Posts by Frank Yeh

gwallee This looks like a very interesting tool. Thank you for sharing it, but the link seems to be dead. Could you please upload it again?

This is a really cool. I understand the overview that you provided, but will need to brush up my linear algebra to understand how the nuts and bolts are actually put together. Thank you for sharing it with us.

Thank you TitusLepic . Your patience and generosity is greatly appreciated. I will try to reinstall the controller with the same options.

TitusLepic This is exactly what I am looking for. But somehow I can't find Color by Axis limit option. I see Color by Speed, Acceleration, Orientation and IO state only.

Nation Thank you for the reply. I understand the concept and it is quite clever. To write the Karel program on this would be a fun challenge. The position converter definitely comes in handy!

I have been programming a robot that uses a laser to calibrate frame shifts, so the user frame differ slightly for each job.

When I do the test runs everything is fine, but sometimes during the production run a axis limit would be reached and the robot would pause.

Is there a way, either with the teach pedant or using Roboguide to check that all points are not close to axis limits?

One way I can think of is to reduce the axis limits while programming, then change them back to normal for production runs. But that will require me to go through all programs again.

Thank you for your advice in advance.

hermann thank you sir! I am not as familiar with the HMI side of things. I will look into it.

Theo.g thank you for the information sir. Is the scanner being called upon by a Karel program and processed to change register values?

Hi Theo,

I have just joined the forum and wanting to do something similar. May I ask what kind of barcode scanner did you use and how is it connect to the HMI?

Thank you.

Thank you Titus, that does sound like a real pain. I have experience using photogrammetry for smaller parts. Maybe I will try the same route for the tubs and mount the camera onto the robotic arm. Will need to get some dotted stickers for the tub.

I check the frame shift schedule, and it seems like there is no longer an option to set the offset type. I am going to have to do some trials to see if adding additional points would compensate for minor dimensional changes. I greatly appreciate your help TitusLepic

Thank you so much for the additional details sir. I will have to study it a little bit. I am in the process of convincing my client to digitize their hand made thermal forming molds as well. Do you have any experience with 3D scanners? or are your molds are digitally designed to begin with?

Thank you for sharing the insight. I am currently using 7 points, 4Z, 2Y, and 1X on the lip portion of the tub. It is working reasonably well, but some points on the opposite side of the X are slightly off (1/8). May I ask what do you mean by "allowable convergence of 4"? Do you mind sharing your search point selection strategies?

Hi everyone,

New to the forum here. I have recently started programming for a Fanuc robot with a R-30iB controller.

It uses a laser to do a frame calibration every time a thermal formed hot tub is loaded onto the fixture.

My question, does the Frame Shift calibration program simply adjust the tilt and shift of a Cartesian frame, or does it also account for the wrapping and shrinkage of the tub as well.

From the controller manual, it seems to indicate some level of compensations for dimensional changes,. I am just trying to understand how it works behind the scene.

Thanks in advance.

Frank