Hi
Do a search for MCH_POS I used it a couple of times (not in karel, yes in BG logic )
Work goods with boundaries but is no perfect. I was just trying that at 1000mm/sec going back a forth between two points separate by a meter.
A DO was turning on a relay every time I was crossing a boundary. I can see the relay turning on/off at about an inch from the actual boundary
Posts by Fabian Munoz
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An old chinese proverb says.
"Parts designed with computer software are dimensionally perfect, parts created by a milling machines and assembled together by humans are not"
Ok reading you post , seems to me that you need to keep tweaking the numbers.
"but as soon as I rotate the part its off", then tweak again, and rotate again, and tweak again and rotate again and tweak again and.............
This is the time when good robot programmers show their patient.
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Looks like you are working with small parts, 5 mm is a huge error.
Beside the point that there's human error (you teaching the setup points) which I believe you are doing your best (still, that is an error), the other problem could be that the robot is not calibrated properly.
Maybe this is not the best of the answers, but start adjusting your result coord until it works. You will see , the 5 mm are going to get smaller or bigger, then change the values accordingly. A lot of people do that when the it is hard to define on your tool what exactly is the TCP
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Hi
Can you give us more clues ? What are you using for a fixed pointer ?, what are you using for robot pointer? How much does the TCP move around , .5mm or 10 mm ?
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Hi
Maybe because you dont have
///ATTR SC,RW,CJ
CJ means Concurrent Job
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Search forum for "PCMCIA"
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HI Paulius
Welcome to the robot forum
Are you using P[] and not PR[]. ? I recommend to use PR for your application. You could use P[] but it's just more work
how to determine how much columns, rows and lay.................................
Use registers R[]
You can do math operations with them , etc, etcR[3] saves you columns
R[4] saves you rows
etc, etcand you can increment R[3]=R[3]+1 or any number
you can zero them R[3]=0how I could add a limit for an increment..........................................
If you use PR[] at one point in your program you will have an increment similar to
R[15]=100
PR[57,3]=PR[]57,3]+R[1]
R[15]=R[15]+100Just put a condition like
IF R[15] <= 1300,JMP LBL[34]
R[15]=0
LBL[34] -
if you put 20 kg at the end of the 8 kg you are going to have a massive list of errors
It's an 8 kg robot, do not put more than 8 kg payload (in fact, I wouldnt put more than 6)
Also, payload 8 kg means that the 8 kg are attached to the robot flange, if you have some kind of arm it will decrease the 8 kg considerably -
Serpantinas
Welcome to the robot forum
You didn't specify robot size or material you are glueing
Do you have a 200kg pressing cardboard or do you have a 10kg robot pressing thick plastic ?
How wide is the part with relation to the tool ?As a general rule, I would push with a tool that has compliance.
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hi
I would like to check how to execute 2 job at a time from Master Job.
Read/Search "Concurrent Jobs"How do i set the Assigned Numerical Values to represent my JOB in the User Input?
The group of inputs re predefined in Motoman.
If you look at the inputs section, each screen will show you the group, and the value assign to the group
For 64 you will see on that screen
0 clear circle
0 clear circle
0 clear circle
0 clear circle
0 clear circle
0 clear circle
1 black circle
0 clear circleIf I name my JOB as "Standby.JBI" instead of 64.JBI how should i do it?
assume ig1=64
din lb000 ig1
jump lb000
*1
call home
jump *99
*2
xxxxxxx
jump *99
*64
call standby
jump *99
*99
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Hi
Dont change the Z in the camera, just move the robot down the thickness of the product.
In other words, keep the distance between the robot and the part constant -
Wikipedia
In robotics, an end effector is the device at the end of a robotic arm, designed to interact with the environment. The exact nature of this device depends on the application of the robot.In the strict definition, which originates from serial robotic manipulators, the end effector means the last link (or end) of the robot. At this endpoint the tools are attached.
I agreed but I tell you, in the shop, tooling, end effector, EOAT means the same. It's whatever we put at the end of the robot to do the job
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On most of the cam software that I know, you can adjust the density. Sometimes by telling the software how precise you want your point to be on top of the path OR how many points you want every certain distance.
At the (grab a coffee, relax), you have to delete manually points that obviously your don't need
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The IrVision software is in the controller
There's no place on your laptop to hook up the communication cable from the xc56Normally, you would connect your computer via ethernet to the controller.
Then you would call the Fanuc html page and the software interpreter (cant find another word) for irvision would be loaded in your computer.As far as Roboguide, You can deal with pictures already taken but it will not work directly.
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carlsburg
Welcome to the robot forum
Lets see
R1.................Picks pin
.................Place the pin in R2 tool
later
R1.................Picks the pin from R2 tool
.................Place the pinR2................Picks the pin from R1 tool
................deburring
................demag plate
................ultrasonic wash
................airblast
................wash tank
.................Place the pin in R1 toolI have to say this. From what I am sitting the work for these robots is totally unbalanced. I guess is too late to change anything now like placing R1 on a different location where it can help R2 or relocate the stations to maximize cycle time.
carlsburg, I don't think little knowledge of the software is the problem, hits is more a mechanical design problem, anyway, lets think positive.
1) Get the cycle time for every station ?
2) R2, does it have to hold the pin all the time ?
3) Obviously you asked this question but , why not have a double gripper ? is it money or space ? -
Hi
PLC
Does the PLC have a ethernet port ?
If yes, You might have to get some help from an IT guy at the other end and connect the PLC and you laptop to the same networkRobot
If you have Roboguide and the latest backup yo can do any changes you want to the program and send it back with the fix.
Changing logic might bring a change in the robot trajectory, Be aware of thatPersonal opinion
I hope your customer knows how to deal with the Fanuc pendant. It's very simple to make a mistake touching the wrong F key -
Gracias JoseMI
Nunca es tarde para contribuir
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Hi cunaf
As an integrator we always give the customer the proper FSU or DCS documentation.
I give them the correspondents files and a set of drawings.
Then we do the and internal PHSR (customer and us) followed by another with the safety authorities
All this is done we the default password.Once I give the keys of the machine to them, they can do whatever they want
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Hi Varda
I think nobody in Yaskawa is going to tell me "Yeah, go ahead, show the password".
I would suggest that if people want the password, they can write you.In the mean time I will contact Yaskawa
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HI fyofolkdown
Welcome to the robot forum
I don't see any other solution than having a master for each letter from the alphabet. Using a loop everytime.