Something is wrong with the configuration.
Posts by gustavxb
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Defenetly looks like the robot lost the Origin Data.
I recommend replacing the batteries in the scara just to be safe.
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Hi,
2. On fanuc you can use Refrence Positions they are stored in axis values and you can set the tolerance.
Space check is also an option its a zone where you need a DI for the robots tcp to enter/leave based on cofiguration and you get a respons on a DO.
Like Alan said you can also use DCS but i generally only use those zones for protecting human life and not machines.
3. I have seen too many crashes with the integer method so i never use it. I prefer to check the robots axis position insted or Space zones.
4. Only registers can be used with select sadly.
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Hi,
You need to contact your fanuc office and ask for the manual or a login to My Fanuc (https://my.fanuc.eu/en/).
The manuals name is B-83914EN-3/04 or B-83914EN/09
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A pinout diagram should be avalible inside a manual forthe Schunk tool changer. The Fanuc Pinout should be avalible inside the Mechanical Unit Operator's Manual for your robot.
In this case i would solder the wires together with heathshrink over the joints or if the 9pin cable is long enought you could just use a m12 8pin quick connector.
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Hi,
A lower Payload setting will make the robot accelerate/deccelerate quicker. A too low payload will cause wear and tear on the robot and a higher one will make it go slow.
in most instances a payload instruction should be used everytime a part is picked/dropped but it really depends on the application and robot model.
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We had some issues when installing FRVRC on our Computers, This was resolved by installing a early version of roboguied and then updating to a newer one.
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Hi,
For Ethernet/IP to work on Roboguied with a real PLC you need to set $EIP_ENBL_IO. This give Roboguied access to the Pc's EtherNet port.
You also want to use Rack 89 for EtherNet/IP Rack86 is for ControlNet.
More information about the EtherNet/IP setup can be found in the EtherNet/IP Operator's Manual (B-82854EN/04).
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We usualy Build our own box for the Euromap 67 and Euromap 73 or 78.
Everything really depends on what your application requires. I never used the options but if you dont requier anything advanced I think they be a good choice.
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Sounds like you are using a Depalletizing vision process.
The Z-value on those is calculated based on the scale value. The laser sensor should be connected to a GI or an AI. VR is only from the camera.
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Might use $SCR_GRP[1].$MCH_POS_(X) still dont know what my teachers want me to do...
But its anyways in Real so I have to convert it to Integer, saw differents methods to do It.
Now the thing im not sure how to do is where can I get the position of my tool (x,y,z) to move it manually in my HMI, like overwrite the current position with the one I send from my PLC.
Not sure if I explained myself tomorrow in class will try it .
I recommend to use CMD_INFO[1].$CART_POS[x] instead or CMD_INFO[1].$CART_POS_UF[x] if you want the coordinates from the current active userfame.
$SCR_GRP[1].$MCH_POS_(X) only works when the robot is in auto mode.
For sending a position from your HMI you could use a Macro Program and sending X,Y,Z,W,P and R with GI signal then write thoes values to a PR register and sending a DI to start the macro.
Make sure to have a set working range befor sending values and always making sure the values you send or recive are within this range. a crash is likley to happen otherwise.
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Along these next weeks will try what you said, still have to inform myself about the variable you talk about, dont really understand how to use it if its a boolean or what.
$SCR_GRP[1].$MCH_ANG[x] is the current joint value in real format. You can't Send negative numbers or real values with a Go so you have to scale it and convert it.
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