Hi, Bessale! Can you share the solution you found? I am interested because I would like to activate a DSQC368 Profibus module I have. This is a different module, but I hope the install procedure is the same...
Posts by Makara
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Hello everyone!
Is it possible to offset robot's position during motion by getting an offset value from an IO module?
The system is S4C RW3.2 + DSQC327.
The goal is to make something like a THC system for a plasma cutter.
The program should be displaced in a TCP coordinate system, e.g. in a direction of a torch tip.
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Hi, Shane! Thank you for your quick start guide!
I bought a DSQC327 board on ebay recently, connected it to an X9 CAN port inside a cabinet. Everything went well, both ns and ms leds on a remote module are lit, no errors after addind an IO board. As I assume, the module is working, yet I have one question about outputs activation. Here I post some photos of my setup. Can someone tell me if everything is ok? Cause now I do not see any output leds switching while exequting DO_set instructions... Should leds react with no load connected to DO output?
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Think, one of the labels is commutation offset (motor to resolver), another one is calibration offset (axis zero position). It is written Komm and Sync(d?)...
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Are you able to compare the original factory sticker cal offsets to what is in the robot?
This is the first thing I did. I copied the calibration offsets from the cabinet to the controller, because they were totally different.
I am sure the motor was changed because it is of different color.
The question is if I can approximate to the right calibration offset using a TCP definition error? And in addition, are the arm links parameters the same for all robots and can I find those somewhere to calculate inverse kinematics (think it could help me in offsets definition)?
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Hi everyone!
I am back again to ask community about the CALIBRATION of an IRB2400L M98 S4C robot. My used robot came to me with a replaced 2nd axis's motor, so I assume the calibration is wrong.
What I did:
I made a straight pin tool and attached it to a robot.
I made an another pin and fixed it on a table.
I defined a tool using a 4 points method, by moving a tool around a fixed pin.
After that i placed a 2 meter ruler on a table and moved a tool along it with a MOVEL command.
The path deviation on a travel of about 1.5m was around 10 mm. Hmm. I would like it to be 1 mm max or even smaller.
So, I tried to define a calibration offset for a 2nd axis by taking to account a TCP definition error: I changed calibration offset value a bit, defined a tool, checked the definition error, repeated these steps until the error became minimal.
After these steps I got a line travel deviation of about 5 mm. I think this method worked somehow...
But I would like the robot to be much more accurate.
In addition, I think there was not only 2nd axis calibration error, because when I reorient a tool around a fixed point, the tip of a tool deviates 10 mm or more.
Q1: In theory, may this method be used to get calibration values or am I wrong?
Q2: Can I find anywhere information about IRB2400L M98 robot links dimensions to make reverse kinematics calculations?
Q3: Can I get the precise joint rotation values from the controller? With the precision comparable to calibration offset values.
What else I want to do:
The calibration procedure is described in a manual. It is performed by use of a calibration pendulum (or earlier by wyler's levelmeter 2000). I looked at Wyler's sensors characteristics, and they seem not to be of super high accuracy. I think I could make my own pendulum using Murata inclinometers... The main problem is I do not know the calibration positions to put inclinometers on a robot. I found two calibration surfaces on a base and on a 2ndf axis arm covered by steel plates. Think they should be perpendicular each other. I have no idea how to mount a sensor to the 3, 4 and 5 axises. There are some sensor holders described in a manual, but I cannot find any flat and accurate surface on a robot to mount them and have no idea how the holders should exactly look like.
Q4: Can anyone help me about sensor holders and mounting positions for 345 axises?
Q5: Maybe a simple 0.02mm/m level should be enougth to calibrate a robot? Of course, I will first align the base of a robot to a level, after that will put a level onto a calibration plate.
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i also need boot disks for m94a irb 6400.
I do have the key disk
Hi, Dave! Here was my topic about keydisks Looking for any old abb robot key disks and robotware 3.2. There is something about IRB6400, but I am not sure about the version. I am the beginner. And maybe you also could share your keydisk? I try to make a "collection" to figure out a structure of a keyfile to add missing options to my robot (they are installed physically).
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During this evening I added a command CLOSE PORT;
Now it looks like on a photo and it works somehow... TX led blinks when data is transmitted.
the problem is I do not see any activity on a SIO1 TX pin.It works fine. I measured voltage on a wrong pin.and I am a bit confused that i must "close" an iodev variable before assigning a sio port to it...
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Hi all!
Now I am trying to communicate with my robot (S4C IRB2400) via embedded serial port. I just try to send data to serial and first to see any reaction on a tx pin with an oscilloscope. I faced a problem.
What i did:
1) I checked that there are physical channels in service->communitation section:
sio1: and sio2:
2) Created an iodev variable PORT:
3) Wrote a simple program:
Open "sio1:",PORT;
Write PORT,"EOF"; //EOF is just a system string variable to not to create an additional one
4) Started a program and got a 40505 error:
Error 40505
Cannot open sio1:
RAISE CODE: ERR_FILEOPEN=1015
Maybe someone can tell me where I am wrong.
It is written in a manual that:
"The robot can communicate with computers or other equipment via RS232/RS422
serial channels or via Ethernet. However this requires optional software, see the
Product Specification RobotWare." Does it apply only to the ethernet connection or to a serial connection too?
UPD Seems i should have an "Advanced Functions" option to use serial communication...
UPD2 Checked it, I have this option
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i have version 2.1 if it could help but i don't know if the disks are demagnetized
This would be great too. Hope disks are ok.
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S4C RW3.0 IRB6400 2.4-120 BD+KD
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RW3.0 IRB6400 2.8-120 M97 BD+KD
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BAK S4C+ RW4.0 IRB2400L M2000 KD
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BAK S4C IRB2400L M98
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Shane, thank you. I already have this RW3.2 on my HDD. It was posted here on a forum some years ago.
I will put here everything I found here and there. The files are renamed by me, I will add some description to each post a bit later.
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Any backups or key disks for s4 or s4c or s4c+ systems, as I would like to figure out the structure of a key file and try to generate my own key disk for my system. My robot came with ext axis, cabinet is equipped with ext axis driver and io card, but the robotware does not include these options.
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Hi all! Thank you for your replies!
iassarali, Lemster, I will try the method you described. It will take some time cause I should prepare a PC with an old operating system, say win95 or XP. Robinstall refused to setup on a win7 PC.
Lemster, these are good news that you found a backup for S4C+ controler. I found some of backups for different controllers while searching on internet too. Some contain the key.id file, some dont. I suppose ABB did not made major changes to the structure of this file in s4, s4c and s4c+. So, could you share an s4c+ backup too, or maybe other versions?
I think the major changes were made when IRC5 was introduced.
PS Maybe I should create a separate topic under manuals and software thread and put everything I found there?