Hey guys, I was just wondering if there would be a better way for this robot program ATM I have just like 30 points to make a 90 degree turn in a circle and it spits out glue. I already have senors set up and everything I was just wondering if there was a better way in doing this program, any help would be great! Thanks!
Fanuc Program help
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Sbeve2020 -
November 14, 2022 at 3:58 PM -
Thread is Unresolved
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1. Post your code
2. What options does your robot have? If you have a particular Math option installed (I can't recall the name offhand), that enables the Trigonometry functions, allowing you to compute the points around your circle.
3. You could perhaps use a sequence of CIRC motions to get the same result with reduced line count
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SkyeFire Ill have to check on the options that we have for the robot but we have a R-30IA mate and it is running version 7.5V. It's a very old robot and doesn't have that many options and the code it just like
DI[1] on
30 points with CNT very low
DI[1] off
there's some timers and stuff like that but when we are going threw the program it's just kind of sloppy and not the same speed all around because the robot pretty much has to move the axis 6 so far to have it glue everything. Is there more detail of the 3 thing you talked aboout?
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So, we can probably ignore the Trig option. The Circular motion should be available, however, it's a basic function of almost all Fanucs, AFAIK.
Doing a sudden spin of J6 will probably slow down any motion. You might be able to try one of the other "speed" options. Depending on the OS version, Fanucs have options for mm/sec, deg/sec, "time", and others.
Bottom line, you'll need to experiment with what your robot has to offer.
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I tried messing with the Circular motion and it since it's only a half circle it doesn't seen to like it unless I do a full circle and even with that it didn't even do a perfect one and I messed with the CNT for a long while. Ill do some messing around with it today.
Thanks!
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A Circ motion should create any arc you like that's less than 180deg total. The main limit is that the arc is cirular, so you can't choose parabolic or anything else unusual.
So, to create a "french curve", it should be possible to approximate using a series of smaller Circ moves with good CNT values. You should be able to daisy-chain Circs without any issues -- the example in the manual does exactly that, with 2 180deg Circ moves to make a complete circle.
For your situation, assuming your TCP is located on the tip of the glue dispenser, the biggest potential headache using Circs would be the point where you have to rotate the dispenser 90deg. That might force the robot to reduce the linear mm/sec speed of the TCP down to whatever the rotation speed can keep up with.
Fanuc DispenseTool would be helpful in managing this, but I'm guessing your robot doesn't have that? And DT would still need your dispenser to have a controllable flow rate -- if it's simply on/off, that definitely makes things more difficult.
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SkyeFire Thank you so much I will keep you updated the following days, I do not have the "Fanuc Dispense Tool" also nor the manual. But I will def try to use multiple Circs and see if that will help at all! Also one more question I have everything just set up in world mode, would it be better to use a different one like tool frame or anything else? For like the axis 5,6?
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Also one more question I have everything just set up in world mode, would it be better to use a different one like tool frame or anything else? For like the axis 5,6?
Using a correct UTool is vital. Using a UFrame is not necessary, but usually a good idea. For example, if your circle is not "flat" in World/UFrame 0, writing the program in a UFrame that is aligned with the circle (say, the circle is "flat" in the XY plane of the circle, with the Z axis through the center of the circle) can make doing things like Offsets easier. It also makes it easier to "move" the program if the station you're making the circle in gets moved.