Hey 1mm seems a bit less to me. Are you sure the upper and lower plate are aligned perfectly. Do you move in a movl towards the lower plate and in a userframe or world?
The tool frame and userframe should be defined to perfection. Is it possible to adjust your plates. Make them thicker and with a v-shape so to rods will align themself.
Posts by TRBe
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To rotate back you can use a MOVJ joint, in degrees it would be absolute.
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I think I misunderstood you. The abort instructions aborts all your programs. You want to restart the robot automaticly? Can you post your .tp programs?
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I think its not difficult to do. You can set a register in your monitor program and check it in your main program. You can use the abort command to stop your programs from running and restart the robot. Are you located in Belgium?
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What is in your program TRC994? Maybe a lot of pos registers or calculations?
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Use this gripper, for this one it doesn't matter if there is a hole in your pot.
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I see in the log you took a backup 2 times, and the files should be saved so I don't know what went wrong there.
For your at perch signal. Go to Menu, Setup, Ref position, make sure the ref position (1) is enabled, go to Detail and set ''is a valid home'' (3) to TRUE. -
I see in the summary and logbook that the robot is in Home position at the time of the backup. But Is a valid home is NOT set to TRUE. Then the first reference position is the AT PERCH position for the robot. Your DO 70 is on so that one works.
REF\POSN\\\\\\\\\\\\\\\\\\\\\\\\ 0
Reference Position 7/13
Ref.Position Number: 1
1 Comment: [ HOME POSITION]
2 Enable/Disable: ENABLE
3 Is a valid HOME: FALSE <-------------------- set this to true.
4 Signal definition: DO [ 70]
5 J1: -115.000 +/- 2.000
6 J2: -14.999 +/- 2.000
7 J3: 19.997 +/- \\\\\0.000
8 J4: -0.000 +/- 2.000
9 J5: 79.000 +/- 2.000
10 J6: 0.000 +/- 2.000
11 J7: 0.000 +/- 0.000
12 J8: 0.000 +/- 0.000
13 J9: 0.000 +/- 0.000 -
The Backdate.dt file is missing from your backup, also the DIOCFGSV.IO file, .vr .sys ....
Are you sure you took an all of the above backup? -
Maybe you can send an AOA backup, then I can look in Roboguide if I see something.
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Hey,
Did you enable the reference position and set " is a valid home '' on true? You also need to give the position some tolerance, I usually give it 3 degrees.
See attached picture.
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Variable $GENOV_ENB should be on TRUE if you want to use the up % down % keys.
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Yes it is. search the forum or manuals for Skip condition.
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Roboguide and RJ program translator for fanuc.
PsPad for viewing and editing.
Beyond compare to see if backups changed.
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The way I used dcs with an operator:
The operator starts the robot ( light screen must me cleared if not you cant start ) and the robot picks up the part. While the robot is in the safety zone a red light next to the light screen is on. When the robot is clear of the pick position a green signal light goes on and the operator can walk in and place a new part. If the operator does not resets the light screen the robot will not pick up the part but he will be waiting for an input to continue.
If the robot is in the safety zone and the operator will break the light screen you have an E-stop and you will have to move the robot out of the safety zone manually.So if you use a signal lamp the operator knows when he can go inside and when not.
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Sounds like you have password protection or something, or quick/full menu's enabled.
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A photo is maybe more helpfull
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Hey Roboguru
See my post, with a drilling machine on a pneumatic cylinder it works fine.
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Teach the point in degrees, put the cursor on position ID, press Position, Repre , Joint. That way its always the same point.
Maybe if your joint point is in cartesian, and the configuration did not change it moves in this strange way. -