It sounds like you have it if you are saving and loading programs with edits from notepad++. Unless you are compiling the programs before hand.
Otherwise you will have to buy it from Fanuc.
It sounds like you have it if you are saving and loading programs with edits from notepad++. Unless you are compiling the programs before hand.
Otherwise you will have to buy it from Fanuc.
The two numbers after the 7B hex code in your screen shot are 00 12, which is 0018 in decimal.
4617, which is 12 09 in hex, doesn't appear to be in your provided screen shot.
Hello, my dcs password has been changed from 1111, not sure exactly where to look for in sys.pass file
attached is my syspass filePlease help,
Looks like it is 0018.
I do this by using the robot's FTP server, and the inbuilt ftp browser in UltraEdit.
You can do it a bit on the cheap with two programs however, such as filezilla and any text editor. Right click open on the file in filezilla, then make changes in your text editor, filezilla will detect the change and ask you if you would like to upload the changes. Hit yes, and if you had no errors it will take. If the robot rejects the program, download ERRALL.ls and see why.
Couple of caveats with this method though:
You cannot edit a program that is selected, the robot will reject any uploads if that is the case.
Same goes for if the program is displayed on the TP in any screen.
Same goes for any program currently in the stack if the robot is running or paused.
The robot deletes the program it sees incoming before running the ASCII translator on it. So if your translation fails, and you delete your local copy, the program is gone, so make backups.
You will need the ASCII upload option in the robot.
Restart the robot in controlled start mode, then change the variables while the robot is in controlled start mode.
On the R30iB, you can select controlled start from options when you restart. On older controllers, you will have to hold PREV and NEXT while it is booting.
Do it at a controlled start.
You would have to make a sub-program to set all the components of a PR on one line.
Something like this:
/PROG SET_PR
/APPL
/MN
: PR[99]=LPOS ;
: PR[99,1]=AR[1] ;
: PR[99,2]=AR[2] ;
: PR[99,3]=AR[3] ;
: PR[99,4]=AR[4] ;
: PR[99,5]=AR[5] ;
: PR[99,6]=AR[6] ;
/POS
/END
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Then you would call it at the top of your program, like so:
Also, I would recommend using the OFFSET command if you are going to set a bunch of moves to the same offset.
I went to it last year, but I doubt I'll be going to it this year. A couple of the things I found interesting were the talks on collaborative robots, the free beer, and the cell displays over at AMT.
AMT had a cell that was using a servo/air hybrid gripper, where the servo would get the gripper into position, and then air would be used to provide the clamping force. I thought that was pretty interesting. They also had a bunch of iRvision cells, but it wasn't anything new.
Another interesting thing was ATI's method of unlocking the gripper at one of their stations. The unlock port was piped through the master side, then through the tool side, through the docking fixture, back through the tool side, back through the master, and finally to the unlock port. Any attempt to unlock the tool when the robot wasn't at the docking station would just result in blowing air.
Then I guess the fastest way is writing a simple KAREL program, as KAREL has a dedicated functions for converting JOINT to XYZWPR and the other way around. It could use an argument to specify which PR you want to convert...
I found that Karel will convert without the dedicated functions. You can do something like this and it will work:
I gave this a try, and it turns PR[1] into Cartesian representation.
Since it is a R30iB Mate controller, in order to use profinet, your controller should have come with a profinet card in one of the card slots in the controller mounted on the door.
I've attached a picture of one.
In addition to everything everyone else has said, I would recommend a tape measure that has both mm and inch. This is the one I use: https://amzn.to/2ZQ4IEm
I also like having a laser distance measurement tool. Worth its weight in gold for setting up DCS on Fanucs. I have the Bosch GLM 50, and here is the updated one: https://amzn.to/2M8davn
I am still of the opinion that you do not need to do an init start. It is like reinstalling windows because you modified a text file on your desktop.
In my mind, init start should only ever be used in a couple of circumstances.
[list type=decimal]
If you want a offline solution, I typically use the "find in files" function on a MD: backup. That function is in UltraEdit, and Notepad++.
You don't need to do an init start. Just load your modified program over the old one.
Only if it has the same name, and you choose to overwrite it.
Argument registers are read only, and are only valid for the scope of the call. Once they are set by the calling program, they can't be changed. They are automatically cleared (or really cease to exist) once the called program exits.
I typically just store the argument register into a normal register if I need to do operations on it.
You could also do an interconnect from ES to DO.
Example:
INTERCONNECT\\\\\\\\\\\\\\\\\\ 0 0
1/16
No. Enb/Disabl INPUT OUTPUT
1 ENABLE [EMGOP ] -> DO[ 29]
2 ENABLE [EMGTP ] -> DO[ 28]
3 ENABLE [DEADMAN ] -> DO[ 24]
4 DISABLE [FENCE ] -> DO[ 0]
5 DISABLE [ROT ] -> DO[ 0]
6 DISABLE [HBK ] -> DO[ 0]
7 DISABLE [EMGEX ] -> DO[ 0]
8 DISABLE [PPABN ] -> DO[ 0]
9 DISABLE [BELTBREAK] -> DO[ 0]
10 DISABLE [FALM ] -> DO[ 0]
11 DISABLE [SVOFF ] -> DO[ 0]
12 DISABLE [IMSTP ] -> DO[ 0]
13 DISABLE [BRKHLD ] -> DO[ 0]
14 DISABLE [USRALM ] -> DO[ 0]
15 DISABLE [SRVDSCNCT] -> DO[ 0]
16 DISABLE [NTED ] -> DO[ 0]
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Just tried the DO option, it didn't turn on. It seems like the program is completely ignoring the DB instruction.
Is $SCR_GRP[1].$M_POS_ENB set to false? Distance before doesn't work if this is set to false. I think you may need to cold start for it to take effect.