IF TPIN[ky_one] AND TPIN[ky_three] THEN
GO TO ?????
Like this? the ???? would be what ever you want
IF TPIN[ky_one] AND TPIN[ky_three] THEN
GO TO ?????
Like this? the ???? would be what ever you want
.KL file for loading descriptions from excel. Can anyone share a copy of this with me? I had one a while back but cant seem to find it anywhere!
Thanks
I have a robot using a vacuum tool that will be carrying boxes(5lbs) and placing the box on a pallet. The robot cell is protected by a fence and air can only be shut of at the base of the robot or if power is shut off at the pannel. So lets say I have an operator that needs to enter the cell to fix a box at the infeed and they enter the cell while the robot is holding product in the air. here are my questions:
1. Do I need to eliminate this hazard of falling product? The exposure is low and frequency is low, injury could be serious being struck in the head. The likely of this is really low but still possible.
2. Where can I reference a code that covers this issue.
Below is from the IRMATH manual. This will convert joint to cart.
4.10. JOINT or MATRIX to Cartesian (fcCartesian=10) irXYZWPR.tp
SYNTAX:
Call iRMath (10,0,0,1) ! call iRMath directly
Call irXYZWPR (1) ! TP method
iR Cartesian (1) ! macro
Pass the position in a PR. The PR is updated to a Cartesian format. If the position register is stored in JOINT representation it is converted to Cartesian representation. The current $MnuToolNum and $MnuUframeNum are used for the conversion. In other words, the joint values are converted to its world frame coordinates, the user tool is added to the base plate, and then it is converted to the user frame coordinates.
EXAMPLE
PR[1] = P[1]
IR Cartesian (1) ! format of PR[1] changed to Cartesian
change $COLLECT_ENB to false and disable it.
If you dont want the joint angles and want Cartesian you can use IRmath to convert to Cartesian. At least I think you can I have used Cartesian to Joint conversion so I would think it can be done.,
Set $SCR_GRP[1]$M_POS_ENB to true and use the variable:
$SCR_GRP[1]$MCH_ANG[1] replace the 1 with what ever axis you want to monitor.
sure. just make a heartbeat bit in the KAREL routine and monitor it using a CH.
There are a bunch of different ways of doing this but this is the easiest IMO
Wow.. that's insightful.. I hadn't even considered that..
honestly it was, Because it seems like you are asking us if you should replace a damaged switch. you already said it didnt stay latched. Therefore its damaged and needs replaced. So.......Replace it. Not sure what you really want us to say other than that.
why are you using echo in virtual machine? Any way it has always been a problem running it for me. I downgrade my Internet explorer to version 9 and havent had an issue since then. Give that a try and make sure to add the robot IP to the trusted sites, that has to be done as well.
You can also get the Remote option that you can control the teach pendant(CANT JOG IT) from your Internet explorer browser. Very usefull! I use the ASCII way too.
if it doesnt function properly replace it. Done.
How is this different than pushing the shift key and DIAG at the same time?
I would happily give you the PC file. LOL
I would love too but its not up to me. Its not owned by me i just wrote it. it was written for a 4 axis robot using an extended axis so it probably wouldnt work for you. How good are you with KAREL?
YEs it possible. How are your KAREL skills? I set up a robot to be jogged from an HMI. I did it using KAREL.
Anyone have a vector image of a cool Fanuc robot? I am trying to get some company shirts made up and cant seem to find any. I want it for the back of the shirts so i would need an ia file. Thanks
Can you provide any (gu)estimates on how much of an effect the lock has (without the ACC changes)? I'm trying to gauge if it's worth it to try and rewrite an application for it. Hard numbers (as in: cycle time differences) would be ideal.
I am linetracking an object moving on a conveyor moving at 130ft per min. The photo eye is positioned 6 inches from where i needed to start my move. with the changes I made thats how far the part moves(6 inches) when the robot starts it move, with out the changes the part would travel 7 to 7.5 inches. Hope this helps
Thanks for all the responses. I did change the acc of the move to 150 used the POSREG lock and adjusted the servo off time. The response is much faster!!!
Thanks again!!!