Posts by krgaurav22

I am facing similar issue. How did you resolve it?

I replaced Arc motion with Linear motion, and it works fine.

I am going to try that today.

I have wait instruction after every point as well, here is a sample of the code:

5: A P[1] 250mm/sec FINE ;

6: R[8]=0 ;

7: WAIT R[7]=1 ;

8: A P[2] 250mm/sec FINE ;

9: R[7]=0 ;

10: WAIT R[8]=1 ;

11: A P[3] 250mm/sec FINE ;

12: R[8]=0 ;

13: WAIT R[7]=1 ;

14: A P[4] 250mm/sec FINE ;

15: R[7]=0 ;

16: WAIT R[8]=1 ;

17: A P[5] 250mm/sec FINE ;

So, in my python code, I read the readings from the probe and then update the register R[8] and R[7] alternatively.

I am doing 15 or more points because we want to capture some reading on the probe from all of these points which are at the same radius from the origin.

I will try the normal circular instruction and see if that works.

I am working with Fanuc CRX-10iA/L robot. I am trying to move it along an arc with 500mm radius and pitch varying from -15 degrees to 15 degrees. When I put 15 points like below, it works fine. But, when I increase the number of points to more than 15, it throws error: MOTN-356 ARC:180 deg SPIN change(G:1) . I tried different angle ranges, whenever the point count is more than half the angle range, the same error comes up. Is this a limitation from Fanuc ?

A P[1] 250mm/sec FINE ;

A P[2] 250mm/sec FINE ;

....

Does Fanuc CRX 10 or CRX 25 support secure FTP protocol (SFTP or FTPS) ?

I have the override set to 80% and I see that teaching pendant shows 80% when the program is running.

Also, I have another program with CNT100 for each move and the robot moves better in that case. Although, it is not as fast compared to other robot CRX-10iA/L we have.

We have a new Fanuc CRX-25iA robot and it moves really slow in linear motion. My program looks like following:

L P[1] 250mm/sec FINE. ;

LP[2] 250mm/sec FINE ;

.....

....

The robot stops at each point for at least 2 seconds. This robot does not have R663 Constant Path option. We have a CRX-10iA/L and that one has this option. And it moves with normal speed.

Do I need to buy this Constant Path option or is the issue something else?

Can you explain by showing the corresponding values against world angles I mentioned?

Fanuc restricts the orientation angles between -180 and 180. is the following mapping correct:

World Angle Fanuc Angles

-360 -180

-270 -90

-180 0

-90 90

0 -180
90 -90

180 0

270 90

360 180

thanks for the suggestions. I am using Ubuntu. So, I unchecked the "Automatically Connect" option in the ethernet and now the wifi works as well. So, both the networks are working.

I am using a Fanuc Robot CRX-10iA/L which is connected to my pc using ethernet cable. The connection works only when I switch off the wifi of the pc. If I switch on the wifi, the connection breaks. How can I have the wifi for internet as well as stay connected to the robot?

Thank you

I am using a socket connection to call this Karel routine for executing the tp program. So, when the tp program fails, I want the karel routine to throw an error so that the socket connection can be closed. Currently, the socket connection stays stuck in the karel routine and is not disconnected.

Can someone provide the formula for converting yaw, pitch and roll from Universal robots to Fanuc robots?

I am trying to set payload using TP program:

9: $PLST_GRP1[1].$PAYLOAD=(1.2) ;

10: $PLST_GRP1[1].$PAYLOAD_X=(0.5) ;

11: $PLST_GRP1[1].$PAYLOAD_Y=(0.2) ;

12: $PLST_GRP1[1].$PAYLOAD_Z=(0.1) ;

I am running this TP program using karel CALL_PROGLIN which is called by my python code. Whenever this program is run, Teach pendant throws error: "Need to apply DCS param".

Is there a way to override this approval error in the code?

I am using this https://github.com/torayeff/fanuc…pdk_cmd.kl#L399 and calling it from my python code. I don’t get any error. Teaching pendant shows the error but not the code.

I am using Karel’s built in routine CALL_PROGLIN to start a tp program. The tp program takes some time as it has a number of steps. If the tp program fails due to Unreachable point, the Karel program is still stuck at CALL_PROG instead of throwing an error. How can I make the Karel program throw error?