Good advice, thanks ))
Posts by Zerych
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Well, wiring, shielding, terminating, powering are present. I set values for consumed and produced bytes as it declared in appropriate DeviceNet profile for BUSINTX11, and when i try to do any I/O mapping, the error from attached screenshot occurs. It means Error in DeviceNet Master module.
The BUSINTX11 is physically connected to EL6752 Master module. Do i need to do a dedicated mapping for signals from the controller to this module and then from it to the BUSINTX11 device?
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Good Day!
I have some problems with communication through DeviceNet connection between KRC4 and BUSINTX11 Board, suppose that the board is not in expected operating mode. In the following topic
https://www.robot-forum.com/robotforum/kuk…-tst-devicenet/
i've found an advice from SkyFire to use Telnet and commands "dnWho" and "dnGetInfo" for DeviceNet devices questioning. And my question is how to do it with PuTTy: which address to connect, use these commands or different, and other probable features. Or there is more simple way to do so?
Thank you.
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Please, can i get this document too?
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Thanks you for your help
Almost all the problems were located, and now in general the welding process is going as it was intended, with some little troubles. First error was with wrong data in Mantissa value for rotating 7th axis, and the second error was with empty data for arythmetical coupling of 7th axis with robot's movement in cooperation with it.
P.S. Unfortunately, forum engine restricts my attempts to upload the resulting 7Mb video in mp4.
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As i see the problem, we have no positioner registration data for cooperation with robot. The specialist says, that our case is not standard, and that is why we can not use procedures from 90210-1292DEB using pos.set2 program etc. And that is why we must use manual handpicking method (totally unknown for us). Maybe you can send us these subprograms through attach here?
P.S. When i use AC movement commands, robot and positioner move as i need, but when i replace AC with WS, WC and WE, i get E1118 error right on WS command.
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Hello all!
Here is the problem. There is a welding robot with rotating 7th external axis. All of it moves, rotates and welds in all conditions and operating modes except one: when the welding process must start or going on in the same time with the 7th axis moving, then the 1118 error occurs immediately, the welding stops or not starting. Why does this happens and what to fix?
Thank you!
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Thank you Kawaguy! Good idea, will try it.
But hardware way is actual too.
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Hello all!
Need advices about subject: what to select, brands and/or models. The main usage is program selection and run/stop without teach pendant.
P.S. Another way is to block the access to setup menus in teach pendant to prevent human curiosity, if available, but i didn't hear about it.
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Yes, it seems to be what is needed. Additional question about the output signal numbers for first item of second screenshot - does that means using (or probable setting) of "WireFeedSpeed" data under the name of "Welding Current"?
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Thanks again, kwakisaki
And now it's time of thoughtful manuals' reading for more detailed information and future solo working
P.S. By "automate or simplify" (for example, in absence of possibility of direct current setting) i mean, for example, linking between welder's predefined memory channel numbers and numbered indirectly settable weld conditions, predefined in controller. I suppose, this can be another one PC Program, always running in PC Area. Not sure about it, will try. And, ofcourse, other non-obvious specific problems.
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And here is the total for this topic: the welding is GOING!
But now some details and questions. The teach pendant's program contains user-declared (i suppose) variable "bits 65,8 = job_no" (see backup2), which is definitely the number of welder's memory channel. So, when the channel #2, which is set in teach pendant with .REALS section of backup2, was defined in welder, then welding started. The question is about backup's section named .INTER_PANEL_D (was mentioned in one of previous messages), which also linked (i suppose) to memory channel number in the first string. Where to find it in the teach pendant and how to automate or simplify choosing the channel number during the robot programming process with the AS language or otherwise?
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As i see, this number means a set of first unsugnificant bytes in the packet, which are about interface configuration or a kind, because with 5 i got working gas flow from teach pendant (byte 6 in I/O table) and no wire inch/retract (byte 0 and 1 in I/O table).
The problem with the welder is that i must always choose the non-empty memory channel, and here i suspect probable wrong signal order in aux. 0608. LSB or MSB, little or big endian. So byte and word values may be sent wrong.
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Well, here is subtotal:
I got the signal mapping from backup2, then made interface settings with one change - TargetConfigConnInstance set to zero. And voila! The welder makes wire inch/retract and gas on from the teach pendant, at last! The next is to bypass the "empty memory channel" on the welder with W1SET command, but that is the secondary task.
Thank you for your support, kwakisaki ) appreciate it and respect
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That's great, kwakisaki!
I also compared these files as a text and found the same differences with "slave" and "master", and the same in DEFSIG commands section. Thank you for detailed screenshots! As for me, you did a priceless job! )) i will try it as soon as i can.
And some specifying questions about principals. The "Address" column in Signal Allocation sheet means the number of bit in the set of bytes, isn't it? Then i didn't find where exactly the "wire feed speed" and other "byte" and "word" type signals were mapped? And what about the first column with end-to-end numbering, as i understood, they are mapped directly to the controller's hardware, and, for example, as you said, first 32 are 1TW board' signals? I can switch them off by marking as a "Local Port" signals?
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I used almost all the settings from screenshots, except the first "number of signals". And it works as i said before. Additional issue is the warning message in welder's web interface "warning 103: empty memory channel", and it may be another problem with welding start, because the welder has no curves inside. But, i think, it may not be a problem in case of simple MIG welding.
Here are two backups from the specialist, which, he says, must be working, one of them contains right mapping, or both are additional to each other. Sorry, i still cannot define it by myself ( need an advice about principles of implementation of the welder's bit list from the first message into the controller's Signal Allocation tab.
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Good news: the scanner is online, the welder's web interface shows messages like "gas on", "welding on" and some others.
Bad news: no gas, no wire feed, no arc, "arc failure" error message.
I will attach previous backup later. There are some suspicions about wrong signal mapping. -
Thanks a lot!
I will try to access the system in next 24 hours and answer the result immediately.
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Thank you for your answer, kwawkisaki!
I've read your post about ESAB connection and it looks like the same to my problem, but i have no robot under the hand to try it right now.
As for the welder, i have an EDS file for it, please see the attachment.
The table, attached in the my first message, contains both welder->robot and robot->welder columns. As i understand it, the controller must write to the welder IP a set of 16 bytes in suggested order of robot->welder "Control" column to define the welder statement, and, the same time, read a 16-bytes set of welder->robot "Status" column.
P.S. I'm so newbie in this field, sorry for maybe stupid questions.
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Good day!
I have a system, which consists of BA006N robot, E01 controller and Kemppi A7 MIG welder. The controller and welder are connected by software Ethernet/IP using port 2 on main CPU board. I have set the IP configuration for it, so the EIPSTATUS returns "Instance: 1 Status: ONLINE". The question is how to define correctly the Ethernet/IP scanner settings (aux. function 0608-9-4 and probably 0608-9-3) in according with A7 MIG welder default table (see attached image), and also how to define correctly input and output signals in aux. 0608-1. Thank you.