Posts by DylanNOEL

I've open your backup in roboguide and the programm run in auto without any problem.

Do you have trouble in roboguide or with the real robot ?

By the way, it toke me 3 sec on google to find the info.

Please search google before posting next time

Second link in google.

it doesn't chose. The ip is the one that is use to connect the other PC. Roboguide just catch the packet adress to him no matter the ip adress.

yes it's possible. U can connect to roboguide by an other PC. The virtual robot ip adress is the pc host IP

in robotguide, the ip of the robot is 127.0.0.1.

For exemple u can access the web server at this adress : http://127.0.0.1:9000/

The easyest way in python or C# is to use SNPX.

U need the option HMI Basic (R553).

For C# use this librairy : https://github.com/kkuba91/uGESRTP

For Python use : https://github.com/Booozie-Z/Fanuc_GESRTP_Driver

Hope it helps

U are doing right. TSK_PARENT Always send the name of the Parent number 1 in TP. I've tried to achieve this and i wasn't able to find a solution. I called fanuc and they said that it is not possible.

Directly click on the screen.

Go and watch some tuto on youtube for roboguide

Look in SYSEIP.VA,

this is my setup for ethernet/ip slot 2

No documents, just deduction from the file FRAMEVAR.VA in the robot http page

SETUP_DATA[x,y,z]

x : 1 to 8 (No idea)

y : 1 : Tool frame / 2 : Jog frame / 3 : User Frame

z : Tool number

Why would u use a system variable insted of a flag ?

The only useful var seems to be $DH_A and $DH_D

Thread

Modify FANUC DH Parameters

Hello all,
I am trying to modify my robot's DH parameters in order to optimize the robot's accuracy within a specific volume. The Robot is an LR Mate 200iD running on an R30iB controller.

I have located system variables that modify the DH length parameters: $PARAM_GROUP[1].$DH_D and $PARAM_GROUP[1].$DH_A. I can change these values, cold start the controller, and then the robot's joint-position relationship is changed as expected. I have having difficulty changing the angle parameters, alpha and…

Wrigley823

June 21, 2017 at 5:41 PM

Updating controller kinematic parameters - RoboDK Documentation

I'would be very interested to see your result and the procedure you used. Can u post your future result and approch in this thread ?

Thanks

Yes, it will be exactly as difficult as it needs to be. If you wire it wrong, it won’t work. If you plumb it wrong, it won’t work. If you choose the wrong solenoids, it won’t work. But hey, who needs details when we can just assume it'll magically work itself out?

All i was able to found. For this doc : MARS35GEN09801E

$PARAM_GROUP[1].$sv_dh_a[1-9]
Minimum: -1000000. Default: 0 Maximum: 1000000.
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: REAL
Name: D-H parameter a
Description: D-H parameter a [mm]
Do not change this system variable.
Power Up: Requires a cold start to take effect.
User Interface Location: SYSTEM Variables screen

$PARAM_GR OUP[1].$sv_dh_cosa[1-9]
Minimum: -1. Default: 1. Maximum: 1.
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: REAL
Name: D-H parameter cos(alpha)
Description: D-H parameter cos(alpha) [non]
Do not change this system variable.
Power Up: Requires a cold start to take effect.
User Interface Location: SYSTEM Variables screen

$PARAM_GR OUP[1].$sv_dh_costh[1-9]
Minimum: -1. Default: 1. Maximum: 1.
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: REAL
Name: D-H parameter cos(theta)
Description: D-H parameter cos(theta) [non]
This parameter is effective only when $sv_dmy_lnk is TRUE.
Power Up: Requires a cold start to take effect.
User Interface Location: SYSTEM Variables screen

$PARAM_GROUP[1].$sv_dh_d[1-9]
Minimum: -1000000. Default: 0 Maximum: 1000000.
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: REAL
Name: D-H parameter d
Description: D-H parameter d [mm]
Do not change this system variable.
Power Up: Requires a cold start to take effect.
User Interface Location: SYSTEM Variables screen

$PARAM_GR OUP[1].$sv_dh_sina[1-9]
Minimum: -1. Default: 0. Maximum: 1.
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: REAL
Name: D-H parameter sin(alpha)
Description: D-H parameter sin(alpha) [non]
Do not change this system variable.
Power Up: Requires a cold start to take effect.
User Interface Location: SYSTEM Variables screen

$PARAM_GR OUP[1].$sv_dh_sinth[1-9]
Minimum: -1. Default: 0. Maximum: 1.
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: REAL
Name: D-H parameter sin(theta)
Description: D-H parameter sin(theta) [non]
This parameter is effective only when $sv_dmy_lnk is TRUE.
Power Up: Requires a cold start to take effect.
User Interface Location: SYSTEM Variables screen

$VC_PARAMGRP[1].$dcdh_ratio
Minimum: 0.0 Default: 1.0 Maximum: 1.0
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: REAL
Name: Corner distance ratio
Description: Internal use only. This variable is set by the application tool. It is used when
$shortmo_imp is TRUE.
Power Up: Changes to this variable take effect immediately.
User Interface Location: SYSTEM Variables screen.

What's the IP of port 1 et port 2 of the robot, what's the ip of the VFD, Screen of your config ? Screen of your IO,

Thanks

Post

Re: R30iA Clock addressing

strange, I can see the variable in Roboguide...

anyway, I guess you could also use the $SYSTEM_TIMER[1].$POW_TOT - this should indicate amount of minutes that the controller has been switched on.

bidzej

December 15, 2016 at 10:34 PM

Do a BGLogic that watch this var and change the speed via instruction or by changing GENOVERRIDE system variable

Can u provide details ?

Please don't make empty post like this one.

What answer do you expect ?