Help Needed on DPM Dynamic Path Modification

Quote from 4wheeled

The PDF is attached.

** PDF removed by Moderator - Please do not post Fanuc documentation **

Hi, could you send the Dynamic Path Modification pdf documentation on my email?

We are looking to deploy the DPM option with one R2000ib series robots. We want to use this at first only to dynamically modify robots the z axis / altitude to maintain the robots tcp a constant positive offset height distance/clearance over part. Basically we want to be able to follow the parts horizontal contour profile as the part comes down the line following equiped robot and conveyor. The conveyor speed is slow ...like just slower than average persons walking speed. I thought we could just update position registers from 3 or 4 digital inputs using group DI's like a third party camera/vision system can but am unsure if this approach is ok or DPM would be more effective especially if it works on z axis then we want to eventually use DPM on x ,y,z and roll pitch and yaw path changes for curvy parts. All parts are large. 20 feet long, 8 feet wide and 8 feet tall with the Z height deviation being the largest variation. Any help or perspectives here on how to approach this challenge with or without DPM is much appreciated. Thank you. John

R2000iB- what is the controller version?

DPM may not even be an option.

Hi,

I don't know the DPM function but for your application, i think you can use just offset for modify z value for different part large or small part with DI or use external sensor or camera. If the value z is random you can adapt the value of the z in PR for example.

A example of vision application :

/PROG  adapt_Z
/ATTR
OWNER		= SHIFT;
COMMENT		= "none";
PROG_SIZE	= 1077;
CREATE		= DATE   TIME ;
MODIFIED	= DATE   TIME ;
FILE_NAME	= ;
VERSION		= 0;
LINE_COUNT	= 24;
MEMORY_SIZE	= 1353;
PROTECT		= READ;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;

   1:  VISION RUN_FIND '...' CAMERA_VIEW[...]
   2:   VISION GET_OFFSET 'VP1' VR[2] JMP LBL[99]
   3:  UTOOL_NUM[GP1]=1 ;
   4:  UFRAME_NUM=0 ;
   5:   
   6:  PR[1]=VR[2].OFFSET
   7:  
   8:   
   9:J P[1] 50% CNT50;
  10:J P[2] 50% CNT30;
  11:L P[3] 800mm/sec FINE Offset,PR[1:Z offset Vision]    ;
  12:   ;
  13:  DO[210:OFF:GRIPPER]=OFF ;
  14:  
  15:   ;
  16:L P[4] 50mm/sec FINE Offset,PR[1:Z offset Vision]    ;
  17:   ;
  18:  DO[210:OFF:GRIPPER]=ON ;
  19:  WAIT   1.00(sec) ;
  20:   ;
  21:L P[5] 400mm/sec FINE Offset,PR[1:Z offset Vision]   ;
  22:J P[6] 50% FINE Offset,PR[1:Z offset Vision]   ;
  23:   ;
  24:  
  25:LBL[99]
  26: UALM[2:ERROR VISION DATA]

};
/END

Thank you

Version 7.2? I don't believe that DPM is supported for that version. Without upgrading the minor rev of your core software, you'll have to go another route.

From Fanuc:

"DPM (Dyn Path Modifier, R739) was introduced with R-30iA v7.7 and R-30iB v8.10 release."

Thank you. I'm not sure how difficult it is to upgrade. I do have an active Fanuc support agreement but lm not that excited to dive in to the upgrade. Do you think it's worth it ? I do have a second robot a brand new LRMate 200id7 and I really do not see a ton of feature sets in the newer software but Im not that experienced in this yet. 3 years into working with Fanuc robots. Thx. J

For upgrade the software is simple but you need to send a save "As IMAGE" and "AOA" to Fanuc support.

And after that the Fanuc support send you a new Save "As IMAGE ". You need to restore the new save in controlled mode with your all axis to 0°.

Usually, Fanuc support send you a procedure for upgrade the version of your controller.

the only risk for upgrade the version is to lose some setup or config of your robot controller

Quote from YakawFaBB

For upgrade the software is simple but you need to send a save "As IMAGE" and "AOA" to Fanuc support.

And after that the Fanuc support send you a new Save "As IMAGE ". You need to restore the new save in controlled mode with your all axis to 0°.

Usually, Fanuc support send you a procedure for upgrade the version of your controller.

the only risk for upgrade the version is to lose some setup or config of your robot controller

That depends on where you are located, it's different in the U.S.

Quote from pdl

That depends on where you are located, it's different in the U.S.

Good to know, but how do they do ?

Thank you very much for the information here ! J

Thank you !