Posts by PiotrEDC

Quote from RobotM

Hello,

Info to all robot history fans out there. Today I was delivered an IRB6 S1 robot. I was looking for one for a long time. The most interesting is that the robot is in a working order. With some extensive help we managed to turn on the robot, synchronize it and run a a couple of simple programs, that were already stored in the memory. All was done on low speed to save the joints etc.

The last service sticker was applied in 2015 AFAIR, so it really worked long years - was used for welding, I got some equipment with the robot itself, some stuff I do not know what is for.

For now I have a question: I opened the back cabinet door and checked the number on the plate on the door - it says 00000161. Could you tell me what is the year of build of the robot with such a number? I can provide any photos with pleasure on request

The cabinet plate is in Swedish, that does not make things easy, the teach pendant is in English though. I need to do a full service of the machine before I start using it. I got a manual to read , any insights appreciated!

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How is restoration going ?

Quote from Marcelohb

The final client decided add a Keyence Sensor (CB-EP100) with a controller Keyence LJ-V7001P

I would love to hear a story behind how they got this idea ;P LJ-X series is more user friendly in matter of communication with robots for welding. Did you finish this project ?

Quote from vladi315

...we had major issues with reflections on the parts, which corrupted the depth measurements...

Well most of vision systems have problems like that. This is why very important part of it is a software that can filter out these problems, at least most of it.

I think that Revopoint is least expensive 3d Cam for robots (out of a box solution) but its still waaay above your budget. And I would not be so sure about their product being great.

Voestalpine did use MetaVision products on their equipment, they did calibrate and "refresh" for us older MT10 heads and I know they did install newer versions in other machines so you could contact them if they can help you. It will cost but its possible.

You are right, I did check what is happening on signal 2 and 4 but...

...forgot to remove them to scale up other signals, (what is happening in POSCORR) 6/7 and just like you said, very small value.

Thank You very much for help, I was a bit confused how to proceed further.

Hello,

I try to integrate Keyence LJ-V7001p with LJ-V7300 head on Kuka KR210 R3100 Ultra (KRC4 with KSS V8.3.37). I already configured RSI, I can move robot from Kuka Server on my laptop without any problem. I have two analog signals from LJ-V7001p on EL3102, tested in full range -10V/+10V, LJ-V controller ANOUT1 to Beckhoff ANIN1 etc.

Options : RSI version is 3.3.5, EthernetKRL v2.2, SeamTech v2.2.12, ArcTechBasic v1.5.9

E1 : F.EE 16m linear track.

Welding Source : Fronius TPS4000 CMT with ProfiNET.

Everything outside KRC4 connected through ethernet switch to KLI.

Beckhoff coupler with 8 DI, 8DO, 2ANIN EL3102 -10/+10V 16bit (ver. 0000).

What I try to do is to use Distance Correction for welding very large elements. I have configured RSI files (diagram in attachment) to make correction on X and Z axis as test file, placed two aluminium profiles slightly rised below laser, configured everything on LJ-V and voltage is rising exactly as it should both with height and side shift. RSI monitor is showing that voltage is rising on ANIN1 and ANIN2 but there is no action on the robot side... So only problem is that I made some error in krc file or in rsi files. I did a small test removing "P" and "SUM" to shake things up... and it did... Kuka did shake like a cat and RSI monitor went crazy. So voltage was translated to movement without any filtering if I understand it right.

For movement I use LIN motion before ARC_ON/ARC_OFF so just like in SeamTech it already have proper direction before seam tracking begins, there is 4 sec delay in signal from analog inputs. I would like to see a proper code for more advanced use of RSI in welding but... I cannot find anything, so I have to figure out how to configure everything. Sad thing is that I have LJ-V only until tommorow, but I will test later just by applying voltage to analog input.

I do not understand fully if all my problems are because of wrong values in "P" and "SUM" or I did forget about something in krc file ? Or maybe everything is wrong...

&ACCESS RVP
&REL 15
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
DEF RSI_SpoinaBoden( )
; Wazne, te deklaracje musza znajdowac sie przed INI
DECL INT ret
DECL INT CONTID
;FOLD INI;%{PE}
  ;FOLD BASISTECH INI
    GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
    INTERRUPT ON 3 
    BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
  ;FOLD USER INI
    ;Make your modifications here

  ;ENDFOLD (USER INI)
;ENDFOLD (INI)

;FOLD PTP HOME  Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=XHOME
PTP  XHOME
;ENDFOLD


;FOLD LIN P4 Vel=2 m/s CPDAT4 Tool[2]:Robacta5000-73x22 Base[0] CD;%{PE}%R 8.3.48,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P4, 3:, 5:2, 7:CPDAT4
$BWDSTART=FALSE
LDAT_ACT=LCPDAT4
FDAT_ACT=FP4
BAS(#CP_PARAMS,2)
TQM_FIFO_READ(TM4)
TRIGGER WHEN DISTANCE=0 DELAY=0 DO iTQM_TRIGGERID=4
TRIGGER WHEN DISTANCE=0 DELAY=0 DO TQM_START_MON(TM4) PRIO = -1
TRIGGER WHEN DISTANCE=1 DELAY=0 DO TQM_SWAP_VALUES(TM4) PRIO = -1
LIN XP4 
;ENDFOLD

; Tworzenie przetwarzania sygnalu
ret=RSI_CREATE("RSI_DistanceCtrl.rsi")
IF (ret <> RSIOK) THEN
   HALT
ENDIF

; Poczatek przetwarzania sygnalu w trybie Relative correction
ret=RSI_ON(#ABSOLUTE)
IF (ret <> RSIOK) THEN
   HALT
ENDIF

; Spawanie z korekcja
;FOLD ARCON WDAT1 {AS_WDAT1.Channel1*1#%g} {AS_WDAT1.StartTime*1#%g} s {AW_WDAT1.Channel1*1#%g} LIN P1 Vel=2 m/s CPDAT1 Tool[2]:Robacta5000-73x22 Base[0] CD ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.arctech.arconlin; Kuka.PointName=P1; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT1; Kuka.VelocityPath=2; Kuka.MovementParameterFieldEnabled=True; Kuka.CollisionDataName=TM1; ArcTech.WdatVarName=WDAT1; ArcTech.SeamName=
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT1
FDAT_ACT = FP1
BAS(#CP_PARAMS, 2.0)
TQM_FIFO_READ(TM1)
TRIGGER WHEN DISTANCE = 0 DELAY = 0 DO iTQM_TRIGGERID = 1
TRIGGER WHEN DISTANCE = 0 DELAY = 0 DO TQM_START_MON(TM1) PRIO = -1
TRIGGER WHEN DISTANCE = 1 DELAY = 0 DO TQM_SWAP_VALUES(TM1) PRIO = -1
TRIGGER WHEN DISTANCE = 1 DELAY = ATBg_PreDefinitionTime DO Arc_DefineStrikeParams(1, AS_WDAT1) PRIO = -1
Arc_DefineCpPattern(#OffInAdvance, WV_WDAT1, TRUE)
LIN XP1
Arc_On(1, AS_WDAT1, ATBg_StartErrSetField[1], AW_WDAT1, WV_WDAT1, ATBg_WeldErrSetField[1], #StdArcOn, " ")
Arc_DefineCpPattern(#OnInAdvance, WV_WDAT1, TRUE)
;ENDFOLD
;FOLD ARCOFF WDAT2 LIN P2 CPDAT2 Tool[2]:Robacta5000-73x22 Base[0] CD ;%{PE}
;FOLD Parameters ;%{h}
;Params IlfProvider=kukaroboter.arctech.arcofflin; Kuka.PointName=P2; Kuka.BlendingEnabled=False; Kuka.MoveDataName=CPDAT2;  Kuka.MovementParameterFieldEnabled=True; Kuka.CollisionDataName=TM2; ArcTech.WdatVarName=WDAT2
;ENDFOLD
$BWDSTART = FALSE
LDAT_ACT = LCPDAT2
FDAT_ACT = FP2
BAS(#CP_PARAMS, ATBg_BAS_VELDefinition)
TQM_FIFO_READ(TM2)
TRIGGER WHEN DISTANCE = 0 DELAY = 0 DO iTQM_TRIGGERID = 2
TRIGGER WHEN DISTANCE = 0 DELAY = 0 DO TQM_START_MON(TM2) PRIO = -1
TRIGGER WHEN DISTANCE = 1 DELAY = 0 DO TQM_SWAP_VALUES(TM2) PRIO = -1
LIN XP2
Arc_Off(1, AC_WDAT2)
;ENDFOLD


; Wylaczenie RSI
ret=RSI_OFF()
IF (ret <> RSIOK) THEN
   HALT
ENDIF


;FOLD LIN P3 Vel=2 m/s CPDAT3 Tool[2]:Robacta5000-73x22 Base[0] CD;%{PE}%R 8.3.48,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P3, 3:, 5:2, 7:CPDAT3
$BWDSTART=FALSE
LDAT_ACT=LCPDAT3
FDAT_ACT=FP3
BAS(#CP_PARAMS,2)
TQM_FIFO_READ(TM3)
TRIGGER WHEN DISTANCE=0 DELAY=0 DO iTQM_TRIGGERID=3
TRIGGER WHEN DISTANCE=0 DELAY=0 DO TQM_START_MON(TM3) PRIO = -1
TRIGGER WHEN DISTANCE=1 DELAY=0 DO TQM_SWAP_VALUES(TM3) PRIO = -1
LIN XP3 
;ENDFOLD



;FOLD PTP HOME  Vel= 100 % DEFAULT;%{PE}%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:100, 7:DEFAULT
$BWDSTART = FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS (#PTP_PARAMS,100 )
$H_POS=XHOME
PTP  XHOME
;ENDFOLD

END

PS: Im not interested in robot fully controlled from outside source, just distance correction in two axis at once. Also Im not interested in any hardware from manufacturers like MetaVision, ServoRobot or Scansonic as they have very limited capability to detect objects. I did choose Keyence because I want later on to use it with Matlab for scanning parts, to check proper geometry before welding, and with LJ-V7300 sensor I can scan a lot of surface in short time.

I would like to join as person that also is trying to find manuals for Cloos robots, especially Romat 350. Both programming and electrical drawings if possible. I would like to ask few technical questions to person that did work with them, especially as integrators.