Posts by DS186
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With the sytem variable $SI_UNIT_ENB set to TRUE you can enter the payload data in SI units (kgm²). The default setting is FALSE (kgfcms²).
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You should ask the programmers from your sister company to provide the *.KL source files. You will only find the compiled *.PC files on your controller.
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You need the KAREL source code which is a *.KL file. If you don't have the original source file it is not possible to see the code.
PostRE: How to view Karel/.PC logic?
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KAREL is a compiled language and is similar to Pascal. The *.KL source file must be translated into p-code before it can be executed on a robot controller. Once the file ist translated to a *.PC file it is no longer human readable. It is then kind of a "black box". Having the *.KL file is the only way to get an insight into the source code.DS186July 6, 2023 at 11:16 PM -
Yes. Turn PGNO_VALID off, set the program number and turn PGNO_VALID on. Do you have the system integrators manual? In the manual there is a signal diagram for EXT mode which explains everything very well.
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Alot of stuff seems daunting like the limited "hackability" and the 2 diffrent programming languages (can these be mixed or is it either or?)
TP and KAREL can be combined but as already mentioned above, KAREL is a paid option and it has to be ordered if needed.
I've signed up for a fanuc account, any good pointers what a good place to start digging would be? Like kuka i would get to start with: kss syntax 8.x, system integrators manual, system variables 8.x as a bare minimum and go cover to cover. What is the equivalent with Fanuc?
I would say the basic operation manual (e.g. B-83284EN/10) is a good start and covers a lot of the basic stuff.
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You are right. Thanks for sharing your solution. I completely missed to think about that "easy" approach.
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Open the main menu on your smartPAD and select Configuration > Inputs/outputs > Automatic External. There you can configure all inputs and outputs for the EXT interface.
Except of the PGNO_TYPE you have to set up PGNO_LENGTH, PGNO_FBIT and some other variables.
Check the manual for system integrators for detailed information about the settings for the Automatic External interface.
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Thanks for your reaction, so only to interconnect them as hardwire is possible? Not possible to arrange it to Rack86 for the ethernetIP signals?
It is also possible via network protocol. You can assign rack 36 to DIs (see my first post) and connect these DIs to DOs which are assigned to rack 89 (or whatever rack). For this, you can e.g. use a BG Logic task or the IO Interconnect function.
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Now I would like to extract the DCS signals from the cobot to know the safety status in the PLC. Is it possible to link these Safety output settings (SPO, SSo, SIR, CCR, RPO, FSO) to a Digital Output? So that I can read this in the PLC??
You can assign the different safe IO types to DIs by using rack 36. See chapter 9 of the DCS manual for detailed information about the different slot numbers. You could then either interconnect these DIs to DOs or use a BG Logic task to monitor the status and send it to your PLC via DOs.
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This behavior can be set in the UAS settings. The grant is "Log off FlexPendant user when switching to Auto" (or similar).
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What is a CIP safety Input and Output ?
CSIs and CSOs are inputs and outputs send over a safe network protocol, e.g. PROFIsafe or CIP Safety.
See chapter 9 of the DCS manual for detailed information about the different input and output types.
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Just a short explanation, configure 2 DOs to Rack 36, Slot 0, Start 1-32, e.g. DO[50] to Start 1 and DO[51] to Start 2. After that, you can use NSI[1] and NSI[2] in DCS Safe I/O Connect and connect NSI[1] to SSI[7] and NSI[2] to SSI[8]. Once this is done, you can toggle the DOs to change the mode between AUTO and T1. If you also need T2 you have to create the required logic for this in Safe I/O Connect.
Be careful, this method is not recommended because the mode selection is no longer safety rated. DOs and NSIs are non-safe. I would strongly recommend to either use a suitable safety device for the mode selection or to uninstall External Mode Select from the controller and use the physical mode switch.
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Can i change the mode from TP with out mode switch?
You can basically configure External Mode Select in a way to change the mode from the TP. However, (except of temporary use for e.g. commissioning) I wouldn't recommend it because it is a non-safe workaround.
The official and safe way to change the mode from TP is the (paid) TP Mode Select option (J768).
Do you have a safety PLC which is connected to your robot controller?
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Hello Loipe.. i have the same problems with the mode switch, i have buy a 3 mode switch but not working. So if you can send me some photos of the jumper and the 2 mode switch wiring to try. you can help me a lot
Are you still talking about the same system from this thread?
PostSystem 301
Hello.. i have a r2000ib 210f with r30ia controller. The robot doesn't have operating buttons and mode switch on the controller but have the operator board. I ordered the buttons and a 3mode switch i plugin to the board and all works good accept the 3mode switch. The fault code is SYSTEM 301 external mode select is not available .johnsk8October 24, 2023 at 9:40 AM The mode switch will not work (even if it is correctly installed) as long as the External Mode Select option is installed on your controller.
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In Work Visual you can group inputs and outputs via signal editor. Check the WoV manual or the integrated help function in Work Visual for detailed information.
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Are those safety rated? And I'm assuming those would then be discrete inputs instead of using ethernet correct? I've been digging through the IRC5 compact controller manual and the safemove manual trying to find any of this do you have a link to the pin out?
Yes and yes. For detailed information about the wiring you have to take a look into the circuit diagram of your controller model. You can download manuals and circuit diagrams from the ABB Library. If I remember correctly, the circuit diagrams are premium content. For this, you just need an account.