Posts by Nation

    Another option would be to just move to the point, grip, then do a wait until your press is fully stroked. The robot will track during a wait statement.


    After your wait statement is done, just exit the program into a non tracking program, wait for the press to be retracted, and continue the rest of your process.

    If your table is fine, you can still teach a frame to it, and then convert your program to your frame. The frame convert utility under utilities will let you do this.

    You are using the correct moment of inertia axis, but your reference coordinate system is wrong.


    Z needs to be out of the faceplate interface, and X needs to be to the top dowel.


    Also, contact your Fanuc rep, and ask for the latest version of the payload checker excel sheet. You can input the numbers you got from creo into it, and it will tell you if the robot you selected is within payload or not.


    Judging by the size of your wrist bolt pattern, you would be fine.

    I think the handling tool operations manual goes over them. The arc tool manual might be a better bet, as that tool deals with a lot of multi robot cells with trunions and the like.


    The thousand foot view is that you make a group for one or more axis that may need to be controlled independently. The two groups can be coordinated together, but placing the axis in seperate groups allows you to have the option of independent motion when needed.


    Two robots that need to coordinate for a specific portion of the process, but can do seperate operations otherwise? Two groups. The situation you described? Two groups. Robot on a rail? Can be two groups, but way easier to control if you just define the rail axis as an extended axis. Gripper with integrated servo for positioning? Probably two groups, but could be extended axis.


    For your situation though, it would be far cheaper, and way less complicated, to just to buy the dynamic path modification option.

    conveyor tracking is an option, isn't it? I would like to follow a conveyor without option

    If you want to pick while moving, you will need to put the line tracking option on the robot. If your conveyor is at a constant velocity, you *could* wait for a trigger, and do a flying pick, but it would be pretty janky, and require a lot of tuning if you took it to the real world.


    Need IrPickTool option. I never used in simulation because it hard to setup (at least for me) the camera, the encoder, etc

    I rather "show" a box in a attached to a moving conveyor, then at one point move the robot to the box and change the box attachment from conveyor to robot tool

    You can do line tracking in regular handling pro.


    See here:

    This is not line tracking.

    Kfloppy can connect and upload/download programs to the controller via rs232. Its been about 15 years since I used it, so you are on your own with how to use it.


    There are several posts on the forum about it though, so you may be able to find more information on it.


    There is also a .hlp file in there, but it is plain ascii, not the windows version, so open it with a text editor.

    Files

    • KFLOPPY.zip

      (969.04 kB, downloaded 1 times, last: )

    Details man. You are asking us to spec out a cell with out even answering basic questions.


    Knowing the part size only tells me what size of robot you will need.


    To repeat some of my questions:

    What is your required cycle time?

    What are the tolerances of your parts?


    Some new ones:

    What is the shot size of your glue?

    How accurate do you need to be with the volume of glue dispensed?

    What is the Reynolds number of the glue? If the glue is super thick or thin, it will require special provisions.

    What is the cure time of the glue?

    Does the glue need to go through an oven or some other post process?

    Does the glued LED strip need to be held in place while the glue cures?


    These are all questions you should be able to answer. Any integrator will be asking you the same.

    in this step i need to know, can i program both tasks with one robot?

    Yes.


    or do i need two robots?

    How many parts do you need to make per unit time? You could weld a whole car with enough tool changers, but it would take you 3 weeks to do it.


    I need to know clearly what is the difference if I do these tasks with 2 robots?

    The difference is cycle time. You will be able to make about twice as many parts per unit time. The tasks are now parallelized instead of in sequence.


    Does it help to have better accuracy or does it help to save time?

    What are your part tolerances? A micron? An inch?