Posts by Shearzy

    Hello,

    I am looking to use Auxiliary relays in the safety logic circuit but even when the auxiliary relay is on, it doesn't show it as on in the safety logic circuit.

    I am using address 70055, which I want to use to turn on a safety output. Is there somewhere the auxiliary relay has to be configured first?

    I have confirmed that this relay is not being used anywhere else in the ladder program.


    Thanks,

    Hello,

    I am trying to take a backup of a controller that I have not worked on before to compare certain routines.

    However when I put my USB in the front of the controller, it doesn't regognize it.

    In the save/load menu it shows me files that were on the usb stick that the previous person used.

    I can still attempt to create a save file but it does not appear on my USB stick.

    Am I meant to force the controller to scan the new usb somehow?


    Thanks,

    That is understandable and I totally agree. We were provided a backup of an existing robot to base our code on and unfortunately the timeline was has been too short to explore all of the options available so I've just stuck with what was previously there until I've needed to change it.

    I've also got a Motorman material handler in the same cell. Both of which I have not used in the past so learning two different robots at the same time has certainly been a challenge.

    I appreciate the feedback and if I figure out what is creating this error I will post it here.

    Yes you are correct. Step 7 is a pre dress. 12 is the dress position and 18 is a post dress. The pre and the post positions could indeed be the same positions. The reason they are not is simply because this is the first day of reteaching on this robot so I touched up the pre and post steps rather quickly just to get it going and then I ran into the tip dressing problem.


    I was unaware that clearance offsets were being applied.. I assume the clearance offsets are the values shown in red in KTools? "CL1=0.980,10.0,10.0,10.0,10.0,10.0,10.0".

    I will do some reading on what these are used for.


    I will remove these offset values and try it again.

    The error occurs at the same step as the command for doing the tip dress. After the tip dress has ran it is still executing the tip dress step, it hasn't moved to the following step where it should be retracting the weld tip to clear the tip dresser. This leads me to believe there is something I am missing for setup on the dresser/weld modes through the spot weld option.

    I have attached a robot backup in a text file. I am trying to get a video of the error happening as well

    Sorry about that.

    E1123 Speed Error jt 7. is the fault I am receiving.

    Yes, I have looked through the troubleshooting manual for this error and it is attached.

    By the sounds of what is written here, I think #4 describes what is happening to me however nothing I have tried has provided a good result. Changing the speed values don't seem to make any change in the speed of axis 7.


    I have been having an issue where when teaching or in auto, some weld points receive an axis 7 speed fault (weld tip) after the weld is completed.

    The 7th axis does indeed move very quickly for some reason at these points but I am having trouble figuring out why this is happening.

    I have compared the move commands with other points and they appear to be identical.

    Is there a setting in the spot weld option that I am missing here? I haven't been able to find anywhere that specifies how fast the tip retracts after a weld or tip dress is complete.

    In our shop there was only one weld point where this was occurring, I got around the issue for the time being by decreasing the speed on the move from 9 to 1.

    Now we are onsite doing the install and my tip dress point is doing the same thing. After the dressing is done, it retracts very quickly and faults out.

    Any ideas would be very helpful.

    I am trying the above method and I have verified that RPS is ON. (It indicated it is on to the right side of the screen). When the External program reset is input I get an error "P1038 Program does not exist"

    I created pg0 and copy pasted my main program logic to is but it doesn't seem to recognize pg0 as being valid. Any ideas on what I can try?


    Thank you for your input Kwakisaki, I believe I have found the error in my syntax.

    Where do I set the master job? or in other words, id like to set my main job to start every time the robot is started.


    Edit- I found an existing post of starting a master job using pg0, RPS ON and pulsing the program reset input. I will be trying it out sometime today.

    Hello,

    I am using an E controller and trying to call subroutines from my master program using conditional if statements and individual inputs from a Mitsubishi PLC. However I haven't been able to sort out the correct syntax to get it working correctly.

    This is what I have so far:


    1

    HOME

    CALL reset_io

    ;

    IF 13 THEN; TIP EXCHANGE

    CALL tip_exchange

    GOTO 999

    END

    ;

    IF 17 THEN; TIP DRESS

    CALL tip_dress

    GOTO 999

    END

    ;

    IF 33 THEN; Call RH Part

    CALL rh_part

    GOTO 999

    END

    ;

    IF 34 THEN; Call LH Part

    CALL lh_part

    GOTO 999

    END

    ;

    999

    HOME

    CALL reset_io

    GOTO 1


    The controller accepts a number of different configurations including

    IF 33==ON THEN; Call RH Part

    CALL rh_part

    GOTO 999

    END


    However the robot will not enter the above routine when input 33 is in fact turned on.

    Any feedback is greatly appreciated, its my first time working with a Kawasaki robot.


    Cheers,

    We have 4 bins that outputs parts will be placed in, 50 parts per bin. The infeed has 10 parts per pallet (1 LH pallet and 1 RH pallet) and we want to determine which position should be picked/placed by the robot by reading an integer value from the PLC.


    All of this is being done over CC-link, I have not used CC link before but it appears to be limited to 14 bytes between PLC and Robot. If we group that many bits then we wont have space for other IO that we want to pass between PLC and robot.


    I have come across remote register allocation in the setup for CC link which may work however it appears to be limited to one send and one receive on the robot side. We would need 7 send and 7 receive registers in total to achieve what we want to do.

    Is there a way to assign more than 1 remote register from the robot side?

    If not, what would be the best way to achieve the same result without using up most of the IO points that I am limited to?


    Thanks in advance.

    I am pretty new with Motoman and I am looking to change the variable allocation but I do not have the system button in the main menu so I am unable to navigate where I need to go. Is there a condition where this button is not visible? Below is a snippet from the manual that I have been following. YRC1000 controller and I am using the motosim simulator to prewrite programs/setup before I get access to the powered on robot.

    Thanks


    I've been searching the AS manual for a few hours now and I cant figure out where this variable is coming from and how it is setup. Using an existing robot program that uses this variable. I need to understand it so that I can emulate my program to function the same way. Any ideas on what this "KI##" is? It looks to me like it is some sort of group input (Fanuc Term) comparing how many welds have been completed but i dont see where it has been configured to function



    Thanks for any suggestions.

    I have an existing robot that uses some move commands that I am unfamiliar with. Below is an example of the move. Is anyone able to explain what is going on here? It appears that bits are being set and/or reset within the move command but I cannot be entirely sure. Is there a reason to do this instead of setting/resetting outside of the move instruction?

    Please redirect me to another post if this has already been covered, I was unable to find such a thread.


    JOINT SPEED9 ACCU4 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,0,1,1) OX=-65 WX= CL1=0.000,0.0,0.0,0.0,0.0,0.0,0.0  #[-45.76,15.268,-35.747,-128.91,-62.465,-29.161,95] ;


    Thank you.