Posts by Nation

    Position isn't much use without the current TCP transform, the user frame the point is in, or is active, and what model the arm is.


    Is your first move a linear move that attempts to go through singularity? Is your start point (home) close to a J5 position of 0 degrees?

    On that era of controller, you can enable Karel by going into the system variables and turning $Karel_enb to true. As for compiling teach pendant or Karel programs, attached is pretty much an abandon ware version of the compiler. It can also compile .tp programs.


    Maketp.exe will compile .ls programs to .tp. PrintTP will do the opposite. Ktrans.exe will compile .kl to .pc. Use -? on them in a command prompt to see what they need for arguments. You may also need to run them in a dosbox. I haven't used them in years. You may need to run setrobot.exe to setup your robot first for the compilers.

    Files

    • V631.zip

      (1.19 MB, downloaded 21 times, last: )

    I would say give Fanuc a call and see if they can generate a PAC for ASCII Upload. Hopefully you still have the original install media for the robot.


    I believe it was free on that era of controller, and Fanuc tends to hand out options like candy on educational machines.

    I modified the byte at position 0A from 27 hex to 29 hex, and that made it work.


    Figured out what position to modify by compiling a blank program on v8 and the same on v9 and comparing them. Comparison tool was ultracompare.

    Hi.

    Problem solved.



    LATI

    Would you be so kind to inform us on how you solved the problem? So that other users which experience the same problem would be able to solve it. Hence the whole point of a forum.

    I'm guessing that since there is a <= for the fast clock evaluation, it is evaluated true immediately.


    I think $FAST_CLOCK is an integer, so its max and min should be +/- 2 billion.


    Is DO[111] set to the complementary for DO[112]?

    Also, don't name your pod files very long (32 or more characters), or you will kill your ability to do backups. The backup will just fail when it reaches that file. You won't be able to delete the .pod file either. Found this out the hard way. In order to fix it, I had to mount an image of the robot, delete it from there, and reload the image.


    In addition to that, make sure your models are greatly simplified if you want some semblance of usable frame rate on the teach pendant.

    You are correct, this option is implemented rarely. I've only used in on one job out of my entire career. You may have to contact Fanuc directly.


    It would help if you posted what your settings and use case are. Also how are writing to the DPM system vars with your Karel program. You may have to write a software PID in there.


    Did you end up messing with the $a1 and $a2 filtering variables?

    Do you have a GET_HOME Karel program on your robot? This copies reference position 1 into PR1, and is in joint rep.


    Someone may be running it trying to get the robot home. If you do have it, it won't hurt to delete it.


    Generally in industry, PR1 is used as the home position.

    Looks like Tormach is getting into the robotics world.


    Anyone not familiar with Tormach, they produce hobby to prosumer grade lathes and mills. I personally own a series 3 PMC 1100, and I am pretty happy with it.


    Looks like they will be available June of next year, for about $17k for a 6kg arm.


    Here is a link to the talk:


    Some interesting notes:

    • Runs ROS, programs are in python 3
    • Open source
    • Core servo loop variables available to the user

    I think this is very interesting. The fact that this robot is open source, and you can access everthing in it will be very useful.


    It remains to be seen how repeatable and realiable the arm is though.