PROC rPallet1
varPallet1:=1;
rInitial;
rHome;
WHILE nLayerCtr<=2 AND varPallet1=1 DO What about now ?
WHILE nPlaceCtr<=6 DO Key issue: Turn the flag ON at the beginning and OFF after one part
varPallet1:=0;
rPick1;
rPlace1;
rDrop;
Incr nPlaceCtr;
ENDWHILE
nPlaceCtr:=1;
Incr nLayerCtr;
nZOffss:=nZOffss+100;
ENDWHILE
rHome;
ENDPROC
Posts by Fabian Munoz
-
-
You could do something to what you did before, BTW, there's a 1000 ways to skin a cat
You push the buttonA, then the program takes you to rPallet1
As soon as you get into rPallet1 you turn a flag on (varPallet1:=1)
Then inside the WHILE (does not matter which part your are working on) you turn the flag off.
At this point the main condition WHILE varPallet1=1 DO goes false and you are out of rPallet1Same for pallet 2
!!!!!! You have to rename you variables (nLayerCtr, nPlaceCtr, etc, etc) to nLayerCtr1, nLayerCtr2 so the counters for each pallet are independent
PROC rPallet1
varPallet1:=1;
rInitial;
rHome;
WHILE varPallet1=1 DO
WHILE nLayerCtr<=2 DO
WHILE nPlaceCtr<=6 DO
varPallet1:=0;
rPick1;
rPlace1;
rDrop;
Incr nPlaceCtr;
ENDWHILE
nPlaceCtr:=1;
Incr nLayerCtr;
nZOffss:=nZOffss+100;
ENDWHILE
ENDWHILE
rHome;
ENDPROC -
1) I dont know what the acronym means but I know everybody at Fanuc understand the word PAC
2) I believe the PAC number is a number created with a simple algorithm based on the F code and the option code
3) I would say yes, but maybe your controller is a bit older and you dont have "all" the options
4),5) No,
6),7) Check SUMMARY.DG from your backup
I'm lazy. I always call Fanuc. It's not difficult.
9) No, as far as I know
10) Why would you uninstall a option and read answer 9)
11) Normally to check the hardware, you can go to many places, like I/O then you will see different cards, Same for software, for example if you need to know if you have DCS, then look for the DCS commands
As far as hardware connected, Fanuc doesnt have any idea what you have for valves, sensors, etc etc -
Try 1N4007 diodes
Screw the grey band strip on the + terminal of the relay and the other end on the - terminal
The diode is restricting the + voltage to feed back into the - -
Hi
Im a bit confused with " wait for another inputsignal to take second".So, your pick up is consecutive (sack 1, sack 2, sack 3, ...) but your trigger could be any input ?
I think your whole program is fine, you just need to loop back to the top and a trigger command (your inputs).
You are going to have to add some logic when you are at the end of jobPROC main()
top:
WaitUntil TestDI(di1) OR TestDI(di2) OR ..............rInitial;
rHome;
WHILE nLayerCtr<=2 DO
WHILE nPlaceCtr<=6 DO
rPick;
rPlace;
rDrop;
Incr nPlaceCtr;
ENDWHILE
nPlaceCtr:=1;
Incr nLayerCtr;
nZOffss:=nZOffss+100;
ENDWHILE
rHome;GOTO top;
ENDPROC -
This is what i would do if I dont have absolutely no clue
Wire a male 20 pin connector that matches your female EE
Hook it up and measure the 24 and 0 vdc wires and see if it is ok
Pick for example RO1 and meter it against the 24 vdc and the 0 vdc. Here you will find out if the outputs are PNP or NPNAt this point you will have 24 vdc and 0 vdc on your RO1 or 0vdc and 24 vdc on your RO1
Get the relay, the coil should be marked + and -
As far as the diode, connect the grey strip side to the +
-
wow !!!!!
I'm just trying to understand how do you know about cmos and not jobs, ladder, etc. They are shown in the same screen (which by the way, that's the answer to your question)
-
Bienvenido Eduardo.
Ojala que el foro te brinde conocimientoSaludos
Fabian -
Hi
VISION You can not uninstall, there is no PAC number to uninstall. The only way will be doing a image restore before installed
External Axis I dont remember how, but it's been answered before. -
HI
I dont have a Fanuc with me right now
Im trying to recreate the issue with simulation but is hardNote On the sim the SI are always ON, maybe the work opposite when driving a DO
Try to turn SI OFF and see what happens with DO -
I/O
Inteconnect
SI ---> DO -
Opposite at what you did
We do it this way
SFDI21 in safety relay output going back in B1 0V
A1 24E in safety relay output going back in SFDI11Look at your chart, you'll see the OV in the same column with the DI2x and the 24E with the DI1x .
-
Thanks ArcMan
I was just talking during lunch with the guys in the office and we couldnt think about the solution -
Hi scotty
Do a search for $PX000 or $PX001
-
Is it one circle only ? Is it on a particular location such as at the end of the robot reach or close to singularity ?
As far as the overlapping. You dont need to run the robots, go to the form definition and found out how much is the amount of overlap
Hint Circunf = PI x diam = 3.14 x 6 = 18.8 mmWhat do you have on roundness err ?
-
Hi
1) Whats' the radius ?
2) "perfectly round" Can you give more details
3) star/stop edges ? you mean, they dont overlap -
Hi
I dont think there's a place where you can read angles but what you can do is find information or measure how many pulses is a certain angle.
I will require a bit of math but you can do it that way, read pulses, divide it by the ratio (pulse/angle) and the result is you angle -
Thanks Chipprogr
Very descripted post. Was this a Saturday morning inspiration ? One of those: ... hmmm, what can I do today ? I'm going to helps the guys at the robot foumThat's exactly what I had in my mind, that's why I asked about user frames.
I was just waiting for Minimula explanation -
I meant, the cell layout
Did you think about user frames ?Note The formatting looks ok, but I dont see any difference between parts
-
Hi Munimula
Can you draw the layout ?
I just tried to write few scenarios for you and I have to delete them because I dont have enough details