Posts by NeySEA

Thank you guys !

Did you figure out what was the reason for the Crx-25ia running so slow ?

How can this camera require 9.4 software when it's so old ?

Keyence does have extremely successful salesman.....any salesman who can persuade an tenured Sr. Engineer to go with there system with one meeting is unbelievable to me really.

What is your price range and reach payload requirements ? Payload capacity usually comes up along with the robots reach and hence it's best to define what kind of welding you want to do with it and what size weldements are you making ?

Not sure from your picture what to it your wanting to use it with but if you look to the far right side of your picture and cabinet the two grey 50 pin connectors populated with all those blue and grey wires is that cabinets current

Io connectivity bus.

What does the last grey module on the far right say and what fanuc part number is it ?

I just did a LR mate 200id with an IB plus cabinet and tried at first to use the crm58 and 59 with those 50 pin empty Honda connectors it came with from Fanuc and after screwing around with it for too many hours I learned here on this forum to buy the Fanuc OEM io breakout terminal accessory or an equal off the internet. The Fanuc OEM io breakout accessory actually eliminates the 50 pin plugs and has its own internal pair of cable fully wired that plug into the crm18 and 19 I think but the new accessory has 50 push super secure easy to work with terminal io wire blocks on it. They are all logically laid out in rows and Columns for each io port and direction. Anyway I can give you the part number and a photo of what I bought from Fanuc last month and also a cheaper Internet close equal of that helps you. It worked like a charm for me ! No more io connectivity hassles ! The io process card you have on your cabinet may already be all you need. Again What's model and part number of that far right card/module and where do all those blue and grey wires go from that far right module ? Just laying unterminated in the bottom of the cabinet ? I think they went and were mapped to a PLC myself which is really good for you if your going to use a PLC. Hope this helps. J

Thank you very much for the information here ! J

Thank you. I'm not sure how difficult it is to upgrade. I do have an active Fanuc support agreement but lm not that excited to dive in to the upgrade. Do you think it's worth it ? I do have a second robot a brand new LRMate 200id7 and I really do not see a ton of feature sets in the newer software but Im not that experienced in this yet. 3 years into working with Fanuc robots. Thx. J

Thank you both for the reply and help.

PDL

Ok the controller is a R-J3ic , the large size "A" cabinet. The robot is a R2000ib version running Handling Tool V7.2032.

When we run the robot in full Auto we use a Karel program that loops always monitoring our connected sensors state and when the criteria of the loop and sensor logic is met Karel calls 1 of the 3 different but fully written programs as the part moves down the conveyor. Everything is initiated by proximity and automatically and without any operator interaction once the robot is turned on in the beginning of the shift and the operator pulls up the TP HMI screen we have running on the robots Browser. Cool but

It works really well but lacks the ability to adapt to any changing parts Z contour as for mentioned that are outside of the current 3 programs recorded positions.

I really like the Adapt Z program logic suggested by YA here thank you! I need to get my head around that and understand where I would connect my digital sensors to that can detect the contour/profile and how to map them to the "virtual field of view " I never used group io so im clueless to how the range of group io would work in relationship to the discrete sensors?

I have another question that I can't seem to be able to figure out either aside from this DPM or Z adapt possible solution approaches and it's regarding how the controller takes any new TP programs and automatically assigns them the name (the one you give the TP when you create it ) but additionally the system automatically creates and assigns the new TP program a new program index number as well. Like it says the program name you created followed by a comma and a number say 5. So in my case I have TP program "RexTest, 5) "

The problem is if we create any new TP programs or copy the old one with a new name , the controller assigns a new index number to the program and at times shifts the existing index numbers of the rest of the controllers existing TP programs so when our Karel program is run it makes a statement like "CALL_PROG ('FRTCPY' , 6) -- name , index

Part of the built in call prog functionality of Karel routines I think ?

Our problem is the new program versions index value is different than what's already compiled and running in our Karel program so If we don't go back in the software, change the old index number to the new index number, recompile the KL file with ktrans and then reload the compiled updated TP program index number change. It's kinda crazy and a lot of work. Am I missing something here ? To try to solve this already We tried adding a new variable to the Karel program called nullzero : INTEGER

Then when Karel calls one of the 3 TP programs it used

CALL_PROG

('FRTCPY', nullzero).

This did not work.

Thank you for any help. Fanuc tells you to use Karel but there is not much available meaningful support that I can find.

Thank you and happy Friday!

J

We are looking to deploy the DPM option with one R2000ib series robots. We want to use this at first only to dynamically modify robots the z axis / altitude to maintain the robots tcp a constant positive offset height distance/clearance over part. Basically we want to be able to follow the parts horizontal contour profile as the part comes down the line following equiped robot and conveyor. The conveyor speed is slow ...like just slower than average persons walking speed. I thought we could just update position registers from 3 or 4 digital inputs using group DI's like a third party camera/vision system can but am unsure if this approach is ok or DPM would be more effective especially if it works on z axis then we want to eventually use DPM on x ,y,z and roll pitch and yaw path changes for curvy parts. All parts are large. 20 feet long, 8 feet wide and 8 feet tall with the Z height deviation being the largest variation. Any help or perspectives here on how to approach this challenge with or without DPM is much appreciated. Thank you. John

Interesting ! Very interesting. I think I'm starting to realize why our contact at Fanuc has consistently reccomended we start right off with line following with high resolution encoder. As you said the other day here time that the tracking frame is exclusive and with what your saying about frame management maybe it's best to start with it. I hear you about programming all day and then finding out at the end of the day u don't have what u expected. Thx guys... I mean right now as I have tried to infer we have do have our machines movements doing everything we need but again just because it's doing for example a pick and place does not mean we understand how less than optimal it's cycle times are operating at right ?

Can't optimize unless you understand the robots software and rogrammimg architecture design, consequently Frames ! U guys have helped me very much here and I'm very greatful. I like I own you folks are saying the tool frames start and the user frames begin and then consequently I everything builds solidly up logically on that. I'm struggling but im going to spend 3 or 4 days on the floor and hopefully demonstrate to myself that I can create frames and programs and combinations of programs with combinations of frames .

J

For real ? What !? Lol let's hope ur right HawkME ! Thank you ! Im on it and will let u know. J

I just can't seem to get the y movement lined up with the conveyor direction and x perpandicular to y and to he conveyor

When I push x+J/1 in world it goes straight out from base.

When I push y+/ J2 in world it goes left which I think is correct .

SkyeFire and HawkeME Ok.. well I went ahead finally yesterday and made a reusable pointer jig for my EOAT as I think u folks reccomended. I created my first tool frame center point TCP using the 3 point method. Then with that TOOL Frame Active as tool #2. I went ahead and created my 1st user frame. Then with the new user frame #2 active and new tool frame #2 active i still can't seem to grasp how or be able get the robots X motion and travel perpandicular to the conveyor and the robots Y motion and travel aligned and motion parralell with the conveyor. I'm the guy with the robots base mounted on a 45 degree and to the conveyor. How about manually entering values for the user frame xy and z ? My tool is 12 inches long and it's straight in the z axis. It's diameter is just a little smaller than the diameter of the j6 flange itself. Can i manually key in however many mm equals 12 inches to the tool frame Z axis and the user frame Z axis. Then if i add a value to the user frame X value which is derived by measuring a cords distance mm of 22.5 degrees in the X axis plane until it intersects with the conveyor. Do the same for Y but subtract the value that I will put in the user frame again obtained/converted by taking a 22.5 degree chord from center of base out the same length of the x chords length was ? The z should be same. Am u still missing the other 3 planes of the 6 degree of freedom as mentioned earlier. If everything is just and offset of the actual robots line that intersects J1 and J2 where does it get the 4 other planes of it's position in space ? Yikes ! J

Cool...thank you again for the detailed responses here... really extremelly helpful and pragmatic We're doing every bit of u folks suggested for the tool frame, user frame and eventually line following frame. The suit we got is a robo suit by robo world and it's made out of black Hypalon. Gary from Robo World was great to work with. We applied bees wax on all of the suites zippers and nylon slide surfaces on the shoulder k joint prior to putting the suit on the robot. Please We also did a careful re-master with the robot with help from Fanuc support over the phone here. We called them for support because it seemed like the Robot's J2 and J3 were not cycling fully in there strokes. That's when I learned about the unique Fanuc relationship between J2 and J3...anyway after 15 -20 minutes of doing what the hardware support tech said the J2/J3 stroke and overall the robots repeatbility and speed and joints all now perform as the Fanuc robot specific book/manual states they should. I've made a tcp tool as u folks suggested and am now going to set up the tool frame and a new user frame that aligns with our conveyor. We don't have the line following software or encoder here yet to create the tracking frames but should have it in the spring. I'm starting to grasp the utility and value of the frame way thanks to u guys. J

Sounds perfect! Thank you Hawk ME.

Btw to ur reccomendations Skyefired Hawk Me regarding the Mastering being paramount and proper before creating/ teaching any frames... we have decided to go back and take the suit back off the Robot and remaster all 6 joints. We did it when we first got it and like ur saying out of the box it was actually off a but mainly on J2 and J3. J1 was minimal as the were the other remaining joint.

Q. Do u guys think if we re considering changing the grease already does changing a Fanuc robots grease effect the mastering in your experience ?

Other Question regarding mastering... There is a Fanuc of Japan manufacturing test and joint measurement calibration set of values specific to our machine. Are these values ever really needed for mastering the robot or they intended for something else like an entire joint or balancer replacement? Basically so we need to add or subtract theae values to our existing witness marks/stickers on the robots joints ? Do people ever make or a check the mastering tp program with a fixture(s) to check which may be easier to check the master status vs taking the suit off, climbing up and down these machines and stopping the cell etc. Or is it not worth it? Thx J

J

Hey thank you guys! I'm moving a little slow (fine cnt lol ) over last 4 or 5 days...i had to get my eyes dilated 3 times in that time period. Anyway We're all over your detailed suggestions, reccomendations and approaches (no pun Intended hereon approaches Lol ! ) All really helpful and Interesting. Even the Adam Willea YouTube video series suggestion....yeah Adam has helped us get far to date. I think he is a natural born twcher/instructor/professor right coined Fanuc ambassador. Amazing the depth of knowledge that's available here on the forum and also what it really takes to make the Robots go. I'll keep u folks posted on my progress with this install and the frame builds. Thanka for making me far less scared !! John

Thank you Hawk and Skyefire both for your explanation and help here. Yes I feel much better about things today as a result of asking for help.

We currently do not have the line software option or encoder hardware but we do have 8 new machines coming which will have Handling tool pro and line following with Fanuc supplied high res encoder hardware. Thanks for saying its a must have option without any doubts. Yes ur explanations and reccomendations give me more confidence and direction to start digging into creating and calling the proper Frames for each routine and hardware config. Current we use a compiled Karel program we wrote loaded on the TP pendant with a small .stm HMI file running on the controller/TP. The Karel routine monitor our sensors using just discrete /booleem logic and calls 3 different TP programs. We have gotten far without any manuals and now since about 2 weeks finally have access to the Fanuc customer resource center portal. Now we have more questions as a result. Seemingly because the old saying right u can only learn so much from a book or self discovery aka trial and error right ! Lol ! Anyway yes thank you very much again. I'm summary now my lack of being able to understand what's the best place to put the origin of any particular frame ? And what is (if any) the tool frames Origin in relation to a yet to be created frame ? Maybe there is no realtionship between tool frames and userframes ? Why are we told to create tool frames tcp first and then userframes ? How does each of those frame origins in 6 possible planes of existence in 3d space benefit each other ? I guess I'm just stuck on setting up a user frame with 3 points and assuming it will work with my tool frame around 5 surfaces of say refrigerator box laying long ways on a stopped and at times moving conveyor ? My software engineer is great at software but hardware and wanting to fully understand what's currently happening and what the years of Fanuc kinematics development bring to the table to help make thing optimal not just nominal, cycle times,safety standards,machine wear and tear, multiple robots in a cell etc. Yikes ! Hope this makes sense.