Posts by Lerak

If your robot generation has a webpage, just open it and look under Active Program/Variable Diagnostic.

Then choose Variable files available on MD.

You will see two columns, one with binary files (original) and one with ASCII (text files).

On the TP program, you could use a Register R[x] to set the speed.

Put cursor on speed in program and sélect Choice on F-keys

But the value will be read while starting the point, i am not sure it will be consider if you change register value while the robot moves to that target.

Watch out !!!

Yes Grease has standard, but Fanuc generally grease looks to be usually in the bottom for viscosity.

15 years ago, somebody at purchasing dept decide to save $$$ and buy équivalent….

We runout so much reducer (over a dozen), that Fanuc call us because we buy so much replacement !!!!

Think twice before trying other !

When you said ''slower than expected'', have you checked if you get Motion Alarm (warning) that indicate Motion Speed Limit, etc....?

FTP is possible to manage programs in the controller.

FTP must be linked to MD: device to access programs selectable on the robot.

If you need to edit a program into the controller, you could use Remote TP and Edit program in Background Edit Mode.

You need to have Administrator right to install Roboguide.

Coord Motion is good if you have to work on the same part that is moving (by positionner or other robot), then it is necessary.

But if both robots work on static pieces and do not have other issue that being sync together, it is manageable by internal signals.

I found this in other threads (maybe you have seen too ?)

Thread

Robot Programming by VW Standart

Hello everyone,
I wanted to ask weather anyone has some materials that you would be wiling to share on robot programming by Volkswagen standart: for example main application signals, structure of the programm, communication between robots and PLC and so on. I would really appreciate any sort a help in this regard since I am very new with programming using VW standart.

RenarsIT

Nov 11th 2019

By reading that, i am agree that VW must provide this information in their scope of work.

Usually, car makers already have their standards for programming.

They define program control, how tcp and frame are defined, etc….

As i know, Fanuc is new to VW, usually they use Kuka, but since it’s no longer a German company, they look forward.

What kind of information / tips you’re looking for ?

Quote from HawkME

I don't believe there is any reason to use BMON in RoboGuide.

Fully agree with HawkME.

What are on line 27 et 30 ?

And do all those points are on the same circle radius and same plan ?

Are you new on both robot programming ?

What robot knowledge you have ?

Have you teached the first point over the grid in the iRcal Menu ?

iRVision need a start point to execute calibration routine

Check if you calibration is good.

Because if you solve the error by iniliazing the encoders by moving them, that means that at least one encoder was down so the initial value of the encoder is a surprise.

By putting Master Done to TRUE, and Calibrate, you define the axis position of the encoder to a previous encoder value.

That could cause bad mastering on this axis.

Do you have other alarm like pulse coder init request, bzal, etc...

You must solve those alarms previously to change master status.

Have you tried RST_PCA in the Mastering page ?

If you have changed encoder or lost power for one of them, you must initialize it before mastering the corresponding axis.

When you teach your 3 points to define a Uframe, does the two points previous to the Z are in the same plan ?

The first point is the uframe X,Y,Z values, the other two point define the orientation of the plan.

Those two points should be perpendicular to define a good orientation.

Watch out !

Quick Master is exactly like a MasterPos master, except it use another réf.pos that is custom defined to be able mastering with eoat attached to robot by using specific reference on the EOAT and cell environment (fixture,etc…).

It needs to be fully defined before using it.

By default, réf.pos of Quick Master is 0 degree for all axis.

You could use the software limit variable.

MENU-SYSTEM-AXIS LIMIT.

You need to reboot to make it works

This solve the l’imitas.

For the détection before having alarm, the cartesian to joint conversion could be good.

You must do that before path exécution, because path planner always read few points in advance and will pop alarm if you try to do this realtime

When triying to jog, do you hear motor break release ?

And you saw nothing spécial in alarm log ?

When you talk about JOG mode, have tou tried Axis Mode (not cartesian).

Maybe the mastering not done ?