Posts by RWD Controls

If your issue is variable part weights, I don't think the Variable Payload Compensation Function is the tool you are looking for. This tool is more to compensate for repeatable variations in external force during a specific motion.

Just curious, what is the target weight? I'm wondering if 0.5 kg is a small or large percentage of that target weight.

What other causes of payload errors have you ruled out? Are you doing your PAYLOAD function before you grip or release, not after? And after your do your PAYLOAD instruction, are you waiting a short amount of time for the payload change to take effect before doing a move? Is your Payload Change Distance non-zero?

I assume you are trying to get to what is referred to as the "DCS top menu" in the users' manual. When I press Menu -> System -> DCS, it takes me to the screen that I would have reached had I gone to the DCS top menu and then selected the first sub-menu off the list. To get to the DCS top menu, just press the PREV button. It seems odd that the TP automatically navigates you to a sub-menu, which you then have to back out of it, but that's the way it is for me.

From Operators Manual B-83284EN/10:

"Up to 10 of payload data can be set as standard. The number of payload data can be increased up to 256 by the following way. (up to 32 in R-30iB and R-30iB Mate)

a. Turn on the controller with [PREV] and [NEXT] key pressed.

b. Select "3 Controlled start".

c. Press the [MENU] key.

d. Select "4 Variables"

e. Set the number of payload data to the system variable $PLST_SCHNUM.

f. Restart (power off/on) the controller and "Control start" again.

g. Press the [FCTN] key.

h. Select "1 START (COLD)".

This worked for me on a R-30iB Mini Plus.

Thank you pdl! That answers my question!

I'm embarrassed to be that "guy who didn't read the docs before posting". Shame on me for that.

But thank you. This is my first time using a Fanuc and my first time setting up a robot from scratch, so my head is swimming right now. I recognize your name/logo from elsewhere on this forum and you have helped me out a ton through your other posts.

HawkME I've learned a lot from your other posts as well.

I will happily mark this thread as solved.

I am reading through backed-up LS program files written by someone else in the past. I am using this as a guide, since I am setting up a new robot for similar tasks.

I am trying to figure out these calls:

"`

CALL FCMPSTRT(1,1,200) ;

.

.

CALL FCMPEND ;

"`

When I look in the backup of the old example robot, I do not see these files included in the backup. However, I do see reference to them in the prgstate.dg file:

"`

FCMPSTRT PC

Program name: PCMPSTRT

Source file: PRODUCT\CLLB\FCMPSTRT.PC

"`

In the backup from the old example robot, the only file appearing in the CLLB directory is CRDATA1.VR

When I look in the brand new out-of-the-box robot, I see that FCMPSTRT.PC and FCMPEND.PC files already exist by default, as they are listed when I press the SELECT key on the teach pendant. However, these .PC files don't get included when I do a file backup of the controller. Although the prgstate.dg file on the new controller does make mention of them, too. I set up an FTP connection to the controller and I can access many of the files, but these .PC files don't appear there either. I have not purchased the Karel option, in case that makes a difference.

And even if I could get the .PC files, I doubt I'd be able to decompile them to see what's inside.

It appears that these p-code files come default on these robots, but I don't know whether the versions on the old example robot had been edited or not.

Do any of you know what happens when the default versions of these files are called and what are the meanings of the 3 arguments of FCMPSTRT?

I couldn't find any documentation regarding how or when to use PCMPSTART or PCMPEND. But maybe I've been looking in the wrong places.

Setup:

CRX-10iA robot with R-30iB Mini Plus controller

And thanks to all of you for the many questions and answers posted on this forum. I have learned a lot from you guys.