Thx for reply. Current moving in world frame towards lower plate. user-frame is not assigned because as i told earlier we have 40 bins were dimensions are not even. we will try "v" shape idea.
If 1mm how to solve?? i will try those things first. because my management is not ready to spend bucks.
I seen video in YouTube link as follows " https://www.youtube.com/watch?v=28iCsviKY8w " . hope this may solve my problem. can you guide me how to program like that i have soft-float option in my robot.
Posts by suganthyadav
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Hello all,
I am facing serious issue in my project. There are 40 no's ( 16*16 ) vertical stacking bin's are in my project. At the time of process 3 bins are in robot cell. out of three, two will act as loading bin and one will act as un-loading bin. once 256 component is stacked in bin ,it taken out and new empty bin is added in robot cell.
All 40no's of bins are not accurate,size varies form bin to bin is nearly 5mm - 15mm. Component dimensions are 900mm height & 30mm dia. bin have one upper plate and lower plate with some supporting rods in middle (pls find attachment-1 ).
Bin hole dia is 31mm. while inserting rod in upper plate it moves smoothly (pls find attachment-2 ) ,while travelling towards lower plate (pls find attachment-3 ) it deviates upto 6mm ( deviation varies from hole to hole ).
Both upper plate and lower plate holes are not concentric. Mechanically they manufactured 40 bins, impossible to do re-work. so i have to solve these problems using robot.
I tried soft-float. But gripper and component weight acting as a load and robot axis moves accordingly to the present load, deviates from original path.Robot payload is 20kg (m20ia) and current load is 14kg (pls find attachment-4 ). whether i have to teach payload before activating soft-float?? if yes pls tell me the procedures.
And also i have doubt in co-ordination system. Size of bin varies from one to one, so practically it's not possible to teach user-coordinates for all 40 bins ( hope i am rite,correct me if i was wrong ) because robot doesn't know which bin is placed in-front of him . should i use only world or base??
And ideas guys??? pls reply ASAP. my project was stopped for 6 days because of this issue. -
oh let it be thx for your help luetin
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Hi luetin,
As u said i checked. yup it's connected in 8193 and i am using 30ia type controller.
PMC programmer shows it's stopped. How to start again?? screen shot is attached with this message.Hey thanks a loooooooooooooot for ur patience reply. -
Hi luetin
thx again for your reply.
As u said i took real robot backup and installed in robo-guide as well as in pmc.
It's not connecting.I attached screen shot with this message.
I think PMC software doesn't know whether it's connecting with real controller or virtual controller.
Any other procedure i suppose to do?? -
helo luetin
Thx a lot for ur immediate reply..
Can u explain the procedures to connect the pmc to a virtual robot in Roboguide??
If not possible to explain , pls give some hints how to connect.
I know only how to connect robot-guide and pmc with real time controller. I don't have idea about virtual thing.
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forgot to attach file on my previous post .. i attached file with tis message.
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Hello all ,
This is my first project with FANUC. Actually i have little doubts in PMC programming.
1.I have licensed version of fanuc ladder-3. Is it possible to simulate created project?? I created project in pmc and dono how to simulate. is there any offline simulation option??
2.How to create temporary memory coil (virtual i/o ) in PMC? for example in delta PLC memory coil is indicated as " M " . how to do in PMC ?? I attached delta logic with this topic. Like wise i need in PMC.
pls helpThx in advance
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Helo Georgetsag
Even i faced this problem once. Hyper-terminal is worked for me, even for many people. If you still facing those problem notify me.Can you add procedure how you did hyper-terminal ?? -
Helo Eureka,
Thx for the reply
I checked with robot. velocity at 2.5 and 7m/s is same .
I am totally clear nowAnswer for these doubts
5.In many robots data-sheets there is no info tcp speed and acceleration speed. In data-sheets ABB mentioned info about individual axis speed. Currently i am calculating tcp speed by simulating robot in robot-studio. Is tis correct procedure??
6.one more option to find tcp speed is by converting angular velocity into linear velocity of the first axis. This may be the appx speed of the robot. but thing i should consider gear ratio too to get the perfect tcp speed . Is there any option to calculate ' TCP ' speed apart from these methods?? -
Hello all,
I am new to ABB robot. I am confused lot with tcp velocity programming. pls help,
1. " MoveJ v7000, z50, tool0 " in this programming line " V " indicated tcp velocity ( hope i am rite ) . For 1410 max speed is 2.1m/s ( as per the data sheet ) Then why there is option to do program upto 7 m/s ?? but i can able to see speed variation between " V2000 " and " V7000 " while operation.
2. 1410 have 2.1 m/s tcp speed . so it should attain it's max speed at V2000 why not it attain in V2000 ??
3.As per rapid logic 1000m/s is not equal to v1000. There is any off-set or any thing like V7000 = 2.1m/s ?? those parameters are able to configure in Rapid ?? If yes pls add procedure to configure. How can i monitor current configured speed??
4.In speed data there is a option to configure speed more than 10m/s.Though robot having 2.1m/s, what will it happen if i configure at 10m/s ?? if nothing what is the use of those configuration?? those options are for flex-picker kind of robots?? " V " what it exactly mean and how it was configured ?
5.In many robots data-sheets there is no info tcp speed and acceleration speed. In data-sheets ABB mentioned info about individual axis speed. Currently i am calculating tcp speed by simulating robot in robot-studio. Is tis correct procedure??
6.one more option to find tcp speed is by converting angular velocity into linear velocity of the first axis. This may be the appx speed of the robot. but thing i should consider gear ratio too to get the perfect tcp speed . Is there any option to calculate ' TCP ' speed apart from these methods??Thx in advance