Posts by dore591

    Hi Panyixiao

    Yesterday my friend and I found a way to identify the configuration 'UP/DOWN' based on the joint values.
    From our test we found that whenever the sum of J2 and J3 axis value is in the range of -80 to 80, then the configuration is always 'UP' and if the result is out of this range then its always 'Down' config.
    For example if J2=-30 and J3= 100, then J2+J3 = 70 which is in the range of -80 to 80, so the configuration will be 'UP'.
    We tested and confirmed this practically on a R2000ib robot manipulator and I'm sure the same relationship holds good for any mate robots also.
    Today I will work on Top/bottom and if I find any relationship then I'll let know.

    Nobody is alone in this forum :beerchug:

    Hello everyone,

    Settings provided by Daniel is correct, it should work.
    If it still does not work then try changing these two
    server type : 'DOS with forward-slash separators, Transfer mode as 'Passive' and rest of the settings same as what Daniel has said.

    Hello Panyixiao

    As far as I know, it's not easy to tell the configuration of the robot for a given position just by looking at the joint values. However it's still possible to guess whether it is Flip or No flip condition by checking the J5 axis value. If J5 value is greater than 0 (+ve value) then robot will take Flip config and if the J5 value is less than 0 (-ve value) then it is No flip condition.
    Also it can be observed that there will be a difference of +/- 180 deg with both J4 and J6 axis values when we change the configuration from Flip to No flip or vice versa. In both Flip or No flip condition, the absolute value of J5 axis remains same and only the sign changes.

    I'm sure there will be similar kind of relations for UP/DOWN and TOP/BOTTOM. Let's see if any fanuc expert can help us out with this.


    Could you able to find a way to change register data using Telnet ?

    As far as I know, Using Telnet option we can monitor teach pendent screen on PC (only Output) and open KCL command screen on PC (accepts input commands). However I don't think we can change the values of a register unless there a KCL command for doing this.


    Sorry for the late reply..

    Im not sure which icons you are talking about. If the icons which you looking for are invisible or hidden then probably you might be in a different mode for which those icons does not apply. For example, the Jog keys will not be visible if you have activated trace mode. Similarly forward backward icons does not show up if the robot motion and trace icons are not activated.
    Let me know which icon you are looking for so that I can help you out.

    Hi ravish90,

    Im new to Karel programming as well and I thought of learning Karel by working on few exercises. Right now Im going through the 'Fanuc Karel Reference manual' and simultaneously i will let you know if I find any command/statement which will help you in your project

    This is what I understood about your requirement. Correct me if I am wrong
    - You have a .tp file containing few instructions in specific pattern (interference signals as shown in your example)
    - This pattern you will define it as master pattern
    - Karel program should scan the .tp file and it has to check if the instructions present inside the .tp file is matching with the mater pattern, if not then karel should highlight the non matching line showing it in user screen


    Master pattern
    DO[X] = OFF
    WAIT DI[X] = ON
    DO[X] = ON

    DO[1] = OFF
    WAIT DI[1]= ON
    DO[1] = ON
    Pattern of instructions in this program matches with master pattern, so karel should not give error after scanning
    DO[1] = ON
    WAIT DI[2] = ON
    DO[1] = OFF
    Here pattern present in .tp file do not match with master pattern, so karel should give error showing it in user screen.

    Please let me know if my understanding is not correct

    hi everyone..

    Even I was facing a similar problem with our LR mate robot where I create a new user frame (say UF=1) then when I run the program, the robot was executing the points with respect to old values of UF=1.. it was like robot not considering the new user frame values
    Later we found the simple solution for this, after creating a new user frame (say UF=1) and before running the program we made some other user frame (say UF= 2 or 3) as active (either using setind or shift+coord option) for few seconds and again changed the active user frame to newly created frame (UF=1)... Now the robot was able to consider the new values of user frame... sometimes rebooting was also necessary along with this

    :icon_rolleyes: :icon_rolleyes: :icon_eek: :icon_eek:
    if step mode is removed, then after executing the backward motion the robot starts executing the forward motions without stopping. continuous backward motion is not possible. Never experienced a continued backward motion. sorry


    Could someone explain me the use of additional motion instruction 'Increment (INC)' with an application example?

    As per my understanding the Increment option takes the values specified in the motion instruction where INC is inserted and offsets the robot position from current position by the amount specified in the motion instruction(P[])

    Please let me know if my understanding is correct and also let me know an example where this INC option can be used

    Thanks in advance

    This is how skip condition works

    Simple Task: Robot has to perform a spot welding(only 1 spot) when it sees a sheet metal which might be placed anywhere between two points (say P[1] and P[2])

    1: SKIP CONDITION DI[y]=ON; -------(if a senor mounted on robot senses the sheet metal, then DI[y] will be ON and robot has to do a spot welding at that point)

    2:J P[1] 5% CNT100 Skip,LBL[1]; ------ (inserting skip instruction in this line means that monitoring for DI[y] has to start from P[1] )

    3: SPOT(SD=2, P=1, S=5, ED= 4); -------(As per skip instruction, if skip condition is satisfied i.e. DI[y]= ON, then robot will execute the next line which is a spot in our case)

    4: L PR[1 : home pos] 2000 CNT 100; ----(optional)

    4: LBL[1]; ------(IF condition is not satisfied, execution jumps to this label directly from line2 and robot moves towards point P[2])

    6:L P[2] 10 CNT100 ; -------(while moving towards P[2], if condition gets satisfied DI[y]=ON , then robot without moving further jumps to line3 immediately and performs the spot)

    7: L PR[1 : home pos] 2000 CNT 100 ;------(optional)

    Note: once condition is satisfied the monitoring will be stopped but the condition specified will be available throughout the program and can be called for checking anytime by inserting a skip instruction

    Im just a beginner in programming, sorry if there is any mistake in the explanation

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