Posts by Shubham Jain

panic mode I want to load Safely XML file to robot directly or via work visual any one is preferable.

ROBOT Safety for fencing which safety XML file we got from offline process simulate.

maleza can you give the steps where we can load

Thanks

Thanks in Advance

Thank in advance, What kind of mistake I'm doing please let me know....

Line no 40, I want to check the Gripper 1 part sensors false & true....so How can write this logic command...

🤖🤖

Any particular values for response time.

Please share, thanks in advance

Dear thing is solution should get and in management mode we can get more things which will not appear in editing mode.

Please login the security in management mode then it will appear.

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.

actually I can only change KN to KGF and vice versa, but not getting NM to LBF.

TIA.

Can you share the whole program

without software we can check the torque of of each axes.

Quote from massula

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

Code

IF ANTICOLLITION==FALSE THEN
$OV_PRO=0
ENDIF

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.

actually i have used in kuka, about in abb do not know.

for this process we use SPLINE.

Please share the manuals, if you have. If you can not share in publicly then share on

shubham.jain0099@gmail.com

Quote from panic mode

0=sync

1=async

Code

$ASYNC_AXIS = 'B000001' ; 

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 ??

Quote from panic mode

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

Quote from panic mode

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.

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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

Quote from panic mode

check manual...

i am not getting from manual, please tell me

Quote from SkyeFire

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

Code

$ASYNC_AXIS = 'B000001' ; E1 ASYNC
$ASYNC_AXIS = 'B000000' ; E1 SYNC

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.