1. Load the file to the controller it will translate it automaticly
You need the ASCII Program Loader option (RTL-R796) in order to do this. $550 option.
1. Load the file to the controller it will translate it automaticly
You need the ASCII Program Loader option (RTL-R796) in order to do this. $550 option.
With that age of robot, you will have to go with a hardware solution. There is nothing software wise that will be safety rated.
Looks like the 24V pins can supply up to 0.7 amps.
Depends on what type of valve, but the controller maintenance manual for the the R30iB states that each RO port on the EE connector can source 0.2 amps of current.
https://www.theverge.com/2018/10/4/1793…er-robot-cobots
Honestly I am not too surprised, after seeing demos of Baxter and the sawyer in person.
Use the CNV_STR_REAL built it. Reading its description, it looks like it can accept scientific notation.
I don't think there is, as I think they are only used for the Karel motion system. TP motion uses a different set of vars. Doesn't hurt to set them back to zero though, and sounds like a good practice.
Also, regarding converting from XYZWPR to JPOS and back, you can just cast the position from one type of variable to anther, and Karel will take care of the inverse or forward kinematics based on what is in the $UTOOL and $UFRAME vars automatically. No need to use the cumbersome JOINT2POS function.
With Karel, you have to set the $UFRAME and $UTOOL system variables to what you want the robot to record in. By default they are both at 0, so that is why it is recording at the faceplate.
If you want to record the active UFRAME and UTOOL at the time of recording, I think you will have to create a custom structure to hold that information.
Figured out another command:
DELAY #
Delays execution of the .cm file by that many milliseconds. DELAY 1000 will wait 1 second.
I do something similar for one of my customers, but I use another TP program to do it. I send over 2 programs, one that sets the program name string, and the actual program.
In this program, you would hardcode the name of the program that needs to be called.
String registers can't be set directly in TP, so I use this argument workaround.
I am having trouble following what you are trying to do. Do want the robot to indirectly call the program you load?
Is this turning on from the PLC? I think it is a Big Endian vs a Little Endian issue.
Anyone have any success with this error? I am getting the same error in roboguide V8 rev M.
Edit: Discovered my issue: V8 Rev M has a virtual controller at V8.30/29, whereas the backup I restored from is running V8.30/32. Looks like I need to update to RoboGuide V8 Rev M2, which has virtual controller V8.30/33.
Hello,
I am trying to figure out if there is a possibility to take a photo by Fanuc iRVision, save it to Memory Card (PCMCIA) and then by using KAREL program cut this photo and paste it on FTP Server created on Fanuc Controller. Then by using external application try to log to FTP Server on Fanuc and cut those photos and save them on local server.
You could set up vision logging to log the images to the robot's FR drive, then access this from the robot's default FTP server. Keep in mind that turning on logging significantly slows down the vision process.
Another option is to setup the vision logging to save the image onto a remote FTP server, which would be setup using a client tag, under host comm.
I do not know how to configure FTP Server on fanuc to make that fanuc an FTP Server.
You want to setup another ftp server on the robot, in addition to the default one? I am having trouble parsing this.
I do not also know how to cut and paste photos from MC to FTP Server, but I think I can do this alone.
The MC should be visible on the robot's default FTP server, provided a card is plugged in.
Assuming your controller has BG logic, you could try the output strobe method in the sticky BG logic thread at the top of this forum.
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Output Strobe
We put three color stack lights on our controllers, and I use this routine to make the yellow light flash when I turn on F[1]
IF (F[1] AND !F[3]),F[2]=PULSE,0.2sec
IF (F[1] AND !F[2]),F[3]=PULSE,0.2sec
IF (!F[1]),F[2]=(OFF)
IF (!F[1]),F[3]=(OFF)
DO[1:Light]=(F[2])
While I've seen (and done) Robo_Eng_13's method, I prefer (if I get on the project early enough) the custom pointer method.
For the price of one threaded hole on the tool, and a custom made pointer, you end up saving that cost in manpower time when the cell is installed on the customer's floor (mainly in idle time of other people waiting on you to finish touching up your frames).
For very precise systems, I've setup tooling balls on the machine, and used dial indicators to get as close to an ideal frame as possible.
On other systems, I've worked with laser tracker teams to shoot the robot into the car's body space coordinate system.
In solid works, you have to setup a coordinate system to match the faceplate coordinate system, then output the COG and the moments of inertia about the COG in that coordinate system. You only need the principal axis, boxed in red in the attached image. You also need to convert solid work's output from grams*mm2 to kg*m2.
If you want to do it by hand, the HandlingTool manual goes over how to calculate moments of inertia in the payload section.