Posts by Roboter

Kwakisaki san, thank you very much for your much needed help. Thanks a lot

Kwakisaki san, I have used as language manual palletize example no. 2. I have changed the code in starting and ending portion only. That's why I shared that data. After reaching the company I can share full program. The problem is as per manual, feed point is fixed. In my case feed point and drop point is having array of 3,3. If you can help me with this issue, it would be great

Here is the tray

I need to depallatize from one tray to palletize on other tray. But after Depallatizing 1 row. Robot start doing depallatize and palletize on tray 2 continuously. Here is my code

Your kind help s required

Both tray are same. I have to pick 9 parts from tray 1 and place 9 parts on tray 2 in same pattern. There is no level involved.

I didnt asked any copyright information. If anyone has done it that is what I asked.

Mr. Fubini I didnt understand why you shared this post related to kuka as an example. Please avoid using words such as follow common sense.

i need to communicate weld controller (Nadex/obara) with PC and read and write weld parameters online.

I think you are asking about maximum robot generative force.

file is attached for your reference.

Dear I3ryan,

Attachment is missing.

Hi Cobotnik,

R503, R504 can be accessed from teach pendent only (R-code entry).

I think you want to control the robot from PC.

In that case you need to use FTP server function. Then you can control either from PC and teach pendent both.

In this case you require FD on Desk II software from Nachi. User management function can be used from PC also now.

Go to Constant setting -> Communication -> Ethernet -> TCP/IP

Disable DHCP client

IP address : 192.168.1.1

Subnet Mask : 255.255.255.0

Complete. Restart

Go to Constant setting -> Communication -> Ethernet -> FTP

FTP : Enable

Anonymous account : Allowed

Connection no : 1

Connection time out : 900

FTP home directory : D:\WORK

Directory permission : Read/Write

Complete.

On PC :

IP address : 192.168.1.2

Subnet Mask : 255.255.255.0

On FD on Desk II :

Create new project, then add controller, select "new folder" ( and select WORK folder), select FD/CFD

Connect to "Remote screen display"

To upload and download, Open windows explorer, enter following URL address :

ftp://192.168.1.1

Integrator password is specifically being used as per application by Nachi team, and it is one time setting only.

Like in spot welding application; to set software limit for servo gun axis manually.

Developer mode is for development department of Nachi.

It will show what features they are updating or adding. You can't use that feature.

In simple language, its beta version for Nachi.

Hi,

I do not understand "linking to the windows directory".

But Log on/off is feature available in nachi for programs and parameters protection.

Enable this feature in Constant setting -> Control constant -> User Management. You can set upto 999 User Id.

To Log in : R503

To Log out : R504

Go to Constant setting -> Communication -> Ethernet -> TCP/IP

Disable DHCP client

IP address : 192.168.1.1

Subnet Mask : 255.255.255.0

Complete. Restart

Go to Constant setting -> Communication -> Ethernet -> FTP

FTP : Enable

Anonymous account : Allowed

Connection no : 1

Connection time out : 900

FTP home directory : D:\WORK

Directory permission : Read/Write

Complete.

On PC :

IP address : 192.168.1.2

Subnet Mask : 255.255.255.0

On FD on Desk II :

Create new project, then add controller, select "new folder" ( and select WORK folder), select FD/CFD

Connect to "Remote screen display"

To upload and download, Open windows explorer, enter following URL address :

ftp://192.168.1.1

Hi,

Typical example of singularity is when J4, J5 and J6 axis are inline.

It mean that frames at these axes are aligned with each other. To escape this position best solution is to move J5 axis from 0 deg.

It can easily be understood by dh parameter.

Use R348 to change display language.

Enter Specialist mode password.

Go to Constant setting -> Screen constants -> Power-on language selection -> Choose your desired language with help of Enable + Up/down arrow key -> complete.

This error is detected when power failure, instantaneous suspension or voltage drop occurs and power failure process works.

Check primary power condition.

What manual do you need exactly ?

In my case robot is small with 7kg payload only and experiencing overlaoad in J5 axis.

Thanks for your help.

In general case we always take care of COG values and weight of EOAT.

But what about the reaction force of water jet on wrist unit on the time of water on and in running condition ?

I mean, reaction force of water + weight of EOAT ; must be less than static load torque and Allowable MOI of wrist. Is it right ?

If yes, how to calculate the reaction force of water.

Pr : 10MPa

Orifice Dia : 1.3mm

Allowable static load torque for wrist :

1. J4 : 16.6 N-m

2. J5 : 16.6 N-m

3. J6 : 9.4 N-m

Allowable MOI for wrist :

1. J4 : 0.47 Kg.m2

2. J5 : 0.47 Kg.m2

3. J6 : 0.15 Kg-m2

Does anyone have any information about reaction force due to water jet on static load torque / Allowable MOI on wrist unit?

Robot is used for high pressure water jet cleaning (9 - 10MPa).

I need to know the effect of back force generated on wrist unit, Means there should be some limit depending on static load torque/allowable MOI of wrist unit.

Any help will be highly appreciated.

If you can share the robot backup. I will help to reset the password.