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Yaskawa Motoman Robot Forum / Re: MRC Welding Issue
« Last post by Splinky on Today at 01:19:27 AM »

This system can be set up with independent start/run voltage and wire speed or just a single voltage and wire speed setting attached to as arc start file.  I have tried both methods with the same result.  The weld is established and makes a weld, but we cannot get the wire speed to respond to command and it feeds at a very low rate.  We can change the rate by turning the wire feed output (OT 127) on and setting the analog output with the arccur command.

It seems that when we use an arcstart command that the feeder gets an inch command from the MEW02 board.

I'm trying to dig up information on the HUWI interface to see how it interacts with the MEW02, but given the systems age that seems to be a challenge.


Fanuc Robot Forum / Re: Fanuc RJ-2 Ethernet capabilities
« Last post by cobenson on Today at 12:21:52 AM »
If memory serves me correctly, this is only for backup and restore over ftp.
Fanuc Robot Forum / Re: Seeing a "S/W Reg. expires in 57 days" Fault
« Last post by cobenson on Today at 12:18:45 AM »
From the manual

SYST-169 S/W Registration is temporary

Cause: S/W Registration is in effect. This alarm is posted when there are more than 28 days until
registration expires.

Remedy: Display the S/W Registration screen:
1. Press MENUS.
2. Select STATUS.
3. Contact FANUC America Corporation to obtain an authorization key to extend the time.
Fanuc Robot Forum / Re: iRVision VOFFSET vs. tool offset vs. found position
« Last post by HawkME on Yesterday at 11:19:35 PM »
Post your updated TP program as well as screen shots of your vision process.

Also go to your registers and check the vision register 1 offset to see if it is being updated when you get_offset.
Fanuc Robot Forum / Re: Cannot find trigonometric functions
« Last post by rf103 on Yesterday at 11:12:47 PM »
If you have Karel you could write a few simple programs that call sin, cos and other functions for you and put the results in registers. That is basically what the trigonometric programs do.
Fanuc Robot Forum / Re: iRVision VOFFSET vs. tool offset vs. found position
« Last post by bdubz325 on Yesterday at 10:50:38 PM »
Fixed frame offset is for when picking an object off a surface. The objects position is "offset" in your "user frame" relative to some referenced picture that you take of the object. This uses the Voffset command to modify your point.

Tool Offset is when you have a part already in the gripper and you wave it in front of a camera to see how you have it gripped. This offsets the "tool" position.

Found position just outputs the raw position data of the object in the user frame. You then have to dump it into a PR before using. It has some limitations and advantages which are probably more than you want to know right now.

Use the Fixed frame offset and Voffset command for your application.

Take a picture of your part  and set the reference position.
Then without moving the part step through your TP program and touch up the pickup point that has Voffset applied.
Push yes to subtract the offset.

Now your taught point is relative to the reference position and will be offset when the part moves.

Alright so I've followed your steps and yet the robot goes to that same point I touched up and subtracted the difference from regardless of whether the peg is in that location or not. I need it to track down the green pegs and pick them up wherever they may be located.
Fanuc Robot Forum / Re: iRVision VOFFSET vs. tool offset vs. found position
« Last post by bdubz325 on Yesterday at 10:28:25 PM »
Thank you for the very informative reply, I really appreciate it and I think it's starting to all make sense. I've kind of had to rely on forums because I only have one other classmate and our teacher is almost completely new to FANUC so he's still learning as well. All in all thank you.
I changed the assembly instances applies them then downloaded. Then went offline and changed them back to the right ones now I'm online. I don't understand how this worked but it did...

Thanks to everyone for helping me through the process!
KUKA Robot Forum / Watchdog
« Last post by El masters on Yesterday at 09:53:44 PM »
we have a problem with a kuka kr c4 arc welding robot. kss 8.3 the robot goes on its working path and then stops in the welding arc . it shows a fault of wdog and problem with the post fronuis fault 38
KUKA Robot Forum / Re: Reading and Writing to KRC4 IOs?
« Last post by nar0909 on Yesterday at 09:53:26 PM »
Hi SkyeFire,
Thanks for your response.
Now I am making some progress and going in the right direction.
So are all these signals BOOLEAN? like 1 bit coil type data?
Please have a look at the screenshot attached and let me know how do we tell the robot what program to select? We have a welding robot with two programs for two sides. How can this be done?
And how should this be performed?
Im looking at making a desired program true for the robot to select and use $AUT $OUT[995] true?? or $MODE_AUTO to TRUE?
Please advice?
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