Is this the main selected program or one called by CALL or RUN?
Posts by Sergei Troizky
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When teaching UTool by points, only their mutual position matters, therefore teaching may be done in any frame, provided that the frame remains the same through all points.
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Are you talking automatic run or manual jogging?
What controller? What software version?
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Robot type not specified.
Articulating (number of axes)? SCARA? Gantry?
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And you should refer the Ethernet/IP board model (which you never specified) , not the CNC controller, when looking for this information.
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There is no separate file.
The space function is described in the system variables RSPACE1[]
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And did you select Remote control, not Local.
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Integer part:
R[101] = R[100] DIV 1
Decimal fractional part:
R[102] = R[100] MOD 1
For negative R[100], both will be negative.
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Tried it on R-30iB Plus.
Indeed not functional.
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But the signal won't turn on even when all programs are aborted.
How do you know all are aborted?
Do you abort manually or by STOPI UI signal?
Have you configured "CTOPI for ABORT" and "Abort all programs by CSTOPI"?
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The signal may be controlled by something else of higher priority.
Though I doubt it would be wrongly indicated in this screen.
Is there any BG logic running?
On the other hand, it is indicated as Off, so why do you expect to see it active in the PLC?
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There is no known method to refer a frame component in BG logic.
Execute the 1st line in the main program.
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R[y]=R[x]
IF R[y]<0, R[y]=(0-R[y]);
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To get where?
On the pendant, visually?
In TP program? Karel program?
Host PLC?
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Nothing special: self-made unshielded cross-link cable.
However, direct connection makes no sense if the same PLC port has to be used for programming, so using switch makes sense anyways.
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Never tried Beckhoff, but Omron, for instance, works with direct cross-link cable.
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What is the "IO size is 4 Word (64 Bit)"?
If 64 bit is the size of the PLC word, you have the I/O size discrepancy between PLC and robot.
The robot words are 16-bit.
The connection size in total bits must be the same in the scanner and adapter.
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- Interconnect DO[1] to any always Off input, e.g. SI[15].
- Control DO[1] in BG logic.
BG logic prevails over Interconnect.
If BG logic is stopped, the DO[1] becomes subject to the Interconnect and will switch Off.