Posts by srtautomation

    pdl,

    This is to auto reset the robot & retrigger the camera signal if the Robot is froze at the wait for DI[ ].

    The pulse DO [ ] worked this morning but the image was too dark causing 100% reject rate so I had to revert back to the original code.

    WAIT DI[88]=ON, TIMEOUT,LBL[x] instruction will work I just have to implement when there is scheduled downtime to test.

    Thank you for the feedback.

    SRT_Automation

    Anyone experienced with using Cognex vision Inspection & constantly dealing with wait Conditions.


    44: DO[86:OFF:Part1Insp2Trig]=ON ;

    45: WAIT DI[88:OFF:Part1Insp2Comp]=ON ;

    46: DO[86:OFF:Part1Insp2Trig]=OFF ;

    47:


    Researching Code for the robot to automatically trigger the camera trigger if in a wait condition.


    Such As:

    IF (WAIT DI[88:OFF:Part1Insp2Comp]=: ON ) THEN DO[86:OFF:Part1Insp2Trig]=ON

    46: DO[86:OFF:Part1Insp2Trig]=OFF ;


    Any New Ideas are appreciated.

    SRT_ Automation

    Just to share what i had to do to get the SC1 synchronization fault to go away:


    ABB Robot IRB6640 Serial: 6640-50428 Foundry Plus


    Set the PC that will be connecting to the robot controller with DHCP Enabled.

    Connect the ethernet cable to the X2 port on the main Computer in the Robot Cabinet.

    Using Robot Studio 2020 version, select Controller 1 click connect, go under the safe move menu.

    Login with the user & required password.

    Found the Servo Motors were not synchronized- Clicked on Synchronize motors.

    Had to Reboot the robot controller with the Teach Pendant Warm start option.

    Update the Rev Counters, Ran the Maintenance routine at 25% speed, ran the safety synch position routine, and last but not least the Software synch routine.

    Software synch was successful.

    Put the Robot back in production.

    SRT_Automation

    Lemster68,


    Where is this in the teach pendant menu if you don't mind me asking.

    This is the only ABB we have in production in the foundry & the rest of the robots are KUKA & Fanuc.

    There is a priority order that has to be finished ASAP.

    Thank You!

    UNCORRECTED MOTION POINTS 8 Extract PROGRAMS
    Machine 1
    UNCORRECTED TEACH POINTS
    PTP_INSIDE_MOLD_LOW1
    PTP_INSIDE_MOLD_HIGH1
    LIN_INSIDE_MOLD_PICK_1
    OUT 20 'plcoROBOT_NOT_CLEAR
    WAIT FOR plciEJECT_COMPLETE
    LIN_INSIDE_MOLD_HIGH1
    GRIP_PART()
    OUT 20 'plcoROBOT_NOT_CLEAR
    LIN_INSIDE_MOLD_LOW1
    Positions corrected by PLC
    WAIT_For PLC_Extract_Position
    Get_Corrected_Station()
    Corr_Station_PTP_INSIDE_MOLD_XLOW1
    Corr_Station_PTP_INSIDE_MOLD_XHIGH1
    Corr_Station_LIN_INSIDE_MOLD_XPICK1
    OUT 20 'plcoROBOT_NOT_CLEAR
    WAIT FOR plciEJECT_COMPLETE
    Corr_Station_LIN_INSIDE_MOLD_HIGH1
    GRIP_PART()
    OUT 20 'plcoROBOT_NOT_CLEAR
    Corr_Station_LIN_INSIDE_MOLD_LOW1

    Does anyone have experience using data from the PLC to Auto adjust pick position.


    Aluminum Castings extracted with a KRC4 Kuka Robot.

    Project- 8 Station Rotary

    Tilt Machines


    Objective is to take the Encoder position from the PLC & add code to the Extract Robot such as

    GET_CORR_FRAME() Using Base(Y position) to Auto Correct the Pick position.


    Any feedback is appreciated!


    SRTAutomation

    Thank you for the information.


    My main goal is to stop the robot in motion before the gate cut saw if a part is not clamped by both EOAT clamps.

    To prevent damage to the saw blade .



    WAIT FOR  NOT ( $IN[64] )

    trigger when distance = 0 delay = 0 do plcoROBOT_NOT_CLEAR = FALSE

    ;FOLD PTP REGRIP_LOC CONT Vel=100 % PDAT5 Tool[2]:WithPart Base[0];%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:REGRIP_LOC, 3:C_DIS, 5:100, 7:PDAT5

    $BWDSTART=FALSE

    PDAT_ACT=PPDAT5

    FDAT_ACT=FREGRIP_LOC

    BAS(#PTP_PARAMS,100)

    PTP XREGRIP_LOC C_DIS

    ;ENDFOLD

    ENDIF


    I will delete the Wait 0 Sec logic

    Could i get a professional opinon on the Robot code to stop the robot if DI:64 part present is not on & Halt before the saw cuts.


    This is what i have so far & have not implemented the code yet.



    Open to opinions or different options

    Thank You,

    SRT

    Automation Technician

    Does anyone have experience with the Kuka Touch Sense software & programming.


    Working on an Automation Project with Kuka KRC2 Robot KR 210-F 2000.


    Note: Touch Sense is not used in this application for Welding.


    Using a Keyence laser for coordinates & grinding the Gates off a Aluminum casting with the measurement from the laser.


    SRT_Automation

    Yes there is part tracking in the PLC program but it has been unreliable- Until recently when more laser part present sensors were added to the conveyor.


    Both Robots currently have Vision system cameras that take a picture of the Part Hanger for X Axis coordinates.


    Works very consistantly on the Extract Robot that places the part in the Hanger.


    Saw Robot has had issues due to inconsistent pick positions due to the existing camera viewing the part hanger instead of the Part on the hanger.


    Kuka Robots- KRC4 KR C V8.3.35


    Going to upgrade to the Cognex vision System due to the ability of X,Y Axis coordinate correction & Taking an image of the part for 1mm Robot pick position accuracy.


    Doing research the next 2 weeks on adding 2nd set of correction values to the robot program for the Pick position from the conveyor Eliminating any EOAT clamp failures.

    Thank You for the feedback SkyFire.

    Currently using a Keyence vision system to look at the Part Hangers on a pack line conveyor.

    The camera takes a picture of a hole drilled in both sides of the part hanger.

    X Axis data is sent to the PLC then back to the Robot.


    Also keep in mind 2 robots are using the same conveyor from an overhead chain the part hanger is connected to.


    Extract Robot takes a part from a sand core shaker machine and places on the conveyor at one end.


    The Saw Robot picks the part from the same conveyor & processes the Aluminum Casting removing the Gating material.


    LIN CORR_FRAME:XPICK.


    I am looking into adding a 2nd camera to look at the part on the conveyor instead of the part hanger & get X,Y coordinates for the Robot.


    Any feedback on Adding the correction for Linear correction for X & Y would be appreciated.

    So let me get into more detail & yes i have been programming Kuka robots for several years & prefer Fanuc due due the programming advantages.


    I need to find out offline the data position of each pick position on a Extract Robot that has 8 different Part extract programs.


    Foundry robot picking parts out of a Aluminum casting tilt machine.


    Actual position data such as X,Y, Z to compare each position.


    Such as Machine 4 pick position has no issues at all with the pick position & no parts or robot damage.


    Machine 3 parts drop out further & still functional but having no downtime is critical so requires offline program troubleshooting.

    Looking into improving the programs on a Saw Robot & Extract Robot.


    I would like to add Variables or Position Registers Like Fanuc uses to make the programs more rigid.


    Also has any programers done this with Kuka so a program such as saw cuts-


    This would allow the program to be changed while running in Auto as well.


    Thank You

    SRTAutomation