Posts by Daniel O'Keeffe

Hello,

The connecter the board is plugged into is CRMA 15 with which is connected into CRMA 58. There is a camera that is plugged into CRMA 16 and that is connected to CRMA 59.

The controler that I am using is a R-30iB

Hello All,

I am once again having trouble with a Fanuc robot and I would like to ask for help with an I/O board. The board that I am using is a Fx-50HD/Z and what I am simply trying to do is enable a simple imput and output feature. I have tried to look online for tutorials but there are not many that deal with the wiring aspect which I am facing. so that is why I have came here.

I would like to ask how to set up a simple on off switch to a digital input and how to get a simple led to turn on and off when toggling a digital output. With that information I can probably teach myself more complicated things and I can figure out where the input pins are and where the output pins are.

Thanks for your time and help

Hello All,

So I found the problem at hand and it had to do with a mix up between the vision grid calibration and the user frame calibration. In one I defined positive X going one way and in the other I defined it going in a completely different direction.

Thank you for all the help and assistance that was given during this process.

Thank you both for the quick reply and suggestions

I checked the user frame and the reference height for the shapes. I did reprint larger shapes to be the same height but I double check anyway.

I haven't been able to do many tests on it due to limited time I have in the lab but it is working slightly better.
the aim is off by about an inch which is a big improvement but, it now only moves to one place. I can continue to work on it next week when I have more time

Thank you very much for your help

Hello,

So part of my college research is to write down notes and take notes on all that I have learned. I'm creating a word doc that outlines everything from simply how to use an arm and set up a user frame to setting up the vision system. That way when I leave and someone wants to work on the robotic arm after me they won't have to start from square one, because there isn't a class that teaches you any of this.

I have been working on this for about a semester and a half and I thought I might ask:
What are some of the most common or most annoying errors you run into and how do have you fixed them?

Hello,

So I'm a student working on research and I'm posting because of a coding error I have run into.

A few months ago during the summer I programed A Fanuc robotic arm with a vision system to do basic sorting of shapes. I left it for about a month month and a half and have come back to find that the system isn't working.

What is happening is that the robot's 'aim' is completely off. I have set up a vision system where it identifies a triangle but now when it goes to pick up said triangle it moves to the left side of the work area, instead of going for the triangle. I have tried: resetting the calibration of the vision system, redefining what a triangle is, and have gone over the code to see if someone has messed with it while I was away, checked the user frame and reference positions . None of it works despite it working a month and a half ago.

The only thing I have changed is the size of the triangles because they were too small for the suction cup to pick up. I made them a lot bigger and redefined the triangle in the vision system. There are students learning how to use the arm however to my knowledge they have not messed around with any of it.

I'm not sure if this is a coding bug or if it a settings bug but any help and suggestions would be appreciated. I posted my code below

1. ! Vision Sort
2. !------------------------
4. UFRAME_NUM=1
5. UTOOL_NUM=5
6. PAYLOAD[1]
7. OVERRIDE=20%
8. ! Establishes User & Tool frames, Payload and Speed
10. J PR[1] 100% FINE
11. VISION RUN_FIND ‘TRIANGLE’
12. VISION GET_OFFSET ‘TRIANGLE’ VR[1] JMP LBL[999]
13. !GO TO HOME AND USE CAMERA TO FIND A TRIANGLE
14. !IF NO TRIANGLE IS FOUND JUMP TO 999
16. L PR[4] 200mm/sec CNT25 OFFSET, PR[3] VOFFSET, VR[1]
17. !Position above the triangle
19. L PR[4] 225mm/sec FINE VOFFSET, VR[1]
20. !Moves down to triangle
22. WAIT 3.00 (sec)
23. RO[1]=ON
24. WAIT 3.00 (sec)
25. !Turns suction on
27. L PR[4] 225mm/sec CNT25 OFFSET, PR[3] VOFFSET,VR[1]
28. ! Lifts triangle
30. J PR[1] 100% FINE
31. !Go home
33. LBL[999]