Posts by GaliRob

Hi

mil3k yes. I got the manual you shared in other post (CS9 - Fieldbus configuration). But even doing Profinet controller configuration as in the manual, it wasn't enough.

Today i got another manual from Stäubli, more specific about sycom.

Tomorrow i'll try and let's see if it works

I'll write the achievements.

Hi

When I press "edit card" in srs2025, it opens sycom.

There I create all related to profinet, apply, save and close. Then I actualice the profinet card and the signals appear.

Load the project into controller and signals appear in teach pendant.

But, no response.

I wonder maybe the sycom version is not 100% compatible with srs2025 or some kind of incompatibility btw et200sp and stäubli.

Otherwise, we configured the et200sp with a plc and it works perfectly..

Now im not able to share pics. Tomorrow i'll post some pics to make the trouble more understable.

Thanks

Hello

Robot: Stäubli // Controller: CS9 //Profinet master option.

Im trying to configure an et200sp as slave of the controller Stäubli. Im doing it with the srs2025, when I edit the card, I use the sycom program (integred in srs2025).

I can see the participant, give ip, name, mask... i drop all the modules.. (same references).

And once i load the project in the cs9 controller. I see the profinet master card led in greed, et200sp in green... and the signals created in the teach pendant.

But... no comunication, the signals didnt respond when i activate them.

Some sugestions? Some advices?... does et200sp match with staubli?

I dont really know what more test..

Thanks in advantadge.

Hello,

Robot: Stäubli TX2-200

Controller: CS9, SafeCell+, Profisafe

I have a question related with Safety. In this controller, is it possibld to configure all security settings from SRS 2025.

Or is it necessary to use the SafePMC?

Thanks

Thanks for you answer mil3k.

IMO Its a bit strange, running a robot program in auto mode and not be able to see where the pointer is.

I've seen in the task manager menu the number of the line, where the pointer is, but it would be 100% more useful to see the pointer

Quote from RobRit

https://xpert.kuka.com/

Browse to your KSS version and find Operation and Assembly Instructions as well as an Integrator version with more in depth KRL descriptions

Example:
KSS 8.7 End User
KSS 8.7 Integrator 

Display More

That's the key

Hi

Robot: Stäubli TX2-200

Controller: CS9

I'm doing a program in a robot Stäubli TX200, and I can run the program, but I can't see the program pointer.

Does anyone know how to view the program that is running?

Thanks

Quote from Reflex

i don't know if you already loock to ORNT_BASE instruction ?

Hi, I don't see that instruction. Should it be enabled anywhere?

Quote from DawnHill

I wonder to know what is the value of small circular radius?

Radius: 10 mm.

In the trajectory there are straight lines, circular trajectory and also circles. The smallest radius is 10 mm.

So, to make circles the start and end points must be fines.

Something like this:

1:  UTOOL_NUM=1 ;
2:  UFRAME_NUM=1 ;
3:  PAYLOAD[1] ;
4:  OVERRIDE=100% ;
5:   ;
6:L P[3:pApro] 50mm/sec CNT100 ACC100    ;
7:  !Welding circle ;
8:   ;
9:L P[4:pStart] 50mm/sec FINE PSPD100    ;
10:C P[5:pCirc1Aux]
:  P[6:pCirc] 50mm/sec CD5 PSPD100    ;
11:C P[7:pCirc2Aux]
:  P[8:pCirc2] 50mm/sec FINE PSPD100    ;
12:   ;
13:L P[3:pApro] 50mm/sec CNT100 ACC100    ;

The welding process must be constant from the beginning till the end. Thats why the it no FINE moves in the code.

Hi

KyleAR: measure the tcp of a laser head is quiet complicate, I got it by Roboguide like an approximated tcp. Then I measured another tcp in a spike. Created a point on the working table with a measured frame and then compared both tcps going to a point. After it, i made some corrections to achieve a better tcp.

Also in my opinion and after some tests, i think it's better with less points.

HawkME: yes, as you say backlash is a problem, and more in this kind of tasks, also a big robot is not the best choice to achieve great circles.

Small Circle Accuracy is not supported in this robot.

I post the code:

1:  !****************************** ;
2:  !*        PROGRAM:           * ;
3:  !*        CIRCLES             * ;
4:  !****************************** ;
5:   ;
6:  UTOOL_NUM=1 ;
7:  UFRAME_NUM=1 ;
8:  PAYLOAD[1:Laser] ;
9:  OVERRIDE=100% ;
10:   ;
11:J P[1: ] 50% CNT100    ;
12:L P[2] 50mm/sec CNT100 ACC100    ;
13:   ;
14:L P[3] 50mm/sec CD20 PSPD100    ;
15:C P[4]
:  P[5] 50mm/sec CD20 PSPD100    ;
16:C P[6]
:  P[7] 50mm/sec CD20 PSPD100    ;
17:C P[8]
:  P[9] 50mm/sec CD20 PSPD100    ;
18:   ;
19:L P[10] 50mm/sec CNT100    ;
20:   ;
21:L P[11] 50mm/sec CD20 PSPD100    ;
22:C P[12]
:  P[13] 50mm/sec CD20 PSPD100    ;
23:C P[14]
:  P[15] 50mm/sec CD20 PSPD100    ;
24:C P[16]
:  P[17] 50mm/sec CD20 PSPD100    ;
25:C P[18]
:  P[19] 50mm/sec CD20 PSPD100    ;
26:C P[20]
:  P[21] 50mm/sec CD20 PSPD100    ;
27:C P[22]
:  P[23] 50mm/sec CD20 PSPD100    ;
28:C P[24]
:  P[25] 50mm/sec CD20 PSPD100    ;
29:C P[26]
:  P[27] 50mm/sec CD20 PSPD100    ;
30:C P[28]
:  P[13] 50mm/sec CD20 PSPD100    ;
31:C P[14]
:  P[15] 50mm/sec CD20 PSPD100    ;
32:C P[16]
:  P[17] 50mm/sec CD20 PSPD100    ;
33:   ;
34:C P[18]
:  P[19] 50mm/sec CD20 PSPD100    ;
35:   ;
36:L P[29] 50mm/sec FINE    ;
37:   ;
38:  !Access ;
39:J P[1: ] 25% CNT100    ;
40:   ;

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gur.com/adrwl5kimage 2

Hello all,

I'm integrating a FANUC robot, model R2000iC-165F for a laser welding application and I'm having some problems with circular trajectories.

When we try to weld small circles or trajectories with small circular radius... the result is not as expected. It's like an oval.

And this result is with fast... and slow speed.

Robot has the payload calculated (with robot), we installed Adv-Ctrl Speed and Adv-Ctrl Path, also we tried with more points in the trajectory but at the end it's equal.

I attach a picture with the programmed points and the result.

Any advice for programming circles with FANUC?

Sorry for the late answer.

HawkME:

With FINE i got the same result, the robot only reaches half of the programmed speed.

Then I checked these 2 variables:

$MCR\$GENOVERRIDE: 100

$MCR_GRP[1]\$PRGOVERRIDE: 100.00

Nation:

I made the cell in RG (befores the robot arrived), then I serialized the robot with real one, but later we had to upload an image in the robot and serialized again.

I created a new cell, and tried again the program and it works fine...robot reaches the programmed speed.

Something I have observed is:

In the crashed cell when I see the Profiler, there is an option: "Tool Posture" and in the new cell it doesnt appear. Maybe I marked some option and it causes this strange view of tcp speed.

Thanks

I set the Override in the program to 100%.

In the Menu\Setup\Ovrd. Select is DISABLE.

(Also, when i press "CycleSTart" and the program starts, in the quick bar at the bottom i see the Gen Override at 100%)

The motion segment to analize is from P[2] to P[3]: 1000 mm.

1:  !SimPRO Auto-Generated TPP ;
   2:   ;
   3:  UFRAME_NUM=1 ;
   4:  UTOOL_NUM=1 ;
   5:  OVERRIDE=100% ;
   6:J P[1] 100% CNT100    ;
   7:  !Segment1 ;
   8:L P[2] 50mm/sec CNT100 ACC100    ;
   9:L P[3] 50mm/sec CNT100 ACC100    ;
  10:L P[4] 50mm/sec CNT100 ACC100    ;
/POS
P[1]{
   GP1:
    UF : 1, UT : 1,        CONFIG : 'N U T, 0, 0, 0',
    X =  -200.000  mm,    Y =   300.000  mm,    Z =  -500.000  mm,
    W =     -.000 deg,    P =     -.000 deg,    R =      .000 deg
};
P[2]{
   GP1:
    UF : 1, UT : 1,        CONFIG : 'N U T, 0, 0, 0',
    X =  -200.000  mm,    Y =     0.000  mm,    Z =  -500.000  mm,
    W =     0.000 deg,    P =     0.000 deg,    R =     0.000 deg
};
P[3]{
   GP1:
    UF : 1, UT : 1,        CONFIG : 'N U T, 0, 1, -1',
    X =  -200.000  mm,    Y = -1000.000  mm,    Z =  -500.000  mm,
    W =      .000 deg,    P =     -.000 deg,    R =     -.000 deg
};
P[4]{
   GP1:
    UF : 1, UT : 1,        CONFIG : 'N U T, 0, 1, -1',
    X =  -200.000  mm,    Y = -1300.000  mm,    Z =  -500.000  mm,
    W =      .000 deg,    P =     -.000 deg,    R =     -.000 deg
};

Hello,

I'm working on a welding simulation and the customer wants to know which speed the robot maintains during the trajectory.

First I made a complex trajectory as the weld part needs, and then I analyzed it with the profiler.
I observe that the robot is not capable of maintaining the speed, even if it is very low.

Then i made a simple trayectory: 1 meter in a straight line to analize with the profiler. And the robot can't even keep the speed.

For example: if I programm the lineal points with 50 mm/sec CNT 100 ACC 100, when i see the profiler... the robot reaches only 25 mm/sec

I don't understand why the robot reduces the speed during the trajectory.

!-------------------------------------------------------------------------------------------

ROBOGUIDE - Version 9 (Rev T)

!-------------------------------------------------------------------------------------------

ORDERFIL.DAT:

H552 HandlingTool

H521 English Dictionary

R806 ADV-CP Path Ctrl

R805 ADV-CP Speed Ctrl

J891 Adv. Constant Path

R796 Ascii Program Loader

R507 Ascii Upload

R512 AutoSingularityAvoidM

J618 CE Mark

R534 Collision Guard

J684 Collision Guard Pack

R663 Constant Path

J508 Customer Reg

J523 Cycle Time Priority

J567 DCS Pos./Speed check

J568 DCS Safe I/O connect

J755 Domain Name Serv.

R834 Dual Chan. Profinet

R651 FRL Params

R553 HMI Device (SNPX)

R558 Internet Conn/Custo

R694 Jog in Auto Mode

J766 Maint Reminder Plus

J771 Maintenance Reminder

R583 Motion Interface

R809 Motion Package

R641 PC Interface

J744 PROFINET CP16XX FW.

J931 PROFINET Safety

J541 Password Protection

R603 ROS Ethernet Packets

R843 Remote iPendant

R792 Singularity Avoidance

R904 Spline Motion

J694 TCP SPEED OUTPUT

R726 iRCalib. Signature

R765 iRDiagnostics

FVRC Virtual Robot

H721 R-2000iC/165F

!-------------------------------------------------------------------------------------------

Any advice about this?

Should I use or configure some motion option?

Thanks in advance

Hello,

Software simulator: Roboguide V9 - Rev T.

My question:

Is there any option in Roboguide to modify the origin coordinate system of a part or an obstacle?

I mean, after work with other software simulators, i found really easy to change the origin of any part. but it's something I can't find in Roboguide.

Once you have a system coordinate system for an object... it remains allways in the same position.

Should I modify it before add to Roboguide?

Thanks.