Posts by rudolf1385

this is my situation;

in the photo you can see how the robot's metal transport cup is positioned. Axis 7 of the robot is a rotary type and moves that cup.

I am looking for an instruction or functions that allow me to make a movement similar to the RelTool. That way I could place my tool in the tip of the cup and move it as it rotates.

I don't know if I have explained myself correctly....

yes, it is integrated.

I do not have the multimove option installed, but I will try to read the manual and see if it helps

I'm programming an ABB IRB6700 robot with 7 axes that needs to pour aluminum into a shell. The seventh axis is a rotary axis connected to a cup for transporting aluminum. I am looking for a system to position the Tool Center Point (TCP) at the pouring point of the cup, taking into account that the cup rotates based on the recipe parameters.

have you any ideas?

thanks to all for the solutions

HI,

I need to monitor the value of a laser during a linear movement of the robot.

The laser gives me an instantaneous reading of the part and passes me a GI signal.

I am looking for a solution similar to the "SearchL" instruction but which works with GI signals.

The aim is to stop the robot's path when the laser detects a certain height.

In kuka I can do this without any problems, but with ABB I cannot find a solution.

Can you help me?

thanks

good morning everyone, I have a question.

How do I get a P position stored in a program on TP from a Karel program.

for exmple, this is my TP programa

----ON TeachPendant
J P[1] 50% FINE
L P[2] 70% FINE

Call GETPOSITION
END

---ON Karel
Program GETPOSITION

var
    --declaration
begin
    --here i need to get the P[1] position and manipulated it without using a PR register

END GETPOSITION

can you help me?

I reopen this discussion, unfortunately I don't have the optional package that allows me to have the Menu utility.

I would like to know if it is possible to do something similar with the KAREL language.

I read the manual in the chapters that talk about Dynamic Display but I am not able to understand how to use them, and I don't understand if this function is the right one for me

thanks

ok thanks

good morning everyone I ask you a question.

I have an r30ib plus controller that must take a fragile object and put it in a stamp. during the insertion movement, I must monitor a signal which, if activated, generates the immediate stop of the movement and causes the robot to go back.

Then I have to retry the insertion.

I need to do all of this with the CONDITION HANDLER statement but I don't know how. For now I have written this, but I think it is not correct and I don't understand how to go back from the current position

PROGRAM CheckAbortCycle
    
    VAR 
        numPar,status:INTEGER   
        pAct=XYZWPR
    CONST
        STOP_ACTION=1
        PR_AUS=100
      
    ROUTINE MoveRecovery
        BEGIN
            pAct=CURPOS(0,0) --read currentposition
            SET_POS_REG(PR_AUS,pAct,status) --store current position on PR[100]
    END MoveRecovery

BEGIN
    CONDITION[STOP_ACTION]:
        WHEN DIN[5] DO
        STOP
        CANCEL
        MoveRecovery
     ENDCONDITION
    
    GET_TPE_PRM(numPar,data_type,real_type,str_type,status)
         IF (str_type='ON') THEN         
             ENABLE CONDITION [STOP_ACTION]
         END IF      
         IF (str_type='OFF') THEN
             DISABLE CONDITION [STOP_ACTION]
         END IF
         
END CheckAbortCycle

and from TP the code is like this:

CALL CheckAbortCycle('ON')


PR[100]=[PR6] --PR100 is an Auxiliary position
L PR[100]  800mm/sec cnt50
L PR[100] 400mm/sec cnt5
L PR[100] 10mm/sec fine


CALL OPENGRIPPER
PULSE DO 1 --INSERTION OK
---
CALL CheckAbortCycle('OFF')

can someone help me?

HI all (im a novice in Fanuc programming)

is it possible to generate, from the TP (or karel program), a question for an operator?

similar in ABB Rapid's function:

TPErase

TP Write" ............"

TPReadFK,nAnswer, "1","2","3","4","5"

thank you

best regard

thank for your answer

best regard

HI all,

i would like to know if it is possible from a karel program to access the constants declared in another program, for example with VAR data i proceed like this:

Program Alpha

VAR num:INTEGER

begin

END Alpha

Program Beta

VAR num FROM Alpha:INTEGER

Begin

END Beta

is it possible to do it also with CONST data?

thanks