Posts by ashley

  • DCS Option with scara

    Hi everyone,

    I could not find any information about which robot is concern about the DCS fonction.

    I want to add Safety Space around the robot (or inside for that matters) where the robot could or could not move to.

    The robot is a Scara 4 axes SR-20iA , it is possible to have those DCS fonction for Scara robot?

    Thank

  • Defect and BG logic

    Hello, I guess monitoring 2 BG Logic at the same time should do the job.
    On staubli, an expert told me once it is recommand to use 1 BG program only. Having 2 or more BG at time might greatly reduce processing speed.

    Quote from HawkME

    In the past I have either used the skip function to monitor the gripper or use a PLC to monitor the signal and stop the robot. It is possible to do with BG logic or condition handlers as well.

    Does ABORD or Pause fonction works in BG logic ? or do you use signal to PLC to stop the robot in the BG logic

    Thank you for your response and merry christmas.

  • Defect and BG logic

    Hi everyone,

    The structure of my program is as follow :

    I do have a MAIN programs call by the PLC and inside the Main a select instruction to call any other programs depending of a variable from the PLC
    On top of that , i've BG logic , nothing surprising and everything is running fine.

    I wanna add to my program some defect of the gripper which is basically as follow :
    Before doing my last Linear pick mouvement : I need to control if the gripper is open, if not the program must be stop until the DI[Gripper_Open] = On

    Doing this is quite simple inside a program (not the BG)
    IF (DI[60:Gripper_open]=OFF)
    GO[4:Robot_Defect]=1
    CALL F_Defect
    ENDIF

    Inside the F_Detect TP Program
    R[6:Defect_Robot]=GO[4:Robot_Defect]

    SELECT R[6:Defect_Robot] =1, JUMP LBL[1]
    =2, JUMP LBL[2]
    =3, JUMP LBL[3]

    LBL[1]
    Message [Gripper not open before picking]
    WAIT DI[60:Gripper_open]=ON
    JUMP LBL[999]

    As you can see the robot is not really hold or pause, it is simply a wait instruction, which is what I need, the robot will kept going is the DI is active


    The current issue is , I want to permanently control that the gripper remains close once my robot has pick up the product.
    I must use those information inside the background logic , but the background logic cannot call any program , nor contain any WAIT instruction (logic : it must loop).
    I could use the RUN instructions instead of CALL inside the BG , to run the F_detect independently
    How should I use a judicious program for this defect information?

    Should I use 2 BG logic (does fanuc allowing that?)
    Instead of calling for F_defect, it might be better to use a register that the BC logic will see and then run the F_defect ? ( to prevent the F_defect being call twice (once by the main and also run by the BGlogic)
    How do expert like you handle those situation :face_with_tongue: ?
    Thank in advance.

  • Roboguide can't open specific project

    Hello everyone.

    I'm trying to open a workcell that refuse to open because of the "Application Tool (H552)

    My version of RG is the following : Version 9 (Rev. L) , Licence Registred.

    Those following informations has been made :

    Open the cell as "run as administrator"
    Re-installed RG as administrator ,
    Re re installed again a newest version of RG (as administator of course)
    Move the cell into all fanuc project ( workcell )

    the project is 1 year old so I'm pretty sure I've a version of RG that should support this project.

    I can open/edit/save any other project but this one

    Any advice?

  • general question

    Thank you mate,

    I red a lot on this forum about people using $RSPACE1[1].$ENABLE. I'm not a fanuc expert but the variable $RSPACE1[1].$NO_USE_DI seems to be extremely useful because I usually don't want to bother with space fonction when I'm in T1 mode but I still want the PLC to know that the robot is inside a specific zone where no pneumatic cylindre must be active.

    However I noticed there are multiple of them inside $RSPACE.

    $RSPACE1,$RSPACE2,$RSPACE3,$RSPACE4,$RSPACE5,$RSPACE6
    This first number is relative to the Group number I presume.
    And the second one $RSPACE1[1], $RSPACE1[2],$RSPACE1[3],$RSPACE1[4],$RSPACE1[5] is the Space fcnt number ? I say that because they are 10 of them (and you have 10 space fcnt available).

    Is that correct?
    thank

  • general question

    Quote from svr

    to the previous message:

    You can write the analog input into a register in the background program, where you will always have the current value stored in the register, eliminating the need to write it in every line of the program.

    I would use DCS only for safety zones. If you just need to determine in which area/zone the robot's TCP is located, use the SPACE FCTN function.

    SPACE FCTN is exactly what I am looking for , thank you

    Fanuc offer so many in build fonction ! for exemple I did write into BG logic

    DO[65:T1_Mode] =($MSKKEY=1)
    DO[66:T2_Mode] =($MSKKEY=2)
    DO[67:Auto_Mode] =($MSKKEY=3)

    where I could simply assign them into the SYSTEM-->CONFIG
    signal to set in T1 mode DO[65]

    yes for sure i'll add a register link into the AI inside BG logic.


    A final question about the UOP. I red a lot of information about them inside this forum and I felt like most on you are waiting for a single signal from the PLC to start the robot.
    On staubli (or kuka) , I need to write some kind of program before starting the robot.
    Exemple : If DI[Start_Robot] AND NOT DI[Stop_robot] and not [DI65_T1_mode] and Safety_is_check THEN
    Robot start
    END_IF

    but in fanuc I felt those information should instead be inside the PLC.

  • general question

    Hello everyone

    Thank you a lot with your answer , It make everything clear now.

    Quote from Nation

    Not really a computation limitation in the Fanuc. Each evaluation will take 8ms. Also, you can use jump statements from inside if statements.

    I haven't thought about the Jump Section indeed , it will get rid of all the following IF....THEN fonction and basically act as a ELSIF fonction. If one day fanuc could add this fonction this will be great though :winking_face:


    Quote

    Quote from ashley

    2. On staubli there is a useful variable called "distance" which basically calculated the distance between the current TCP used and a point save inside the program.
    It is useful because I usually link this to a DO that tell the PLC the robot is inside a specific zone. I know it can also be made using some trigger fonction during robot's mouvement but I fell like the permament distance between the TCP and a specific point is more useful and versatile. Is there some variable like this one?

    The interference check option would be another choice for this, provided it doesn't need to be safety rated.


    Indeed this is not relative to safety, does interference check works the same as DCS position check then ? (DCS being safety )


    Quote

    Quote from ashley

    4. Using the SELECT fonction in fanuc can be made using register : SELECT R[2] = .... . Is there a way to link the SELECT instruction directly to a Analog Input (AI) ? SELECT AI[2] = ... instead of Copying the AI inside a Register right before the SELECTfonction

    SELECT only works with a register. You would have to read your analog signal into a register first. Also, since it is analog, you would probably want to "digitize" the signal into discrete, known numbers, since the SELECT statement cannot do a range.

    Indeed I save the Analog input inside a register just before the SELECT FONCTION.
    Why it is necessary to digitize the signal, I don't understand. My AI will always be Unsigned Integer value where it can be store inside a register.


    Thank you again

  • general question

    hello team ,

    I'm new to fanuc and as expecting, I've notice difference between fanuc and other industrials robots which bring me to the following question.

    1. Does fanuc required a referencing sensor like kuka? this referencing sensor is basically a sensor where the robot should periodically move to.
      Then the robot compare it's current position to the one saved inside it's safety configuration.
      If they match the robot safety is checked.
    2. On staubli there is a useful variable called "distance" which basically calculated the distance between the current TCP used and a point save inside the program.
      It is useful because I usually link this to a DO that tell the PLC the robot is inside a specific zone. I know it can also be made using some trigger fonction during robot's mouvement but I fell like the permament distance between the TCP and a specific point is more useful and versatile. Is there some variable like this one?
    3. In order to make an automatic home position program , I usually use an integer that is increment every new point.
      When the robot is stop, I look at this value to know roughly where the robot is located.
      Because they are no ELSIF variable , I did program all successive IF..... THEN following by multiple successive ENDIF.
      In my PLC experience, I know this required a lot of calculation process to check every successive IF instruction.
      Meanwhile while you program with ELSIF instruction , the program goes at the end of the IF structure once the condition is reached making the program calculation process much faster. Is this a problem to have 50 successive IF ... THEN ENDIF in fanuc?
    4. Using the SELECT fonction in fanuc can be made using register : SELECT R[2] = .... . Is there a way to link the SELECT instruction directly to a Analog Input (AI) ? SELECT AI[2] = ... instead of Copying the AI inside a Register right before the SELECTfonction
    5. Finally a question to fanuc specialist.
      I know the load determination (basically calcul of the weight, Intertia and center of gravity ) made by kuka is not 100% accurate. What about fanuc ?

    I know that is a lot of question :fearful_face: but this might be useful for other people too.
    Thank in advanced:thumbs_up:

  • advance pointer on fanuc

    thank you a lot for your quick response

    I did some test and add an alarm that abord the program just after a LinearPoint

    Even at full speed with CNT 100 the robot is very close to the point before stopping (so the advanced pointer exists but barely extend past 1 line of code)
    If I put a FINE then it will reach the point before stopping.

    I'm quite amazed how fanuc does (or doesn't) handle the advanced pointer. I thought it was pretty standard to all robot but this simplify a lot....

  • advance pointer on fanuc

    Hi everyone

    I usually work with Staubli and Kuka robots, and we might soon get a project that includes Fanuc robots. So I have question for Fanuc experts:

    What I mean by "advance pointer" (idk if it's the correct word use in robotics) is basically that the program looks what is ahead of the current line of code to "improve" the following mouvement or action of the robot (can even set variable and open gripper...)

    For kuka this is set to 7 line ahead and can be modify. The instruction "Wait Sec 0" prevent the advance pointer to go any further.
    For staubli it is way more. The instruction "WaitEndMove" prevent the advance pointer to go any further.

    Does the Fanuc system have an "advance pointer" like the kuka or Staubli?

    By running my program inside Roboguide, I felt like FANUC doesn't really care about that advance pointer which is amazing and very surprising to me

    For exemple :

    AO[6:Mvt_reach]=0
    $MCR.$GENOVERRIDE=(25)
    J P[1] 100% CNT100
    WAIT 5.00(sec)
    J P[2] 100% CNT50
    PR[4,3]=PR[3,3]+25
    L PR[4] 100mm/sec CNT50
    L PR[3] 20mm/sec CNT25
    AO[6:Mvt_reach]=6

    The last line will be equal to 6 only when L PR[3] is reach and I don't need to stop the advance pointer with a specific line of code.

    I am misunderstood something?
    Thank for your response

  • Types of IF Instructions

    thank you a lot for your response, I'm using the version 8.3.

    I understand now why the JUMP LBL fonction must be added then :smiling_face:

    fanuc should try to implement the elsif fonction , it might reduced the number of line of code.

    I will use the SELECT Fonction then, I'm assuming the programme automatically skip to the end on the SELECT fonction once it reach one of the condition (like a switch case fonction)

  • Types of IF Instructions

    hello I'm reopening this subject about the IF fonction.
    I'm new to fanuc and I have some experience on Staubli robotic.
    The programming section is , as you might expect, a lot different from fanuc.

    I've 2 questions about the IF section :

    I didn't find much about the classic IF ...... ELSIF fonction. If you have plenty of statements you usually goes for the elsif fonction to process faster.

    Example:

    If Instruction = 1 THEN
    do task 1
    ElsIf Instruction = 2 THEN
    do task 2
    ElsIf Instruction = 3 THEN
    do task 3
    ElsIf Instruction = 4 THEN
    do task 4
    Else THEN
    do Nothing
    EndIf

    The Elsif fonction doesn't seem to exist.
    If saw they used the SELECT fonction that seems to works similar (If I understood correctly) but It only work on register when I need to use AI instead. Should I mapped this AI into a register and use the SELECT fonction that act as ELSIF ?

    Another question on the LBL / JUMP LABEL fonction that I clearly do not understand the purpose.

    Why not simply writing the code of the section needed

    Exemple :

    If Instruction = 1 THEN
    JMP LBL[1]
    END_IF

    If Instruction = 2 THEN
    JMP LBL[2]
    END_IF

    If Instruction = 3 THEN
    JMP LBL[3]
    END_IF

    LBL[1]
    J P[1] 100% CNT50

    LBL[2]
    J P[2] 100% CNT50

    LBL[3]
    J P[3] 100% CNT50

    Could be written as follow :
    If Instruction = 1 THEN
    J P[1] 100% CNT50
    ENDIF
    ElsIf Instruction = 2 THEN
    J P[2] 100% CNT50
    ENDIF
    If Instruction = 3 THEN
    J P[3] 100% CNT50
    EndIf

    Maybe In case you need to JMP into a Label twice inside a program but I guess It usually never happen.

    Thank in advance

  • Roboguide- backup file

    Hello, I'm reopening this subject,

    I also facing this problem and coudn't find the solution.

    This is quite awkward to me because I think I have the proper and newest roboguide installation (couldn't find any upgrade on fanuc website anyway...) and when I try to create a new robot I have 2 option of the robot software version and the version V9.30 does provide the handling tool H552 which is required to open the cell...

    any advise?

    thanks

  • Use System Variables in TP-Programms

    I'll reopen this topic because I also have trouble adding Systeme variable in TPE

    I want to add a system variable link to a register

    R[2] = $MOR_GRP[1].$ROB_MOVE

    when I press enter it automatically write

    R[2] =$ROB_MOVE

    but unfortunately the program cancel once it reached this line. What did I do wrong?

    Thank in advance.

  • Add new robot on roboguide

    Hello Nation,

    As you might expect I have try to add a robot this way and it didn't work.

    I did find the solution though, I uninstall the software and re-install it and all robot appears. I have no idea why the first installation was messed up...

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