When I interviewed there, back in 07, JR Automation was doing a cell with some bandsaws in it. The saws were used to cut flashing off of castings.
Posts by Nation
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The RJ3iC is just a relabeled R30iA. You might be able to do it. I would check with fanuc.
Most likely it will require a new core load. DCS isn't something you can turn on with a PAC code.
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Why not assigning values from each component of $MNUFRAME to the corresponding component of the position register ?
Also this can be done much easily using Karel if you have access to it.If you could tell me the TP code that does this, I would be very interested. I had a thread asking this question a while ago, but no answer outside of Karel.
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They go over something similar in this thread. Maybe that will help you out.
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That should work. What are you specifically trying to do?
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Not really a clean way to do what you are asking, but here is hacky way of doing it.
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For wrist configuration, and turn numbers, watch my YouTube video on the subject here.
The reason you are getting uninitialized errors is that the Fanuc controller uninitializes the point data when the INC command is added, for safety reasons. You have to go in the point and type your incremental offset in.
Wrist configuration is ignored in INC moves. I am not sure about turn numbers, you will have to experiment with that one.
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UTOOL is which TCP to use. In the case of the above, use the 9th programed TCP.
UFRAME is which user frame to use. A UFRAME of 0 is the world frame. -
Because jariuscs asked how to set the weight from the program. Maybe the payload is highly variable, and not known before run time.
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Sure, see example below.
Code
Display More/PROG INCMOVE /MN 1: UFRAME_NUM=0 ; 2: UTOOL_NUM=9 ; 3:J P[1] 10% FINE ; 4:L P[2] 250mm/sec FINE INC ; 5: !TCP now at 1525 Y ; 6:L P[2] 250mm/sec FINE INC ; 7: !TCP now at 1550 Y ; 8:L P[2] 250mm/sec FINE INC ; 9: !TCP now at 1575 Y ; /POS P[1]{ GP1: UF : 0, UT : 9, CONFIG : 'N U T, 0, 0, 0', X = 0.000 mm, Y = 1500.000 mm, Z = -350.000 mm, W = 0.000 deg, P = 0.000 deg, R = 90.000 deg }; P[2]{ GP1: UF : 0, UT : 9, CONFIG : 'N D B, 0, 0, 0', X = 0.000 mm, Y = 25.000 mm, Z = 0.000 mm, W = 0.000 deg, P = 0.000 deg, R = 0.000 deg }; /END
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Is an I move like an incremental move?
If so add the INC option to the end of a move, and then populate the position with how far you want the robot to move.
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second question, same model robot, i would like to pick up blank flat parts stacked on a pallet, sometimes these blank flat sheets stick together and the robot picks up 2 sheets with vacuum gripper, is there an option like maybe payload check to see if the payload is twice as high as normal, so it knows if it holding just 1 or if a second part is stuck on there?How heavy is each sheet? Robots generally aren't sensitive enough to detect small part weight differences directly. I would recommend using a double blank detector. Link to some I found on google: Link
thanks for the quick reply cobensoncould you break it down a little more, since I'm still new to robots and figuring this stuff out.
so you can specify what payload (1 to 10) you want active. but what code do i use to set a specific weight (like 32kg) to lets say payload[2]?To do it programmatically, you will have to edit the payload directly using the system variables. Here is the code for that:
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So that means there is no way to read the code. And the issue will be always there.Maybe you can call this previous employee up and ask nicely for the .kl source? Search your network for .kl files which might be the source?
When you load a .tp file on a robot it automatically creates a .ls ascii file. Does it not create a similar ascii file for karel programs?No, it does not. That would mean the existence of a decompiler, which Fanuc claims does not exist. Karel is compiled code, and thus not human readable.
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I am pretty experienced with Karel. If you have RoboGuide, you should be able to create karel programs. To do this, you add a .kl file to the files area underneath the cell tree, on the robot in question. The robot you have in the sim should have the karel option installed of course. Once the file is added, you can build the .kl file into a .pc file, and RoboGuide will automatically load that into the virtual robot controller.
As far as opening .pc files, that is a no go. They are compiled code, and thus, not human readable. It would be like trying to read a .exe on a normal computer.
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If (x10,y10) is your zero point of camera 1, (x20,y20) is your zero point of camera 2, (x11,y11) is your recorded point of camera 1, and (x21,y21) is your recorded point of camera 2, the difference in angle will be arctan((y20-y10)/(x20-x10) - arctan((y21-y11)/(x21-x11)Don't you need to know the distance from one camera to the other?
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From a math standpoint, the angle is arctan((y2-y1)/(x2-x1)). I think that to implement that on the robot, you'll need either the math option or to use Karel.I've had some success using Taylor expansion to get around the math limitations on base fanucs. You have to scale the function though, to account for the fact that a real in the registers is cut off after 6 decimal places.
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I am still not following fully. A diagram would really help. If you have multiple cameras with overlapping views, I would recommend you calibrate the cameras together first so they are dialed into the same grid.
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So you are talking about drawing a line from one X,Y position and calculating the angle of that line? Maybe a picture would help me understand.
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I use Ultra Edit, and in no way will it translate a .ls to a .tp for you. Ultra Edit is only a text editor.
Like Lerak said, you need an external program to convert a .ls to a .tp.
In my case, I use Ultra Edit's built in ftp tool to ftp into the robot and then use the robot itself as the complier when I save changes to a .ls program. This requires the ASCII Upload option.