Posts by ctor

Hello,

I bought an used TX60L with its CS8 controller (230V9. However, I don't have its pendant. I have been looking for some used pendant. But I have found some SP1 with different order reference.

Are all the SP1 order references compatible with the CS8 controller? What are the differences between the SP1_D_211_426_02, the SP1_D_211_421_02 or the SP1_D_211_399_02?

Thanks.

FORCE_SPMENU

Hi,
Did you get it?

Hi,

Did you get it? Certainly I would like to read this attribute from the robot? Would you know how to do that?

Thanks!!

Did you get it?

I am trying, but I only got it for the background edit, but I don't know how to do it for "normal" editions with the TPENBL.

Thanks a lot

Hi,

I think the problem I want to solve is very common, so I hope you could help me.

I would like to detect if the robot was manually moved to avoid restarting the program from a position out of the path of the program.

I want to detect it in the PLC to interlock the restarting signal. I have been checking the SYSTEM VARIABLE LISTING but I didn't find a variable to know if the robot is in a position of the path of the program. Maybe, I have overlooked it.

So, if an operator get into the cell and he needs to move manually the robots, I would like he to return it into the path using STEP BWD or FWD to be sure the robot won't collide after restarting the auto mode.

Thanks a lot.

Hi,
And how are you exactly detecting if the robot was manually moved?
I would like to detect if the robot was jogged out of the path of the current segment.
Thanks.

Hello everybody,

I have to do some long modification in several PNS of several robots. It will be hard to do that using the TP, and I am having some problems with Roboguide...
So, given these modifications don't include new paths, I wonder if it is possible to modify the PNS with the NotePad++ or a similar software. And if it is possible, how is the right way to import/export it?

Thank you very much.

I have being checking deeper the operator manual looking for the logbook menu. I don't have this menu because I don't have J695 "Operation Logbook Option", however I have OPLG option "System Logbook".

Somebody know how to clear the Logbook only with this option?

Thanks!

Is there a menu for the logbook??
I am meaning the file logbook.ls or .md, I am not referring to the log errors lists in the "Alarms" menu.

I tried to delete the logbook.ls but it was automatically recovered...

Thank you very much.

I would like to make some demonstrations to my costumer. But I would like to avoid they copy my solution and find out the know-how. So, I would need to clear the logbook after setting the robots. Do you know how to do it?
Thanks!

It is not possible to access and read the Karel programs. So, if you want a coustomized waving you should to programing it by yourself...

I think the best option in this case would be contact Fanuc...

Quote from rbtprgmr

If you can't control the TPENBL portion...set it to a Flag/Flag to Reg etc. Assuming you can/do write protect, essentially get data from that.

In this plant, robots are protected by password for a lot of robot-programmers. Then, I could make a BGLogic to detect if someone is logged-in and, likewise, with the UO the PLC knows if the pendant is ON.

But these conditions are not enough for the PLC to know if someone modified the program or simply moved the robot manually.

I don´t understand what are you suggesting about the Flag and the Register.

Thank you.

Hi all,

I would need some suggestions about how to do to inform the PLC that a program has been edited.
If it was edited in BACKEDIT, it is easy using the $BACK_EDIT[1] .$REPLACING, but I don't know how to detect if a programmer edited a program with TPENBL.

I have only one idea that I would like to avoid, given that I prefer not using KAREL. This idea would be looking for the variable for the MODIFIED DATE and TIME.

Thank you very much!

Thank you!,
Your software is really useful, but not in my case, because when I said that "I was consulting the coordinates using the webserver" I wanted to mean that I am developing a PC software that is consulting the coordinates from the webserver, however, I would need the coordinates in USER or WORLD.
Anyway, thank you very much.

Hi all,

I am consulting the programs using the webserver and, as you know, the coordinates of every points are detailed at the end of the program. In my case, they are detailed using the degrees of each joint. However, I would like to get these coordinates using the user frame system or the world system. Is it possible?

Thank you in advance.

$PNS_CUR_LIN could be a good option for someone, avoiding the use of Karel.

But I think your variable is a good solution for me, I will need to learn Karel, but it should work.

Thanks.

Quote from sakke

Now I FINALLY had time to go to shop floor and work around with Karel a bit.

Thanks for pointing me to right direction! $shell_work was exactly the right place to find the program name and line number. That's great!

I wrote a quick test program, but nothing too impressing yet. I hope to have more time in coming days so I could really try writing something useful. I will post here if I get something done.

Next thing I need to figure out is the error messages. I tried browsing the system variables, but did not yet find anything.

Did you have success in finding the comment related to the position?

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I have used the system variable $shell_work.curr_line, but it is not working, I am getting a fixed value even when the robot is moving and running a PNS, advancing lines in its code.

Do you know if I have to enable any option to get refreshing this value??

Thanks a lot!

^{How to set the STEP mode from PLC?}

Hi all,

I am a PLC programmer and an ABB programmer. I am starting to learn FANUC, so, maybe my question is too easy, but I need some help...

I would like to set the STEP Mode form the PLC and, after that, send BCK or FWD pulses to move the robot step by step.

I think the best way would be using BG Logic, but I don't know the variable to set the STEP Mode.

Thank you in advance!

Thanks to everybody.

Sending this system variable to a GO is enough. But now I have a new problem: when I tested this variable directly in its System Variables menu screen, it was working; however nowdays the variable is not getting the right value, it is not updating. When no program is runnig $Shell_wrk.$curr_line=1 and when the program is running the variable takes a constant value. In some robots it takes =8, in others =12, etc, but it is kepping the same value during the whole program.

I dont know if I have to set some configurations to get to update this kind of variable.

Thank you in advance!