Posts by RodCooter

Thanks panic mode that was another thing I didn't understand why it was happening between job calls from cell.src

SkyeFire awesome, thanks for the quick reply. I was way off haha. Appreciate it!

So I'm certain this is super simple for you guys, yet I'm struggling to create a basic subroutine that sets an output on its way IN to it. An argument is what I'm used to calling it (I'm good with ABB/Motoman/Fanuc and VERY new to Kuka). I've read through the examples in the "KUKA System Software 8.7 - Operating and Programming Instructions for System Integrators" manual, yet still can't figure it out. This is a new KRC5 KSS 8.7.6

Basically I want this:

DEF Stud_Routine( )

PTP P1 Vel=100 % PDAT1 Tool[1]:Screw_Gun Base[0]

;STUD 1

LIN P2 Vel=1 m/s CPDAT5 Tool[1]:Screw_Gun Base[0]

Start_Stud (1)

LIN P1 Vel=2 m/s CPDAT2 Tool[1]:Screw_Gun Base[0]

LIN P3 Vel=2 m/s CPDAT2 Tool[1]:Screw_Gun Base[0]

;STUD 2

LIN P4 Vel=2 m/s CPDAT2 Tool[1]:Screw_Gun Base[0]

Start_Stud (2)

LIN P5 CONT Vel=2 m/s CPDAT2 Tool[1]:Screw_Gun Base[0]

END

So within the Start_Stud subroutine or function (unsure which I need to use for this) If that argument in Start_Stud is set to 1 it sets $OUT[50]=TRUE and if it's set to a 2 it sets $OUT[51]=TRUE

After that I can make some decisions and error handling/fault recovery with the PLC which is actually controlling the gun from there. Just trying to make the main program a little more neat with a function.

Thanks

Quote from dha

WP files are protected when they are selected or active

Go to DATA -> Weld Procedure -> Select different procedure or create new one -> F3 -> Select WP.

After that you will be able to delate the one you want.

That gotter.
Thank you sir!
[emoji482]

Quote from dha

You can copy AWExWPy.VR where x is Equipment number and y Weld Procedure number. I think it is necessary to have same equipment if you want to copy AWExWPy as there are not only welding parameters in file but also equipment specific settings.

Having this same issue. Can’t get weld schedules/descriptions to transfer over to another identical robot/welder config. The AWE1WP01.vr says “program is protected” when I try and load it in a regular startup or in a controlled start. And not protected as in write protected in the detail screen for the job, that is off. Any thoughts?

Thanks

Quote from cunaf

Hi, in full-speed auto my servo guns seem slow to open and close and I can't achieve cycle time. I am looking for ideas on how to speed up. Any help appreciated.

Gary, have you considered removing some a couple spot welds? That should save you maybe 4s. [emoji38]

Quote from Jazsta123

Sorry I am fairly self taught on these robots, and am not sure which standard this would be referring to (global 2 perhaps?) I have since learned that the robot will call a sealer handshake in the background at the end of any sealer process routines regardless of dispense complete macro called which is what I was confused about, but as the original macro is p-code I'm fairly sure there is no way I can find out what it consisted of myself to determine which i/o states are necessary when leaving the process routine, I am in touch with one of the line builders and will hopefully find out soon, thanks anyways

I’ve always found you needed to have a few extra robot moves in your process job before you exit out into your main routine. This gives time for the disp comp to finish. I’m assuming you’re calling from you main routine in to your JOB which calls your PROCESS which is where the actual dispense takes place?

Generally it’s
R1 + S3:S3
R2 + S3:S3
For the coordinated job anyways.
Some ppl just call a Coord job specifically for the Coord section as the job gets twice as long as it records 2 lines per position. Use Tsync commands at your arc starts to synch your ignitions. Have same number of points in the weld seams that travel the same distance. Define weld points as:

MOVC V=40
+MOVJ

So that the positioner will travel the speed you define for your TCP

Quote from MooseHorns

This might be incredibly simple, but in s dispense program I need to stop the actual dispense prior to the termination point to prevent the "tail" or excess form dragging or disrupting the pattern. How do I fire the DO in motion prior to the termination point?

Heck, how do I fire a DO before or after any motion?

Again this might be Robot 101 but I can't for the life of me figure it out.

Yup I agree. Can use the time or distance before option on the last point of your path. I’ve also had success with doing a back step motion and slightly upward back along the sealant path to allow the tail fall back on the bead. Time permitting of course.

Quote from BAlexander

NO, the only position we have stored as a variable is the home position and it is only used in a job to send the robot back to the home position.

Sounds like the NuTech cell, I know this job....

I’m guessing a comarc and or touch sensing issue. Did you change wire manufacturers? When was the last time comarc was calibrated? Try running without comarc and see. Maybe weld grounding causing intf in comarc readings.