Posts by anonymous

It's PaintTool code used to access the color change cycle data.

The I/O configurator or site file for the robot may not have been run yet.

Look to see if there are digital I/O assigned for color valves, etc.

- anon

paulmapp,

Send me a PM; maybe I can help.

- anon

plc_man,

Type BM0 instead of CM0 at the device prompt.

The original RH controllers had a bubble memory unit.

- anon

droth,

When the collision sensor is tripped try this:

1) Place the robot controller in teach mode

2) Enable the teach pendant

3) Hold in the deadman switch on the pendant

4) Press the reset button on the pendant while holding in one of the shift buttons

The collision alarm will be ignored as long as the shift button is held in, so you can jog the tooling out of the collision situation.

- anon

Be sure that your Jobs don't call themselves as that will cause a stack overflow.

The default stack size is normally 300 and should not be a factor in your situation.

Jobs call processes in PaintTool.

-anon

stef_zgb,

Basically:

1) Robot will not execute a paint stroke -- i.e., all points from a Gun=ON instruction to the following Gun=OFF instruction in a process -- until the entire paint stroke has passed the inboundary.

And,

2) A point within a paint stroke that passes through the outboundary before the robot has moved the gun (TCP) through that point in the paint stroke will generate a Track Destination Gone alarm and cause a robot fault.

- anon

dhays00,

I am familiar with Mirror Image utility.

Let me know if the FANUC information accomplishes what you want to do.

If if doesn't, I might be able to help, as I had an unusual need to mirror tracking paths in the past.

- anon

dhays00,

Mirror image programs in paint are not created using a utility such as mirror image shift; instead, mirror image programs are the direct result of properly configuring and teaching the paint robots.

It is important to mirror the robots both mechanically (P200, J2 offset and gun mounting) and in software (robot "handedness," i.e., left-hand or right-hand coordintate sytem).

Normally the robots are mounted along the conveyor such that the outer arm of each robot will be at a right angle to the conveyor if the robot is postured at its mechanical zero position.

Be sure that you master the robots as best you can prior to performing any tool frame or tracking setup -- if applicable.

Step 1) Determine the robot coordinate system ("handedness"): Stand beside, above, or below the conveyor, facing in the direction of conveyor travel looking in the direction of the robots. If the robot is mounted to the left of the conveyor the robot will need to be configured with a left-hand coordinate system -- this is not to be confused with the arm offset; conversely, if the robot is mounted to the right of the conveyor the robot will need to be configured with a right-hand coordinate system.

Step 2) If not done already, setup tool frame #1 in one of the robots. Assuming that the tooling on both robots is mechanically mirrored -- as it should be, the tool frame data data can be direct-entered into the opposing robot.

Step 3) Teach the HOME program using one of the robots. Normally HOME will contain a single position using joint motion type and FINE termination type. Load the program onto the other robot. Execute the HOME program in each robot.

Step 4) If the robots are performing line tracking, the tracking frame used will be Default. In addition, the encoder scale and part detect distance will need to be entered into each robot.

Teach a test program in one of the robots -- motion programs in paint will normally have the Process sub-type or else PaintTool will not function correctly. Load the test program onto the opposing robot. Run the programs.

- anon

Rack 48 is the Peripheral Device Interface (PDI).

You can find the connector names and signal assignments in your Mate Controller Maintenance Manual.

- anon