Posts by Zeytey

Hey Everyone!

I wish you all a good new year. I'm looking for an help about Engel 3 Axis Robots. Here is the description!

First of all it is my first time to work with Engel 3 Axis Robots, it's ERC 64/1-E and i want to make a communication with an Automationsystem it's like information giving and taking. Normally i did this with only Sepro robots and there was an I/O socket. But with this Robot there is nothing like that. It's communicating with Engel machine via Canbus (If i'm not wrong). Right I want to prepare stuffs für communication but I couldn't understand it where are the I/Os for other systems to communicate. All I need is the place that i can make the communication with cables. Like I said i only need I/Os with cables but i've already checked but couldn't find some thing like I/O card. If there is someone who can help i would be relly thankful. Small infos are also important, so please feel free you all!

Thank you very much!

Quote from TomTom

I always write a recovery program for each robot that traverses backwards though the position sequence. This I assign to UI7:Home under Menu->Setup->Macro. If the robot is not busy and all errors have been reset you can send UI:7 from the PLC to start it. You could also assign macros to certain buttons on the teach pendant there.

Excuse me, the way you told seems possibe ofc. But problem is I'm not so exprienced with fanuc robot. Can you please, explain more or share some documents?

THANK YOU FOR YOUR ANSWER!

Quote from panic mode

you can write program that records robot positions since robot has left home.

when at home reset the array index.

if asked to run back, use that array to move robot in reverse order from last recorded position. of course prevent updating of recorded positions during this return to home program.

newer KSS version (8.5+) have jogging back along path built in. this allows manual retracting. but if you record data yourself, this should allow you to recover programmatically.

note, this is just robot motions, another thing to evaluate is what the robot tooling is doing. Kuka training Programming3 covers one recovery strategy. It is not the only one though. as long as you know what you are doing, you should be fine.

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Thank you! Can you please give more information about Array data using for position records? Or, is there any documents for it?

Quote from Mentat

1. Yes, depending on the state of the cell, you would call different sub programs.

2. For testing purposes, sure you can slow down the robot, though I suggest slowing CP and PTP speeds instead of program execution speed.

3. It was just a general example, as I don't know what the TCP and the robot cell in question looks like. I doubt you would need 70 homing procedures. My approach to homing is to first get away from obstacles, whether by going directly upwards or to a side and then when robot TCP is out of the danger zone, bring in the TCP close to robot, so it could turn A1 to get into/near home position.

And the homing trajectories are not necessarily hard coded or not coded with full positions.

If you have so far been only teaching points (I assume that's what you mean by TP), look into expert programing. Writing any, but the simplest homing procedures by teaching points is the wrong way to do it.

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Thank you for your reply. The TP is TeachPendant actually. We haven't used the KukaSimPro for this project. I have taken this project from another company over. I wish there was a mode that when I push the button Robot program could be executed by backward running ^^.

Thank you!

Quote from Mentat

Depending on your software architecture and needs for any additional operations (release gripper, stop conveyor, etc.) when/before homing and possible obstructions in the cell:

1. Write different homing procedures depending on where the TCP is and what operation it's doing.

2. Write one universal procedure if the required movement is simple enough, like:

1. Rise by 100

2. Set A2 and A3 to some position

3. Turn the rest of the axes to home position.

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First of all all programs are written by TP and there was no KUKA Sim Pro used. So there no automation line drwaings that robot knows via simulation program. Please see my questions down below which they are asked substance to substance.

1. These homing procedures are like sub programs that I should call for position robot is in?

2. I understood that you are telling me, after a safe position robot got. I should engine the main homing program with safety speeds for example $ov_pro:%20

3.I understood that a2 and a3 axises should be on safe positions. To avoid TCP damaged by any peripheral materials.

4. no need for question.

In this system robot is gets inside the boxes and there so many angle movement (from a4 a5 a6). I think If I'm not worg we should prepare so many homing procedures for every position inside the boxes cause for each box (in the system there are 2 boxes) we have 70 sub programs. And its about 280 points.

Is there any otherway or not? Thank you for your reply in advance!!!!

Greetings,

Dear readers, I hope you are all well and everything is okay in your works! I have really specific question about FANUC robot homing (from PLC Command with only one button) from anywhere in an automation line.

Automation Line Info:

In this system, FANUC robot is taking parts from IMM and puts on the fixtures which is for let kuka take the part from them and put in the boxes.

What I want to do:

In this cycle, after a fault occures and if FANUC stops or something else like that. I want to make that robot go home from anywhere without crashing any part of the automation system. As, Stäubli robots have I want to do such configuration like Stäubli robots have. Let FANUC go home position (which means if FANUC is in home position, system can be started again from zero) and wait for main start.

Little info for Stäubli Robots, if robot stops while the cycle is running, on Stäubli Robot's TP there is an home button and after you push the button robot goes home from anywhere even if the robot is between the injection mould. Stäubli Robot goes out from the place it stopped as backward it gets inside to anywhere. With this crazy thought is there anyone that can give me a clue or information about it? This configuration is really important for so I'm open for any ideas!

THANK YOU ALL FOR YOUR ATTENTION AND HELP IN ADVANCE!

SORRY IF MY ENGLISH IS TOO BAD FOR YOUR UNDERSTANDING!

Waiting for your replies!

Have a nice day all!

Greetings,

Dear readers, I hope you are all well and everything is okay in your works! I have really specific question about KUKa robot homing (from PLC Command with only one button) from anywhere in an automation line.

Automation Line Info:

In this system, KUKA robot is lining parts in to boxes and putting separetors between the floors. Also, when the filling is done by a command from kuka it sends the boxes to taping line and after taping the boxes kuka robot takes the boxes and lines on the wooden pallets.

What I want to do:

In this cycle, after a fault occures and if KUKA stops or something else like that. I want to make that robot go home from anywhere without crashing any part of the automation system. As, Stäubli robots have I want to do such configuration like Stäubli robots have. Let kuka go home position (which means if kuka is in home position, system can be started again from zero) and wait for main start.

Little info for Stäubli Robots, if robot stops while the cycle is running on Stäubli Robot's TP there is an home button and after you push the button robot goes home from anywhere even if robot is between the injection mould. Stäubli Robot goes out from the place it stopped as backward it gets inside to anywhere. With this crazy tought is there anyone that can give me a clue or information about it? This configuration is really important for so I'm open for any ideas!

THANK YOU ALL FOR YOUR ATTENTION AND HELP IN ADVANCE!

SORRY IF MY ENGLISH IS TOO BAD FOR YOUR UNDERSTANDING!

Waiting for your replies!

Have a nice day all!

Dear Members!

Hope you are all well and everything is going okay!

I would like to ask if I use physical IO on fanuc to euromap on machine would that work?

For existing fanuc robot we have. It doesn't have euromap IO card.

Can you please explain more openly for euromap functions and comparements for this situation?

Waiting for your support & advices kindly!

Thank you and have a nice day!

ZEYTEY

We'll see. Now I'm trying to understand these signals from PDF that you shared. But I think I don't need to use all of them for engine the robot with PLC...

Thank you again.

Quote from SAABoholic

Except for the basic system I/O (in the manual I linked to earlier) where you'd control things like motors on, start, stop, start from main etc.
All other I/O signals would be manually configured / assigned and as such you can name them and use them any way you see fit.

The tricky part will be the home positioning from within the mold itself, a bit depending on the size of the press and the robot.

I might be pointing out the obvious here, but I would also strongly recommend a "physical" method of sending mold area free, i.e. light curtain at a bare minimum, EPS/SafeMove as a better alternative.

Thank you for your help and explanation.
I was thinking, in the fault situation robot will engine the program reversible. Like backward.
Cause in here we also use Staubli robot and when there fault for example vacuum lost I'm pushing the home button which button on the tech pendant after that robot turn off the output for vacuum and goes back to home position.

h

Quote from LEC2016

Is this a welding application or Material Handling? What controller?.. System inputs and outputs are pretty simple to set up.

It's a material handling application, Robot will take out the from the IMM (Injection Molding Machine) and It will place the parts to the moving conveyor with conveyor tracking. There will be a robot programming company to help us but I want to write the PLC program as soon as possible. I want to make a draft for that application after that I will organize my program in the application area. So my thinkings about ABB working process is, when there is fault technicians should bring the robot to the home position from hmi and after fixing the fault they should resume it from hmi again also. When they want to change the mould they should end the cycle from HMI and after they change the mould they should start it from HMI etc. Hope I explained it well.

So, I can imagine what kind of PLC program I should write but for ABB side I don't know the special I/O's for ABB and conditions to do these stuffs. That's why I wanted to ask these.
So, If there is anyone did kind of this project. I just need a clue or sample project.

Thank you all for your good attention!
Have a nice day!

Greetings!

Hope you are all well, I need an information about ABB Specific I/Os.
First of all I'm brand new on that forum and I couldn't have much time for check that if there is same topic as I opened.
I will make a project with ABB robot and I'm using Siemens S7-1200 PLC. I'll program the PLC only btw.
So, long story to short. What are these specific I/Os for ABB Robot.
Examples: Auto start via PLC, external auto start conditions etc.
Can anyone help me about that?

Waiting for your replies!
Thank you all!
Have a nice day!