Sorry the AP1 is the original card from Fanuc that comes with the robot. Has the loadable files.
Posts by Doctor_C
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Yes, your angle mount should be -90. I would use the AP1 and reload the robot and start from the beginning. I have seen in the past where changing the mount angle later did not work.
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The reset signal you refer to as Config menu #12, the variable is...
2.16.5.76 $SCR.$resetinvert
Minimum: Not available Maximum: Not available Default: Not available KCL/Data:
Not available Program: RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available
Name: Reset Signal Inverted
Description: If set to TRUE, the rising edge of the reset signal is used.
Power Up: Takes effect immediately
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Tool controls programs from the UK inputs, yes, but the other thing I have used them for is without a PLC for instance if someone pushes an ENTRY request button I dont want to do anything now but I do want to set R[6:entry req] = 1.
By triggering of a DI it will work without TP on and it only fires off the rising edge of the DI.
I can then address entry request when I want to (one example large parts in hand, I want the gripper empty).
LBL[100]
WAIT DI[machine ready]=on or R[6:entry req]<>0
If R[6:entry req]=0, JMP LBL[101
Pause
R[6entry req]= 0
JMP LBL[100
LBL[101]
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This is awesome.
I would think that you would "calibrate the encoder" for pulses per mm utilizing the AGV's encoder data.
Once you get that the AGV speed would have no affect on it. It just takes getting the AGV encoder data to the robot somehow.
I had a robot unloading a furnace belt. The plant manager was watching it after installation and saw the robot jerking and asked about it. I told him, it was doing exactly what his furnace belt was doing. The belt was lurching (robot was still picking fine). He had maintenance there within 3 minutes LOL
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FYI
With Target model collision check you have to be careful that your tool bubbles don't overlap the robot bubbles. You will know when you turn it on and can't move at all.
It's a great tool with large EOATs or parts
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Fred
One way is to develop a webpage, with Fanuc ActiveXcontrols tied to Flags--they are tied to the UOP.
The white box to the right is usually our logo and/or the customers logo.
Requires the HMI device option to automatically make the page appear (not on when Teach pendant on, pops up automatically when turned off)
Oval in yellow is pulling from SR's for the part name. Lots of ability here.
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Wow!
I'm jealous. What a challenge. My thoughts are you use the the LINE Tracking option, and then somehow pass the AGV's data as "ENCODER" data to the robot. I think probably a Hard mounted camera for the AGV entrance point, to be the trigger for Vision Line Tracking. then the AGV speed and tracking would be based on you virtual encoder.
Looking forward to the outcome of this. Please keep us updated. I'm sure I won't be the only Robot guy who would be intrigued by this challenge
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Unfortunately if you look at a backup AOA, you will see there are camera specific files in the robot. That's what will work.
When the Baslers were unavailable, Fanuc released another brand (can't remember the brand, and I'm on the road), and I worked with them for days to get one to work. Never did, and our Baslers came in so the trial was dropped.
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It sounds like originally you had program points (J P[1] 100% CNT50). Whatever frame they were taught in is their frame, and you have to reteach them to change the User frame. I like to use Points for critical positions, because they can't be touched up in the wrong user frame (unless you answer the questions)
PR's are Global and don't care what frame it is. You can change the frame at anytime
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Yeah, like imagine how good the vision could be today if they didn't spend years making it work on the touchscreen. Every other vision system has gone blowing by.
They are spending so much time for a kid to be able to program a robot, they haven't made improvements they could have.
I made a program, put it in every New robot, and run it first thing
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I don't think you can do Robot generated Grid Cal with a Scara, because you can't get Yaw or Pitch.
It will have to be a pointer taught grid frame. I calibrated a Scara once with a robot held grid, but I don't remember how (not auto grid cal)
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2 things, a 5 axis robot. And the X,Y, and Z of the move are none.
I would try
!At this point, PR[1,6]=0 ;
!Tool is hanging downwards.
L PR[1] 1000mm/sec CNT0
PR[2:different pr] = JPOS
PR[2:different pr, 5] = PR[2:different pr, 5] + 90
J PR[2:different pr] 5deg/sec CNT25 ;
But being a linear move that only rotates, I would go with Joint move anyway.
or you could Try your original logic with a Joint move on the second move, and time based speed. I have had better luck with the Time. Make it easy on yourself to adjust by using a register.
J PR[1] R[6:time]secs CNT25
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Thanks for the images, I agree with HawkME, you have something wrong mechanically.
I would try doing the mastering again, if it doesn't help that "mechanical play in 4, 5, and 6 is probably the culprit
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I have been seeing this in the last year or so creating a roboguide robots from a AOA backup.
All the options and such are there, not the programs
Once I find the above, I copy the Backup AOA into the my workcells/robot_1/UT1 folder.
Then I control start the Roboguide, and then Restore from my memory device.
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Can you post a picture of the tool.
1st thing I noticed is a negative number in the Z of both tools? And the W, P, and R values, they look wonky? I would like to see the tool.
If you put the tool on a pointer and rotate (in user or world) in W, P, or R does it stay on the pointer?
I see it is a 6 axis, teaching the tool frame will give you a better XYZ, then manually put in the angles (that's if the rotation around pointer showed them to be correct).
That's where I would start.
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or you could do....
FOR R[1:degree]=R[15:start degree] TO R[7:total degree]
R[2:-sin0]=(SIN[R[1]]*(-1)) ;
R[2-sin0] = R[2-sin0] DIV 1 (this will give you only the dividend, rounded)
R[5:dy]=R[2:sinT]*R[8:radius]
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From your picture I see this, that is the TBOP1 connector hanging in mid-air
That connector has to be plugged in and jumped across at least the first 6 positions from the right.
Give that a try to see if it helps
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Robo,
Thanks for putting in a final answer, so many never do.
The SYST-011 that I have seen the most is because they hit RESET, then immediately hit START. Robot was still resetting-hence the error.
I just ran some tests and the 1 thing that stops the robot and leaves the PAUSED UOP on is the HOLD.
Hope this helps