I'm trying to use Remote TCP, and I want to make relative Tool moves about the remote TCP.
Apparently, the ToolOffset PR[n] motion option does not respect the Remote TCP option, and it uses the actual User Tool, rather than the Fanuc Remote TCP, which is a User Frame.
Example:
L PR[99:RelToolMov] R[200:ToolRelMovSPEED]mm/sec FINE Tool_Offset,PR[98:RelToolMovOff] RTCP ;
Q: Is there a method or technique I could use to make relative rotational moves about the Remote TCP?
Posts by Jay Mackey 2
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Q: Is it true that the built-in Dispense Output is limited to a max of 2000, regardless of other scaling, and that 2000 limit can't be tweaked?
That would only yield a dispense motor speed of 3% for my setup.
But we are going through a PLC analog output controlled by the robot GO through Ethernet/IP that has been configured as the Fanuc dispense flow output.
So as a workaround, we can scale the 0 to 2000 output from Fanuc to the full analog voltage range that works with our dispense motor (directly in the analog output hardware scaling parameter). -
Ooops, true.... Thanks, Hawk... but...
I typed that in manually before I copied the program text, and haven't tried to load that change, since I am currently needing to take out all the PSPD before it will let me do SS and SE.
So, that wasn't causing the error, to be clear. That was just a typo in unused example code. I was using SS on the robot
P.S.
My current plan is to just use one or more registers with the speed option in the motions to control speeds along the path, which would appear to work better for me than PSPD, anyway, due to PSPD not permitting the use of registers to control its speed setting.
BUT, the fact that these two options don't work together on my system seems to indicate a problem that should be addressed, I believe. -
When trying to use PSPD with SE[x], the controller faults with CPMO-136 "No PSPD allowed in this region / application block"
When it gets to pre-processing Line 14, it throws the CPMO-136 fault.
If the SS/SE options are removed, it works, but then it won't glue, will it? (/s)
I'm fairly certain that SS/SE and PSPD should be able to work together, right?
Does anyone have any tips or ideas for correcting or debugging this?
Test program:Code
Display More/PROG A_GLUE_SEAM_1 Process /ATTR OWNER = MNEDITOR; COMMENT = "1st Dispense"; PROG_SIZE = 877; CREATE = DATE 40-05-25 TIME 18:37:36; MODIFIED = DATE 40-05-29 TIME 17:22:42; FILE_NAME = MOV_SEAM; VERSION = 0; LINE_COUNT = 35; MEMORY_SIZE = 1245; PROTECT = READ_WRITE; 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; /APPL DISPENSE : TRUE ; DISPENSE_PROCESS; CYCLE_TIME : UNINIT; LAST_CYCLE_TIME : UNINIT; GUN_ON_TIME : UNINIT; LAST_GUN_ON_TIME : UNINIT; DEFAULT_USER_FRAME : 9; DEFAULT_TOOL_FRAME : 3; EQUIPMENT_NUMBER : 1; /MN 1: UTOOL_NUM=3 ; 2: UFRAME_NUM=9 ; 3: PAYLOAD[3] ; 4: UNLOCK PREG ; 5: CALL A_MAKE_PATH(1) ; 6: LOCK PREG ; 7: ; 8:J PR[41:Jnt_App_Disp1] 25% CNT100 ; 9: ; 10: !Approach starting point ; 11:L PR[199:~Disp_Approach] 250mm/sec CNT100 RTCP ; 12:L PR[121:~Disp_01] 250mm/sec FINE RTCP ; 13: !Start sealing ; 14:L PR[122:~Disp_02] 250mm/sec CNT100 RTCP PSPD25 SE[1] (edit: SS[1], actually!) ; 15:C PR[123:~Disp_03] : PR[125:~Disp_05] 250mm/sec CNT100 RTCP PSPD25 ; 16:L PR[124:~Disp_04] 250mm/sec CNT100 RTCP PSPD25 ; 17:L PR[125:~Disp_05] 250mm/sec CNT100 RTCP PSPD25 ; 18:C PR[126:~Disp_06] : PR[128:~Disp_08] 250mm/sec CNT100 RTCP PSPD25 ; 19:L PR[127:~Disp_07] 250mm/sec CNT100 RTCP PSPD25 ; 20:L PR[126:~Disp_06] 250mm/sec CNT100 RTCP PSPD25 SE ; 21: ;
- Jay
P.S. Robot-Forum hasn't let me post or reply since the big adpocalypse. I can log in and edit old replies, or DM, but can't post, so I made this new account, and it works fine.
This indicates that there is a bug in the site code. I'd love to have my old account back in working order, though.