Posts by Raltru

  • Problem with BG Logic at controller Start

    My controller R-30iA and my Digital I/O are in HMI (comunicating by ethernet, all ok)


    On BG Logic, need to set R[1] to 0 when DI[1] is off.


    I tried with different codes and works perfect in normal conditions, but when I turn on controller, BG Logic starts before HMI/Robot comunication, and robot think DI[1]=off for miliseconds or smth like this. Sometimes work and sometimes not (but in all start, there is a fail)


    Quote

    F1=OFF
    IF !DI1 AND F2, F1=ON
    F2=DI1
    IF F1, R1=0


    Quote

    IF !DI1 AND DI20, R1=0


    DI20 has direct 24V
    DI1 on start has 24V too (depends of sensor but now is forced to 24V)


    On controller start R1 is going to 0


    Any idea??



    EDITED


    Real Info.
    R[9]=1 R[10]=1 R[11]=0 R[12]=0 values on Shutting Down controller


    R[9]=1 R[10]=0 R[11]=0 R[12]=1 values when I start controller


    CODE IS.



    DI20 and DI4 are connected to 24V(HIGH) all time. But faster start on Controller is reading false low's conditions on this DI. =S



    EDITED 2


    Looks like fixed.


    I added one DI more on all conditions... AND DI3 (it's NC button, so 24V always it's not pressed). With 10 power off/power on its working.


    Any idea to do that correctly?? I don't like the solution.

  • SKIP CONDITION doesn't working well

    Hello guys,


    I am testing this program.



    Beeing R[11]=1, It enter to LBL[1] correctly. Mov to PR[19] starts well and when DI8 and DI9 go OFF, movement Stops well. Problem is it doesn't jump to LBL[3].... It continues the next line, with Mov to PR[4]


    What I am Doing wrong?



    EDITED


    Reading well, SKIP COND. doesn't work as I thougth... SKIP LBL[] is when mov finish without SKIP CONDITION=TRUE... It jumps to this LBL, and If CONDITION=TRUE it continues on next line.

  • INTP-204 and I don't understand why.

    Quote from stare284


    You should be able to change them as long as that program is not being run at the time and is not write protected.


    Also if you have any positions in the programs that used the 7th axis they will not work and create this fault you see I believe.


    Try just creating a small program with your before mentioned code with the proper program details.


    Nop, new program with 1,*,*,*,* with 2 lines


    PR[30]=LPOS
    R[17]=PR[30,3]


    I got INTP-430 Dry Run needs other groups. I can't execute the miniprogram.


    EDITED.


    $DRYRUN.$GRP_MASK=1 and miniprogram worked. It saves Z coord.


    This volkswagen R-30iA is making me crazy.


    Thanks! =)

  • INTP-204 and I don't understand why.

    Quote from stare284


    By chance does this robot have an aux axis? Like a table or rail system?
    This is the only reason I can think of that your program only work for PR30,1



    If so you need to change the program details to 1,*,*,*,*,*


    I think It Will be the problem... This robot was mounted on rail, It had configured 7th axis. To move It I had to remove 7th axis configuration.
    I will try tomorrow morning. I think u r being right

  • INTP-204 and I don't understand why.

    Quote from stare284


    I would try checking PR30 to sure it is set to Cartesian and not joint first off.
    It should be already set but it is the easiest thing to look at.


    Does it write any value to R[17]?


    Thanks for fast answer.


    It doesn't write anything to R[17].


    I am not sure how to set this point to cartesian. I don't know what do u mean, coz I can see the point with cartesian values and joint values.
    Where I have to change it?


    Thanks for all.



    EDITED:


    It writes R[17] if I use [30,1]. And it writes X-coord value.

  • INTP-204 and I don't understand why.

    Hello all,


    I am having INTP-204 (Invalid value for index) and I am not understanding why. The controller is R-30iA.


    The code is:


    PR[30]=LPOS
    R[17]=PR[30,3]
    PR[2,3]=R[17]-R[18]


    When I try to execute any of black lines, I got INTP-204. I have tested with R[17]=PR[30,1] and works perfectly, It saves X-coord from PR[30] but If i try [30,3] or any different to 1, It doesn't work.
    Same in line PR[2,3]... dunno why I can't save the Z-coord.


    I have tried with robot on Z>0, Z<0 and it fails.
    Writing by hand in the register the same value of Z-coor I am trying to use, without any problem.


    Problem comes when I try to save/write [ ,3] value of PR.


    Any idea?

  • Problems changing TP mode and Running Programs

    Hello guys,


    I will make me crazy and u too.


    Having R-30iA and LT-4301TM (Proface HMI) connected by internet, and comunicating well (%R, %Q, %I..). I am trying to make some changes in programs, add new ones, etc


    1º) Cant change TP Mode. No 3 mode switch installed. I think the changes were dones by the last owner from comm or smth like this, but I have no idea how to.


    2º) Can't create programs with random name, only with setted prefixs.


    3º) For example, testing the robot I tried to run program called UP010 successfully. But in the case of program called UP033, I got:
    INTP-105 Run request fail
    INTP-652 Dry run can't ex


    Same errors when I create new program =S I have tried changing menu>6.Setup>1.Prog. Select Changing Program Select Modes... w/o success.


    This robot has strong configuration from last owner and it's making me lose more hair than I wanted.



    Thanks for all =)

  • Read/Modify Inputs/Outputs from Proface HMI with R-30iA

    Now working.


    I can see inputs now in R-30iA, few of them works properly and few of them are blinking. If I give 24V to some IN it doesn't stop blinking (ON/OFF/ON/OFF/ON/OFF)


    Maybe robot is reading some of them from 2 places?


    Can't test OUTPUTS now coz I have R-30iA in Auto Mode and I have to see how to change the mode, coz It doesn't have mode selector on controller/teach


    Thanks to all.


    EDITED


    I am going crazy. Now Digital Inputs works fine. No blinks. Now the problem is when I activate Digital Inputs, for example number 1, robot activate Digital Input 1 and Output 1 at same time =S


    Last configuration was InputXX from HMI to [Robot]%Q000XX and OutputXX to [Robot]%I000XX. Inputs on robots worked fine and Outputs go HIGH when I activate his same number input.


    I changed Inputs --> [Robot]%I000XX and outputs to [Robot]%Q000XX. Same problem, activating an Input I change state of the same number DO


    Robots I/O config is.


    DI[1-20] 0 0 1
    DO[1-10] 0 0 1




    =S=S=S=S=S

  • Read/Modify Inputs/Outputs from Proface HMI with R-30iA

    Quote from RobotWizard0216


    are you using the correct mapping for the inputs/outputs in the hmi? The HMI User Guide manual explains all that. Digital Inputs are %Q, so DI[1] is %Q1 Digital Outputs are %I, so DO[1] is %I1


    Yes. I am trying with an input with the mapping u said.
    I have a variable "in5" in HMI with adsress[Robot]%Q00005. When real INPUT5(%IX.1.00.05) in HMI is activated I change "in5" to TRUE (with Logic on HMI)


    I don't see anything in robot =S


    I only could transfer word adress type variable to the adress [Robot]%R00001 and it works.

  • Read/Modify Inputs/Outputs from Proface HMI with R-30iA

    Hi all,


    I have connected Proface LT-4301TM to R-30iA controller over ethernet. I have configured ethernet in HMI and in robot. Ping Successfully!


    I can't configure the robot controller to use these I/O. I don't know what I am doing wrong. Controller is in AUTO mode and I can't change to T1/T2, could be the problem ??


    Thanks.


    '

  • I can't change R-30iA Language

    Quote from HawkME


    Did you try this in a controlled start?


    Yes, I just tried and I can't change it. It's says write protected variable...


    Now, when I try start controller It enter in Controlled Start.... and when i Press Next and Prev while it controller turn on I only have 2 options. Controlled Start and Maintenance Mode... How can I start controller with normal start??


    Quote from SHIFT_Lock


    Are you guys referring to changing a system variable to change the language? I’ve changed our under Menu<Setup<General but I’m not sure if this is what you’re looking for?


    Yes, language variable is in german.


    Quote from SHIFT_Lock


    Are you guys referring to changing a system variable to change the language? I’ve changed our under Menu<Setup<General but I’m not sure if this is what you’re looking for?

    Quote from Robo_Eng_13


    Alternatively, sometimes you can change protected variables by doing it in a TP program. Write the line to change the language in a TP program, run it, see if it changes. But Controlled Start would probably be a good first step.


    I cant try other ways, i am stuck in controlled start. Controller boots in this start mode.



    EDITED: I did a cold start. Having that sh*t in german is making me crazy and I don't see the options xD
    I still can't change language =S

  • I can't change R-30iA Language

    Hello guys,


    Trying to change Language from German to English in R-30iA controller it says Write Protected Variable (Obviously in German), when I select language variable.


    I am not sure, but I think I have done it in other controller, but this one doesn't want change his language =S


    What can I do to modify this variable?


    Thanks =D

Advertising from our partners