Posts by SEAN-DUDE

Hello All,

I have a Fanuc iPendant with touch screen. My problem is that when I try to use the touch screen the pendent is clicking in a different place than where my finger is, about 2 inches to the right. Is there a way to calibrate the screen so it reads properly? It is a brand new pendant so I can send for warranty if need be.

My software is Spot Tool + 9.3.

Thanks

Hello All,

When there are 2 adjacent robots in a cell, can they both be programmed by 2 separate people according to CSA Z434? Does any one know the article number that stipulates whether they can/cannot?

Thanks,

Quote from Nation

You are missing some single quotes.

Code

KCL SET VAR $UALRM_MSG[5] = 'Search Fail'

Thanks Nation!

Hey All,

I am trying to write a CM program that will put some weld pressure and schedule names into the comments. The weld pressure works fine, but I cannot seem to get the comment to write in. When I run the CM to the line for the comment it says "Undefined Parse Syntax Error"

Here is my Code:

Any Ideas? Does the Comment have to have brackets around it or something?

Thanks

Hey Gang,

So when the PLC calls PNS0001, the UOP 11-18 reflects the PNS Number. My Issue is that if a programmer goes to the left screen while running and selects another PNS, eg PNS0050 for viewing purposes, the UOP now sends a 50, even though PNS0050 is not technically running. This is messing up our PLC because they use this number at multiple stages in there program. See below screen shot for reference.

I look forward to your answers!

Thanks,

Sean

Quote from hermann

Yes I have experience with Leoni Advintec TCP calibration tool with

What's your review on it? Was it useful and did it work well?

Hey All,

Any one have any experience using the Leoni Advintec TCP Calibration tool? I was looking in to using it for calibrating user frames and TCPs specifically with Fanucs and Kukas.

I look forward to your replies.

I think orange edit has a tool where you can change the base frame and maintain the positions.

Is this the Fanuc Motor with the reverse parallel Belt? I had a problem with the belt becoming damaged and needed to be replaced.

Band Aid Solution: Get a USB Bluetooth mouse and key board

Post a picture of the calibration table.

Have you tried Autotuning the gun again? maybe incorrect data was input into the autotune procedure.

When the spot or TD command is used, in the status menu open servo gun. This will show you live feed back. What pressure does the robot say its doing?

Sorry about the file size. I will check for an approved model.

Hello All,

I using a KRC4 software 8.5.6, KR 240 R2900 Ultra.

I am trying to us the Safe Operation function BBRA, but when I enable it I get the attached alarm.

Does this mean the Kuka does not support BBRA for the KR 240 R2900 Ultra?

Thanks All.

Ok thanks. I did find out how to write to the MNUFRAME and MNUTOOL:

Each element on the is equal to the XYZWPR respectively

KCL SET VARIABLE $MNUTOOL[1, 1 ]= 1 , 2 , 3 , 4 , 5 , 6

I am having trouble with the payload variables. they are all write protected even controlled start. Any ideas on how to get around this. I have something like this:

KCL SET VARIABLE $PLST_GRP1[1].$COMMENT = 'Hello World'
KCL SET VARIABLE $PLST_GRP1[1].$PAYLOAD = 12.706
KCL SET VARIABLE $PLST_GRP1[1].$PAYLOAD_X = 0.0410
KCL SET VARIABLE $PLST_GRP1[1].$PAYLOAD_Y = -1.3870
KCL SET VARIABLE $PLST_GRP1[1].$PAYLOAD_Z = 3.2050
KCL SET VARIABLE $PLST_GRP1[1].$PAYLOAD_IX = 0.9010
KCL SET VARIABLE $PLST_GRP1[1].$PAYLOAD_IY = 1.3140
KCL SET VARIABLE $PLST_GRP1[1].$PAYLOAD_IZ = 1.3140

Quote from cliff.knasinski

Do you have example code of how User Frames can be created using a .cm program? I am able to create User Models and CPC models easily, but having trouble finding the variables needed to create frames in the system for CPC user frame definitions.

Just wondering if anybody had some luck with this. There is the Variable $MNUFRAME and MNUTOOL, but there is no way to access the individual XYZWPR elements. I seen in some Karel and tp programs you can assign data to a pr and reference the pr to transfer the values, but a XYZWPR variable needs to be declared.

Is it possible to create variables within the CM file to transfer the data?

I think you mean controlled start.

You should be able to view the system variables with out a controlled start, under menu>system>variables. Some variables can only be edited in a controlled start.

To do a COLD or Controlled start, press function, 0, Cycle Power. You should be prompt with a selection to cold start or controlled start.

Cold Start cycles power on the robot with out physically turning the robot off

Controlled start allows for system configuration options as well as the ability to change some some variables that are normally locked.

You can put a timer in the program and review it under status>program timer in the teach pendent, or you can us Motion Pro for the program and get the cycle time of the program.

I did a bit more research, According to the OSHA website the only requirement is to have a teach speed of 250 mm/sec when teaching, but it does reference that ANSI has additional recommendation.

ANSI 1999 says to have 18" in all cases, this may have been updated in the 2012 addition.

ISO says the 500mm is only required if high speed manual (T2) is available, I found this in CSA Z434 2014.

also in the same document check out [ANSI B11.19-2010 and ANSI/RIA R15.06-1999] I think this is the correct one for the mesh.