Thanks, I appreciate your comment!
I finally solved the problem ... thanks to kwakisaki's suggestions everything works OK now...
How did I solve it? I modified some specific configuration options from robot file configuration and I disabled Aux 0610.
Many thanks Kwakisaki!
Continue like this, congratulations for the volunteer work you do, helping with advice, suggestions, documentation to all members of this forum who asked for support to solve various issues related to the operation of robots.
If you re-read post #53, you will see I mention disabling these inputs and outputs via the jumpers on 1HW to prevent common sharing between 1KP/1KB/1RB and 1GW/1HW.
Which jumper on 1HW are you referring to exactly?
Did it use fieldbus in it's previous usage - Interbus do you know?
From what I've seen, no.
The other thing I have noticed, is that the general fieldbus is disabled with an old configuration that uses signals 33-64 and 1033-1064.
However, as this allocation is not the 1-32 and 1001-1032, this should not be causing any issues.
Can you tell me where do you saw this configuration?
The internal IO you are referring to is the 1KP relay outputs and the 1KB/1RB inputs I've been referring to.
That's what I understood and saw ... but do they use the same addresses (eg 1,2,3, ..., 32 and 1001, 1002, ..., 1032) for both boards? For example, if I want to use output 9 of the 1HW board with the "signal 9" command, how do I know where to execute it? I'm waiting for a signal on 1HW and it activates my output on 1KP .... I say this in the context in which I ran the FOR loop ... if I use the OPENI / CLOSEI commands it's something else, I expect it to activate my output on the 1KP board. ..I'm wrong somewhere?
Do you suggest me to disable the built-in IO from Aux 0610?
Today I performed the set of checks suggested by kwakisaki, points 1-12, minus point 13 because I do not have another TP. In addition, I checked again the connectivity on both inputs and outputs, this time directly on the pins located on the printed side of the 1HW board, resulting in the fact that both the cables and the CN2 and CN4 connectors were connected correctly. The result is the same as before, nothing works in 1HW (physical IO).
Also, I removed the links from pins 9-10 and 11-12 from the X9 connector of the 1KP board, I ran the FOR loops again but the result is the same - it does not activate the outputs and does not read the inputs. I reconnected the links and did the next test - I deleted the input check routine (FOR loop) I left only the one on the outputs. I unwrapped the corresponding built-in IO cable and launched in repeat mode (infinite loop) the FOR routine only for outputs in this way having the possibility to check the cable with internal IO.
What did I find? I identified in this cable 6 active outputs (9-14) and 4 active inputs (13-16). Now I wonder if this is normal, when I have a 1HW extension and the controller sees it, which I allocate from the software all the inputs and outputs it has (32 + 32) to actually find that some of the IOs are used elsewhere. Isn't it a conflict? Shouldn't these built-in cable IOs be disabled somewhere to be fully used by the 1HW board?
I'm confused, I don't understand anything anymore ...
Can you tell me, please, where do I find the Aux functions with the necessary explanations?
inside of controller...
There is an obvious problem on the solenoid island cabling/circuit, as it introduces a VME bus error when it's connected.
This error occurred only once some time ago, given that the cable from the solenoid valve island was disconnected (not wired to the controller, it was in the air). Since then, this error has not occurred, given that the other day I connected the cable to the IO electrical panel....it was probably also related to the fact that it did not "see" the 1HW board.
The E1009 error was resolved some time ago following the procedure suggested by you ... since then it has not given any error with this code ...
The problem is also in the controller because in the conditions in which I removed the CN2 & CN4 plugs from the 1HW board, I practically disconnected from the arm and everything related to it on the IO side.
In other words, testing the FOR routine for IO checking was done with both CN2 & CN4 connected and disconnected, the result being the same. That's why I tend to think that the problem is still in the controller.
Tomorrow I will try to change the port on which the 1HW board is inserted from OP1 to OP4 as you suggested, and I will run the test programme again to see if anything has changed ...
Please, can you take a look at the jumpers and dip switches settings on the 1KP, 1KB / 1RB and 1KA / 1RA boards?
I still think that the controller does not know how to work with the 1HW board, even if the logic part works ..but we don't know what's going on the other side (from VME) and I say this from an electrical point of view not software ...
As for the electrical connection in the electrical panel, from my opinion, the only problem that could be is that the power supply ( Vin1,2 & COM1,2) is not passed correctly to the 1HW board, to activate the optocouplers LED on the inputs or transitors on the outputs...otherwise, that I confused the outputs between them (eg 2 instead of 1 or vice versa) is less important in this phase ...
Also, disconnect anything 'extra on the arm' that isn't standard.
I don't have anything connected on my arm anymore. The control cable that supplies the island to the solenoid valves and sensors on the gripper is separate from the robot arm, it only transits it, it is not tied anywhere inside - it enters through the back of the robot, passes through all joints directly and exits the arm between JT3 and JT4.
1. Have you disconnected the arm island when you are doing these tests?
2. Can you show me a video of what you're doing when using the IO screen to turn on the signals in teach and repeat modes?
3. Is it possible CN2 and CN4 harnesses are wrong way round - does the input terminals bell through to CN4 connector and output terminals bell through to CN2?
1. At the beginning of the tests no, I had the actuation relays connected...only when I saw that nothing was happening did I take them out.
2. Tomorrow, I will make a video with the procedure of forcing the outputs, but I can also explain in words how I proceeded ...I set the robot in learning mode, I pressed the trigger key (deadman), I selected one output with arrows, I held down the A key +1 and the output status has not changed.
3. I also checked this, the wires in the series of clamps corresponding to the inputs reach CN4, and those corresponding to the outputs reach CN2. I checked the whole chain, from the electrical panel to the solenoid valve island, if I apply 24V on one of the outputs (with CN2 disconnected, obviously) the solenoid valve corresponding to that output is activated.
I checked wires with multimeter one by one, both inputs and outputs. They all end up correctly in the connectors. What I did not check and I will do tomorrow, I will check the signals directly on the connector on the 1HW board, to eliminate the suspicion that there may be an imperfect contact in the two connectors CN2, respectively CN4.
4. I would leave this point (4) for later, when I exhaust all the verification options ... it's risky but, if I see that I don't have any option anymore, I'll probably try it.
Ok, thanks for the time given today ... I will try to check the connections again tomorrow although it is the 4th time i do it ... it is very strange, i think there are some "lint" left in the configuration part and that's why it doesn't work.
Another strange thing is that when I run the FOR loop on outputs 9-15 I hear the relays on 1KP (clamps), which I heard when using the OPEN / CLOSE command.
pictures with inside of the connectors...
Thus removing all data and then trying again.....sounds like overkill to have to do this, but nothing make sense.
And how to do that, I tried with KIDE and it doesn't work ... it resets (KIDE) and doesn't delete anything
Before connecting the wires to the connection clamps I identified wire by wire simultaneously on both the connector and its end ...
see previously sent pictures..
1. Where is the 24V and 0V lines in your panel from the PSU going to on CN2 and CN4 Connectors
- CN2 requires 24V on VIN1 and VIN2 (18 and 19)
- CN2 requires 0V on COM1 and COM2 (36 and 37)
- CN4 requires 0V on COM1 and COM2 (18 and 19)
on CN2: VIN1+VIN2 are on (+) connecting clamp, after output16 from outputs clips and OV (COM1+COM2) are on the right side of the output connecting clamps..
on CN4: 0V (COM1+COM2) is on (- ) connecting clamp, after input16 on the input connecting clamps.