Posts by Roland Keller

You've already seen that the post is from 2019!

As Halbes Yoyo wrote, with ABB you need either the WorldZone option or the Multitasking option.
With multitasking, you check the current position in the background and compare it with your home position. If the robot is in a designated area, set the output.
This is easier and faster with WorldZone.

VAR shapedata shHome;
VAR wzstationary wzHome;

CONST jointtarget delta_Homepos:=[[2,2,2,2,2,2],[9E9,9E9,9E9,9E9,9E9,9E9]];  

PROC rWorldZonesR1()
     
     !Worldzone Homeposition
     !*********************
     WZHomeJointDef\Inside, shHome, jHome_R1, delta_Homepos;
     WZDOSet\Stat, wzHome\Inside, shHome, doR1_InHome, 1;
  
ENDPROC

Important, the output doR1_InHome must be set to ReadOnly

It also depends on which robot you want to use.

KUKA, for example, has its own hand guiding system

Hello,

I am currently working on a system with 2 AR2010 welding robots and 1 YRC 1000 Controller.

Recently, this error message has appeared when starting via the PLC.

Unfortunately I can't do anything with it as I'm not exactly a Yaskawa expert.

Can anyone help me with this?

TRIGGER WHEN DISTANCE = 1 DELAY = 0 DO AktPos=10

EXECTRUE doesn't belong there

$OV_PRO

If the LoadDataDetermination option was supplied with the robot, then it should also work.

With $TOOL = TOOL_DATA[1] you move the robot without load data when you write the move command in KRL

Edit says

oops Hermann was faster

Maybe you should add which robot it is

Is the terminating resistor on the last bus subscriber OK?

What does the iosys.ini look like?

Right image = singularity

Left image = no singularity

You are too close to the singularity. Your central hand is in an escape. If the axis 5 is tilted by +/- 5-10°, you can move Cartesian.

I would also need this version at the moment

Quote from Lemster68

Which controller is that pendant for? Omnicore?

TPU4 is for IRC5.

https://www07.abb.com/images/librariesprovider89/default-album/tpu4_flexpendant_for-irc5.jpg?sfvrsn=1a49600b_1

Try the following code from my running System and as Panic Mode wrote, it must not run endlessly in a loop.

 <CONFIGURATION>
   <EXTERNAL>
     <TYPE>Client</TYPE>
   </EXTERNAL>
   <INTERNAL>
     <ENVIRONMENT>System</ENVIRONMENT>
     <BUFFERING Mode="LIFO"/>
     <BUFFSIZE Limit="65534"/>
     <ALIVE Set_Flag="1"/>
     <IP>192.168.2.147</IP>
     <PORT>54610</PORT>
     <PROTOCOL>TCP</PROTOCOL>
     <MESSAGES Logging="warning" Display="disabled"/>
   </INTERNAL>
 </CONFIGURATION>

DEF ReceiveStatus( )
DECL EKI_STATUS RET

RET = EKI_CheckBuffer("xmls","Robots/Integer/AState", PickMotion")

IF( RET.Buff > 0 ) THEN

    RET = EKI_GetInt (""xmls", "Robots/Integer/AState", PickMotion)

ENDIF

END

<RECEIVE>
 <XML>
  <ELEMENT Tag="YourPath/ProgNummer" Type="INT"/>
  <ELEMENT Tag="YourPath/Part_DistanceA" Type="REAL"/>
  <ELEMENT Tag="YourPath/Part_DistanceB" Type="REAL"/>
 </XML>
</RECEIVE>

why should that not be possible?

Wrong Version?

Version 1.1 is for KSS 8.2, 8.3, 8.4

Version 1.2 is for KSS 8.2, 8.3, 8.6, 8.7

The variable of type Frame could be your friend.

For example declaration:

DECL FRAME fTool_Offset = {X 0,Y 0,Z -100,A 0,B 0,C 0}

Motion:

PTP pYourPosition : fTool_Offset

LIN pYourPosition