Hi,
You have 2 way for clear message on TP USER:
- Use the karek with WRITE(CHR(128),CHR(137))
Or write the statement message empty like this picture below (On tp screen you have 10 lines)
Posts by YakawFaBB
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Cześć,
Możesz dodać instrukcję „skip” lub użyć „if jump lbl”. -
Hi,
This axis move is restricted in multigroup weaving motion.
When you welding, do you need to synchronize the positioner ? Try to copy an paste the same point without coord instructions( test slowly, there will probably be a collision )
Can you send the AOA backup of your installation ?
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Hi,
This information below is for R30iA Mate, this information may change on other controller generations.
The DOSRC1 and DOSRC2 pins of the CRMA15 and CRMA16 are pins for
supplying power to drivers. (None of these pins can be left open.) -
Yaskawa would sell us a course for touch. I asked for some files but nothing.
see the link below :
You can create a simple program for 1 or 2 search directions
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see on the job header
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Hi jafar90 , first of all, are you see your macro program in inform list ?
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Hi DawnHill ,
for adding and setting up motion group , you can use this video below
Extended axes and Additional Motion Group Setup and Control in Fanuc Roboguide.Extended axes and Additional Motion Group Setup and Control in Fanuc Roboguide | Roboguide Tutorial | Fanuc Robot Extended axis control | Rail unit Control |...www.youtube.comHowever for synchronizing the robot with other axis, you should use the option
PROCESS SYNCHRONIZATION but this option is specific for the welding , probably there is another one.
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Hi
Do you have any errors on the Teach pendant ?
Is the led "weld" green ? see the picture below
It's quite complicated to understand, can you send the video or picture with the errors come ?
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Hi,
first all, you can see the good tutorial of DIY robotics below :
DIY - Tutorial - Setting up Space Function using a Teach Pendant from a FANUC robot.This is a tutorial created by DIY-Robotics to help people work with FANUC robot.This video shows how to set up the Space Function using a Teach Pendant from ...www.youtube.comWhat is the version of you controller ? R30IB , R30IB+ ?
Do you add the option J567 and J568 ?
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Hi cosmos_1
I have tried this file, but I'm getting system not matched error.
I tried your program on DX200 it working fine. Send me cmos i can check on motosim.
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Hi cosmos_1
Try this file below or verify i the robot have the same setup in other program ///GROUP1 RB1 :
Code
Display More/JOB //NAME JOB1 //POS ///NPOS 0,0,0,6,0,0 ///TOOL 0 ///POSTYPE BASE ///RECTAN ///RCONF 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 //INST ///DATE 2025/02/08 07:33 ///ATTR SC,RW ///GROUP1 RB1 NOP GETS PX001 $PX001 SETE P001 (1) 0 SETE P001 (2) 0 SETE P001 (3) -500000 SETE P001 (4) 0 SETE P001 (5) 0 SETE P001 (6) 0 IMOV P001 V=50.0 SRCH RIN#(1)=OFF DIS=0.1 SETE P001 (3) 30000 IMOV P001 V=50.0 SETE P001 (3) 0 SETE P001 (2) -500000 IMOV P001 V=50.0 SRCH RIN#(1)=OFF DIS=0.1 TIMER T=2.00 GETS PX002 $PX001 GETE D004 P002 (2) END -
Hi rozzy323,
Normally the file should create itself, but you need to change your instruction below:
If the file doesn't exist before you can change RW to AP for "APPEND"
CodeOLD: OPEN FILE file_id ('RW', sLogFileName) NEW: OPEN FILE file_id ('AP', sLogFileName) -
I think the absolute position of the Pulse coder has not been established.
You can try to recalibrate the axis number 6.
Go to Menu --> SYSTEM -->MASTER/CAL (if not appear go to system--> variables --> switch MASTER_ENB=1)
After that,
Select single axis master, turn the sixteenth axis in joint,
Enter 1 in SEL row and press F5 button for execute.
Press Prev button and press RES_PCA
And select calibrate, you should see the view below
turn off the controller and see if it's better
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Hi,
Have you only the error message SRVO-075 ? or have you SRVO-062 before ? you can see on MENU-->Alarm log -->HIST
What is the group responsible (G:%)? Try to jog one motor revolution and try to single axis master the responsible axis
Are you set a payload or armload ? Remove all of them
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Hi,
Isn't possible to configure a point without an axes, here the extend axis. however, you can set the same position of you E1 all the times, in running the robot's conveyor will not move anymore.
Go to P[1]--> P[2]
P[1]{
GP1:
UF : 0, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = 100 mm, Y = 0 mm, Z = -0 mm,
W = 0deg, P = -0deg, R = 0deg,
E1= 1500 mm
};
P[2]{
GP1:
UF : 0, UT : 1, CONFIG : 'N U T, 0, 0, 0',
X = 200 mm, Y = -0 mm, Z = 0 mm,
W = 0 deg, P = -0 deg, R = 0 deg,
E1= 1500 mm
};For avoid the collision, you can use offset for set the right position of you robot on the E1, below an example
CodePR[GP1:98:Actual_pos]=JPOS PR[GP1:99,7:Set_7th_Axis]=PR[GP1:98,7:Actual_pos] +add value for collision avoid ; J P[1] 50% FINE Offset,PR[99:Set_7th_Axis] ; J P[2] 50% CNT30 Offset,PR[99:Set_7th_Axis] ; L P[3] 800mm/sec FINE Offset,PR[99:Set_7th_Axis] ; -
Hi, for the second scenario you can use the vision master recovery but is a option J992.
below the documentation
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Hi cl_controls ,
I'm not sure it's works but you can use kldutil.kl, precesily the routines below :
ROUTINE strg_to_int(text:STRING): INTEGER FROM klutlext
ROUTINE int_to_strg(int:INTEGER):STRING FROM klutils
Code
Display More-- -- This material is the joint property of GMFanuc Robotics Corporation and -- FANUC LTD Japan, and must be returned to either GMFanuc Robotics -- Corporation or FANUC LTD Japan immediately upon request. This material -- and the information illustrated or contained herein may not be -- reproduced, copied, used, or transmitted in whole or in part in any way -- without the prior written consent of both GMFanuc Robotics and FANUC. -- -- All Rights Reserved -- Copyright (C) 1991 -- GMFanuc Robotics Corporation -- FANUC LTD Japan -- -- Karel is a registered trademark of -- GMFanuc Robotics Corporation -- + -- Include File: klrdutil - Routine declarations for KAREL utilities -- -- Description: -- -- -- Dependancies: -- -- Routines declared FROM the program "klutils" -- -- Language: KAREL -- -- Source File: klrdutil.kl 03-OCT-91 08:35AM -- -- Author: KARGLJT -- GMFanuc Robotics Corporation -- 2000 South Adams Road -- Auburn Hills, Michigan 48326-2800 -- -- Modification history: -- add strg_to_int,int_to_strg 25.10.91 gudatlx -- modify parameters of strg_to_int,int_to_strg 04.11.91 brycetk -- added pwd_level 11.10.96 steinlet -- Dec-5-96 JAE Add pwd_lvl_set. -- Dec-19-96 murrellr Added pwd_test. -- Sep-07-01 JAE Add connect_id parameter to pwd_test. -- Aug-03-2003 JAE Add pwd_login. -- Jun-28-2005 JAE Add pwd_logout. -- ROUTINE clear_win(p_file_name: FILE; status: INTEGER) FROM klutils ROUTINE clr_stnd_scr(status: INTEGER) FROM klutils ROUTINE clear_ln(p_file_name: FILE; status: INTEGER) FROM klutlext ROUTINE att_stnd_win(status: INTEGER) FROM klutils ROUTINE clr_fscr FROM klutlext ROUTINE prompt_box(p_dict_name: STRING; p_dict_ele: INTEGER; p_curr_item: INTEGER; p_resp_type: INTEGER; p_response: INTEGER) FROM klutlext ROUTINE prompt_box_s(p_dict_name: STRING; p_dict_ele: INTEGER; p_string: STRING; p_curr_item: INTEGER; p_resp_type: INTEGER; p_response: INTEGER) FROM klutlext ROUTINE prompt_box_d(p_device: INTEGER; p_dict_name: STRING; p_dict_ele: INTEGER; p_curr_item: INTEGER; p_resp_type: INTEGER; p_response: INTEGER) FROM klutlext ROUTINE tp_enabled: BOOLEAN FROM klutlext ROUTINE strg_to_int(text:STRING): INTEGER FROM klutlext ROUTINE int_to_strg(int:INTEGER):STRING FROM klutils ROUTINE clr_ct06 FROM klutlext ROUTINE pwd_level(p_pwd_const: INTEGER) : INTEGER FROM klutils ROUTINE pwd_lvl_set(p_pwd_const: INTEGER; p_level: INTEGER) FROM klutils ROUTINE pwd_test(p_pwd_const: INTEGER; p_prmp_file: FILE; p_dev_stat: INTEGER; p_connect_id: INTEGER) : BOOLEAN FROM klutils ROUTINE pwd_logout(p_device: INTEGER) -- (in) password device to login FROM klutils ROUTINE pwd_login(p_username: STRING; -- (in) name of the user p_password: STRING; -- (in) password of the user p_device: INTEGER; -- (in) password device to login p_logout: BOOLEAN; -- (in) logout current user if required p_loginname:STRING; -- (out) name of the logged in user p_status: INTEGER) -- (out) returned status FROM klutils ROUTINE feature(p_feature:STRING): BOOLEAN from klutils ROUTINE check_home:INTEGER from klutils ROUTINE noprv_load(p_file_name:STRING; p_status: INTEGER) from klutils ROUTINE apckactv(p_softpid:INTEGER): BOOLEAN from klutils ROUTINE ap_proc_dsb(p_taskid: INTEGER):BOOLEAN FROM klutils -
warhound96 , I'm not sure to understand. If you want access of key button "enter" you need to swicth Rw=1 .
Warning , Verify if you have the wiring for touch sensing
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