Posts by EnergyAddict

Check out the "Menu Utility" option. or create a .STM screen that you can view from the browser.

For the most part, a Macro is no different than a TP program. it can still be called and run just like a TP program. So, no it shouldn't affect you., other than understanding whether you need your group mask or not.

Honestly, I'm just playing around with the iPendant Controls list inside SharePoint Designer. I don't have a specific application, just trying to understand what else I can do with my screens.

I have a combo box, and I see the Dictionaries option in properties, and the iPendant manual just says something along the lines of "Add a a dictionary similar to %w in Forms Manager". But I don't know what that means.

Hello all,

I'm trying to create a combo box on an STM file that Shows a custom list. It looks like you can create a Dictionary file to do this, but I can't find any documentation on how to do this. any help would be appreciated.

Assuming you are working with a CRX, based on your other thread, I'm pretty sure you get Basic DCS functions with the CRX which is limited to 3 CPC Zones, unless you purchase a better DCS option such as "DCS Pos./Speed check" or "Advanced DCS"

Did you purchase the DCS option?

It wouldn't pass a detailed Safety Evaluation, But you could map a DO to an NSI, Use a BG Logic program to set the DO=SystemVariable, and then configure Safe I/O Connect such that the SSO=NSI.

I would question what you are attempting to do, because I'm not sure that a system variable would be considered a "Safe Signal".

I picked this command out of another thread, and through trial and error I think I've got it somewhat figured out. "DIOASG # # # # # # #" is a CM file command.

Below is my understanding not anything I've been able to find documentation on, however it matches similarly to the KAREL Command SET_PORT_ASG:

EDITTING as I learn more.

DIOASG Io_Type Range_Begin Range_Length Rack Slot Io_Type Start_Point

• Io_Type: This determines whether you are assigning Digital Inputs, Digital outputs, UOPs, etc. It seems to follow the numbers from KLIOTYPS.KL (see THIS thread).
• Range_Begin : Starting index of the IO that you are configuring
• Range_Length: Number of sequential IO indices to configure
• Rack: Physical location of the IO board/module
• Slot: Space on the rack where the IO is connected
• Io_Type: I don't really understand what this is supposed to be, but making it the same as the first number seems to work, Unless you want to "Clear" the IO assignment, then 0 seems to work.
• Start_Point: Starting point within the Rack/Slot

The Code below Configures some Digital IO:

SPEP_OFF
!Clears Current DIO Configuration
DIOASG 1 1 512 0 1 0 1
DIOASG 2 1 512 0 1 0 1

!DI[1]-DI[128] Configured to PLC Rack
DIOASG 1 1 128 89 1 1 1
!DI[301]-DI[310] Configured to DCS CPCs
DIOASG 1 301 10 36 6 1 1

!DO[1]-DO[128] Configured to PLC Rack
DIOASG 2 1 128 89 1 2 1
!DO[301]-DO[310] Configured to DCS NSIs
DIOASG 2 301 10 36 0 2 1

SPEP_ON

Group inputs/outputs work with the same command but with a slight Adjustment:

DIOASG Io_Type GI_GO_# Range_Length Rack Slot Io_Type Start_Point

• Io_Type: Group Inputs are 18, Group Outputs are 19
• GI_GO_#: Seems to be the GIO[#] that you are configuring
• Range_Length: Number of IO indices to configure to the GI
• Rack: Physical location of the IO board/module
• Slot: Space on the rack where the IO is connected
• Io_Type: I don't really understand what this is supposed to be, but making it the same as the first number seems to work, Unless you want to "Clear" the IO assignment, then 0 seems to work. UOP assignments seem to need to point at your digital IO.
• Start_Point: It looks like this is the Starting point within the Rack/Slot

The Code below Configures some Digital IO:

SPEP_OFF
!Clears Current GIO Config for lines 1 through 5
DIOASG 18 1 0 0 1 0 1
DIOASG 18 2 0 0 1 0 1
DIOASG 18 3 0 0 1 0 1
DIOASG 18 4 0 0 1 0 1
DIOASG 18 5 0 0 1 0 1
DIOASG 19 1 0 0 1 0 1
DIOASG 19 2 0 0 1 0 1
DIOASG 19 3 0 0 1 0 1
DIOASG 19 4 0 0 1 0 1
DIOASG 19 5 0 0 1 0 1

!Configure GI[1] to inputs 1-8 from a PLC
DIOASG 18 1 8 89 1 18 1
!Configure GI[2] to inputs 9-16 from a PLC
DIOASG 18 2 8 89 1 18 9

!Configure GO[1] to inputs 1-8 from a PLC
DIOASG 19 1 8 89 1 19 1
!Configure GO[2] to inputs 9-16 from a PLC
DIOASG 19 2 8 89 1 19 9

SPEP_ON

Note the SPEP_OFF Command seems necessary at the top.

I've tested all of this only in Roboguide, not on an actual robot yet, but it seems ok so far.

I'm late to the party, but I made the attached Excel sheet a while back that is pretty helpful for this.

Quote from Sergei Troizky

With v9 robot software, and assuming the subject frame is active, this should work in BG Logic:

R[x:Active UF X]=($SV_INFO[1].$CART_POS[1]-$SV_INFO[1].$CART_POS_UF[1])

I think that one only works if the frame is oriented same as the World Frame.

I'm assuming when the OP said "background program" they meant BG Logic.

You Can not put "PR[1] = UFRAME[1]" into a BG Logic Program, as far as I know.

You could use a message instruction at the top of your main program and post the message to the User Page.

   1:  CALL USERCLR    ;
   2:  MESSAGE[Please Wrap TP Cord] ;

User Frame Z Value into Register

Unfortunately, I was told it's not possible, and I haven't found a way since.

In the Run Panel, you can adjust the Synchronize Time and Run-Time Refresh Rate to speed up the simulation.

Your simulation will run quicker, but I've found that different settings for these will give different timing results (on the exact same program). So, as long as you're only looking for "Ball Park" times you should be okay.

Quote from Shellmer

Even with an speed limit for only one axis... your overall speed will be lower on the other 5 axis.

This much I understand wholly. However, I have an application (4-axis robot) that runs the same motion command for many different PRs, some of which are up to 180deg different from each other

At the placement position where J4's rotation is most similar to the pick position, J4 doesn't need to spin as quickly to arrive at the destination at the same time as the other joints.

However, rotate the J4 position180deg for the placement, it now has to spin quicker to arrive at the destination along with the rest of the joints.

I can slow down the programmed motion, but it would slow down the motion for the "easy" rotation as well. I basically would love for J4 to be the limiter/Speed clamp for that specific motion command, rather than programmed speed being lowered for all moves.

Quote from HawkME

There is a speed limit for each axis, but I'm not sure if you can modify it with a system variable.

Is this set globally somwhere?

Does anyone know of a way to programmatically restart a System Monitor? (I'm on an R30iA Controller if that matters)

I would agree with HawkME, back it all up, and then filter out what you need

However, I have split up things in the following ways in some of my tools:

• AOA - mget *.*
• ASCII - Mget *.ls, Mget *.va, Mget *.dat, Mget *.dg, Mget *.xml
• Vision - Mget *.vd, , Mget *.vda, Mget *.zip
• Application - Mget *.Tp, Get Numreg.vr, Get Posreg.vr
• Sysvars - Mget *.sv
• Tp only - Mget *.tp

Quote from jstolaruk

Can fruit be run from the command line?

I'm not sure, so probably not, again this really isn't my area of expertise I just hobbled FRUIT together with a lot of trial and error and got it to fit my needs at the time.

As far as the FTP backup, since you are familiar with OneRobotics, take a look at Jay's Article USING FTP FOR INCREASED PRODUCTIVITY. This is the basics for the FTP backup that FRUIT uses. I basically open FTP, turn off prompting, and then do an "mget *.*" command to get all files.

I sometimes do FTP straight from the command line, I've also written batch files to do backups for certain customers.

I'm sure there is a way to have multiple threads run FTP across multiple robots, but if there is that's outside of my wheelhouse. I have run ftp on a "For Loop" to include multiple robots, but it's still backing up one at a time.

Hope this info is helpful.

There is a motion instruction along the lines of "Skip, Lbl[] PR[]" which is Fanuc's "High speed Skip". it responds faster , but is limited to 100mm/sec.

From a Controlled Start: Menu->Next->Program Setup

Looks like there is the ability to increase the interconnections up to 64.