Posts by ashley

hello everyone,

I did make my roboguide cell where 2 robots use IIC hand and fixture model to prevent crash between them.

I have to admit this is an extremely powerful option to have if you want to avoid 2 robots to enter the same zone at the same time.

Once ripe communication is set , their is no more programs logic to add on TP programs.
The IIC manuel also tell to configured MASH connection and avoid deadlock between multiple robots.
Unfortunately, I have a lot of heartbeat error in roboguide due to mash heartbeat that I need to ack very often.

From what I've read , Mash is used to prevent deadlock situation like :
Robot A waiting for Robot B
Robot B waiting for Robot C
Robot C waiting for Robot A
Mash is mostly used when their is 3 robots or more.

My question is quite simple then : if I only have 2 robots using IIC , do I need to also configured Mash ?
best regards

PS : I tried it on roboguide, it works fine.

I linked both robot to a variable that activate/desactivate IIC element 4 and 5 on each robot's tool.

Both robot does NOTstop when IIC 4&5 are desactivated And a fault correctly appears when the elements are activated (when the robot is about to collide).

The displays of elements does not change in roboguide though.

I have no idea why you need both $IA_HAND[1] and $IB_HAND[1] to be set to 1 or 0. I'm guessing the robot need some checking before enable/disable element of IIC.

I'm re-opening this and follow christian post which was very useful.

For my case, I need 2 out of the 5 elements from the IIC hand to be activated/desactived during the production

to do this :

write BOTH variables

$IA_HAND[1].$ELEM[4].$USE=True
$IB_HAND[1].$ELEM[4].$USE=True

$IA_HAND[1].$ELEM[5].$USE=True
$IB_HAND[1].$ELEM[5].$USE=True

If you need the configuration to be active for element 4 and 5. The interference check option does change the value in real time but NOT the 4D displays.

Return to false if you want to disable element 4 and 5.

In case it helps other too.

I finally found it,

I post it there in case there is someone interested :

To change the stroke, you must make a controlled start (as expected)

Then Menu and go to maintenance.
Select the robot and press F4 (manual)
Choose your option until you see the STROKE SELECT DESCRIPTION and choose the appropriate one.

Hello,

I want to add a stroke to the J3 axis of a SR-20iA.

in standard, SR20iA has a 300mm J3 axis limit but J3 can be extended to a 450mm stroke.

Question is : how to I add those information on roboguide? , I try to change axis limit on the meny but it doesn' work

I try to serialize the robot but cannot find the option for this 450mm J3. I guess It is located somewhere in roboguide.

Thank for your help

hello and thank you for your response.

By increasing Run-time refresh rate , I notice the blending is more smooth but the simulation was slower but this is logical I guess.

hello everyone,

When using TCP trace on roboguide (which is amazing btw.) , I noticed the CNT works as expected but I have dozen of curves to show robots path. I see the point is well curved but does it mean the robot doesn't follow the same patch everytime ? It the same for all CNT point (see image).
I do have the constant path option too.

Another question for fanuc expert,
I see that it possible to show the robot speed by selecting Color by speed on the trace option. The speed on my simulation is at 2000mm/sec most of the time but I see the robot doesn't reach this speed on short mouvement (which is normal !)

But do you think it is wise to check the maximum speed of every traces and enter this speed value on the program ?
Is it possible the cycle time might even be reduced because the robot doesn't need to decelerate too much?

thanks you for your time.

thank you robcad sim for these information but i'm confused :

Indeed My first PR is register as "Joint" but my program allow to use Tool_offset,PR on this.

7: UFRAME_NUM=1 ;
8: UTOOL_NUM=1 ;
9: PAYLOAD[1] ;
10: !Approach N-2 ;
11:J PR[1:take_conv] 100% CNT100 Tool_Offset,PR[99:Offset_Z-100mm]

I'm aware of these hermann but checking point will not affect my thought on the situation and I don't want anyone to solve the problem, i'm looking for help. That is why I don't want to export the RG cell, and I do not want anyone to spend 2h looking for my problem.

As my search goes on ,multiple Call fonction should not be a problem at all. So the error is elsewhere.

Indeed it was the payload , I did import Payload information , massively reducing the cycle time, I did not know it was important for RG to have those information. I'm amaze how this software is able to simulated a real robot.

anyway thank for the help !

I have already post 2 Programs, I can post all of them if needed but I don't think that will change anything (they almost the same structure) but I can do it if necessary .

I'm not an expert fanuc but on the other robot brand , I had no problems using multiple call in a row and the robot will not stop between calls. (if I tell the robot to not use FINE command)

My question is as follow then:

Where is roughly the "advanced pointer" of fanuc robot. When the programs reach the end of the call fonction , does the robot "return to the main" program while executing the rest of the program called?.

there is a quick diagram of how I try to program the robot. I simply removed the SWITCH PLC N° To obtain the loop.

LBL[1: while true]

CALL prog1

CALL prog2

CALL prog3

JMP LBL[1: while true]

Unfortunately every end of programs don't really make the CNT100 i'm hoping for.

I did try using PR but nothing changed unfortunately.

for exemple I changed the 29:J P[1] 100% CNT100 of the first program but my timer stay the same.

I'm using this test on roboguide. Can someone check it also?

No problem,

nop this is different point but both Joint CNT 100

Here is the main loop

R[1:Compteur]=0 ;
3: CALL MISSION_100_HOME ;
4: LBL[1] ;
5: TIMER[1]=RESET ;
6: TIMER[1]=START ;
7: ;
8: OVERRIDE=100% ;
9: ;
10: CALL MISSION_1_TAKE_CONV ;
11: CALL MISSION_2_CAMERA_1 ;
12: CALL MISSION_3_TAKE_GRIP1 ;
13: CALL MISSION_2_CAMERA_2 ;
14: CALL MISSION_3_TAKE_GRIP2 ;
15: CALL MISSION_5_RELEASE_CONV ;
16: TIMER[1]=STOP ;
17: R[20]=R[20]+1 ;
18: ;
19: ;
20: R[R[20]]=TIMER[1] ;
21: ;
22: ;
23: IF (R[20]=30) THEN ;
24: R[20]=20 ;
25: ENDIF ;
26: ;
27: ;
28: ;
29: ;
30: JMP LBL[1] ;

From 10 to 15 is the succession of CALLing programs. At the beggining of Prog 2 , I removed the UTOOL_NUM=1 and the payload because I read on this forum ,it might cause the stop motion, i try on roboguide , but i don't think it is right.

Here i do have a brief stop motion between :J P[1] 100% CNT100 (end prog 1) and J PR[2:camera1] 100% CNT100 Tool_Offset,PR[80:offeset change] (beggining of prog 2)

Is it because I'm using a PR at the beggining of programme 2 that the robot has not been able to "load" ?

Or maybe because I'm using a PRoffset?

I really hope this is not due to the CALL fonction. Because if so, then we better put all mouvement inside a single program???

Thank you for the help.

Prog MISSION_1_TAKE_CONV

UFRAME_NUM=1 ;
8: UTOOL_NUM=1 ;
9: PAYLOAD[1] ;
10: !Approach N-2 ;
11:J PR[1:take_conv] 100% CNT100 Tool_Offset,PR[99:Offset_Z-100mm] ;
12: ;
13: ;
14: !Approach N-1 ;
15:L PR[1:take_conv] 2000mm/sec CNT0 Tool_Offset,PR[97:Offset_Z-25mm] ;
16: ;
17: !take ;
18: ;
19:L PR[1:take_conv] 50mm/sec FINE ;
20: WAIT .50(sec) ;
21: ;
22: ;
23: ;
24: ;
25: !Out N+1 ;
26:L PR[1:Prise_sur_conv] 500mm/sec CNT0 Tool_Offset,PR[99:Offset_Z-100mm] ;
27: ;
28: !to CAMERA ;
29:J P[1] 100% CNT100 ;
30: END ;

Prog 2 MISSION_2_CAMERA_1

UFRAME_NUM=1 ;
8: PR[80,1:offeset change]=100 ;
9: PR[80,2:offeset change]=(-100) ;
10: !Approach N-2 ;
11:J PR[2:camera1] 100% CNT100 Tool_Offset,PR[80:offeset change] ;
12: ;
13: ;
14: ;
15: !Approach N-1 ;
16:L PR[2:camera1] 500mm/sec CNT0 Tool_Offset,PR[94:Offset_Y-25mm] ;
17: ;
18: !take camera shot ;
19: ;
20:L PR[2:camera1] 50mm/sec FINE ;
21: WAIT .50(sec) ;
22: ;
23: ;
24: ;
25: ;
26: !out n+1 ;
27:L PR[2:camera1] 500mm/sec CNT30 Tool_Offset,PR[83:Offset_X+100mm] ;
28: END ;
29: ;

As I state before, I completely removed all information from PLC and only running from the main program that successively call other program and I kept having stop between the last motion of the every called programs.

I'm re-opening this subject because I cannot find a solution either.

My programs is basically a Main program that call other program depending of the PLC number sent.

Every program end with a CNT 100 and start with a CNT 100 also but I kept having stop between motion.

Let's say I remove all info from PLC, the main program is as follow :

CALL prog1

CALL prog2

CALL prog3

All progX are similaire, the look ahead pointer should know it is time to basculate from prog 1 to prog 2 without any stop of motion right?. I'm new to fanuc I might missing some knowledge.

Thank you I never noticed it.

You experts usually learn those PR in cartesian or joint?

what about J[P1] inside a program for example. If I touch up this Joint with 180° on J4. Is their a chance the robot move to this point (same world position) but with J4 being - 180°

hello,

I'm new to fanuc and currently learning fanuc and roboguide. Some fonction are awesome and quick to do like the BCKward mouvement program.

I have a issue with some position register. To my knowledge , they cannot be learn as Joint movement.

And I usually programs my mouvement as follow :

UFRAME_NUM=1 ;
8: UTOOL_NUM=1 ;
9: PAYLOAD[1] ;
10: !Approch N-2 ;
11:J PR[1:take_object] 100% CNT100 Tool_Offset,PR[99:Offset_Z-100mm] ;
12: ;
14: !Approch N-1 ;
15:L PR[1:take_object] 200mm/sec CNT0 Tool_Offset,PR[97:Offset_Z-25mm] ;
16: ;
17: !take_object ;
18: ;
19:L PR[1:take_object] 20mm/sec FINE ;
20: WAIT .50(sec) ;
21: ;
24: ;
25: !out N+1 ;
26:L PR[1:take_object] 150mm/sec CNT10 Tool_Offset,PR[99:Offset_Z-100mm] ;
27: ;
28: !out N+2 ; ;
29:J P[1] 100% CNT100;

Basically for every need to pick up or release an object:

a quick approach in Joint followed by a Linear , slower approach with Tool_Offset then The Linear mouvement to pick up the production and the same process in reverse.

The problem I encounter is that The first joint mouvement do not respect the value of J4 (scarra robot). I want the J4 of the PR[1:take_object] to be at 180° and not -180° .

Is their a way to "force" a PR to learn the configuration of specific axes?

thank you for your response, I did take the IIC (interferance intelligence check) fonction as well

thank a lot for your response

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

I do use a PLC to order the robot to start / stop and ordering which Mission the robot should do.