Posts by MrPufff92
-
-
Hello,
I don't know what exactly are you trying to do, but on taught points, you can change the speed of movement. On linear , default 2m/s, and you can decrease that. Depends on what you want to achive, you can combine that with $OV_PRO.
Anyway, $VEL is responsible for it, $VEL.CP defines CP speed.
I hope it helps. -
Hello Guys,
So, I'm relatively new with Fanuc - I'm only expirenced in Kuka - and I have a little headache, because V9.x does not seem to support many of .pc options, while in V8 it was presumably working.
- Collision Recovery is not supported in V9 (if my informations are correct), and HTCOLSET.pc file is nonexistent, while .vr remained.
- Omron FH camera communication files are a little bit "outdated" (V8), and it doesn't seems to have options for V9.x either (We've asked Omron, nothing found yet).
So, my question is, if more of SW issue come up : Should I try to search for these, or just make a Ver8 sample, export the files, edit version in HEX, and build them up?
Or do you have any experience about it, or suggestions what to look out for? I have a feeling, that Fanuc, in some way, deribelately take out some of the possibilites.
Thanks for all the help in advance, Cheers. -
appear to be misunderstanding how approximation works.
only 0 value for $ADVANCE will make robot stop at each point, anything higher (such as 1) will allow approximation. but like everything else, approximation also requires correct initialization ($APO).
if there is a problem, or things not work as expected, clear example that reproduces problem is needed.
I see,thanks for clarification,i will keep in mind the clear example.
-
And when the palette is not ideal ,i mean there is a tiny offset in position, and you must handle it , can offset is every position as needed based on YCounter and Xcounter.
I myself rather used once taught points,and leave in .dat only the position data, and use SWITCH-CASE,because palettes were not so exactly well made
-
can you be specific? can you share an example that can reproduce some anomalous behavior?
It's been a while since I've taken care of KUKA, and I have no done example in hand, but i will try to be exact.
You start to decrease $ADVANCE,there will be a point (0 or 1) when C_DIS will work,and CONTINUE won't. While it works, you can CONTINUE the hell out of a program,it wont work as you want. So,if you have no knowledge that somebody messed up the advance run, the movement - with C_DIS will be nicely done up to a point ,where there is a statement that would brake the advance run, but a CONTINUE statement would help with it. It just will not work. But C_DIS will work as a charm. Of course, when i think it over again, there is no need for linear in it anyway,so the example is not the most relevant in this case.
-
Beautiful summary.
"in general when performance is important, one can try both motion planners and pick winner."
That is the way. Anyway ,for approximation usage: I can imagine in LIN ,SLIN C_DIS when, someone plays with $ADVANCE. Way to mess up a lot of stuff.
-
Hi Guys,
I'm relatively new here, just knock me in the head, if I'm talking from stupidity.
So Hermann circled down the right answer, I'll just go with a wider state of opinion.
I've tested spline and legacy all over each other all the time (cycle time, movement, etc..)
And Splines are not bad, but they are utterly useless in the face of Legacy movement, when comes to continuity with minor C_DIS values. Basically they are faster, but when a cont. come up, everything will be taking almost a circle through the continious point, so the maths are not the same when calculating distance in the face of point targeting when it should approximate.
So what I mean, if you have C_DIS with SPLIN two movements, forget that it will ever work as efficient, as Legacy, 'cause SLIN will "think", okay now, we are doing approach, need a different path. Even if physics do not require it. -
Hi,
So, in my opinion there are several great decisions for palletizing out the parts (If I'm understanding it correctly, correct me if I'm wrong ).
Two nested "for" loops is efficient, if you use that, or similar to it, the counter idea is not bad, just make sure, that it will be reset, in program running places right (ex.: Pallette switch, if the palette has some remaining parts.)Cheers
-
Not just only HTCOLREC, lot of .pc-s are gone.. I'm searching this too