Posts by Fabian Munoz

    Guys, I gave up on that problem years ago.

    when I have parts with 360 rotation I use model ID, 1 between 0 and 179.9 and 2 between 180.01 to 359.9.

    Yes I just double the amount of work but also I cut the error in half

    Note: depending how you taught the part. The angles on the model id could be -90 to 90 and 90 to 270.

    Test it an see the results

    Just map the ui to rack 89. The picture gives you and idea

    With this if you turn on DI6 you will turn ON UI6

    By the way. I'm just giving you simple instructions (ideas). You going to have to setup many other things like for example if you want to use the UI you also going to need to go to SYTEM ,CONFIG and Enable the UI.

    Do you have your ip setup ?

    You need to configure your di/do to talk to the plc ?

    Did you enable you ethernet ?

    Do you have any of that ? Do you have rack 89 configured ?

    You should search the forum a bit for rack 89 and see pictures and setup

    You are going to need it to talk to your PLC

    Once you figured 89 in you di/do you need to do similar config to your UI/UO

    I guess that you are talking to a PLC. Connect those buttons to a PLC and the PLC to the DI signals. The DI signals they have to be mapped to the UI signals


    Assuming wiring is done correctly and there are not lose wires that can produce short I want to tell you :

    Fuse for the EE is very delicate.

    I've blown many during many years. It doesn't like sudden voltage changes. Just because I disconnected and connected again was enough to blow the fuse.

    I don't remember having a fuse blown with tool changing

    I got to the point that I will turn the power off, work on the EE, connect sensor or other devices and with the EE connected I will turn the power on on the robot.

    Do not try to replace the 2A fuse for something bigger. Bad practice


    Pregunte mas bien para saber si querias el manual de Karel.

    Lamento decirte que el robot que tienes tien 30 años, En esa epoca no habia PDF o ningun tipo de documento electronico, asi que si alguien tiene algo, va a ser en forma de un libro/manual enorme

    Otra cosa, el modelo mas comun era el RJ ( yo tengo edocs para RJ2). El RH fue menos usado y diferente del RJ

    Te digo esto no por ser puramente negativo, solo para decirte que no te hagas muchas ilusiones.

    Si no has trabajado con FANUC y con Karel en la actualidad se te va a hacer muy dificil. Karel por si solo es bastante complicado

    There are few things you can do but before lets talk about this A colleague told me that, if I use "J". I think he mint save the point with joint representation and not cartesian.

    I use this method when I want to "untangle" the robot. The point is define with angles and the robot will go always on the same (know) direction. Usually I do this in between the pick (at any angle) and the place. The problem is that the offsets that you use are in cartesian so it does not apply to your angles. An offset of, lets say, 3 on axis 1 will rotate the robot 3 degrees instead of moving forward 3 mm.

    As far as your problem if you are picking parts at 0 or 180

    I would approach the point with the gripper half way of each direction, then the rotation is only 90 deg

    I would use numbers like 179.99 instead of 180 or 0.01 instead of 0


    La foto te muestra donde encontrar ACC.

    He programado cientos de robots y nunca he usado ACC. Para que la necesitas ? Porque no aumentas la velocidad ?

    EL problema que tengo conn ACC es que al usarlo te desvias de las acelerariones propias del robot. Estarias forzando al robot a ir mas despacio or lento de lo que ha sido construido

    I dont understand what you need. The description that you wrote indicates to me that you know how to work with PR and R

    When you mention the 356mm that indicates to me that you know the concept of PR (i,J) as a command.

    Can you rephrase the question OR show us the program part that you are talking about ?

    What I see is

    When you drop the first two boxes, the drop of point is higher than the other boxes , so you actually "drop" the boxes (I like that) and then when you retreat the robot is perfectible normal

    When you place the second set, you do the same after the boxes dropped and the tool now is empty, the robot goes down and compresses the boxes, then it goes up

    I wonder if that weird motion on the robot is just the tool "going back to normal" after being under pressure