All the FSAL alarms have the remedy 'check or replace the cooling fan'. Hope you can translate back to Turkish...
Posts by fastfingers
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Hey, all, stupid question: The Fanuc payload checker spreadsheet takes inertias in kg*m*s^2, but the robot payload setup screen takes kg*cm*s^2.
What's the conversion factor between these two units? I mean, if I'm handed a printout of the spreadsheet from the mechanical design department, how do I transcribe that into the robot? Do I just multiply by 100, since there's 100cm to every meter? Or is there another factor I need to be wary of here?
You were right on with the multiply by 100. I looked at the current payload checker and found this conversion listed there:
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You have two choicesas it should be properly done:
1. Buy two position switch from Fanuc - there are T1 and AUTO only, replace yours and this solves the problem.
2. Set the system variable $SCR.$T2_LOCK_ENB = 1 (originally it's = 0) - and this also solves the problem - robot, when switched to T2, shows the message T2 disabled and that's all No changing in wires needed
This system variable needs to be set in Controlled start.
I have used option 2 in the past and it works just fine. I left the three position switch alone.
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I like to go right off the CAD drawings for the tool, if drawings are available.
If there are no drawings, I manually teach the TCP if accuracy is important or use the tape measure method if accuracy doesn't matter too much.
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Do you have the same number of position registers defined in the new robot and the robot the backup came from? If the total number of position registers in each robot is different, the POSREG.VR file cannot be loaded into the new robot.
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In Roboguide, go to the Teach tab then click on Find and Replace. I've never used this tool so I can't say if/how well it works.
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Do you have a short WAIT statement between any motion and snap instructions? This usually does the trick, making sure the robot is in position and motion has ceased before getting the image. Also, make sure the motion termination before the snap is FINE.
In my experience, I only use the backlash built in for camera calibration.
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Try setting all fields in the HTTP Setup window to "U".
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Either click on a different I/O field or hit the tab key on your pc. As a test, place the pendant next to your pc and you will see the comments on the pendant change as you go from one comment field to the next.
The refresh button updates the comment tool page if a new value was entered directly on the pendant.
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Good call , HawkME. Thanks for the help.
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Looks like you have the group masks set up correctly. You might need the multi-group motion option to make this work. The option number is J601. This option allows different motion groups to run simultaneously, which is exactly what you are trying to do. Take a look and see if you have this option.
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I am not terribly familiar with welding applications but it seems you need to use programs with separate motion groups. If the positioner is group 2, you should be able to make this happen. What are the group mask settings on each program? You may need the multi-group motion option for this to work.
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Not sure if this will help or not as I have yet to use Touch Skip on anything other than Group 1....
In the HandlingTool manual, there is a section called Collision Detect for Aux. Axis as BAS0601 mentioned. The variables you listed need to be changed and then a program to exercise the aux. axis needs to be written. Execute the program and check the min and max disturbance values in the axis status screen. Set the min and max allowed disturbance values to match those in the status screen and you should be done. All of this is laid out in the HandlingTool manual.
On robots set up in this way, I order the Torque Limit for Aux. option, RTL-J611. Does this robot have the option?
The system variable $MISC_MSTR.$HPD_ENB must be set to true and cycle power for touch skip to work. This variable is set to false from the factory.
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You can use the LPOS and JPOS commands.
PR[ x ] = LPOS and PR[ x ] = JPOS
LPOS will record the position in Cartesian coordinates while JPOS will record the position in joint coordinates.
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I'm pretty sure this is what you need:
Set system variables $UI_CONFIG.$menu_favs[1-10] to ' '
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The DCS manual does a good job of laying out the processing time factors for each element shape in a chart form. I have struggled with this in the past. It also mentions that if Ethernet/IP Safety, DeviceNet Safety, or PROFINET Safety options are used, 400 is added to the process time factor. Using other options also add to the process time factor, however, the additions are smaller.
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You are correct. P designates a point that is unique to the program in which it resides while PR designates a position register that is global.
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Use the 'Tool Offset, PR[...]' motion modifier at the end of the line that contains the home motion instruction. The position register should be taught in Cartesian representation with all values zero except for Z which would be -200mm.