Posts by Miguel_LG
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Hi everyone,
Well, I created a program (.sub) where i want to execute/cancel the main program. This program will be execute in the sps routine.
The problem I have is in the CWRITE instruction declaration.
These are code lines:
IF ($MODE_OP==#EX) AND NOT $STOPMESS AND $EXT_START THEN
CWRITE($CMD,STAT,MODE,"RUN/R1/MAIN()")
ENDIFCWRITE($CMD,STAT,MODE,"CANCEL 1")
And these are the error messages : "EXPRESSION TYPE NOT EQUAL TO STAT_T" (Error number:2222) and "EXPRESSION TYPE NOT “MODUS_T” (Error number:2264)
In the SPS I have declared these variables as following:
DECL STATE_T STAT
DECL MODUS_T MODEIf I change, in the previous declaration, the name of STATE_T for STAT_T (the name which appears in the ERROR message), the sps enters in error, so I guess this is not the problem.
If you can tell me what can I do to solve, it will be awesome
Thank you in advance.
Regards,
Miguel LG -
Yes,
We have two KR C2 controllers. In the end our solution was two slave ports as SkyeFire suggested.
For the future if anyone have find a way to change the MAC ID or create one DeviceNetwork using the MFC Cards would be nice.Thanks for your help.
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Ok.
But, can I change the MAC ID of the DeviceNet connection at MFC Card?
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Hi,
I would thank you if you could tell me if you did achieve the connection between the PLC and the KUKA KR C2 Controller and if you did it using the MFC card in both controllers.
Also I thank you if you can tell me how to add the KR C2 controller as master in the CX-Integrator.Regards,
Miguel -
Hi,
I'm trying to connect two KUKA KRC2 controllers via DeviceNet. I want to use the ports available at MFC Card.
Since DeviceNet allows multimaster connection I understand I only need to configure the MAC ID in the controllers. Please tell me if I'm, wrong.I've tried to change the MAC ID using the Telnet command dnSetMacId but I have the next error message at the Telnet screen:
DNDRV ERROR the device is in use
value = 27 = 0x1bCan you tell me if it is possible to connect both controllers via DeviceNet using only the MFC Card (not any additional DeviceNet module) and how to solve the error when changing the MAC ID.
Thank you.
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Hey,
Check if the variable “$DCSS_CLLB[1].$PTE_ENABLE” is set TRUE.
If it is enabled, check the conditions for the escape function:
• AUTO mode
• Any alarm is not posted.
• The robot stops.
• The contact stop function is enabled.
• The external force is less than the force limit for Push To Escape (System-->DCS-->Collaborative -->External Force-->Escape)Also take into account that only the axis J1 and J2 can be moved.
I hope it´s working now
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Hi everybody!
Currently I am working with the collaborative robot CR4-iA. At the moment everything is going quite nice with its setup.
But I was wondering if there is any variable, where you can setup the time for recovery (to continue the program) after an external force was detected or what it is the same, the time during the robot is stopped after the external force.
Thank you in advance
Miguel LG -
Hi everybody,
First of all thank you for your time.
I have created some pages (.stm) with SharePoint Designer 2007, and I have already loaded them in the teach pendant. I can have access to them through the Browser option.
Until here everything is clear, but I was wondering if it is possible to call this .stm files directly from my TP program. In this way I will be able to display any page at any moment I want.
Thank you again!
Miguel LG. -
Hi everybody!
First of all, thank for your time for reading this.Well, I am quite new with Fanuc robots so I have some doubts that maybe are easy to solve . I am working in a project where we want to have a HMI interface where the user can "give instructions" to the robot (CR-4iA). The idea is, that the user can control the steps of execution of the program.
For example, if the robot has to do two move instructions. The robot execute one movement and it is waiting until the user touch the key for executing the next movement. In this way, the user can control the program of the robot by saying to execute the next instruction when he wants.
For this task, a HMI seems to be a good and intuitive option.So, now my question is..
In the teach pendant is possible to design a customize interface for doing this task , or it is better to use an external HMI and then communicate it with the robot by the Ethernet communication protocol SNPX.
Thanks again!
Miguel_LG -
Hi everybody! I´m new with roboguide, and I´m having a basic issue, I guess.
I imported a fixture as a CAD file, but I dont know how to define a coordinate system to this model. Any ideas how to deal with this??
Thank for your time!
Regards
Miguel -
Hi everybody. I´m new with Fanuc robotics. I was playing around witht the software and I was wondering if there is a proper way to program fanuc robots instead of doing it with the teach pendant
For example in Robotstudio (ABB) there is the option to program in RAPID and upload the program to the robot.Thank you for your time
Miguel Lopez-Guirado