March 20, 2019, 01:27:49 AM
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Fanuc Robot Forum / Re: Easiest way to create a home routine
« Last post by gwallee on Yesterday at 07:21:00 PM »
My normal method is to use zones to determine what area the robot TCP is in and have custom recovery moves for each zone. 

To check the zones, I save 2 PRs to represent the diagonal corners of a box and check if the LPOS is inside of the zone using > & < comparisons.

The recovery moves are normally pretty generic, check z position and move up if needed, check x and move back if needed, etc.
Fanuc Robot Forum / Check if digital output is used
« Last post by IRockWell on Yesterday at 07:11:55 PM »
Short story:
Is there a way to make sure a DO is used NOWHERE in the program?

Long story:
I am dealing with an old 30ia controlled robot which has been moved around a lot and reprogrammed 10 times by 20 ppl without ever cleaning up the code. I am about to be the 21st person  :uglyhammer2:

I want to make a rather small change, but I need to find a DO that is not used yet. I tried using "Find and Replace" in the teach menu of roboguide, but a DO that was not found there is still used in the robot, as a mysterious "user output". Eventually I found it in the "Cellio" system variable... So again, is there a way to find out if a specific DO is really unused?
Fanuc Robot Forum / Mastering/collision faults
« Last post by lmwalker1209 on Yesterday at 06:48:32 PM »
A robot got mastered away from the tick mark on axis 1 and now I’m getting collision faults? We’ve already started touching up jobs. Should I remaster axis 1 ? I’ve also heard changing the motor has solved the collision faults?
Fanuc Robot Forum / Re: BG Logic on a R-30iA Controller
« Last post by HawkME on Yesterday at 05:44:57 PM »
If you have a PLC working with the robot then I would actually just have the PLC drop the hold signal. But if you need a robot only solution then you can read my response below.

If you want this to run all the time then you can use a Type 2 System monitor.  You have to enable this setting this system variable  $TPP_MON.$global_mt=2. The system monitor runs in the background similar to a BG Logic program, but it will call an action program when an event occurs. The Action program can have your UALM logic in it.

A type 2 system monitor will only be stopped if a controlled start occurs, then you have to restart it from the Status menu. Normal cold or hot starts will not affect it. The monitor is paused when the trigger occurs, which should be reset by the action program. Another option is to use a Program monitor, which is started and stopped in your main program using the Monitor and End monitor program.

You then create the condition and Action programs: (set sub type to condition and group mask to ***** in the program detail screen)
:  When DO[100]=On, Call Action; (set group mask to *****)
: LBL[1]
: UALM[13];
:  IF DO[100] = On, JMP LBL[1]
:  Monitor Cond; (this resets the  monitor)

Robot Vision and Vision Products / Developing Epson N2 with Cognex Insight
« Last post by elvicash on Yesterday at 05:30:58 PM »
Hi All

I have an Epson N2 with a Cognex Insight vision system and I am trying to develop a vision guided pick and place application. The hardware decision was made prior to my being part of this project so Epson vision is NOT going to be used.

History - I have done this type of application with Cognex and either a Fanuc/ABB/Others in the past. Epson is a little different does not have the step thru code and also does not touchup of positions mid cycle functionality along with subtract an offset. Also Epson does not have the INVERSE or RELATIVE operator that other systems have so I am working on rolling my own version of those functions for this system.

FYI This system will not have a dead center TCP U-Tool where the robot can just move to the X,Y,U reported by the vision system. I will ultimately have multiple styles of parts and each ones pick orientation will have to be taught on part by part basis so Iwill have to do the snap and find then teach and remember the golden location.

Currently I have an Excel spread sheet in which I can type in the Cognex values for a golden location and the run-time location and it will return the difference as an offset the same as is found using Fanuc Karel -->  RUN_OFFSET = RUN_LOC : INV (GOLD_LOC) which gives me a set of  X, Y and R values (Epson U Values).  I expected I could use those values in the Epson and make moves such as
I would just teach the P5 with no offfset and save the RUN_LOC values as my GOLD_LOC values for that point. This is becuase when
GOLD_LOC is the exact same as RUN_LOC  then NILL pos or a all zero offset is returned  NILPOS_OFFSET = RUN_LOC : INV (GOLD_LOC)

So I wrote the equivalent trig based math function for Epson created faux set of Matrix arrays to do the translate/rotate math and this returns these same values for X,Y,U in the Epson as my Excel worksheet so  I know that math works.  Now I am not sure the Epson motion offset works as expected when I translate X,Y only it tracks pretty well but I find errors when I translate and also have U rotation.   I expected the X,Y rotate U math be the same with an Epson system as a Fanuc or other industrial robot. Is this not so?

Anyone who has implemented Epson Robot with Cognex vision would appreciate some input. Please excuse the rambling post I was trying to be descriptive.

Thanks  elvicash

KUKA Robot Forum / Re: Errors on kuka KRC2 Common KSD error
« Last post by panic mode on Yesterday at 05:14:32 PM »

you may not appreciate or understand help but i assure you it was attempt to help you. obviously i failed, maybe because i don't know where to start with vague input like:

" I have lots of errors"
"Wrong drive parameters A1 - A6 followed by C6"

since you can read, i would offer some topics:

Fanuc Robot Forum / Re: Hold problem with S-420 iF
« Last post by FamiliaPK on Yesterday at 05:11:58 PM »
Can you try to do a “cold start”. Reboot robot pressing “prev” + “next” and select “cold start”

Normally that error appears for a software issue. And solve just with cold start or controlled start and then cold start.

Enviado desde mi iPhone utilizando Tapatalk
Fanuc Robot Forum / Re: best way to email a fanuc backup
« Last post by img-na1 on Yesterday at 04:37:21 PM »
i wil try that, thanks
Fanuc Robot Forum / Re: best way to email a fanuc backup
« Last post by Robo_Eng_13 on Yesterday at 04:35:28 PM »
You might try some sort of large file transfer service, like Dropbox or Google Drive, where you can upload the file, send a link, then download it. The files themselves would not be sent, only a link, which i would think would circumvent a lot of security issues.
Fanuc Robot Forum / best way to email a fanuc backup
« Last post by img-na1 on Yesterday at 04:24:40 PM »
im fairly new with fanuc, when i try to send or  receive backups with fanuc on gmail, they always get blocked for security.
whats the easiest way to send backups for fanuc?
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