Posts by Haze

Normally that is exactly what space function is for.

Prepare a signal in your PLC, to enable access for the robot and use the robots DO to know when the space is blocked.

Did you use the COORD command in the end of every line?

What is the Movement instruction? C or A ?

Google will find this thread, when searching for Override setup. However, I found the best solution for me in this post:

Post

Re: Super secret variable list

FANUC Robot controllers have a very large list of system variables, many of which are dangerous to change, and may not be documented. Many are for internal use and are read only, but some dramatically affect performance and are writable, at the least during a Controlled Start, if not normal Start. Some may require a Cold Start to take affect.



System Variables that affect performance:

• $Group[1].$USEMAXACCEL - enables 'fast acceleration' feature
• $Group[1].$MAX_SPEED - Not described in manual.

…

Jaycephus

December 15, 2017 at 9:12 PM

So, for good shifted Override Increments:

Keep $SHFTOV_ENB=0 and modify $OVRD_SETUP instead, which is not documented in the lists, shared above.

Quote

$OVRD_SETUP.$OVRD_NUM_S = 7

- Under the details of $OVERRIDE_S, set the values from [1] to [10] to the following: -1, 0, 5, 25, 50, 75, 100, -2, -2, -2

- This will give you the shifted increments of VFINE, FINE, 5%, 25%, 50%, 75%, 100%

thanks to Jaycephus

90° turn with a small radius like this will always be a challenge.

Any chance to stop the weld there and start a new arc after rotation?

Is the positioner properly calibrated to the Robot?

Did you check the programming conditions? Are you sure you are using cm/min or could the robot be set to mm/s (=> Factor 6)

10mm robot movement versus 90° turn of the positioner probably ameans the weld is very close to the positioner axis, so the axis might need to rotate very fast to achieve the required welding speed. The ratio 10mm to 90° turn seems quite large to me.

Would a circular movement make more sense, when using the positioner rotation?

Still I found it strange, because R1 is not even in the job.

And it doesn't need the tag for a SFTON, but it needs it for SSFTON.

But doesn't matter. It is working now

OK, Here is the solution.

Needed to add an option to the Shift Instruction to make it work:

SSFTON P020 RB2

Not needed for R1 and not needed for SFTON with R2. I don't know how it makes sense

You also do not need to add it to the SSFTOF.

Hi,

I am working on a DX100 machine with two Robots + two Stations: R1, R2, S1, S2

We have a part position detection installed to allow relocation of a weld seam.

I prepared Jobs to test the function and if I use R1 everything works fine (R1S1:S1). A macro Job get's the Shift value, writes it into P020. In the work job I use SSFTON P020 and SMOVL --> R1 moves to the desired position

If I use R2 it does not work however. (R2S1:S1)

The Robot ignores the SSFTON P020 instruction and keeps moving (SMOVL) to the same spot, whatever the value in the P020 variable.

A normal SFTON Shift + MOVL instruction DOES work properly with R2.

Up to now I did NOT try converting into MTF, even it is a synchronous movement, but the Shift stays on Y axis only and it DOES work with R1. I will try it now, but want to understand why one robot works but not the other.

Check in the bottom line, where the error is showed, which of the Robots/Axes Groups is highlighted.

You only get the "Confirm Position" button on the pages of the Axis Groups which require confirmation.

Thanks for all the replies.

Will test as soon the machine is available again.

no idea?

Quote from Mason Nead

So how would I go about backing up the real robot?

not sure what you mean.

you know how to take a backup ("all of above")?

When starting a new Roboguide project, you can choose whether you want to use a virtual robot from the library, or you create the virtual robot controller using a Backup you took from the real robot.

To be sure all settings are the same, the second option is preferable.

Of course sometimes you want to start with the Roboguide even before you have a real machine ready, but you could still start a second project from the real robot's backup later on and see if the behavior is the same.

Hello,

I am new to the forum, even I have been reading for years already.

Usually find my questions already answered.

I would like to adjust the J1 angle of my arc positioner axis for a certain degree value in the whole job.

It seems to me, that in the Programm Shift menu, I can only do Cartesian shifts, right?

I could manually type the value for every single point by using the F5 „position“ screen. But there must be a better way

Is the RoboGuide project made from a Backup of the actual Robot?

Are the robots axis limits the same?

Another possible reason:

Does the error appear when robot moves from or to an "extreme" position?

I sometimes get the error, when the robot is in extreme position and the direct path would lead through not reachable areas.

After jogging into more normal position it would move to the desired position.