Dear thing is solution should get and in management mode we can get more things which will not appear in editing mode.
Posts by Shubham Jain
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Please login the security in management mode then it will appear.
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check that main menu keypad is pressed or not, if it will pressed continuously then always you go on maintenance mode.
try with other teach pendent.
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actually I can only change KN to KGF and vice versa, but not getting NM to LBF.
TIA.
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Can you share the whole program
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without software we can check the torque of of each axes.
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Francesco Pantoli, at this first look, I didn't found anything strange on Your backup (and next time, a simple archive would suffice).
But at Your sps.sub, You have this code
I've saw on Your pictures that speed was 100%, but I would take a look at this ANTICOLLITION signal, $IN[5], according to Your $config.dat
you have to change in variable
$ov_pro=100
$ov_pro=0 , called your program steps will move at 0 speed.
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actually i have used in kuka, about in abb do not know.
for this process we use SPLINE.
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Please share the manuals, if you have. If you can not share in publicly then share on
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0=sync
1=async
E1 ASYNC ----> Not entirely true...
Yes this does set E1 to ASYNC but that is only 16.67% of what this command does. Because it also sets E2...E6 to SYNC. This is why masking with use of B_OR and B_AND is done as you have shown already.
You can read the manual. It has examples....
can you share the manual ??
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i cannot help if you don't share what exactly is preventing you to get the info from the manual
DEF turn_0( )
;FOLD INI;%{PE}
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
$async_axis = 'b0001'
$ov_async = 30 what is the use of this variable??
asyptp {e1 0}
END
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normally you never touch it unless you are making own custom axis.
no... not linear speed. 1200RPM = 1200 revolutions per minute... that is max motor speed.
1200*360deg/60sec = 7200deg/sec
then you need to consider gear ratio of that axis you can get max angular speed of the axis.
say gear ratio is 75:1 then max angular velocity of A2 would be
7200/75=96deg/sec
so when you program PTP motion for this axis that has sufficiently long travel, and speed set to 100%, A2 will reach speed of 96deg/sec. That is not speed of the tool or end of arm but if you care to know linear speed at the end of A2 joint, you would need to know the length of that joint and continue calculations.
when & where we use this variable ??
and in gear ratio what is 75 and what is 1.
and why we need to control the rpm because generally we work on normal vel. like ptp = 20% or lin = 2m/s
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check manual...
i am not getting from manual, please tell me
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Yes, it is normally possible to switch an external axis between SYNC and ASYNC modes, by turning its respective bit in $ASYNC_AXIS on or off.
$ASYNC_AXIS is an INT variable, but is usually manipulated as a bit code for clarity in programming.
Code$ASYNC_AXIS = $ASYNC_AXIS B_OR 'B000001' ; set E1 in ASYNC mode $ASYNC_AXIS = $ASYNC_AXIS B_AND 'B111110' ; set E1 in SYNC mode $ASYNC_AXIS = $ASYNC_AXIS B_OR 'B100000' ; set E6 in ASYNC mode $ASYNC_AXIS = $ASYNC_AXIS B_AND 'B011111' ; set E6 in SYNC mode
This approach, using B_AND and B_OR, allows you to control the status of one axis without changing any of the others. If you only have one external axis, then a simple
will suffice$async_axis = 'b0001' in this step, how can we define that this is for E1 and this for async or sync
$ov_async = 30
asyptp {e1 -180}
END
Can you help me in this ??
or is it wrong, which is wrote in the step.
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'B000000' or 0 means none
'B000001' or 1 means E1 only
'B000010' or 2 means E2 only
'B010011' or 19 means E1, E2 and E5
from last example it is obvious why binary format is preferred in this case.
$ASYNC_AXIS = $ASYNC_AXIS B_OR 'B000001' ; set E1 in ASYNC mode
$ASYNC_AXIS = $ASYNC_AXIS B_AND 'B111110' ; set E1 in SYNC mode
$ASYNC_AXIS = $ASYNC_AXIS B_OR 'B100000' ; set E6 in ASYNC mode
$ASYNC_AXIS = $ASYNC_AXIS B_AND 'B011111' ; set E6 in SYNC mode
$ASYNC_AXIS = 'B000001' ; E1 ASYNC
$ASYNC_AXIS = 'B000000' ; E1 SYNC why you write B000000 E1 sync according to you this should be none.
and 0 = sync
1 = async , is it write ?
and where and when we use this variable, can you give any example.
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that will tell controller MAX permissible velocity for that axis. it is the speed limit for that axis. so reducing value from 1500 to 1200 will slow that axis down by 20% as well as rest of the robot whenever this axis is lead axis.
ok, how & when and where will use this variable ?? have you any example.
and suppose my step is PTP P4 CONT Vel=100 % and i used variable VEL_AXIS_MA[2] = 1200 then my 2nd axis will move with 1200 mm/s in this step, Am i right ?
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I've a strange issue with an Asynchronous axis rotating at half speed.
The issue is intermittent, mostly it runs at exactly half speed, other times at the correct speed when you monitor $VEL_AXIS[?]
I set $OV_ASYNC in my main loop program, so it's not being overwritten anywhere.
The movement command is in the SPS.
I'm confused as I can't think of anything which would modify the speed, I've mentioned it to Kuka UK and they are stumped too....open to idel
for which purpose we use $ov_async and when ?
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It is found in $machine.dat in the Mada folder (you must be in Expert mode)
$VEL_AXIS_MA[7]=1500.0 will set axis 7 to a maximum of 1500rpm
if we use of V0L_AXIS_MA[2]=1200 will set axis 2 velocity.
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$ASYNC_AXIS does not affect how points are recorded, only how they are executed. When the MOTION or TOUCHUP buttons are used, the point is recorded for all axes, with no regard to whether an axis is Sync or Async.
When it needed to move the external axis E1 synchronously with the A1-A6, this must be preceeded by $ASYNC_AXIS=0 or $ASYNC_AXIS='B000000'. When it is needed to move E1 separately from A1-A6, this must be preceeded by $ASYNC_AXIS=1 or $ASYNC_AXIS='B000001'.
if suppose i need sync E5 with A1-A6, then how will write in INT $ASYNC_AXIS = ?
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robot has several axes. when issued command all axes move and stop together (ok, CP motions may have other constraints too). this means those axes are synchronous.
robot system can also have external axes. they can move together with robot axes synchronous) or separate (asynchronous). if you want some axis to move independently from robot, it need to be asynchronous.
which axis is set asynchronous is determined by bit pattern of the value assigned.
this integer value can be entered in different formats - decimal, hexadecimal or binary. format does not matter, but can make things more readable in some cases.
following three assignments are identical:
and one thing is that this variable use only for external axis, for async or sync with A1 - A6.