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11
Yaskawa Motoman Robot Forum / Re: Get currently active tool number in DX200
« Last post by Robogirl on Yesterday at 11:21:04 AM »



Yeah well we are all only human 95devils and we do screw up things doesn't matter if you are operator or programmer...


Exactly.  We all make mistakes every day.  My point was meant to be, without some sort of sensing feedback; crashes and bent torches are going to happen.  If I understand what the OP want, I see a problem.  Operator/someone types a tool number into a variable. Look it's the correct number.  Ohh, I didn't physically change the torch.

Yes i understand
Hehe don't worry...crashes will happen especially when starting up a new product/program

It would be nice to see some photos of the setups but i understand if it's not possible, not sure if the op's company would like that...
12
Fanuc Robot Forum / Re: Communication with PC
« Last post by Velcro on Yesterday at 10:38:48 AM »
I will need a 3rd party vision system for this project, so fanuc iRVision will not be used
13
Yaskawa Motoman Robot Forum / Re: Get currently active tool number in DX200
« Last post by 95devils on Yesterday at 09:58:13 AM »

Yeah well we are all only human 95devils and we do screw up things doesn't matter if you are operator or programmer...


Exactly.  We all make mistakes every day.  My point was meant to be, without some sort of sensing feedback; crashes and bent torches are going to happen.  If I understand what the OP want, I see a problem.  Operator/someone types a tool number into a variable. Look it's the correct number.  Ohh, I didn't physically change the torch.
14
KUKA LBR IIWA / Re: Trigger function
« Last post by NullReference on Yesterday at 09:33:51 AM »
Also, use forceCondition instead of Icondition
15
Yaskawa Motoman Robot Forum / Re: Get currently active tool number in DX200
« Last post by Robogirl on Yesterday at 08:39:39 AM »


Doesn't matter how you program it, even if you could get the tool number, without some feedback an operator can still screw it up.

Yeah well we are all only human 95devils and we do screw up things doesn't matter if you are operator or programmer...

Very interesting thread, correct me if i'm wrong but most of the time we only change the jigs if we have to weld another part, why do you need to change the torch every time?

Maybe...(i'm just thinking out loud) if there are big differences in your torches you could start off with some kind of check/calibration part of the program...the same we use for TIG welding to check if the tungstène is still in good shape, it approaches a sensor and if the sensor get's tripped it's ok and if it doesn't the tungstène is too far gone and the robot stops.

Other than that maybe put a color code on your different torches, 1 color for each part and it will be easier for the operator to see if the right torch is mounted.
16
KUKA LBR IIWA / Re: Trigger function
« Last post by NullReference on Yesterday at 08:16:29 AM »
I don't remember what the arguments for the method createNormalForceCondition() are and I currently don't have access to sunsrise workbench.

Replace createNormalForceCondition with createSpatialForceCondition and pass it a reference to your TCP.
17
KUKA LBR IIWA / Re: Trigger function
« Last post by NullReference on Yesterday at 08:06:06 AM »
Tip, surround your code snippet with [c0de][/c0de] (replace 0 with o)for better formatting

Code: [Select]
public class ImpedanciaRobotMovimiento extends RoboticsAPIApplication {
   @Inject private LBR lbr;
   @Inject private MediaFlangeIOGroup ioGroup;
   private Frame home, p1, p2;
   private double vel;
   private int stiffnessX, stiffnessY, stiffnessZ;
   private ICondition colisionY;
   private double damping;
   CartesianImpedanceControlMode impedanceControlMode;

   @Override
   public void initialize() {
      home = getApplicationData().getFrame("/ImpedanciaRobot").copy();
      p1 = getApplicationData().getFrame("/ImpedanciaRobot/P1").copy();
      p2 = getApplicationData().getFrame("/ImpedanciaRobot/P2").copy();
     
      vel = 0.1;
      stiffnessX = 100;
      stiffnessY = 100;
      stiffnessZ = 100;
      damping = 0.7;
     
      impedanceControlMode = new CartesianImpedanceControlMode();
      impedanceControlMode.parametrize(CartDOF.ALL).setDamping(damping);
      impedanceControlMode.parametrize(CartDOF.X).setStiffness(stiffnessX);
      impedanceControlMode.parametrize(CartDOF.Y).setStiffness(stiffnessY);
      impedanceControlMode.parametrize(CartDOF.Z).setStiffness(stiffnessZ);
      colisionY = ForceCondition.createNormalForceCondition(null, CoordinateAxis.Y, 3);
     
      ioGroup.setLEDRed(false);
      ioGroup.setLEDGreen(false);
      ioGroup.setLEDBlue(false);
   }

   @Override
   public void run() {
      boolean end = false;
      while (!end) {
         int menu = getApplicationUI().displayModalDialog(ApplicationDialogType.INFORMATION,
               "El robot realizará un recorrido y el operario lo podrá mover. El robot seguirá " +
               "su trayectoria",
               "Ok",
               "Cancelar");
         switch(menu) {
            case 0:
               robot_impedancia_movil();
               break;
            default:
               end = true;
         }
      }
   }

   private void robot_impedancia_movil() {
      lbr.move(spl(p1).setJointVelocityRel(vel).setMode(impedanceControlMode));
      while (true) {
         lbr.move(circ(home, p2).setJointVelocityRel(vel).setMode(impedanceControlMode).triggerWhen(colisionY, trigger1));
         lbr.move(circ(home, p1).setJointVelocityRel(vel).setMode(impedanceControlMode).triggerWhen(colisionY, trigger1));
      }
   }
   
   //set trigger action
   ICallbackAction trigger1 = new ICallbackAction() {
     
      @Override
      public void onTriggerFired(IFiredTriggerInfo triggerInformation) {
         ioGroup.setLEDRed(true);
      }
   };
}
18
Comau Robots / Re: Comau NJ60-2.2 for Milling
« Last post by sandrot on Yesterday at 07:33:47 AM »
Hi,
    This Comau Robot Milling project has been haunting me for quite a while, the issue is when 1st attempt milling a 3D  head sculpture the front, back and Z direction do not align this is been solved (TCP wasn't correctly done and Uframe) once this solved the next problem is there's always a 8mm excess of poly between the front part and rear part. By solving this we adjust the tool length by 4mm at -z direction and my question is why is this happening?
By the way CAM software used is Sprut'm
Coamu controller CG5.

thanks,

Sculpting projects I know of use a turntable and the robot has absolute accuracy option.

I would otherwise consider an 8 mm error an artifact of some wrong configuration.


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19
Comau Robots / Re: ERROR Codes
« Last post by sandrot on Yesterday at 07:29:53 AM »
Hi,
sorry did not notice this message :/

The reason for the error is that Axis 7 and 8 are no longer existing. We received the robot from previous owners who had it on a track/ Rotating Table which is where these axis come from. What I am stuck on is to remove them from the Config File

On C4G and C5G we do a full reload of software, once configured you don't go back otherwise.

Be sure you have a backup because you may have to recover some info. I would recover old log files and calibration as a minimum.


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20
Comau Robots / Re: PREVENT CURSOR TO GO FORWARD DURING MOVEMENTS
« Last post by sandrot on Yesterday at 07:25:28 AM »
Hi! Like every robot during a movement the cursor of the program continue going forward for a number of brogramming raws and execute some logic statements. Is there a way to stop the cursor if needed? I know the "with condition" statement using "when at end do" but you can not put in there many things like an IF statement...

Not clear what you want to do. Cursor move to facilitate typing when you select a statement from menu in IDE.


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