Posts by Dodo41

What values should I write to the Tooldata data?

Hello everyone, friends. There is an extension pipe after the flange on one of my transport robots, and a Gripper is connected to that pipe. Robot and Gripper are used for picking and dropping parts from the table. The dimensions of the gripper are as seen in the picture. Its weight is 2kg. . I want to create a tool and apply TCP to it. What do you think the most appropriate data should be?

.

Hello everyone, friends. Is there a file with a more understandable explanation of the electrical circuit and safety circuits in Abb İrc5 robot panels? Or is there a document you have prepared for yourself that you use? For example, in the circuit below, it says "PB", but it does not say what it is. What is the explanation of "PB"? Likewise, what is the description of the other elements? If anyone has a document with pictures and explanations like this, can you please share it?

I was trying to make something somewhat professional looking and useful. I found an example and made some changes to it. I'm sharing it below in case anyone wants to use it.

Thank you.

Hello everyone, friends. I want to print text on the Flexpendant screen. I created approximately 30 string data types and wrote the relevant messages into them. You can see 2 of them in the picture for example. What I want to do is as follows: I will write fixed data at the one under the other, such as customer name, machine name, last cycle time, but in the part I specified with the black box at the bottom, the string data types I mentioned above will be written, the other parts will appear continuously, and the black box will be written according to the robot's program. Different texts will appear at different points (for example, a part was found at one point, the robot finished marking at another place). How can I do this?

I did as you said, but it didn't work. I also changed the Data type to Pers, but the value still appears as "0". So the group cannot get the value in the input. Where could I be making a mistake?

Hello everyone, I want to transfer the data I received from the plc via Group input to a variable of Num data type. I was writing the code as below, it doesn't give any error but the value always appears as "0". Although the value in the group input is 288, I cannot understand why this value appears to be 0. Can you explain where I made a mistake?I want to transfer the value from Group Input "eksen kaydirma deneme_gi" to variable "a".

Thank You.

Hello friends. I would like to consult you about a problem we are having today. We had to turn off the energy in a machine with a robot, and since the energy of the robot was fed from the main panel of this machine, the energy of the Robot was also turned off. (Robot Controller IRC 5. ) When we turned the power back on, the Robot gave "Axis computer not found (Event Message 39522)" Error. I tried restarting the robot a few times, I B-Start but it didn't work. I turned off all the fuses from the main panel of the robot, disconnected and plugged the Axis computer energy cable, then when I turned on the power, the problem was gone. However, I think I got lucky this time . In order not to encounter such a problem again, how should I turn off the robot's energy?

Hello everyone, friends. I need help with an issue. I want to have the robot line up the pieces sequentially, one on top of the other. I set the robot up and down positions. He left the first piece in the down position, where the position of the Z axis is registered as 392. I want the next piece to be left in order of 402, the next one 412 ... until it reaches the up position (762 ). How should I go about this?

Hello again. I actually want the robot to continue whenever it finds it in Box 1 and Box 2. However, if he cannot find it in the first search, he should search a second time, just in case, and then move on to the other Box. (I want it to continue if it finds Box1 in the first search, but search a second time if it can't find it. If it doesn't find it in the second search, I want it to go to Box2. If it finds Box 2 in the first search, I want it to continue, but if it can't find it there in the first search, I want it to search a second time, if If Box 2 still can't find it, then I want it to go to the Home position.)

Hello everyone, I made a project using the SearchL command, a part finder project. I've made some progress, but I'm having trouble somewhere. When the robot goes to Box1 and picks up the part, everything works as I want it to. However, Box1 gives a Search Error when it cannot find a part. I'm trying to program this in rapid error handling. If it can't find it, I want it to search Box1 again. If it can't find it in a search again, I want it to go to Box2. And if it finds it there, go to "gomark_1" again. However, if it can't find it after two searches, it should go to the Home position and wait for me to press the start button again. However, I'm having trouble with the error handling part. I can't run the error handling twice in Box 1 and 2. Even if you run it only once, it goes to the "pendbox2" point, which is the last search part of Box 2, and gives a Search Error again. I couldn't understand where I made a mistake. Could you help?

I am sharing my code below, I have also shared it in .txt format. Thank you.

searchL_example_065653.txt

MODULE Search_L_Example

! Box-1 Start and End Point

CONST robtarget pStartbox1:= [[1076.48,4.89,1045.62],[0.00409052,-0.558244,0.829555,-0.0136419],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pEndbox1:= [[1078.37,4.89,474.31],[0.00408344,-0.558227,0.829566,-0.0136351],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

! Box-2 Start and End Point

CONST robtarget pstartbox2:= [[580.82,-686.54,1227.32],[0.00427247,-0.558234,0.829558,-0.0137694],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST robtarget pendbox2:= [[587.71,-686.54,604.37],[0.00427365,-0.558245,0.829551,-0.0137545],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

! pfound / active the position is stored

VAR robtarget pFound;

VAR robtarget pFound2;

PROC search_part_routine()

R_Open_valve;

MoveAbsJ [[1.51802,-36.4441,33.6546,-1.06968,91.5557,-66.399],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]\NoEOffs, v1000, z50, tool0;

MoveL pStart, v100,fine,tool0;

SearchL\PStop , DI_part_detect ,pFound,pEnd,v100,tool0;

R_Close_Valve;

go_mark1;

! Define Error.

ERROR

IF ERRNO=ERR_WHLSEARCH THEN

R_Open_valve;

MoveL pStartbox1,v1000,z50,tool0;



! if part not found on Box1, /// Search Box-2

MoveL pstartbox2,v300,z50,tool0;

SearchL\PStop, DI_part_detect, pFound2,pend2,v100,tool0;

!RETURN;

ELSEIF ERRNO=ERR_SIGSUPSEARCH THEN

TPWrite "part not found!";

TPReadFK reg1,"Robot go home?",

"YES","stEmpty","stEmpty","stEmpty","NO";

IF reg1 = 1 THEN

TPWrite "Robot going home!";

MoveAbsJ [[1.51802,-36.4441,33.6546,-1.06968,91.5557,-66.399],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]\NoEOffs, v1000, z50, tool0;

Stop;

ELSE

Stop;

ENDIF

ENDIF

ENDPROC

Hello everyone, friends. I want to ask you a few questions about a subject.

1-) When using the Robotarget command,

Local Const robtarget

const robtarget

Persian robtarget

More than one robtarget command is used, such as What are the differences between them?

2-) Which command should I use where?

For example, which one should I use when using MoveL, or when using MoveAbsJ?

3-) When we want to Modify Position on the robot. Can I Modify Position with these commands?

4-) Do we have to use these commands?

For example instead of using Persian robtarget

Can I use MoveJ, MoveL, MoveL?

5-) How can I connect to Online Controller with Robot Studio and see the axis positions of the Robot?

For example; [[474.515579345,-460.1177625,-1200.270870982],[0.638427646,-0.639925576,0.300698508,-0.304114789],[0,0,0,0],[4268.9E+09,0,9E+09,9E+09, 9E+09]]

How can I see the axis values of the robot with ROBOT Studio?

Quote from JMF

True. The While loop can also be removed and only the if statement can be used.

How can I do what you say?

I forgot to write down the problem I was having, Robot only prints on the screen in case of sensor 1, but does not proceed to the next steps. How can I solve this problem?

In other words, when (sensor1) is 1, the Robot stays at step 17 and does not proceed to the next steps. It does not exit the while loop. I want to solve this problem. Could you help?

Hello again. I had one more problem. If the output from step 16 (sensor1) (which I marked in blue) is 1, I want to continue the robot from the motion from step 26. What should I do for it?

Thank you JMF.

Hello friends. I need to write a basic program in Rapid, can you help me?

Let sensor1 be Digital Input.

Program steps are as follows;

If sensor1 = 1

Let the robot continue with normal steps without doing anything.

But

if sensor1 = 0

"Operation failed"

Let a text appear on the screen,

Then

Set the Digital Output.

For example, set the Digital Output named "do_1" Digital Output.

Thank you.

Hello, I did what you said, I added the routine to Power On Event, I tried both Inside and Outside Arguments, but still no signal output. Where could I be doing wrong?