Posts by Fabian Munoz

Do you have a PLC connected to it ?

Maybe when you press the eStop your PLC sends a CSTOP and aborts

What is your setup on your SYSTEM , Config ? (the first 12 lines )

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

Hi

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

The problem is that to be able to use OTHER you have to use UI

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Let me try on my robot and try yo see what you are missing

On the screen that you see the option OTHER, What do you have for Production start method. You should have UOP and you should start the program with UI6 Start

Hi

This is the key sequence.

MENU, SETUP, Prog Select, OTHER, DETAIL, CHOICE

Hola

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

Hola Juan

De que quieres el manual ? de Karel o del robot ?

Hi

Download the program

Open it with any editor (word, notepad, etc)

Do the changes, treat it as any word document

Save it. Watch the extension does not change

Load it back in the robot

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

Hola

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

Yes , they were 0 and I turn the X to 15. Closed completely Roboguide. opened again and still had the 15

I tried to reproduce your problem on one of my workcells and I don't see the values being reset.

Check the attachment. Tell me when you download it so I can remove

Change the DOC extension to RAR

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

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