves, all the IDs to recover change as well.
Usually what I do, is to have areas of interest, for example near station 1, I set the move ID to 100, and I know from 100 to, for example, 153, are movements near station 1. For station 2 I set it to 200, and station 3, 300,...
My recovery program then is just an if within a range, if move ID >99 and < 200, it means is near station 1, and the recovery is made for instance by moving Z up first...
Hope this help you and let me know otherwise,
El Esgalho!
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If you stop your robot while moving there and use the getMoveID() instruction, this will return a number, for example, 1,62. This number means that the robot was moving to move ID 1, which is jSafePickTab and it was at 62% of completion.
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This could be used to know exactly where the robot is and how to revert back to safety. The only issue is if you are running this in a loop, next time, movej(jSafePickTab,tTabTool,mTravelSlow) won't be 1 but will be the very next move ID.
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Hi,
The value of nRecoveryPos will be nRecoveryPos=10003 even before getting to jSafePickTab.
And if you put waitEndMove for all movement instructions, the robot will be very jerky.
There is a better way to do it, any Staubli move instruction returns a value called moveID:
For example, if movej(jSafePickTab,tTabTool,mTravelSlow) is the first move instruction, it will return 1, so that will be the move ID 1.
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Hi Rahul,
In a few words :
TaskCreate : Task is executed "continuously" depending on the given priority level.
TaskCreateSync : Task is executed every x.xx second. Priority level is 3000 (factory setting, can't be modified).
Example :
TaskCreate "MyTask",50,ExecuteATask()
--> Function ExecuteATask() is executed once, with a priority of 50. You can have an infinite loop in your function.
TaskCreateSync "MyTaskSync",0.5,bOverrun,ExecuteASyncTask()
--> Function ExecuteASyncTask() is executed every 0.5 second.
bOverrun=true : function is executed to the end, even if it takes more than 0.5s
bOverrun=false : function is killed if not completed after 0.5s
NEVER use infinite loop in such a function, otherwise your CPU will run out of resource.
Hope this helps,
Jeff
I couldn't say better.
Just adding some more recomendation about TaskCreateSync, please keep it simple and small. As Jeff said, your CPU will run out of resources.
Also, you are only allowed to have 2 sync tasks simultaneously, I would say 99% percent of the time you don't need a sync task, normal tasks are fast and reliable enough.
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SRS is the offline programming tool, Staubli robotics suite.
You should be able to open application programs with notepad ++
The start program is the program called when you run the application, from there you should be able to find the programs responsible to save and load the jobs.
Do you take the backups from the pendant?
Is it possible to share it?
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Hi OmegApu,
Are you trying to debug a real robot?
Or to debug the SRS emulator?
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Hi,
This looks like custom user pages for this application.
The behavior to create and delete these jobs is inside the application VAL3 code.
Try to do a backup of the controller and explore a litter bit inside the application.
Do you have SRS?
My guess is the data is stored either inside a library or the data of this application.
You should be able to edit.
Please before changing anything do a proper backup of the controller so you are able to restore any missing data.
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Hi,
RS232 is a serial com that could be easily configured.
You could create a task to read and send information to the gripper.
I could help you with this, do you have the datasheet of the gripper?
I can't find the exact model on google.
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Great!
Thank you for sharing the solution!
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Hi,
Is each job an application?
Or you create it on the pendant and could be variables of an application?
If you are not sure, is it possible to share a backup with us so we could take a look?
Greeting,
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Keep us updated with the progress!
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Sorry, I don't understand what you want to do exactly.
When you run an application the first program to be executed is the Start().
If you look at your picture you have a start and stop program.
If you run it in manual mode, you need to press the deadman switch. Press the arm power key to power up the robot. And then, press and hold the move/hold key for the robot to move.
But if nothing happens, that's something that you need to debug, because I don't know exactly what you have inside the start program.
If you go home and open the task manager, you could take a look at which tasks are running.
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Hello,
When you run an application the first program to be executed is the start program, please look inside the start program to know exactly what is going to do.
To run it in manual mode you need to be sure that no jog mode is select. At me moment it looks like Tool JOG is select.
Go back to the jog page and deselect any jog mode.
Then press deadman, arm power and press move hold key to run it.
Hope this helps you!
Let me know otherwise!
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According to the manual, you should connect the dual-channel like this:
Either "U" and "c" are pointing to an emergency signal only on channel 1.
Sometimes you have to "park" the pendant to clear the error.
Parking the pendant by placing it on its bracket.
Cycle power the controller should also clear it.
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You could always look on "eBay" for a controller.
To be fair, the CS8 controller is being discontinued.
Just make sure the controller is compatible with the robot.
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I did some google it and found this:
External Content www.youtube.comContent embedded from external sources will not be displayed without your consent.Through the activation of external content, you agree that personal data may be transferred to third party platforms. We have provided more information on this in our privacy policy.Maybe that helps.