I think the system input <Limit Speed>, connected to scanner signal is what I need. I can use the <LimitSpeed> system output as input to SafeMove to perform a change of the supervision limits. Is it safe enough?
Posts by egor
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Hi,
Is it possible to reduce robot moving speed by SafeMove functionality when operator enters to robot's working zone (just like in this video)?
I have a SICK laser scanner that triggers a signal when it happens.
I can only choose between 0 stop category, 1 stop category and no stop at violation action, but I can't understand how to control robot speed.
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My first try doesn't work... Robot stops at WHILE loop.
CodeTriggIO Trig_Pos_Reached,50\DOp:=do_Pos_Reached,1; !do_Pos_Reached set high 50 mm before point "p1" TriggL p1,v300,Trig_Pos_Reached,z50,VacuumGrip; WHILE do_Pos_Reached=0 DO TPWrite "PP inside"; ENDWHILE
Second try, but it's still working badly:
Code
Display MoreTriggIO Trig_Pos_Reached,50\DOp:=do_Pos_Reached,1; !do_Pos_Reached set high 50 mm before point "p1" TriggL p1,v300,Trig_Pos_Reached,z50,VacuumGrip; MoveLSync p1,v300,z10,VacuumGrip,"PP_Catcher"; PROC PP_Catcher() WHILE do_Pos_Reached=0 DO PWrite "PP inside"; ENDWHILE ENDPROC
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Hi, I have a problem with weld instruction ARC ON. When robot reaches the target point, it gives an error 10322 "Weld mode ID not found: Restore last weld mode changes!". How to configure this weld mode ID?
Options are installed on the controller: ArcTech Basic/Advanced, ArcSense, TouchSense, RobotSensorInterface.
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I did it! Working with any amount of strings in file.
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So is the file the same?No, it's not the same, but I like your idea. I will try it.
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Yes, I know, but I can't change the order of data, because this is data from sensor.
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You can do it with sockets. I recently created a small test app for transfering robtargets via Ethernet/IP by sockets.
You'll find this app and test RAPID module in attachments. Follow instructions in RAPID file. Note, that you need PC sdk option to use sockets. Ask me, if you have questions. -
You can create foreground static type task (Configuration-Controller-New Task...) and change velocity inside it by the signal from SICK sensor.
See example:
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I think the reason is the wrong xml file installation. Maybe it should be in other directory or something else. But I can't find detailed instruction.
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Just save your part in "STEP AP214 (*.step, *.stp)" format and then import geometry.
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Hi, I need to show custom error message on FP using ErrLog command. I create my own xml files as specified at Additional options application manual (see 2.2.1 About event log messages) and put them to the HOME directory.
This is my test routine:
Code
Display MoreMODULE MainModule VAR num errorid:=7001; VAR errstr arg:="P1"; PROC main() ErrLog errorid,ERRSTR_TASK,arg,ERRSTR_CONTEXT,ERRSTR_UNUSED,ERRSTR_UNUSED; ENDPROC ENDMODULE
But when I run this routine, I get empty error message (screenshot in attachments).
XML files are valid (attached below, change .txt to .xml).
template_elogtext.xml:
XML
Display More<?xml version="1.0" encoding="utf-8"?> <!--*********************************************--> <!--The text description file for Elog Messages --> <!-- --> <Domain elogDomain="" domainNo="11" lang="en" elogTextVersion="1.0" xmlns="urn:abb-robotics-elog-text" min="7001" max="7001"> <Message number="7001" eDefine="ERR_TEST"> <Title> Test error </Title> <Description> This error was raised in task: <arg format="%s" ordinal="1" /> <p /> Please have a look at: <arg format="%s" ordinal="2" /> <p /> to solve this issue. </Description> </Message> </Domain>
template_elogtitles.xml:
XML<?xml version="1.0" encoding="utf-8"?> <ExtractTitles> <Title domain="11" number="7001">Test error</Title> </ExtractTitles>
Please, help!