Posts by Nation

Real world example: No Karel or Vision Tools? Now introducing Matrix Math in TP!

Normally, I would do this in TP.

Are you testing this in a simulated environment? If so, when testing, are you doing the test when running the simulation, and not in T2?

You might be able to get better times by capturing $FAST_CLOCK.

If you turn on keyboard mapping on the Virtual TP (right click on a blank space on the virtual pendant), the F1 key on the keyboard will fire the F1 key on the virtual pendant.

Unfortunately, that information is not recorded in the PR.

Maybe you could write a background Karel task to watch PRs and record the active UTOOL and UFRAME, and then log it. But for PRs that are already taught, there is no solution.

It would help If you stated what PLC you are using. You would do the messaging in the PLC side.

Are you using Ethernet/IP? If so, I have a thread in the tools subform that goes over how to use explicit messaging to read and write to registers.

You will need to setup a client tag. That is what the C1 is in the open file command above. You set the client tag to read from an FTP server. However, you will need to copy the file over, not read it.

Create 2 Karel programs. One to copy the file from the C1: "drive" to the MD: drive.

The second to delete the file that was loaded to the MD: drive.

Call the Karel programs at the beginning and end if a calling program. The loading karel program could store the name of the loaded program into a string register, and your call program could use that to call indirectly.

It might be the UT being 0.

Quote from jorgefernandes

Hello. Very nice implementation. Thanks for sharing.

I tried to use the MINV macro in a group with an external axis, which gave me an error INTP-311, saying that the PR it is uninitialized.

Did those functions work with the external axis?

The error occurs on line 53 on MINV macro.

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I haven't tested it on robots with external axis. You may either need to add a group mask, or manually populate the uninitialized element with a zero.

Try manipulating the $OFFSET_CART system var. It changes how the offset motion modifier works.

I go over it in this post: How to offset EOAT in X without affecting Z

Quote from AlexMac

I might be pushing it, but do you mind explaining how you calculate the W and P in WF? In cartesian representation I mean...

No calculation is done discretely for W and P. It all comes out in the wash thanks to the way matrix multiplication works. The couple of utility programs I wrote take care of that by converting the passed in PRs to Matrix form before doing the math, and convert it back before the end. That conversion is handled by the controller.

If what you are asking is how to do it in python, I've written some C# code to do that. It should be easy enough to convert.

It should be as simple as matrix multiplying your user frame coordinates by your point coordinates to get your point in world, angles and all.

Point in World = User Frame * Point in that Frame

I wrote a utility to do matrix multiplication in TP.

Best guy to take some inspiration from would be Jeremy Fielding:

You can download it from the Fanuc Webportal.

Don't forget the power supply.

Also, that looks like an X-Coded Ethernet cable. You could probably get away with running it with one of those. I think it would then have to plug into the 3rd vision port.

Quote from Google Translate

Good afternoon, I have a question, I want to know if there is a way to delimit or establish an area through which I do not want the robot to work so as not to collide when working, since it enters another machine in pieces, I would appreciate your help, greetings!

Normally you would use zones and discrete IO for this. Worldzone option would work as well.

RO 1 - 6 Typically control internal solenoids that are plumbed to the 1A - 3A and 1B-3B ports.

RO 7 & 8 Are wired to the connector.

What arm type? What controller generation?

ROs made the change from sinking to sourcing outputs a while ago.

Quote from Vaisakh78

Not the rapid code but actual abb backups, I wanted to have a look at the I/O Mapping.

The IO was a single dry contact relay output to close the "torch on" circuit to the plasma cutter.

I had plans to eventually implement dynamic height control, but I have since sold the arm.

Can you output the acceleration trace? That is what you need for force. F=ma after all.