I know is hard to gets a good TCP but definitely 4-5 mm shift is to much for a TCP rotation.
Posts by easyrobot
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I would suggest to add logic to open your pneumatic guns when a stop condition exist, and re-close them until a the robot reach the final point.
Are you using Plc? Or is the robot controlling the guns? Or the welder?? -
I don't think it has to be with the master of the robot as long as it was close to the marks.
When you record a point the coordinates of that points (x, y,z) are according to where the active TCP is in that moment. Also the configuration of the robot is assigned according to the angles of the TCP so if you change the angles of your tcp, and then you try to move to a previous recorded point the robot will try to reach that point x,y,z using the configuration recorded but in your case your new TCP angles do not match any possible solution.
You still can use your new TCP, do not worry. But you need to use the Tool exchange function located in the utilities menu , this way all your point and arm configurations will be adjusted to your new TCP.
Bye. -
Check the program TP after you select in the macro table. (Details windows)
The system should automatically change the type to a macro program.
Bye -
Well, if Karel is not an option,
Then you will need to have that argument in all your calls. Probably use a negative value when the argument shouldn't exist.IF AR[1]<>-1, JMP LBL[10] ;
IF AR[1]=1, JMP LBL[100] ;
LBL[10] ;
!Do default stuff...
END ;
LBL[100] ;
!Do other special stuff...
END ;Yeap! I can't think on something different. I know... It is too bad and I guess Fanuc guys believe that programmers don't need that option using TP programs... As I said in Karel it is possible.
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As far as I know there is not a way to check for the existence of a parameter in a TP program.
But you can do it using Karel.
You can use this instruction ( Syntax : GET_TPE_PRM(param_no, data_type, int_value, real_value, str_value, status)
To determine if the parameter exist and paste the result on a flag or register and check for that on your TP program.
You need to have the Karel option loaded in your controller in order to be download any Karel program.
Also you need to have the olpc-pro to compile the file on you pc.
I would like to know if there is another way more simple. -
Hello I have some manuals for Nachi AX.
Whoever need it, let me know.
Also If you have a problem or question about this particular robot i will try my best to help you.
Thanks