Hello,
You can get the Model ID in a register using R[x]=VR[y].MODELID.
x = number of register you want to use.
y = vision register you are using for get offset.
Instruction is under Vision.
Also make user on vision setup that each GPM Locator has it's own ID number.
Posts by andreic
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Hello,
My opinion is that iRVision does not recognize the part, it says Found: 0.
Did you setup iRVision so that is recording failed images? MENU=>iRVision-> Vision Config -> Enable logging and Log Path.
After that on your vision process you must enable logging for failed images. -
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After you setup TFTPD, you need to press F1+F5 and restart the controller. And you will have there Image backup / restore. And you do a image backup. The robot should get an IP from TFPD and start backing up the images in the chosen directory.
I don't think it's possible to make multiple robots at the same time because of the path on the PC, but I'm not sure. -
Hello,
As stated in the manual Image to Points does not use TP commands for iRVision.
There are KAREL programs that need to be used.
There is V_FIND_VLINE (vp_name, view_num, imreg_num, vlines, status) instruction in KAREL for calling Image to Points vision process.
vp_name - name of vision process.
view_num - must be set to 1.
imreg_num - index number of image register used.
vlines - PATH variable for view lines. -
Hello,
iRVision stores the tool offset in VR[..]. The inspection returned value will be in relation with your tool.
Then when you call VOFFSET, basically will apply a "tool offset" to your tool.
Basically it's the same as using Tool Offset instruction but instead you use VOFFSET and the results will come from the camera. -
If your used tool frame is simple, with X,Y, W, P = 0, and only Z value, then you can use Tool Offset for achieving the spindle rotation.
You would use:
PR[1] = LPOS (set this PR into Cartesian, for your fixed offsets)
PR[1,1] = PR[1,1] + R[1] (Your X offset)
PR[1,3] = PR[1,3] + R[2] (Your Z offset)
as said above,
And you add:
PR[2] = LPOS
PR[2] = PR[2] - PR[2]
PR[2,6]= -180 .
And your modify the program:
LBL[10]
L P[1] speed termination Offset PR[1], Tool Offset PR[2].
PR[2,6]=PR[2,6]+45
IF (PR[2,6]>225) JMP LBL[..]
JMP LBL[10]Basically you use Tool Offset for spindle type rotation. But only if you gripper is simple, pointing Z from the faceplate.
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What is important:
1. SV files - system files, if you modified settings etc. on the robot.
2. VR - variable files, for example if you modified PR, there is a posreg.vr file that keeps position registers.
3. TP - teach pendant programs.
So if you have modified only TP programs you need to reaload that certain TP programs. -
Instead of these programs, if you have SNPX option in the robot, you can buy KEPServerEX and log directly to MySQL. This has been discussed many times on the forum.
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On M10iA I've seen a FANUC tech changing internal harness without dismantling the robot. So yes, it's possible. Never done it personally, though.
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If you have SNPX option you can buy a cheap HMI just for this communication.
Something like this:
https://www.plcdirect.eu/products/opera…ct/mt8050-start
Siemens PLC communicates with HMI.
Robot using SNPX communicates with HMI. -
In order to unsimulate certain input/output you can use CLR_PORT_SIM. This is a KAREL command, not KCL.
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Depends on what do you understand for calibration.
1. Calibration (and mastering) of the real robot arm ("0 position"). Is kept in sysmast.sv. When you transfer files between the robots be careful to not override this one.
2. Calibration of the Roboguide workcell. This is used to align the real world objects to virtual Roboguide objects or parts. Check help page for "workcell calibration" -
Do you have EGD (Ethernet Global Data) ?
If yes, check out this thread:
https://www.robot-forum.com/robotforum/fan…-a-fanuc-rj3ib/
Basically you will have one consumer and one producer of digital inputs / outputs. You must enter how many bytes will be used for communication.
You must use rack 88 for configuring the I/O's. -
Please check:
https://sourceforge.net/p/libopensrtp/wiki/Home/
Although I never tested it. -
Second vote for RTCP. I think that's the way to go.
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Hello,
You can take a AoA backup of a virtual robot and load it into real robot.
Basically you will load:
.SV, .IO, .VR, .PC, .TP files. .SV can be loaded only in controlled start.
Also don't load sysmast.sv (keep the real robot's sysmast file), sysmast.sv is the mastering file, that's why you lost the mastering when you did it. -
file_spec is uninitialized.
In this case you can see in your program. But you also can check by pressing ENTER on KAREL prog and selectes DATA -> Karel Vars.
You must set file_spec to whatever you want, I guess the path of your file, so:
Add file_spec='MD:\BALA.TP' replace DELETE_FILE (MD:\BALA.TP, FALSE, status) with DELETE_FILE (file_spec, FALSE, status). -