Posts by JimKarel

Hi All,

I have a issue with the Singularity Avoidance. I attached a photo of the TCP trace in Roboguide. I marked the move i am talking about in red. It is moving from the blue cross (lower one) to the black cross (upper one). Now the issue is, i want a linear movement, but due to the singularity avoidance, it is not moving linear but is doing a curve. The thing is, it is not even going through a singularity on this path, it is very close to a singularity, but it is not going through a singularity. If i disable the singularity avoidance, it will do the straight move without any issues. So my question is: Is there any way to not do this curve, just move in a straight line?

I'm thinking the singularity avoidance might be split in two functions:

- The function to be actually able to move through a singularity (for example if you move a straight line down Z in Hand Mode, you also get a straight line and it crosses a singularity, no curve)

- The function for actual singularity avoidance, so if it is close to a singularity, to move a slightly different route to never be in a singularity.

So i still need need to move through singularities, my application is not possible to avoid singularities completely, but i don't want the robot to avoid the singularity by taking a different path.

Thank you for your input.

You can load AoA backups from one robot to another, but you will copy some unwanted stuff with the backup. You should definetely avoid overwriting the sysmast.sv (and probably orderfil.dat). It is not advised by Fanuc to do so but it will work.

The Tool you are talking about is probably J737 Robot Setup Assist, here you can output a CSV file from your existing robot and load it into the new one and all the configuration will be done for you. I've not used this feature so i can't tell you if it works well or not.

Another option would be to find the system variables for the things you need to configure, and then write a karel program which will set those config values for you. It can be a lot of work but most things are configurable via the system variables. Then you just need to execute this program and everything is set up.

I always use 8 and 4 Gb Sticks, never had issues with them, 32Gb has not worked for me. And i always format the USB Stick to FAT32, I'm not sure which filesystems Fanuc supports but FAT32 works for me.

Hey Jupp, thanks, that's exactly what i was looking for, unfortunately it is not documented in the reference manual.

Hi,

does anyone know the system variable which is set when you configure "Multi Program Selection" in System/Config. Or do you know any other way to set this to TRUE with a Karel or TP program?

Thanks in advance