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  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Members
  3. MONIQUEZE

Posts by MONIQUEZE

  • Unit Load layer 1 drops are all too high

    • MONIQUEZE
    • March 27, 2024 at 8:11 PM

    @ZO Thank you!

    I am on to another issue you might be able to help with? I am using a PLC to control start and response method for stop, etc. Tried to start cycle, ran into issue where my DI's and UI's are on same ports, so I moved (separated) those. The issue kept telling me program was not selected (start is tied to rsr or pns signals) so I separated signals, but now there is a mysterious "task" that is unfinished preventing the running of any program, in remote, or local, auto or TP. I am unable to run in manual (keep getting error that bkw/fwd is disabled, but it is not (in FCN menu, nor in the variable associated) I am also unable to jog as the message says it is "disabled by the program" that is not running. I am stumped, FANUC is stumped (currently reviewing my files) So I am reverting to an older image to restore functionality but I am convinced (since I have restored once already) that the issue will come back if I try to go remote again. Any ideas?

  • Unit Load layer 1 drops are all too high

    • MONIQUEZE
    • March 20, 2024 at 4:44 PM

    Anyone else with this issue- the fix was increasing the pallet approach length in Z in order to allow enough time to complete the move.

    For moving the entire pattern I moved the teach point and pallet position the correct increment in both x and y direction (in ROBOGUIDE) and the pattern was adjusted for the real world when I uploaded PMSTA(xx).VR to the robot. Thanks for the help!

    Now, I am trying to teach around a large pallet magazine height on infeed switches. The simulation completely ignores the object height on pass overs .So I am teaching individual points for each infeed move and trying to figure out where that should happen in the PIKFRMINF.TP

    Any ideas would be appreciated!

  • Unit Load layer 1 drops are all too high

    • MONIQUEZE
    • March 18, 2024 at 5:13 PM

    Aha, optimal path settings! should get me squared away...

  • Unit Load layer 1 drops are all too high

    • MONIQUEZE
    • March 18, 2024 at 4:38 PM

    I'm already signed up, thanks. First class available after prerequisite of their first required class is in April. Since we have delayed the install due to my programming progress, and are postponed date is April 1st....I'm stuck trying to muddle through until their Pal Pro, Allen comes back from vacation. I will try rotating the pickup 180 to see if it still tries to rotate to place in the same orientation. I suspect it has to do with WD on LT vs the orientation of tool orientation at teaching. I've already had to reverse the orientation in conversion from Roboguide to Robot since it was doing the opposite in the real world. I'm suspecting it is something in that venue.

    Thank you!

  • Unit Load layer 1 drops are all too high

    • MONIQUEZE
    • March 16, 2024 at 12:13 AM

    pdl -

    The second layer seemed to be correct but only in relation to the air dropped first layer. I think I resolved it. I don't know HOW, but I reloaded the station file and the unit load file (from roboguide simulation from FANUC) about three times (remembering to delete existing real world robot file on the second attempt) The third attempt resulted in a reconfigured station origin, resulting in an almost successful first layer load.

    Allen with FANUC, thought the issue was due to not having a cleared UTool frame when teaching the station origin, but clearing and re-clearing was not helping at all. It also did not matter what I put in for my measuring tool length, pallet height or teaching below the pallet height. So thank GOD it was resolved with the simulation setup on the third try or I would be working tomorrow:( (Saturday), and probably would have made news for murdering my robot.

    The issue now is just a small offset to center on real world pallet. However, It is turning the box 180 to place it in the correct orientation (started out in the correct orientation so...?) and that is causing collisions as it comes in to drop the box. Any tips on end effector rotation while moving to stack would be helpful. It would be ideal if the joint move could be completed before the z move to it's spot in the pattern.

    Thank you for your response!

    Monique

  • Unit Load layer 1 drops are all too high

    • MONIQUEZE
    • March 14, 2024 at 6:46 PM

    Hello All, I am nearing completion of setting up my Palletizing robot, using PAlletpro and RoboGuide.

    I am having issues with the unit load placement. I was starting by trying to create a unique load until guidance from FANUC let me know that it would be much easier with ROBOGUIDE. We also had a simulated PC pattern (That FANUC created during our purchase process) that I took (once I got the licensing) and downloaded to the Robot to replace my feeble attempts at a unique load creation. My issue now is what I was struggling with when creating a unique load. Here is the email I sent to FANUC earlier, waiting on their 1 Palletpro expert to respond--he's pretty busy!

    I was able to load the unit load files yesterday afternoon, as well as the pallet station files. The pattern appears to be correct if I let it keep running . I still, however, have the same issue where it wants to drop the first layer off about 44mm above where it should place it- so dropping from mid air. I have checked that all data says it is on layer 1 and has the correct unit numbers for pattern placement. I have verified the height of the box is correct in the unit load data. I have verified the UTool data reads all zeros when teaching the pallet station. I have tried without using pointer tool and with pointer tool, adjusting measuring tool height accordingly. The only way I can get it to drop closer is if I teach a position that is well below the actual pallet height. But I cannot see a parameter that is telling it offset this height?? I want it to work the way it should (with origin taught above the pallet) to avoid offset issues down the line...Any help is greatly appreciated...


  • Help with PLC querie for palletizing registers

    • MONIQUEZE
    • February 2, 2024 at 7:51 PM

    @ pdl

    Thank You!

  • Help with PLC querie for palletizing registers

    • MONIQUEZE
    • January 30, 2024 at 4:42 PM

    Leviafun - Thank you!

    Yes, I have figured out the comms and sending G1 data for load and pallet info and stop cycle, etc. But what you said makes sense. So... I make a program on the robot side to monitor the registers that I need and it will respond with the group out that I designate? Do I need to add that into the WCELLMON.TP as well? or I guess, how do I run it concurrently with Palletpro?

  • Help with PLC querie for palletizing registers

    • MONIQUEZE
    • January 30, 2024 at 2:48 AM

    Hi there, I am programming a PLC and HMI for use with PalletPro and a FANUC robot. We want to give our operators a visual display of the palletizing status. I.e which laye,r how many units in layer on pallet. Can Anyone help with this? I see position and status registers, but I do not know how to query without a cycle stop to keep layers updated as it indexes. Any help is greatly appreciated!

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