Posts by Sergei Troizky

Not only DX has more parameter addresses available, but the parameter addresses are different.
The angular units in cartesian coordinates are different.
The default set of physical I/O terminals is the same, but the connectors are named differently.
Also, the user section of the concurrent I/O ladder may address them to different IN#/OT# addresses.
There are many quantitative differences (see the attached file, but probably there are more).

Under MENU>System>Config, set Remote/Local setup to Local, and Enable UI signals to FALSE.
Also, you may need to stop the Ethernet/IP connection in I/O>Ethernet/IP, by setting its Enable switch to FALSE.
After such setup the robot will operate as a standalone unit with no host.
In order to use hardwire signals, you need to have some discrete I/Os available in the robot and map UOP I/O to them.

If you mean sending data from host PLC to robot, you need to use GI, not GO.
Be aware, that the robot will read the GI data as unsigned integer.
Your robot program must convert the received data to signed, scale if necessary, and write it to the destination position register component.
This may be done in background logic, or in the executed program.

I was hoping to use the PPABN signal on the EE connector as an extra input, by redirecting it to DO by Interconnect.
However, this works only when the system is configured to use the PPABN, in which case it stops by error as soon as the signal disappears.
Is there a way to read this signal without the system using it?

Yes, it works well, when it works at all (it is not functional as long as a tracking program is running).
This has nothing, however, with reading world coordinates in background logic, which was the initial question.

The problem is not how fast the $SCR_GRP[1].$MCH_POS_X updates.
The real problem is that it updates only during motion by program execution.
It does not reflect the robot jogging.
Jogging may be detected programmatically, in order to know the reading is invalid since,
but I've never heard about a way to read the position while jogging.

The R-30iA controller cabinet features the standard operator panel (SOP) with exactly the buttons and lights mentioned.
Why do you need an additional operator panel?

What controller?

Quote from leopard

You should be able to setup severity in your EhterNet/IP adapter in your robot. When the connection is lost, you can choose to stop the robot in this case.

This works only with cyclic implicit messaging.
With explicit messaging, the robot EIP adapter is always monitored as idle.

Override may be executed in TP program.

Quote from fspt_tech

My question: Is there a way to configure the robot I/O to return to their normal states (OFF) whenever I lose communication with the PLC?

Using a heartbeat signal from the PLC, it is relatively simple to write a BG Logic that will detect communication timeout.
However, I hardly can imagine resetting EIP inputs programmatically.
Would say impossible, but probably altering the adapter status by writing to some system variable(s) will reset the adapter.

So what is the reason to keep the user frame level, while the machine and jog frame are inclined?

The manual is pretty clear on this:
"The jog frame is a frame in which to jog easily. It allows you to align the x, y, z coordinate system about a fixture or workpiece that is rotated with respect to the world frame of the robot.
...
Jog frame is a frame that you can set up in any location, with any orientation. Jog frame
provides a convenient way to move along a part when the part is oriented differently from the world frame."

Jog Frame is for jogging.
User Frame is for program positions.
I do not know/understand why they are separate.

Static vision or visual tracking?
Is there the Pick Tool software in the robot?
Have you got manuals?
You can expect help here for particular problems, but I doubt anyone will guide you step by step for entire work.

Yes.
But hiding your email address is not a proper way for getting them.

Quote from Johnny186

Hi, i am looking for a data transmission manual for a DX100 controller. Both for serial(RS232) and Ethernet interfacing.
Thanks.

In addition to avis' reply.
You did not bother to create a profile for PM or indicate your email, so how do you expect to get it?

Changing the startup default Joint jogging coordinates to World:

IF (!F[1:BOOT DONE]),$JCR_GRP[1].$JOG_COORD=(2) ;
F[1:BOOT DONE]=(ON)

Yes, this is exactly the case, but the load is heavy and variable; I would not like to make the collision detection more sensitive.

Is it possible to override programmatically the disturbance and/or excess move settings during the recovery procedure?
What are the system variables?

I've programmed the subject in R-30iA and it successfully resets the
SRVO-050 Collision Detect alarm and proceeds to the recovery part of the program.

The problem is that immediately upon the recovery start, the robot falls into one of the following errors on axis 6:
SRVO-053 Disturbance excess, or
SRVO-024 Move error excess
These errors require external reset, hence kill the autorecovery feature.

Any ideas how to make it work?

The OEM (slightly discounted) cost in Canada is about $1800 Canadian.

Anywhere in the world...
Not sure how it behaves through all firewalls and routers.
And you will need serious cooperation on the robot location side.
Still, looks you have no other choice.