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11
Fanuc Robot Forum / DCS Code for Mastering
« Last post by Robo_Eng_13 on Today at 03:45:57 PM »
The DCS System has 4 passwords, a master and 3 local codes. When mastering, can one of the local codes be used, and if so, which one? Base, Pos/Speed Check, or I/O Connect?

Specifically, we do not want anyone but our engineers to have access to the master code, but we would like techs or supervisors to be able to follow instructions and master the robot in an emergency. I believe it is the Base code, but i am having trouble finding it explicitly in the documentation. Has anyone used this sort of pass code before?
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Quote
public class BackgroundTask extends RoboticsAPICyclicBackgroundTask {
   private Controller cabinet;
   private GripperSkills gripper;
   private double ptpVelocity;
   private BlueGearEugene bgEugene;

   public void initialize() {
      cabinet = getController("KUKA_Sunrise_Cabinet_1");
      initializeCyclic(0, 500, TimeUnit.MILLISECONDS,
            CycleBehavior.BestEffort);
      bgEugene = new BlueGearEugene();
      gripper = new GripperSkills(cabinet);
      keyExample();
   }

   public void runCyclic() {
      ptpVelocity= getApplicationData().getProcessData("ptpVelocity").getValue();  // Gets data from process data
      bgEugene.getApplicationControl().setApplicationOverride(ptpVelocity);          //  Sets this data to main application
   }
   

This is the part of code of main application.
Quote
   @Override
   public void initialize() {
      cabinet = getController("KUKA_Sunrise_Cabinet_1");
      iiwa = (LBR) getDevice(cabinet, "LBR_iiwa_7_R800_1");
      world = World.Current.getRootFrame();
      gripper = new GripperSkills(cabinet);
      gripperTool = getApplicationData().createFromTemplate("Gripper");
      gripperTool.attachTo(iiwa.getFlange());
      bgTask = new BackgroundTask();
   }
   

   @Override
   public void run() {
      ptpVelocity = bgTask.getPtpVelocity();
      iiwa.move(ptpHome().setJointVelocityRel(ptpVelocity));
      iiwa.move(ptp(getApplicationData().getFrame("/BlueGear/StartPoint"))
            .setJointVelocityRel(0.3));
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Fanuc Robot Forum / Re: 24vdc amperage available in controller
« Last post by I3ooI3oo on Today at 03:38:49 PM »
For I/O or ? First rule would always be if it draws more than 100mA of current then it should be driven from a relay that it rated for the current.  For most of the I/O you provide the 24v but I would never use it to run anything that draws more than 100 mA.
14
Fanuc Robot Forum / Re: iRVision Robot picks part with slight offset
« Last post by dofrey on Today at 03:35:05 PM »
The camera slider has rubber bumpers on the left and rigt side and one of them fell off. We actually figured it ojt because if the clicking noise that appeared. We just added this bumpers and lowered the speed of the slider by reducing air pressure.
We will check the silicon bead idea! Thanks!
15
Can you give the code?

Sent from my Mi A1 using Tapatalk

16
Hi, everyone!

I want to try changing the speed of one exact move with the process data.
But when you change speed in process data it only changes after application is restarted.
I decided to change it with the background task, so velocity variable in application is overrided in “real time”.
Code has no mistakes and compilates, but after getting to the movement I control via process data it says that value should be between 0 and 1. So the process data cannot transfer the value through the background task to application. In debug mode it always stays 0.0. Maybe someone had an experience in this question and could help me.
Thank you in advance!
17
Fanuc Robot Forum / Re: Background Program
« Last post by Kyle0588 on Today at 02:59:39 PM »
Iowan- That is what i ended up doing and is working great so far.
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Fanuc Robot Forum / Re: Fanuc Rj2 Checksum EBF51AB6
« Last post by mtmfab on Today at 02:54:33 PM »
Thank you again.. These are 1999 100i robots and 2 of them are new and I still have 1 in storage for parts. I bought them from a company that never installed them. But the one I am having the issues with now has been used since it was new and my first one I bought about 4 or 5 years ago. So I guess it's about time it has some problems.
Thank you for your knowledge and experience. I sent my son to school for this and he took a better job with an international company 6 months ago.. So I'm pretty much lost..
Thank you..   
19
Fanuc Robot Forum / Re: Fanuc Rj2 Checksum EBF51AB6
« Last post by Robo_Eng_13 on Today at 02:39:00 PM »
I only have documentation for the R-30iB controller, but on it, The 4 LEDs in the Off On On Off patern suggests SRAM/FROM, and the 3 on the seven segment display indicates a parity alarm and a need to replace the main board. I would still check the battery first, as it is a very low cost thing to eliminate as a possible cause, then move on the the FROM/SRAM card, then the main board if it is still not fixed.

Also, never toss the old board until the issue is resolved. You can end up wasting a lot of good and expensive parts to find a loose cable.
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Thank you very much that info is pretty useful for me! i was gonna do it with power on :waffen100: :uglyhammer2:  im gonna try what you said in a few minutes, ill keep you informed if it worked or something...

Still i am open to more opinions and help, thank you very much, i appreciate it  :icon_mrgreen:
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