Not sure what you mean by a caterpillar. Like a rail? An AGV?
Posts by Nation
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You will get more responses if you explain what you are trying to do, and what the system vars you are trying to modify do.
I looked up the system var definitions. $HSCDMNGRP[1].$stnd_cd is the standard collision guard percentage value (i.e. running with the COL GUARD OFF command), and $HSCDMNGRP[1].$upd_groups is an indicator stating that the COL GUARD ADJUST command has been used in the program.
Why do you want to modify these values directly? Typically you would use COL GUARD ADJUST.
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Bad IO just means it can't see something on it's IO side. In this case the second device defined in the Ethernet IP menu. This shouldn't keep you from jogging though.
See what alarms you have active in the alarm menu (menu->4).
Next you would probably need to disable UOPS (menu->next->config), and make sure all the safety circuits are complete.
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Yep you are correct. The six axis amp gets placed into the line tracking card, and the jumper goes from the card to where the amp used to be.
Here is what the manual says about it:
Fiber Optic FSSB Connector
When a line tracking interface board. A2OB-8101-0421 (Wide mini slot) is used The original fiberoptic FSSB cable connector that connects to the COP10A connector of the main CPU board should be moved to COP10A of the line tracking interface board. The additional fiber optic FSSB cable should connect COP10A of the main CPU board to COP10B of the line tracking interface board. -
I've edited your posts so they are not nested quotes within quotes with responses in order in increase readability.
Is your FSSB interconnect cable from the line tracking card to the CPU missing? I had that happen once, and it produced similar symptoms.
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Sorry I haven't been able to get to looking at it. I've been slammed all week. I'm glad you found a workaround though.
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What version of roboguide are you running?
Would you be able to package the cell and attach it? I could take a look at it.
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You usually won't see the macro execute. When testing I usually put an incrementing register in the macro to verify it is being fired.
Regarding background logic, check out the sticky on it.
The handling tool manual goes into pretty good detail on how program and system monitors work.
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Is it a newer than V7.70 robot? If so you have to add the Karel option to the robot when you serialize it. Option is R632 KAREL.
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There are several methods:
- The RUN command from the main task.
- Use Background Logic.
- Use a program monitor.
- Use a system monitor, which is like a program monitor, but runs all the time.
- Use macros.
The closet thing Fanuc has to a trap is the program monitor.
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If you can't dedicate a half hour of your time to learn the basics by watching the videos I posted, I don't know what to tell you.
Honestly you need to get your employer to send you to robot training. You really learn these things hands on.
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Honestly, I would just parse the text of the tp program (.ls) from the MD device.
There are undocumented Karel functions described in this thread that can get the point number of a point, but have fun reverse engineering how they work.
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PosReg only contains the PRs. If you want program specific points, you have to load that program into your other robot.
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Thanks for following up with your findings, this is very useful. I can think of a couple of jobs I've done where it would have saved a lot of programming time.
I took a look in the software reference manual for an official description on what those variables did, and of course they aren't there. I checked the V8.30 and V9.10 handlingtool manual. Way to go Fanuc...
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If you want to connect to the robot via Filezilla, you need to setup the server tags (S1, S2, etc), as the robot is acting as the ftp server. The client tags are for if you have a ftp server somewhere that you would like the robot to connect to.
Really you just need to make sure that the server tag for FTP is up and running. Some robot's I've seen it is disabled for whatever reason.
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The UO enable bit won't be on if the robot is in step.
Also, you can setup your cell start options to just reset step on cycle start.
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Make sure you have the power estimation option installed. I think it is selected by default when you install roboguide.
Then, when you run a program, you can set an option on the run panel to collect power data. Analyze the data using the profiler. Access the profiler by right clicking on the completed task under profiles in the tree.
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67206 is HOST-206, which means:
SM: Bad Port Number
Cause: The system variable $server_port in the Client tag or the host tag was invalid.
Remedy: Set the $hosts_cfg[n].$server_port sysvar for the server tag or $hostc_cfg[n].$server_port for the client to a valid
number."Edit: How I looked this up:
Karel error codes are always setup like this: FFFEEE, where FFF is the facility code, which can range from 1 to 3 numbers, and EEE, which is the error code, which is always 3 numbers.
You can look up the Facility code number in table 1-8 in the error code manual. In this case, the faciltiy code was 67, which according to the table is HOST.