Posts by Alex H

motion planer and singularities is something that doesn´t mix well

i haven´t seen a KUKA or ABB (mentioned cause i have more contact with them) run through a singularity and keeping the orientation
most of the time i have seen them throw errors and when still forced on the path losing orientation in theses areas to get a bit off from A5=0°

the wrist moves while the robot can´t calculate how the hell he should move through a point with indefinite solutions

mayby PAL_MODE can help you, but never used it so not sure

looks like you are going through a wrist singularity

so A5 is near 0° and A4 and A6 can be pretty much anything
avoid A5 getting close to 0° moveing your path when this path is typical mount your gear not straight to the flange but angled some degree (I would go around 30°)

pretty common topic here, so just search for singularity for more details

VelSet is setting something like the override you can set on the teachpendant
so it does exactly what you want, as long as it is not used in the program for a different reason

So you will run this override until the next time SpeedAdjustSackis called, so it could happen
that you PLC is desperatly sending new values but the robot doesn´t care until it is done with
whatever it is doing

VelSet and the override in the menu are 2 different things and will both be taken into account for the final speed the robot is doing

so VelSet works, but will not show up as a change of override percentage

don´t look for the motor manual but the controller manual

with a short google search i came from the motor to the corresponding controller and for that
controller the chapters 12 and following explain what you are looking for

What do you mean by updates? Are you talking operating system level updates or just adding/modifing the programs the robot is executing?

Most of your text reads like you want to update the operating system while the last part sound more like a central robot program version control, deployment and backup.

Either way I can´t give you a definit answer, but I can tell you that I like ABB with it´s data structure with modules and the option for late binding. Especially with the PC-Interface option and the ftp
server running on the controller.

I prepare my water jet modules in Robotstudio and transfer them to the machine using the ftp and can start them from the cell HMI.
For backups and fault checking I just connet to the controller in Robotstudio. And the backups could be automated.

Why do you want to avoid loading modules? Loading modules is more like loading a .src and .dat on Kuka while loading a program is more like loading a new project on Kuka.

Our water jet systems are changeing the cutting program every few seconds in the worst case and all that while loading and unloading modules containing the points and instructions for a full cutting program, what ABB calls a program is never changed.

look up the instruction "IDelete" in the manuals

put your seams in sepereate sub procedures and have the main proc just call the subs

we use this a lot on our water jet machines

MODULE Program01
  PROC MainProc01()
    IF nVariant>0 AND nVariant<=5 THEN
	  Sub_Proc_01;
	  Sub_Proc_02;
	  Sub_Proc_03;
      IF (nVariant=1) OR (nVariant=2) THEN
        Sub_Proc_04a;
        Sub_Proc_05a;
      ELSE
        Sub_Proc_04b;
        Sub_Proc_05b;
      ENDIF
      Sub_Proc_06;
    ENDIF
  ENDPROC

  PROC Sub_Proc_01()
    MoveJ...
    .
    .
    .
  ENDPROC
    
  PROC Sub_Proc_02()
    MoveJ...
    .
    .
    .
  ENDPROC
  
  .
  .
  .
  
ENDMODULE

best starting point would be to not start searching for parts on aliexpress

i like SCHMALZ and FESTO, both offer pretty much every info you need to figure out your component choice

https://www.schmalz.com/en-us/vacuum-technology-for-automation/vacuum-components/vacuum-generators/compact-ejectors/compact-ejectors-scpmb-scpmc-scpmi-307917/10.02.02.06473/

this is an example of what i mean with "every info you need" and what is missing on aliexpress

that´s still not the whole programm, just the declaration of some robtargets
which is interesting as you can already see some are PERS while other are CONST, but that´s it...

it seems that you have some calculations happening in your programm and you still can´t back
track

the easiest thing you could do is use the <code> tags and copy the program text here, if it occours in more then a single module make a code box for every module
or upload a backup

Don´t know what Siemens Edge can do or not, but we had good luck with EWON remote access routers.

The integrator offers remote support and we run our factory network up to the EWON, so both the inegrator and we can access the robot and with the PC-Interface option on the Controller.

From there do whatever you like, Logs would mean for me open Robotstudio and take a look (and start the signal analyzer)

Thanks for the info, we will keep that in mind. At first we are running now a log on the PLC side with
per cycle logging for the Profibus.

If we can´t find anything we will go towards the classis i/o and log that (no oscilloscope at hand, but
dedicated logging hardware with logging digital i/o with fast analog inputs)

I will update when we find anything

Lemster68

With nothing else in the logs I mean exactly that. Neither me nor ABB remoting into the system could find any other log entry around the time of the stop under any filter.

Skooter

It happens at different places in the same program but also in different programs. So far we could only observer that it happens more often in an area where the arm is streched out and less often in the
other areas where the arm is mostly retracted.

The point with loose connection or weak contactors sounds interesting, as the system ist running more then 11 years without much in major parts changes. So contactors getting weak doesn´t sound far fetched.

Hi guys

I have a IRC5 Multi-Move system running RW 5.16 with 2 IRB1600 robots here that occasionally runs into the fault code 10125.

This started to happen at the end of last year without any change to the running system and so far we could figure out why or
even a way to trigger the behavior. It just happens at random.

There is nothing in the logs, just the 10125 fault for each robot at the same time, nothing before and nothing after... on the PLC
side nothing appears in the logs.

Mayby someone already ran into a similar situation and could guide me to the cause of the fault. ABB Support didn´t had a good
idea what causes the problem and just recommended a reset with an I-Start or check the PLC side.

My next step is to have our PLC guy sniffing the Profibus connection and trying match up when the fault happens next time as I
don´t see anything I could check on the robot side.

Thanks in advance

we have anybus bolts in use with our mobile machines, but pretty much any wireless accesspoint can be configured to do that

Anybus Wireless Bolt - Ethernet RJ45 PoE

but why can´t you run ethernet? do you have wireless power connections for your robots?

either way you connect the wan-port and configure it according to the manual, for more then just ftp you need the 616-1 PC Interface option

depends on what is you exact situation you have many options

• Worldzones (payed option)
• Instructions
  • Set
  • SetDO
  • MoveLSync
  • MoveLDO
  • TriggL
  • Trigg......

something from the list will work, but with your description only you can work this out

Instructions are explained in Technical reference manual RAPID Instructions, Functions and Data

types

Quote from Juan2518

is it possible from flexpendant or just by robot studio using Rapid code?

I don´t actually know for sure since i pretty much only use the FP for manually moving the robot,

but if I remember right you can have free text input on the FP

and there is always the option to quickly copy the module onto an usb stick and edit the file on any
texteditor such as Notepad++ or even the build in notepad in Windows

after that just overwrite the module in the controller and update the the running version

please take a look into the Technical reference manual for RAPID Instructions, Functions and Data

types

there look up the data type speeddata

it will look something like:

PERS speeddata vSpeedSet := [1000, 500, 5000, 1000];
.
.
.
vSpeedSet.v_tcp := nExternalVariable;
MoveL *, VSpeedSet, z50, tool0;
.
.
.

does it need to be done on the HMI or is it enought to to get a signal to the PLC so it can handle the paper trail?

cause i would probably change up my proc I use for the workobject teaching with adding a PulseDO to trigger the PLC, when you jog with the FP.

PROC MoveAndControl(pers robtarget Position)
  MoveJ Offs (Position,0,0,-100), v100, fine, tJet8\WObj:=wobj0;
  MoveL Offs (Position,0,0,-0.1), v20, fine, tJet8\WObj:=wobj0;
  Stop \NoRegain;
  ...
  UIMessageBox with btnYesNo to confirm override
  ...
  Kontrollpos := Offs (CRobT(\Tool:=tJet8 \WObj:=wobj0),0,0,0.1);
  PulseDO do15;
  MoveL Offs (Position,0,0,-100), v100, fine, tJet8\WObj:=wobj0;
ENDPROC

i use it without the pulse to get pos 0, X and Y for the workobject and it works fine