Make sure you are in controlled start. Otherwise it is not possible to change the variable.
Posts by DS186
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I usually add this to my bg logic programs:
DO[78:In Step Mode]=($SSR.$singlestep)
That way I can put it on an HMI so the operators can figure out why nothing is happening when they start the system and there are no faults ...
HHO,
use this line of code in one of your BG logic tasks. The output will turn on when STEP mode is active.
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No messages, do I keep the teach pendant on or off
The TP needs to be off for running in auto mode.
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By default only KLI port XF5 is available/active. For using XF6 the option KUKA.EthernetSwitch Dual Port ist required.
In case you also need access to the daisy chain ports XF3 and XF4 you have to order the Quad Port option (which gives you also access to XF6).
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For the Molex Option you can get the GSDML file directly from Fanuc. Or write me a PM, but I'm out of the office at the moment.
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You don't need to create your own GSDML file for the Molex option. This is only required for the Siemens CP16xx.
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The other picture shows the Molex card. You will find the steps for configuration in the PROFINET manual. See your other topic for information about the GSDML file. I already answered this question in the second thread.
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You have the Molex option (Dual Channel Profinet, R834). Option J744 is just the firmware of the Siemens CP16xx located on the controller.
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This is the problem with crossposting. He has cp16xx RE: Fanuc Robot and Siemens PLC 1500.
I agree, that is indeed really confusing.
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Hello MoEL,
it depends on the PROFINET option you have. For the Molex Option you can get the GSDML file from Fanuc (or write me a PM). In case you have the Siemens CP16xx PROFINET option you have to create a custom GSDML file with TIA portal by yourself.
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And did you enable the UI signals?
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Also the reset button on the operator panel of the controller can be used.
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There are some (non-safe) IOs available by default that you can use for your purpose. Check the maintenace manual of the R-30iB Plus controller for more information about the local IOs.
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If aborting the program via PLC, it works perfect. I am not sure what would happen via TP, because we normally never touch the TP when the robots running in auto mode. Everything is done from external.
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HawkME, thanks for the reply. I could also not find any details in the manuals about it.
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On my latest R-30iB Plus the Prog Aborted signal from the Cell IOs works as expected. Could this be a problem depending on the software version of the controller?
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Hey guys,
can somebody of you explain what is the intended use of the "cell frame" within the frame setup menu? I have never touched or used it before. The "cell floor" is clear to me as it is used for the 4D graphics function.
Regards
Daniel
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Payload is fine to copy paste, but frames should always be taught individually to account for small differences with each robot.
You are right, but assuming you have identical tools with no mechanical differences and/or only small tolerances, copy paste for the tool frame would also bei okay.
I think it is also a question about the accuracy that is required in the application.
However, in case of any doubts, teaching the tool frame is always a good idea.
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If it is the same tool and payload data, you can do it once and after that, enter it directly to the other robots.
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I'm sorry sir but I couldn't find anything about NC program conversion on the manual ?
I have sent you a private message.