Posts by bidzej

    As far as I know, Safety PMC only helps to build logic in a more convenient manner than Safe IO Connect, but doesn't have certified blocks to program safety functions (like monitoring of e-stop or door) - at least not in acordance with European standards. So this means, that each component still requires a safety relay, which is then connected to robot's safety input.
    Correct me if I'm wrong.

    try TIME BEFORE / TIME AFTER / DISTANCE BEFORE / DISTANCE AFTER motion options (should be available as an extension of a motion instruction), for example:

    J P[1] 50% TB 0.00 CALL prog

    the manual says, that it's only possible to use TP programs after CALL in this case, but if so, you can execute a TP program, which in turn calls Karel.

    quite easy to check: go to MENU - STATU - VERSION ID and check the version of the Root software. Then compare it to your installed FRVRCs and you'll know.
    In VW for example, the version is 8.23 and this does not come among standard FRVRCs of Roboguide.

    You might want to replace your FROM/SRAM module to a bigger one (maximum is 3MB SRAM). If that still isn't enough, you might ask Fanuc for an option called TPDRAM, which allows you to store .TP programs in FROM and automatically loads them to DRAM on startup.

    What you'll definitely need are Position Reigsters (PR) and numeric Registers (R).
    You'll need R's as counters and possibly for calculating offset values, which you'll later use to shift PR's in given directions.
    You'll also need to edit only certain coordinates of PR's - use PR[i,j] for that, where i = PR's number, j = coordinate.
    Depending on the PR's data type, values of j are: 1 = x or J1, 2 = y or J2, 3 = z or J3, 4= w or J4, 5 = p or J5, 6 = r or J6. Depending on number of additional axes in your system, there may be further components of PR's. At the end of a PR, there is also a CONF string, which determines the arm's configuration, but that won't be needed in most cases - just use LPOS at some point of your program, to get a correctly "formatted" position and then play with it.

    Also, User Frames and Tool Frames will be useful.

    Looks like there is no dedicated instruction for WAIT with timeout.
    What you could do is start a timer right before the WAIT and then use it in the conditions, for example:

    clock_var = 0
    CONNECT TIMER TO clock_var
    WAIT ((...) OR clock_var>10000)

    looks like you need to check your paths for collisions and your torch specification (whether it's designed to withstand currents and temperatures that you get).

    I have already met such a request from the customer. But it makes no sense actually. The robot is supposed to stop immediately, and the table with a delay - but exactly in the same manner, with immediate power cut-off. This means, that the table still stops harshly and quickly, it doesn't make life easier for the mechanics.

    I think it would lack the CE marking at least.
    And, as already said, the safety system is different, so probably compliant with RIA, but not with European standards. I'm not sure if replacing the E-Stop board is enough, there might be more differences in other related components.

    Smaller things, like hour meters, are an option, which can be also ordered and connected to an european controller (hour meters are mounted as standard in some european automotive controllers for example).