Of course, yes.
Use a register (R[x]) for counting the parts in the stack (incremenent after each place)
Use a register (R[y]) for height of a single part.
Empty position register PR[x]: PR[x]=PR[x]-PR[x].
Use a position register (PR[x]) to calculate total height: PR[x,3]=R[x] * R[y].
Make a motion using offset PR[x].
Posts by andreic
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Option J871 ( iRVision UIF Controls) is only for accesing Vision Setup page from PC.
Besides that you need:
1A05B-2500-J901 ! iRVision 2DV -
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It's not clear for me what kind of I/O's you want to send, but if you have EGD I/O you can configure the robots to send I/O between them by Ethernet.
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Hello,
FANUC already has something like that:
https://www.youtube.com/watch?v=ggyplHnkjzs.Never tested it.
If you want to do it internally I recommend Kepware GE FANUC driver (supports register's, inputs/outputs) - https://www.kepware.com/getatt…b1f4c2/ge-snpx-manual.pdf. For this you need SNPX option. This SNPX must be configured via system variables.
You need to prepare data before hand by etting each data in some register. -
Hello,
In controlled start, go to MENU -> NEXT(0) -> Program Setup. From there you set number for PR's, R's, User Task's etc.. -
It would be safer to use UFRAME[0] for going home positions.
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AND (as well as OR, NOR, XOR, etc) is a logical operator, and is only valid when doing bitwise combinations of logic statements. It does NOT tell the robot to execute multiple commands. Best option would be:If R[31] = 4 AND R[30] = 0, Then
R[30] = -1
R[31] = 2EndIf
You can do this starting from R30iB controller.
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So, regarding KAREL + TP program solution:
You have your KAREL program (with %NOABORT, %NOPAUSE etc. which runs continuously), let's call it MYKLPROG.
You have your HOME TP program, let's call it GOHOME.
Inside MYKLPROG you make a condition handler to monitor desired signals and use RUN_TASK, ABORT_TASK to control GOHOME. -
Max is acA1300-30gm (1296 px x 966 px).
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Basically if you want to be able to send the robot in home pos, one option would be to use condition handlers in KAREL programs and one HOME TP program. Condition Handler will abort the current running program and call HOME program.
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Check: $MISC[1].$HPD_TRQ[n], where n is axis number. Also $MISC_MSTR.$HPD_ENB must be set to TRUE, and power cycle after that.
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FANUC offers you as "standard" either Sony XC56 analog camera or Kowa digital camera. Also the total cost depends on that. Maybe it's better for you to use Basler with iRVision software package + option R697 (for Gige camera).
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Never heard of such a variable, but maybe you can build something custom using KAREL and logbook.ls.
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Best/cost effective for R30iB, in my opinion for iRvision would be acA1300-30gm. But you need iRvision Gige Option for that. Also I recommend Ricoh lens.
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FAT32 should be ok. Also be sure to use the flash drive only for the robot. Don't store any other documents, etc. on it.
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I've seen problems in the past with bigger USB drives especially in the R30iA controller. Try a smaller capacity flash drive you can find - 2,4 GB, even smaller.
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Check out this program made by linuxsand.info: http://www.linuxsand.info/fanu…s/fanuc_comment_tool.html
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So basically, do you want to remote control the robot through Kepware OPC?
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There is no way to work without battery.
You can buy any LR14C from almost any local store. Replace them, RES_PCA. When the good ones (industrial grade) will arrive them just replace them
Later edit: My mistake, I thought that you're robot batteries are empty.