Posts by paubau

google it. there's post about RW 5.13.1037 at the official abb forum

oh then i got you wrong.. related to world coordsystem, the tcp coordinates wont stay constant if robot is moving on external axis..

Quote

The robot's baseframe must be configured to be moved by the track.

sadly i cant tell you how to configure this, but there are manuals on how to setup external axes

Quote

If no other workobject is specified, the targets will be related to the default Wobj0, which always coincides with the base frame of the robot.

doesnt matter if the robot itselfe is moving on a track, wobj0 will always stays the same.

quote is from operating manual, p.23

whats wrong with wobj0 ? this is always related to base coordsystem

Maybe transfer coordinates over plc.. monitor any parameter of the robot..

I think you can use PN for everything you want to.

I dont understand the purpose of asking all those things when you dont even have a goal yet.

I'm working on my bachelor thesis and read through all manuals to get things to work.

you can use system input/output (Controller->Configuration->I/O-System->System Input/System Output)..

I dont understand the question, you can link the signals to any variable in your code..

Hello,

out of nowhere, i'm getting Error Code 51 when trying to calibrate the right gripper at the first start.

Quote

Description:

A wrong Hall sensor feedback

is found in clockwise movement.

Action:

Check the connection

between the Hall sensor output

of the motor and the main

board.

Display More

When calibrating the gripper manually over flex pendant, it works without any problems (until next restart).

Does someone have a guide or something so i can see where to look for these connection ?

Or is there any other option to fix it?

Best regards..

I think you have to either update RS or use external pn program.

Maybe something like PRONETA, port or phoenix..

but i dont know anything about these

Its a part of Robotstudio i guess.. maybe try to update

release notes from robotstudio 6.07:

Quote

I/O Configurator

The I/O Configurator required for configuration of PROFINET, PROFISAFE and the CI-502 module is integrated with RobotStudio 6.07.The I/O Configurator can be opened from the Configuration menu of the Controller tab.

...

Yea, thats because you have to open the I/O configurator (its a tool from RS, no external tool)

Click on controller (at the upper bar), then configuration, then I/O configurator. There, you will find a device catalog where you have to choose the right internal device and setup the DI and DO bytes which have to match with the plc IO bytes.

doesnt matter if robot is in automatic or manual mode.

And i dont had to write any plc program for PN. just configure input and output bytes (64byte in my case.. fairly enough) and setup right IP.

I'm only using the plc for processing coordinates and to show basic commands & infos on a panel, 95% of programming is located in the irc.

maybe the picture gives you a hint

As far as i know, service port should be DIRECTLY connected to your laptop/pc.

Take a closer look at the attached application manual, maybe you will find an answer..

if you got a working pn connection, you just have to configure your I/O signals and thats it..

but i suggest you to read through the manuals..

RS Robotstudio 19.2 Operating Manual

Rapid Rapid Technical Reference Manual

IRC5 IRC5 operating manual

I'm working with ABB's YuMi (IRB14000) and there is no need to implement the ippnio.xml manually..

i attached 2 gsdml's here, one is v1.2 and the other v1.4. BUT i'm using Robotware v6.08.00.01, so dont know if there are any complications to elder versions.

If you want to access both at same time, irc AND plc, i guess you need 2network ports..but i'm not sure about that. I'm working with 2 laptops, one for RS and one for TIA so there's no problem.

At the beginning, i tried same thing like you (1switch) but either RS connection or PN connection were very unstable, got many disconnections and couldnt really work with it..

For basic functionality, you can take a look at configuration->i/o-system->system input/output.

But basically you can run everything over PN, like send/receive coordinates, run interrupts, start different program sequences..

In my case, i connected S7-1500 via PN to LAN3 port on the irc5.

In RobotStudio, you have to Setup same Thing, go to Configuration->I/O-System->PROFINET Internal Device

Hello everyone.
I'm trying around with the profinet connection from a real s7-1500 to a virtual irc5 (using SmartComponent RSConnectGIO & DIO) and its working fine, BUT i wonder how to use the received signals from the station logic in rapid code.. can someone give me hints how to realize it?
For example, i want to use the output signals from GIO_xKoords and so on in my rapid program. Do i have to add any bindings or other connections?
Thanks for any

Hello, i'm trying to program my first robot (YuMi) and got some issues right at the beginning.
For testing, i just defined a few targets and added smart-gripper.
When i try to run the simulation, an error says : "Failed to subsribe to signal: "IRB14000\Mechanical Units\ROB_x\Target\Tool Changed" and "...\Workobject Changed" for the left&right arm.
I think this is an basic issue, but i cant figure out what to do.

Another problem: i cant use the "g_xxx" identifier for the smart grippers, even i imported the library and installed the addin.

Thanks in advance