I need to know where I create a file path to save to compact flash so I can make a clone of the files I need to send via email. Any help would be great. IRC5 controller with IRB 340 Delta robot. It was bought used at an auction and I am trying to make it into a usable cell or get it in order well enough to sell for training credits.
Posts by SquizzleT
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I am trying to figure out how to wire in a button to pulse the hold function to stop the robot mid cycle without jerking the robot to a stop like throwing the t.p key to teach. Also we want to have this pulse stop work off of sensors to see the end of a roll of tape. We cant seem to find the pin # in CN02 Terminal block to do so. Also we cant seem to locate the pins for using an external start and alarm reset from an external device. This is an FS100 controller which is new to me, I have done this with the DX and NX and even the XRC controllers. Any help or wiring diagram showing these pins would be appreciated!
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Figured it out. Had to remove the Adjust statement and do a retrain of the part under the FOV, then create a pick point with no shift.
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I'm trying to eliminate using conveyor tracking for a pick and place application, but still use the vision system (Cognex with EasyBuilder and PatMax). The roadblock I have is how to set up picking parts from our 12X12 inch FOV directly under the camera. I still need to know the X Y and Theta of the part without looking for the the conveyor tracking. How would I do this with an existing job, as I am new to vision guided systems.
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Figured it out. Just created a new user frame and set its origin and the origins for xx and xy on the vertical plane as if it were on a flat horizontal plane. Then I did my programming in the new user frame I created. Thanks I feel much more smarter now
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Curious as to how I could have the robot pick up a part on a spinning wheel (kinda set up like looking into a dryer) that is set at about a 70 degree angle. What I'm asking is if the center of my wheel is per say 25 inches from the robot and the outter top edge is 42 inches away how do I calibrate or create a user frame for the robot to know how far to go into said wheel at each pick depending on the info given by a vision system for part location.
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Thanks for your helps guys! My mistake was that we weren't placing the origin of our part to the origin of the grid for the pick up. Therefore when we would rotate about Z we were bias to one side of the part. Your help was very much appreciated.
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As far as the camera calibration we did those same steps. We didn't however create this extra user frame you speak of. Also when teaching our pick point do we need to program that using our userframe motions as opposed to using world or joint? Right now my line of code is as follows:
SYMOVL V=1500.0 CV# (1) CTP=LD000
This is for our pick point as the conveyor is moving.
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I am having issues with picking up parts on a constant moving conveyor. I have the robot picking parts up in 2 of the 4 orientations. I programmed the pickup point at X amount of MM down the belt and as long as the part is within 90 degrees of that placement it will pick the part up spot on. If it is completely opposite (180 degrees) of that programmed point it picks the part up 10mm off target only in the -Y direction. All of my tooling is concentric to the T Axis flange also my TCP is set up correctly. All other motions in this program are good except the 180 degree spin on the T Axis. Is there a way to tell the robot to parallel shift +Y if the T Axis is < or > the set point on the vision system tracking job? Been fighting with this for 3 weeks now.
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I am having issues with picking up parts on a constant moving conveyor. I have the robot picking parts up in 2 of the 4 orientations. I programmed the pickup point at X amount of MM down the belt and as long as the part is within 90 degrees of that placement it will pick the part up spot on. If it is completely opposite (180 degrees) of that programmed point it picks the part up 10mm off target only in the -Y direction. All of my tooling is concentric to the T Axis flange also my TCP is set up correctly. All other motions in this program are good except the 180 degree spin on the T Axis. Is there a way to tell the robot to parallel shift +Y if the T Axis is < or > the set point on the vision system tracking job? Been fighting with this for 3 weeks now.