Posts by lfbmarques

Quote from panic mode

according to header parameters, this file is visible (&ACCESS= ...V...) and therefore should be selectable.

then V is missing, module is not "visible" and not selectable but it can be called from other programs

DEF TEST()

Program_1()

END

to toggle Visible parameter use smartPad menu Edit>Properties>Module Inf...

Display More

I change the Visible parameters and solved the issue. Thanks!

Thanks everyone for the hints.

Thank you for the quick answer!

The file has 1.26 MB. I will check for more problems.

There are other folders where I can save the programs instead of R1?

Hello,

I'm generating a code from RobotMaster for additive manufacturing, but when I try to select it in the SmartPad, it shows the error messagem 1360 "selection inadmissible". I've searched for it in the error list but don't know what may cause this problem (I am new to KUKA programming).

I'm using a KRC4 controller and a KR 70 R2100 robot.

The auto-generated code is:

&ACCESS RVP

&REL 1

&COMMENT GENERATED BY ROBOTMASTER

&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe

&PARAM EDITMASK = *

DEF Program_1()

EXT BAS(BAS_COMMAND: IN, REAL: IN)

INT I

BAS (#INITMOV, 0)

;******SETTINGS FOR PTP MOTION***********************

;FOLD PTP $VEL_AXIS AND $ACC_AXIS

FOR I=1 TO 6

$VEL_AXIS[I] = 20

$ACC_AXIS[I] = 50

ENDFOR

;ENDFOLD (PTP $VEL_AXIS AND $ACC_AXIS)

;******SETTINGS FOR LIN AND ARC MOTION***************

;FOLD LIN AND ARC MOTION VARIABLES

$VEL.ORI1 = 200

$VEL.ORI2 = 200

$ACC.CP = 3

$ACC.ORI1 = 100

$ACC.ORI2 = 100

;ENDFOLD (LIN AND ARC MOTION VARIABLES)

;******SETTINGS FOR POSITIONING CRITERIA*************

;FOLD POSITIONING CRITERIA

$APO.CDIS = 0.5

$ORI_TYPE = #VAR

;ENDFOLD (POSITIONING CRITERIA)

$BASE={X 660.0000,Y -1000.0000,Z 331.4000,A 0.0000,B 0.0000,C 0.0000}

$TOOL={X 0.0000,Y -230.0000,Z 47.0000,A 0.0000,B -90.0000,C 90.0000}

$ADVANCE = 5

<thousands of motion commands>

END

It is something in the code or may be some configuration issue?

Thanks!

Quote from HawkME

Which cable and what length?

The power + signal cables from controller to robot (RMP 4005-T215 #L20R23 Y-19Y268005). The standard length is 21m but we want to use 50m or more if possible.

Hello,

Is there the possibility of tunning the servo control system of a FANUC robot using a cable with known impedance different from the default provided by FANUC?

I may need a custom cable (power and signal) longer than the standard sizes. I am aware of the implications of using a cable that is not recommended by the manufacturer, but my application allows some minor issues in motion control.

I'm using a LR Mate 200iD/7L robot with a R30iB controller.

Hy guys.

I wish to run a program in RoboGuide and then register the path (point by point if possible) in text or sheet file. I want to use this as the path for a robot other than FANUC. It is possible to do that?

I am aware of the Target and Target Group resource but don't know if is useful for me.

Hi guys

I'm starting to use the DPM resource and have some questions about it.

I'm testing the logic in RobotGuide and I have configurated the following for my application: Schedule 1, Group 1, Channel 3, Modal DPM, GI.

When I run the test program I simulate the GI[1] in the value of 50 (scale factor of 1) to path correction but the path deviates the value set in the max. value (100mm in this case). Shouldn't it correct the path with the GI value?

Quote from HawkME

You can read those variables in BG logic, but you need to add a group mask.

But there is no problem caused by conflict with different programs using the same group mask?

Thank you guys!

I have one more issue. In my BG logic I use the TCP speed and position but apparently the BG do not run the program if I use non-constant system variables. How can I "read" the TCP speed and position without access system variables?

Hello guys

I'm using a LR Mate 200iD/7L with the controlled air output and I want to guarantee that, when I interrupt the running program (hold or imstp), the ROs are disabled. I don't want to do this via program but by configurations. It is that possible?

I run the programs both in auto and manual modes, so it would be better if the solution could works in both modes (even in local or remote modes).

Thank you for the attention.

How did you declare/define this PR[ ]?

Sometimes in Karel you may have some problems if you do not inform the complete PR[ ] info (XYZ position, RPW orientation and configuration).

But also, when I programmed karel I used diferent variables of position, maybe PR[ ] is only for TP programs, but I have to check it.

The fault informations are BOOL variables and can be acessed via UOP output signals or directly in the System > Variables (they are there somewhere, need to check the manual to know exactly where they are).

In TwinCAT I mapped this inputs (outputs in FANUC point of view) in arrays. For example I used DO00[0] as my digital flags array (totalizing 16 flags). So I have 16 digital slots where I can map bool variables. Once you can map the DI and DO freely in the rack and slot that you wish, it becames easy to map a binary variable into a numeric variable.

Still in TwinCAT you should do something like this to access the inputs:

VAR
    FLAG_IN_ARRAY  : UINT;
    DI_0 : BOOL;
    DI_1 : BOOL;
    DI_2 : BOOL;
         .
         .
         .
    DI_15 : BOOL;
END_VAR

DI_0 := FLAG_IN_ARRAY.0;
DI_1 := FLAG_IN_ARRAY.1;
DI_2 := FLAG_IN_ARRAY.2;

    

Hope that is usefull for you!

Hello.

I'm using EtherCAT to communicate a TwinCAT program with a R-30iB controller.

The the data is avaliable in your DO and DI slots. The slave board I'm using

In the controller TP you must choose the data configuration. The default config. I'm using is 32 variables of 16 bits, totalizing 512 boolean inputs and 512 boolean outputs. You must then map your DIs and DOs to the slave I/Os address as you wish. For integer and real/float variables I use GI and GO mapping.

In the TwinCAT/Beckhoff side you must upload the .xml file of the FANUC that contains all information for the integration. It will automatically read the configuration of the EtherCAT variables. In my case it identified 4 groups of 8 UINT varaibles (32 variables of 16 bits). Now you just have to link the EtherCAT I/O with the Beckhoff variables.

Right now I'm trying to map this variables to UOP variables in the controller! Cross your fingers for me.