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Posts by Amanda96

    Jag bor i Sverige och vi har fått mycket skit från omvärlden men vi har lyckats hålla samhället öppet men vi har påverkat väldigt negativt ändrat ändrat ändå på grund av att omvärlden stänger av och strängare restriktioner i restaurangbranschen och där människor har börjat tänka mer på vad som handlas .


    Vårt företag inom metall -

    bil-

    bearbetningsindustrin var tvungen att avskeda 45 personer i sommar, totalt 45% av vår personliga. Nu har alla fått komma tillbaka och är på en månad i taget. Vi har sett en ökning och nu en minskning igen. Förhoppningsvis kommer företaget att reda ut det igen om hela världen inte stängs igen för då vet jag inte om vi kan klara oss ärligt.

    MEN att säga att bara sjuka människor dör i COVID är ett skämt! Både min partner och jag har i vår familj sett fullt friska människor som är under 70 (riskgrupp), inga bakomliggande sjukdomar eller liknande som har blivit allvarligt sjuk med detta virus.


    En person 68 år gammal, ingen diabetes, inget högt blodtryck, frisk, äldre person som äter hälsosamt, tränar och lever ett hälsosamt liv. 7 veckor på sjukhus, 5 veckor i andningsskydd.

    Nu 4,5 månader sedan han kom hem från sjukhuset kan han fortfarande inte gå utan rullator, kan inte äta annat än yoghurt eller grädde utan att sätta i halsen. Lär sig att lära sig att tala ordentligt när vissa ord är borta och bara kan viska.


    En man i 45-åren var på intensivvård, liksom en man med en hälsosam livsstil. Tre veckor på sjukhus flyr han från andningsskyddet men så tagen att han inte kan gå mer än 200 meter i fred innan han måste stanna och andas.


    Dessa två personer var HELT friska utan några sjukdomar eller hamnade på något sätt i någon form av riskgrupp!

    Here comes one of my stupid beginner questions again;)


    I need to set the sensitivity in the event of a collision. Have the problem with our VISION that appeared from nowhere, where the robot picks something wrong, and then the detail puts the wrong on the regrip.


    But would have to get the robot to trigger a "collision alarm" when this happens, but the robot continues. The detail thus does not get down to its usual position but is left in a twisted position which the robot should be able to detect.


    Is this MotionSup (Motion Supervision) to use?


    Want to be able to set this sensitivity until we have been able to troubleshoot where the error in vision lies ..

    As the headline reads. I try to make sure that we can run the conveyor belt manually with a switch "manual / automatic" and then a twisted back / forward. The signals work as they should, but as soon as I try to get it in some way, it disrupts the vision system. Either the conveyor belt does not work or the vision system does not work or none of it .. Someone who can help me look at it?

    Feels really stupid right now but stands completely still.


    As the headline reads, concealed the cell. Working in an existing program and being the 4th person to work in this cell is incredibly messy. As it is right now, we only have the opportunity to request access on 1 occasion in the program.


    What I am looking for is that if I press "Request Entry" on the gate to the cell, the robot will stop at the next position or when it exits the current porcess and allow access to enter the cell. The solution I have done so far is an external access program where I have to put in between each program in MAIN where it tests whether you pressed "EntryReq" or not.


    Should there be a better way to do this?


    If "EntryReq = 1" stops the robot and when "EntryReq = 0" the robot restarts. Not worked in the robotics world since school so blame it ..;)

    How can I do to be able to run the conveyor belt manually when the robot is in automatic mode? Right now I can run the conveyor belt manually as long as the robot is in manual position. But as soon as the robot is in automatic mode it doesn't matter if I switch to manual or automatic mode .. Want the function that I can reverse the conveyor belt without the robot staying in the program. Also uses SVIA pickvison.


    The function I wish is brief


    Robot runs in automatic mode and picks details => conveyor belt feeds as desired

    I switch the conveyor belt to manual => the robot continues with what it does and I can run the transport path in manual mode

    If robot is to pick pieces when in manual mode => it should wait until I run switches back to automatic

    Switches back to automatic mode => the robot still continues as usual

    Have the same (or closer) version of RobotWare on Your RobotStudio is the best path.


    Most versions of RobotWare can be downloaded from within RobotStudio itself, on Add Ins Tab.


    But RobotWare 5.07 is too old and won't run on most of the newer versions of RobotStudio.

    can i build in RobotWere 5,16 without problem you think? I have never worked in RobotStudio/RobotWare before.

    Hey!

    I work in RobotStudio and Robotware, now for my question ..

    When I check which RW the robot has via the System file from my backup it says "<Media version =" 5.07.1025.01 "name =" RobotWare ""


    Does that mean I have to have Robotwere 5.07.1025.01 when I work offline in order to load it into the robot? or can i work in newer ones such as RW 6.0 or RW 5.15?

    Where can I find RobotWere 5.07.1025.01?



    thanks in advance !

    Här i Sverige är vi på god väg uppför backen nu. Om du lyssnar på vad regeringen säger!

    Grundskolor och förskolor är fortfarande öppna för att försöka få samhället att gå ganska bra. Men de minsta lila sjukdomssymtomen, då bör man vara hemma. Många som kan arbeta hemifrån. Gillar mig just nu. Spik med lite hosta!


    Just nu märker inte vårt företag mycket av krisen, en leverans som kunden inte kunde få. Men det kommer snart att känna när nästan alla, om inte alla bilfabriker i Europa står stilla och det är deras uppgift att leverera. Men just nu kommer order att komma oförändrade och leveranser kommer att göras samtidigt som vanligt.

    Hello, me again!
    I feeling so stupid, but this now is it short circuit in my brain! ???:gaah:


    I problems at the conveyor belt out. There is no photocell inside the cell, but only when the path is full. This means that when the path is full it is alerted that the robot cannot put down pieces. When you pick these pieces out at the far end, the conveyor will be forward again and the photocell will be affected, "the beltout full". But the robot receives no signal that it is running in front of the track, but is waiting to receive signals that it can put down pieces. How can I solve this in the easiest way?


    Also have turning button to the conveyor belt IN, have not been able to check with it should be connected, men do not think the signal is defined as an I/O in the program.

    How do you go about defining this input?


    AND my last question! The robot pick the details from a conveyor with help of SVIA, now is my question can the robot pick details disorganized for example from a pallet, or must it be in rows on the conveyor?

    Thanks for help! :fine:

    Amanda96

    What does it means more detail ?

    Can you send a picture of robot flex pendent ,to better understanding what you need ?


    On the conveyor belt on the runway, the robot simply put down a "Plock" in this case 2 pieces and then drove the conveyor belt. The wish was to make it lay down 2 "picks", ie 4 bits in width before sending the signal that it would send the conveyor belt.

    Now I have solved it!We had a CalcPosOut that I didn't really understand because it didn't work at all. The problem was that we had both in and out position to the conveyor belt which disturbed the whole process there. By moving these positions I could use this.

    PROC PartOut()
    StartAgain:
    ClearTempReg;
    WaitUntil bStartBeltOut=FALSE;
    IF nPartOut>PARTS_IN_ROW_OUT THEN
    bStartBeltOut:=TRUE;
    Clear nPartOut;
    GOTO StartAgain;
    ENDIF
    IF nPartOut=0 THEN
    Incr nPartOut;
    ENDIF
    nTempTransX:=ROW_OUT_OFFSET_X;
    nTempTransZ:=ROW_OUT_OFFSET_Z;
    TEST nPartOut
    CASE 1:
    !MoveJ pviaBeltOut, v2000, z40, tool0\WObj:=wobj0;
    PutPartOut pBeltOut,tGripper3,wCamera1;
    CalcPosOut nTempTransX,nTempTransY,nTempTransZ,nTempRotX,nTempRotY,nTempRotZ;
    pTempBeltOut:=pTempOut;
    !MoveJ pviaBeltOut,v2000,z40,tGripper3\WObj:=wCamera1;
    Incr nPartOut;
    DEFAULT:
    !MoveJ pviaBeltOut, v500, z40, tool0\WObj:=wobj0;
    PutPartOut pTempBeltOut,tGripper3,wCamera1;
    CalcPosOut nTempTransX,nTempTransY,nTempTransZ,nTempRotX,nTempRotY,nTempRotZ;
    pTempBeltOut:=pTempOut;
    !MoveJ pviaBeltOut,v2000,z40,tGripper3\WObj:=wCamera1;
    Incr nPartOut;
    ENDTEST
    IF nPartOut>PARTS_IN_ROW_OUT AND DInput(BeltOutFull)=0 THEN
    bStartBeltOut:=TRUE;
    Clear nPartOut;
    ENDIF
    RETURN ;
    ENDPROC




    PROC PutPartOut(
    robtarget target_Pos,
    PERS tooldata target_Tool,
    PERS wobjdata target_Wobj)

    MoveJ [[-1748.88,205.04,1047.72],[0.012169,-0.354105,0.934988,-0.0161162],[0,0,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v6000, z100, tGripper3\WObj:=wCamera1;
    !Nästa position är rundningspunkt runt tvättkar in mot utbana
    MoveJ [[-1669.63,837.11,318.05],[0.999797,-0.0171542,-0.000483275,-0.0105988],[0,-2,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v5000, z20, tGripper3\WObj:=wCamera1;
       
    MoveJ Offs(RelTool(target_Pos,0,0,0\Rx:=0\Ry:=0\Rz:=0),0,0,100), v4000, z40, tGripper3\WObj:=target_Wobj;
    WaitUntil bStartBeltOut=FALSE AND DOutput(StartBeltOut)=0;
    MoveL Offs(RelTool(target_Pos,0,0,0\Rx:=0\Ry:=0\Rz:=0),0,0,50), v3000, z40, tGripper3\WObj:=target_Wobj;
    MoveL Offs(RelTool(target_Pos,0,0,0\Rx:=0\Ry:=0\Rz:=0),0,0,20), v1500, z20, tGripper3\WObj:=target_Wobj;
    MoveL Offs(RelTool(target_Pos,0,0,0\Rx:=0\Ry:=0\Rz:=0),0,0,5), v200, z5, tGripper3\WObj:=target_Wobj;
    MoveL Offs(RelTool(target_Pos,0,0,0\Rx:=0\Ry:=0\Rz:=0),0,0,0), v80, fine, tGripper3\WObj:=target_Wobj;
    Release3;
    WaitTime 0.5;
           
    MoveL Offs(RelTool(target_Pos,0,0,0\Rx:=0\Ry:=0\Rz:=0),0,0,100), v4000, z20, tGripper3\WObj:=target_Wobj;
           
    !Nästa position är rundningspunkt runt tvättkar ut från utbana
    MoveJ [[-1703.13,57.28,450.56],[0.999798,-0.0171167,-0.000450573,-0.0105883],[1,-1,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v6000, z20, tGripper3\WObj:=wCamera1;
           
           
    pTempOut:=CRobT();
           
    RETURN ;
    ! Only for position updating
    MoveL pBeltOut, v6000, fine, tGripper3\WObj:=wCamera1;
    RETURN ;
    ENDPROC

    PROC LoadUnloadCh6()
           
    MoveJ pViaChiron6,v7000,z200,tool0\WObj:=wobj0;

    ConfJ\On;
    ConfL\On;
    WaitDI Ch6DoorOpen,1;
    UnclampChiron6;
         
       
    !Rundningspunkter på väg in i maskin
    MoveJ [[176.12,-910.41,590.71],[0.999842,0.00950977,-0.00411877,-0.0144864],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v7000, z100, tGripper3\WObj:=wChiron6;
    MoveJ [[84.10,-175.03,171.80],[0.999708,-0.00171707,-0.00827346,0.0226394],[-2,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v7000, z100, tGripper3\WObj:=wChiron6;
           
           
                   
    !Plundring av fixtur med Gripper 3
    MoveJ Offs(pLoadChiron6_1,0,0,100), v600, z10, tGripper3\WObj:=wChiron6;
    MoveL Offs(pLoadChiron6_1,0,0,50), v100, z0, tGripper3\WObj:=wChiron6;
    MoveL pLoadChiron6_1, v30, fine, tGripper3\WObj:=wChiron6;
           
    Grip3;
           
    MoveL Offs(pLoadChiron6_1,0,0,50), v200, z0, tGripper3\WObj:=wChiron6;
           
    !Rotation till blåsmunstycke och renblåsning av fixtur i positionerna nedan
    Set RenblasRobot;
    MoveJ [[305.25,140.85,371.92],[0.695391,0.12348,-0.697915,-0.118744],[-2,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v800, z20, tGripper3\WObj:=wChiron6;
    MoveJ [[304.67,-186.35,373.07],[0.695393,0.123471,-0.697912,-0.118757],[-2,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v800, z20, tGripper3\WObj:=wChiron6;
           
           
    MoveJ [[490.55,-184.49,373.06],[0.695396,0.123464,-0.697908,-0.118767],[-2,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v500, z20, tGripper3\WObj:=wChiron6;
    MoveJ [[468.75,30.10,372.38],[0.695395,0.123469,-0.697902,-0.118804],[-2,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v500, z20, tGripper3\WObj:=wChiron6;
    MoveJ [[314.25,30.88,372.29],[0.695416,0.123432,-0.69789,-0.118791],[-2,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v500, z20, tGripper3\WObj:=wChiron6;
    MoveJ [[314.81,151.89,372.37],[0.695429,0.123449,-0.697873,-0.118795],[-2,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v500, z20, tGripper3\WObj:=wChiron6;
           
    Reset RenblasRobot;
           
    !Rotera runt till Gripper 2 för att lämna detaljer i nästa position
           
           
    MoveJ Offs(pLoadChiron6_2,0,0,100), v500, z10, tGripper2\WObj:=wChiron6;
    MoveL Offs(pLoadChiron6_2,0,0,50), v100, z0, tGripper2\WObj:=wChiron6;
    MoveL pLoadChiron6_2, v30, fine, tGripper2\WObj:=wChiron6;
           
    Release2;
           
    MoveL Offs(pLoadChiron6_2,0,0,80), v500, z0, tGripper2\WObj:=wChiron6;
           
    Set Ch6Clamp;
           
           
    MoveJ [[179.69,-251.94,219.86],[0.999955,0.00277403,-0.00847331,-0.00323436],[-2,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v4000, z50, tGripper2\WObj:=wChiron6;
    MoveJ [[169.19,-910.26,741.71],[0.999933,-0.00734524,-0.00552569,-0.00701907],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v7000, z50, tGripper2\WObj:=wChiron6;
    MoveJ [[168.10,-904.15,1158.65],[0.00279504,-0.00708173,-0.999945,0.00728952],[-2,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v7000, z50, tGripper2\WObj:=wChiron6;
           
    WaitDI Ch6Clamped,1;
    Reset Ch6Clamp;
    PulseDO\PLength:=55,Ch6Loaded;
          
    !IWatch iCh6FeedHoldRob;
    !Set DOF_DetInCh6T1;
           
    !ClampChiron6;
          
    !MoveJ pViaRegrip,v7000,z200,tool0\WObj:=wobj0;
    WaitDO Ch6LoaderOut,1;
    !ISleep iCh6FeedHoldRob;
    RETURN ;
    ENDPROC



    PROC LoadUnloadCh7()
           
    MoveJ pViaChiron7,v7000,z200,tool0\WObj:=wobj0;
                    
    ConfJ\On;
    ConfL\On;
    WaitDI Ch7DoorOpen,1;
    UnclampChiron7;
           
    !Rundningspunkter på väg in i maskin
    MoveJ [[-577.55,550.96,1487.61],[0.652613,-0.258774,-0.661696,-0.263234],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v7000, z100, tool0\WObj:=wobj0;
    MoveJ [[1866.85,-1822.70,275.06],[0.708663,0.00429367,-0.0140156,-0.705396],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v7000, z100, tGripper3\WObj:=wChiron7;
                   
    !Plundring av fixtur med Gripper 3
    MoveJ Offs(pLoadChiron7_1,0,0,100), v600, z10, tGripper3\WObj:=wChiron7;
    MoveL Offs(pLoadChiron7_1,0,0,50), v100, z0, tGripper3\WObj:=wChiron7;
    MoveL pLoadChiron7_1, v30, fine, tGripper3\WObj:=wChiron7;
           
    Grip3;
           
    MoveL Offs(pLoadChiron7_1,0,0,50), v200, z0, tGripper3\WObj:=wChiron7;
           
    !Rotation till blåsmunstycke och renblåsning av fixtur i positionerna nedan
    MoveJ [[2316.17,-1932.63,154.00],[0.70542,-0.0687759,-0.0673675,-0.702222],[1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v800, z20, tGripper3\WObj:=wChiron7;
    MoveJ [[2316.54,-2031.84,347.58],[0.436464,-0.435065,-0.552473,-0.561242],[1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v800, z20, tGripper3\WObj:=wChiron7;
           
    Set RenblasRobot;
           
    MoveJ [[2092.50,-2042.40,348.16],[0.436364,-0.435125,-0.552482,-0.561264],[1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v500, z20, tGripper3\WObj:=wChiron7;
    MoveJ [[2078.66,-2184.74,348.97],[0.436322,-0.435147,-0.552452,-0.561309],[1,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v500, z20, tGripper3\WObj:=wChiron7;
    MoveJ [[2272.23,-2193.20,345.61],[0.436258,-0.435182,-0.552418,-0.561365],[1,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v500, z20, tGripper3\WObj:=wChiron7;
    MoveJ [[2290.73,-2035.94,344.83],[0.436338,-0.435089,-0.552491,-0.561303],[1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v500, z20, tGripper3\WObj:=wChiron7;
           
    Reset RenblasRobot;
           
    !Rotera runt till Gripper 2 för att lämna detaljer i nästa position
    MoveJ [[2270.42,-2062.79,344.34],[0.485637,-0.479293,-0.515389,-0.518468],[1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v600, z20, tGripper3\WObj:=wChiron7;
    MoveJ [[2260.31,-1969.57,547.20],[0.170706,-0.67214,-0.68728,-0.216181],[1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v600, z20, tGripper3\WObj:=wChiron7;
           
    MoveJ Offs(pLoadChiron7_2,0,0,100), v500, z10, tGripper2\WObj:=wChiron7;
    MoveL Offs(pLoadChiron7_2,0,0,50), v150, z0, tGripper2\WObj:=wChiron7;
    MoveL pLoadChiron7_2, v30, fine, tGripper2\WObj:=wChiron7;
           
    Release2;
           
    MoveL Offs(pLoadChiron7_2,0,0,50), v500, z0, tGripper2\WObj:=wChiron7;
           
    Set Ch7Clamp;
           
    MoveJ [[1337.35,-1945.37,107.38],[0.702539,0.0148241,-0.00478374,-0.711476],[1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]], v4000, z50, tGripper2\WObj:=wChiron7;
    MoveJ pViaChiron7, v7000, z0, tool0\WObj:=wobj0;
           
    WaitDI Ch7Clamped,1;
    Reset Ch7Clamp;
    PulseDO\PLength:=55,Ch7Loaded;
           
    !IWatch iCh7FeedHoldRob;
    !Set DOF_DetInCh7;
           
    !ClampChiron7;
          
    !MoveJ pViaChiron7,v7000,z200,tool0\WObj:=wobj0;
    WaitDO Ch7LoaderOut,1;
    !ISleep iCh7FeedHoldRob;
    RETURN ;
    ! Only for position updating
    MoveL pLoadChiron7_1,v500,fine,tGripper2\WObj:=wChiron7;
    RETURN ;
    ENDPROC

    PROC main()
    Initialize;
    InitPickVision;
    ! SetNextTarget;
    WHILE TRUE DO
    SoftDeact \Ramp:= 150;
    Top:
    CheckSystem;

    MoveRobotTo ZONE_INBELT;
    SetNextTarget;
    Pick;
    RefPosOut;
    !MoveRobotTo ZONE_CHIRON6;
    !DeBurr;
    MoveRobotTo ZONE_REGRIP;
    LeaveRegrip1;
    MoveRobotTo ZONE_INBELT;
    SetNextTarget;
    Pick;
    RefPosOut;
    !MoveRobotTo ZONE_CHIRON6;
    !DeBurr;
    MoveRobotTo ZONE_REGRIP;
    LeaveRegrip1;
    PickRegrip1;

    Kravloop:
    WaitTime 0.5;
                       
    IF Ch6WithRobot=1 AND Ch6Ready=1 AND Ch6Unclamped=1 AND bDetailsOnRegrip=FALSE AND bEmptingCell=FALSE THEN
      
    MoveRobotTo ZONE_CHIRON6;
    LoadUnloadCh6;
    Chiron6Loaded;
    MoveRobotTo ZONE_CHIRON6;
    MoveRobotTo ZONE_WASHER;
    WashDetail;
    MoveRobotTo ZONE_WASHER;
    MoveRobotTo ZONE_BELTOUT;
    PartOut;
    GOTO Top;
    !!!!!!!!!!!!!!!!!!!!!!!!!!!

    ELSEIF Ch7Ready=1 AND Ch7Unclamped=1 AND bDetailsOnRegrip=FALSE AND bEmptingCell=FALSE THEN
       
    MoveRobotTo ZONE_CHIRON7;
    LoadUnloadCh7;
    Chiron7Loaded;
    MoveRobotTo ZONE_CHIRON7;
    MoveRobotTo ZONE_WASHER;
    WashDetail;
    MoveRobotTo ZONE_WASHER;
    MoveRobotTo ZONE_BELTOUT;
    PartOut;
    GOTO Top;
    !!!!!!!!!!!!!!!!!!!!!!!!!!!

    ELSEIF Doutput(DOF_DetInCh7)=0 AND Ch7Ready=1 AND bEmptingCell=TRUE THEN
    !Villkor för att plundra chiron 7, tvätt samt lämna på utbana.
    MoveRobotTo ZONE_CHIRON7;
    LoadUnloadCh7;
    MoveRobotTo ZONE_CHIRON7;
    MoveRobotTo ZONE_WASHER;
    WashDetail;
    MoveRobotTo ZONE_WASHER;
    MoveRobotTo ZONE_BELTOUT;
    PartOut;
    Set DOF_DetInCh7;
                           
    !!!!!!!!!!!!!!!!!!!!!!!!!!!

    ELSEIF DOutput(DOF_DetInCh6T1)=0 AND Ch6Ready=1 AND bEmptingCell=TRUE THEN
    !Villkor för att plundra chiron 6, tvätt samt lämna på utbana.
    MoveRobotTo ZONE_CHIRON6;
    LoadUnloadCh6;
    MoveRobotTo ZONE_CHIRON6;
    MoveRobotTo ZONE_WASHER;
    WashDetail;
    MoveRobotTo ZONE_WASHER;
    MoveRobotTo ZONE_BELTOUT;
    PartOut;
    Set DOF_DetInCh6T1;
    !!!!!!!!!!!!!!!!!!!!!!!!!!!

    ELSEIF DOutput(DOF_DetInCh7)=1 AND Ch7Ready=1 AND Ch6WithRobot=1 AND Ch6Ready=1 AND DOutput(DOF_DetInCh6T1)=1 AND bEmptingCell=TRUE THEN
    MoveRobotTo ZONE_INBELT;
    bEmptingCell:=FALSE;
    AtGoHome;
    Reset DOF_DetInCh6T1;
    Reset DOF_DetInCh7;
    Stop;
           
    ENDIF
    GOTO Kravloop;
    ENDWHILE
    ENDPROC

    Hope some helpful soul can help me in here!Right now trying to figure out a program in a robot cell that works for 2 CNC machines. The problem is that instead of adding 2 rows of details, it only puts down 1 row of details. Which means that the machine operators are not able to. Have tried to figure out how to succeed in putting down 2 rows but stuck in total .. ||

    I have not worked with anyone else's program before, someone who wants to help me and explain how I can solve this in the most smooth way?Adds the program in the comments!/ Amanda

    yes i know how i open and close the gripper, do new program, save and load program, set pose, och adjuste poses.

    I "play" with the robot 2 days. Now i feel i must understand how the program function..
    Ex: pose information, variabel information and so on.

    i "know" how the robot work but i dont understand how the program work.


    do you understand what i mean. I know in the teory how i build a program but i dont have the knowledge to do it in praktic.


    I have a back up saved on the computer already. I take a back up on the memorycard and load in to the computer.

    oh yes, thats smart! becouse read the manual from first to last do me very confused..


    Just now is it a gripper which picks aluminum parts and then grinds, and then blows and puts back on the picking table.

    was that an answer to your question? or was it completely wrong?

    What do you want to do next? How much time do you have to study this Kawasaki robot?


    An official training course would be in Germany Kawasaki Robotics GmbH or you can try also at BILA A/S



    I want to get an understanding of HOW it is built and learn how to build programs. What some things mean such as POINT, SHIFT etc, but much is in the manual.


    According to the manager "so much time I need". They want to get more production in the cell so the idea is that I should be able to build up new products.


    I have to check it out! :)