I'm working on finishing up a project for a customer, and the robot will not pick up product. I've narrowed my issue to the PLONPAL program in Pallet Tool. I have looked over the code and it seems right to me. I think the issue lies in the offsets for each position. Any suggestions on where to begin?
R-30iA controller
Pallet Tool v7.70/52
pallet tool will not pick
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MechE -
September 14, 2018 at 12:50 AM -
Thread is marked as Resolved.
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What specifically is happening when you go to pick?
Have you setup your gripper correctly? Both I/O and UTOOL. (SETUP > GRIPPER)
Have you taught your infeed correctly? (SETUP > INFEED STATION)
Have you assigned the correct gripper for each unit load?
If it is truly a case picking problem, the problem will be in PKFRMINF, not PLONPAL. Hit hold when the robot goes to pick, then step though PKFRMINF, pay close attention, especially when you get to CLOSETOOL at the end.
Code
Display More45: !Infeed retreat position ; 46:L PR[1:Infeed Unit Posn] max_speed CNT50 Offset,PR[3:Infeed Ret Offst] ; 47: ; 48: !Pick position. ; 49:L PR[1:Infeed Unit Posn] max_speed CNT0 ; 50: R[20:Cur Robot Posn]=3 ; 51: ; 52: CALL CLOSTOOL(1) ; 53: ; 54: WAIT R[18] ; 55: ; 56: IF R[40:Part ID method]<>4,JMP LBL[100] ; 57: CALL TLK2PP(2,R[9:Cur TotUnitsPick],R[79:Orient of nxt pk],R[3:Current Infeed],R[2:Current Unitload],0,0) ; 58: ; 59: LBL[100:End] ;
Good Luck,
Phil -
When I go to pick, the robot will go to the infeed unit position (PR 1) in the PLONPAL and then get hung up when it tries to adjust for each unitload. I have tried to compare it to a simulation I made in Pallet Pro, and to me it looked like this program would be the issue, not PKFROMINF?
Should the robot adjust for the unit load in the PKFROMINF or PLONPAL program?
As for the teaching of locations and the gripper, they should be correct. -
After stepping through PKFRMINF the robot just went to the assigned infeed position, then went up and down.
I is possible that the gripper was never assigned seeing as I cannot find where to check for that. Is it in the gripper set up menu or the unit load menu? -
Grippers are assign in the unit load setup (or possibly optimal path). The i/o for the gripper is in gripper setup
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As it turns out, that data was not entered... but after getting it all in, the issue still exists where the robot will not go to pick boxes.
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You're still missing something then. Can you attach an all of the above backup?
It seems like you and your company could really benefit from some Fanuc Pallet Tool training.
Once you understand Pallet Tool you can setup a standard palletizing cell in less than a week; sometimes in less than a day.
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I agree that we could use the training, but unfortunately the next class that I've seen is in november.
As for the backup, I just spoke with FANUCs pallet tool expert and the backup I sent him had the fixtures in a circular coordinate system for whatever reason, but here it is anyway. -
I don't think you're going to get to far without proper training.
How did you teach your stations? Do you have a pointer and a plate?
I've attached a few photos of where your robot thinks everything is. Unless you're in a zero g environment, it's kind of ugly.
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Apparently the electrician who installed the robot and mastered it, just went to where the position screen said zero was and mastered it there...
After doing a proper mastering, everything looks more normal, just lower than it should be. How high above the infeed and pallet origins should i teach the positions?
Attached is the new back up with everything "fixed" -
That all depends on the length of your pointer after you install it onto your tool.
Do you have a plate and pointer?
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I really hope so. I was brought on this project just recently and the company had the robots sitting in storage for over a year... It's been quite the cluster just getting them set up the right way.
Thanks for all the help PDL, I really appreciate it. -
How have you been teaching the points?
Have you read the pallet tool setup and operations manual?
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I have been teaching the points by setting the end of the robot a known distance from the infeed origin, and adjusting the z height as needed. As of right now, the vacuum head gets to the boxes just fine but is about a quarter of an inch too high to actually grab the boxes.
And no, we tried to contact FANUC to get a copy but they said that they only had a troubleshooting guide for handling tool. -
Ask them for MACOCPALL06061E REV E
You can adjust the positions by direct entry if you select pminf00x or pmsta00x and then go to karel positions at the data screen.