Looks like its on the back of the operator panel according to the maintenance manual.
Posts by RockemSockem
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Additionally, you can load .TP files from robots with similar configurations. You cannot load a .TP program to a robot that doesn't have similar motion or instruction commands (e.g. SPOT instruction to a Handling robot). Although you won't risk damaging anything like you could loading .SV files, you will get an alarm.
An additional issue can crop up when the .TP files are from an older version. We have a set of standard programs for specific applications, one of which calls a program with arguments that passes those arguments to a Karel program. Loading the old .TP file messes with that somehow so that (as far as it seems to me) the arguments don't get passed to the Karel program. Compiling the LS file on a newer version controller fixes that though.
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From the description, it sounds like a BG logic issue. I would suggest using condition handlers instead, but you can try to keep using the BG logic. I think the issue is that there is a race, of sorts, between when the controller changes the speed to 10% and when UO8 turns off. If the controller sets the speed to 10% before turning off the UO8 signal, then the speed will be set to GI5. You need a different set of conditions to prevent that from happening. For example, you could have it conditioned off of UO3 so that it is controlling the speed whenever the program is running (you could run into the same issue if you enabled the teach pendant while running though).
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Do you have anything else configured to use rack 89 slot 1 that may overlap with the range? Maybe the UOP?
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How is it configured?
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How is it configured? Are there any interconnections set up?
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You could try setting it up as though you had a pointer and fixture plate (ie, get the tool a certain height above the infeed/build station, try to make it parallel, and record the position; just make sure the tool is oriented right), then modify the pick and place positions by selecting the corresponding PM file in the select menu and go to Data>Karel Posns. Carefully step through the pick and place programs and measure how much its off, and make the necessary adjustments to the positions.
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How are you providing these inputs to the robot? Ethernet/IP, 24VDC, etc.
Can you post a picture of your IO configuration on the robot?
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There is no way to disable/clear it through the robot software, you have to satisfy the EES circuit.
If you're just doing testing/programming and it will only be running under your control, you can temporarily jumper the EES circuit. But you absolutely cannot do this if you are intending to allow the robot to run while you are not there with the teach pendant in hand.
Is the safety circuit reset through the HMI? If that is the issue with just resetting it, you could add a physical button and modify the PLC program to allow the reset to be done through that button.
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I'm still not sure what your facing difficulty with, you need to explain what you actually need help with.
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I have a few questions for you that will help answer your own.
What specifically are you having trouble with? IO configuration, wiring, etc.
What program selection mode do you plan on using?
Do you have the documentation for your robot?
Do you plan on using any other devices, such as a PLC, and do you have any options installed?
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It does. Then I cold start controller and open it up and it's all zeroes again. The changes don't take.
It sounds like your num pts is too high. Are you putting in 32? GIs go up to 16, so if you want to use more CPCs than that you'll need to configure 2 GIs.
But I don't think that it can be directly mapped to GIs.
They can. I'm doing it right now with an R-30iB Plus Mate.
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You don't have to remove the rack 36 assignment from the DIs. Your GI configuration should look similar to line 6 below, with the number of points being however many CPCs you're using.
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It appears that your range is too large. I'm not sure what the exact limits are but you should be good just going 25-31.
EDIT: The limit is 32, which is also the max number of CPCs you can have.
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If you have a recovery program that runs after an abort, you can set the UF to 0 in there.
If you're resuming a program, you could setup a condition handler or BG logic program to check if the UF is 0 or not, and set it to 0 when needed.Nevermind, thought you could but forgot that you can't change anything motion related in BG logic or condition handlers.As far as being able to tell where it is, there are a few different options that work well. FANUC likes to set registers and PRs to indicate the current position. You can use reference positions. You can also setup non-stopping DCS zones and map input bits to them (rack 36, slot 1, start at 1 or the number of the first DCS zone you want to look at).
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Hello,
I have an R30-iB Plus Mate and was trying to do an image backup over ethernet. I'm using TFTPD64 as both the DHCP and TFTP servers on my computer. I've used wireshark to monitor the network and don't see any DHCP related packets from the robot. Is there something missing from my configurations? Could it be a network issue? There's no other DHCP server on the network.
I've attached pictures of the host comm configuration (from roboguide but the real robot is configured the same way) and the ini file for TFTPD64.
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Program select is under setup. I thought I had the same issue but it was just under a different name for me due to using a different software.
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I think Roboguide just holds those inputs high as they are required to be so for operation. I tested it on 2 cells, R30iA and R30iB. The R30iA cell has the same missing program select issue as well, not sure why.