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In the base of the robot I have a dsqc 562 SMB. According to the attached pdf (page 107), I can measure up to 7 axes.

Do I even need to daisy chain my two SMB's then? or just plug straight into this SMB?
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All right that works sweet:

Code: [Select]

    MoveL RelTool(pPre_Pick,0,0,0,\Rz:=36),v200,fine,tool0;
   
    WaitTime 0.25;
    pWork_PrePick:=CRobT(\Tool:=tool0\WObj:=wobj0);
     
    MoveL Offs(pWork_PrePick, 0, 0, n201PickOfset), v50, fine, tool0\WObj:=wobj0;
    WaitTime 0.5;
   
    MoveL RelTool(pPre_Pick,0,0,0,\Rz:=36),v200,fine,tool0;

Well the problem occurs when for Rz, will put values over 180 (i guess), so my next turns are: 216,252,288,324.

So the toll starts to rotate counterclockwise  :icon_neutral:. I'm assuming (like in FANUC), it's because of the orientation values.

I'm starting first pick at -236 degree, last correct pick is at -56 degree.

Any suggestions ?
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KUKA Robot Forum / Re: KR100-2 PA oil leak
« Last post by SuperMan on Today at 02:47:59 PM »
- Servo side (input side) it looks like it might need input radial seal replacement. A2 servo can be removed for inspection to verify source of leak (of course take safety measures).
- Below A2 gear unit (Output side) - perform inspection to verify source of leak, check A2 gear output seal
Leaks could be results of overfilling oil in gear units, wrong load data could affect robot in long run, collisions.     
4
Quote
Most likely the Rapid read-ahead is playing tricks on you....

That's what I was thinking.

Quote
Do you get different results if you run it step-wise, v.s. manual v.s. Auto ? If so, then that's most likely it.

I don't have auto ready yet. I'm doing only manual/step. I'll double check that.


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t looks like your x/y never changes and you want your Z to be the same all the time as well, so I assume that your pick position is the same all the time and that you only want to offset the orientation - correct ?
A better alternative is to offset the orientation... of that position rather than going through the conversion to joint angles and back.  (look at OrientZYX and EulerZYX).

Correct, I'm just rotating around Z and than just go down 25mm from current location. I'll look it up.

I'll let you know the results :) 

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Most likely the Rapid read-ahead is playing tricks on you....

Do you get different results if you run it step-wise, v.s. manual v.s. Auto ? If so, then that's most likely it.

Try and insert a WaitTime 0.1\InPos; before each CRobT() and CJointT().

The in-pos flag makes sure the robot is stationary before the rapid execution continues.


It looks like your x/y never changes and you want your Z to be the same all the time as well, so I assume that your pick position is the same all the time and that you only want to offset the orientation - correct ?
A better alternative is to offset the orientation... of that position rather than going through the conversion to joint angles and back.  (look at OrientZYX and EulerZYX).
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Thanks!!

not sure if thats it..... as i am working on an operator consol with the flex ui although linked together i am wanting to add security passwords to give different levels of access to different users
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Fanuc Robot Forum / Re: Greasing Fanuc 120ib and 100ib
« Last post by keyboard7 on Today at 02:24:27 PM »
You can order the grease kits from Lincoln, they come with instructions.  You must follow the directions or you could damage the seals causing A costly repair job.
The instructions have diagrams of the posture the axis should be when greasing them.
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ABB Robot Forum / Re: Backlash
« Last post by Pcavan on Today at 02:23:11 PM »
Thanks I’ll give that a try
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ABB Robot Forum / Re: How do you add an I/O to abb 5500
« Last post by andrew77 on Today at 02:20:40 PM »
yes am going to modify EIO config file

no robot studio using old 5500 in this booth, will drag in the modification in then p-start....is there anything else nessicary to be able to see in digital in's on the teach pendant or will that update when i p-start?
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ABB Robot Forum / Re: EtherNet/IP EIO.cfg file
« Last post by SomeTekk on Today at 01:46:33 PM »
The EIO constructions are different between RW 5.X and 6.X., and not compatible as you no doubt have discovered.

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