I didn't bother formatting, just stuck it in the controller. Probably not the best practice....
Posts by fastfingers
-
-
I have used 16GB compact flash with an adapter for vision logs. On one occasion, I did run into trouble where the controller didn't overwrite the oldest files when adding new ones and this made the controller hang up until logging was disabled.
-
[quote='fastfingers','https://www.robot-forum.com/forum/index.ph…9227#post129227']
It looks like the system variable $FORCE_SENSE.$force_data[1-6] has what you need. You can write a program with an instruction to write the value from the variable to a register.The instruction would look like this:
R[1]=$FORCE_SENSE.$force_data[1]
R[2]=$FORCE_SENSE.$force_data[2]
and so on....Checked my R-30iB / R-2000iC 210F (with Force Sensor) and the system variables you mention dont exist ??
I got the info from the software reference manual where it says the variable isn't directly accessible by menu. I have never tried the method I suggested and am not sure if it works. -
Let us know how it works. I have not tried pulling and storing raw force data before. I do have a force-equipped M-710 in the shop but am unable to use it for testing at the moment.
-
If you want the options, you will have to contact Fanuc and get PAC codes so you can authorize and install them.
-
It looks like the system variable $FORCE_SENSE.$force_data[1-6] has what you need. You can write a program with an instruction to write the value from the variable to a register.
The instruction would look like this:
R[1]=$FORCE_SENSE.$force_data[1]
R[2]=$FORCE_SENSE.$force_data[2]
and so on....You would also need to figure out a way make this data constantly update when you want it to. A RUN statement with a looping program and a means of stopping that program would be one option.
-
Are you talking about servo disturbance, force control, or something else?
-
-
-
My opinion is to leave the mastering alone unless you are able to figure out what exactly went wrong to throw your positions off. It is unlikely every joint was affected and you could make matters worse by remastering. If you are unable to find the cause, touch up your points and keep running the robot. How difficult will it be to touch up your programs?
-
You can look in the pendant to see what's installed: MENU>STATUS>VERSION ID>F3 CONFIG
Scroll through the list and see if DCS Pos./Speed check J567 and DCS Safe I/O connect J568 are installed on your controller. -
I copied this from another thread.....
If BG Logic isn't available, it is possible to force the program to run when the system does a cold start. Set the system variable $PWR_NORMAL to the name of the program you'd like to execute.
-
Do you mean the DCS menu is not present on the pendant?
If not, you will have to install the option in order to use it. -
Maybe start looking at this thread....
-
tacheson is correct. Another way to investigate your issue if you're still having trouble:
You may have success by going into the program you are trying to edit, press EDCMD, and look for END EDIT. If the program is currently being edited, the END EDIT option will be there. If you don't see END EDIT, there is something else wrong. Choose END EDIT if it's there. Next, a prompt will appear, asking you to choose whether to keep the changes or throw them out.
Now you can go back into the program and attempt carry out the edits.
Another thought.... Is write protect enabled for this program? I rarely use write protect and am unsure how it affects background edit.
-
If BG Logic isn't available, it is possible to force the program to run when the system does a cold start. Set the system variable $PWR_NORMAL to the name of the program you'd like to execute. However....
I am not sure that background is what you need. It seems this program may have been executed from a RUN statement (multi-tasking) in a .TP program. Take a look in your programs and see what might be calling or running the code that controls the conveyor.
-
-
-
Not sure if this is tied to UI[6] or not.... Maybe someone else can shed some light on this.
I use the OTHER start method along with the macro to ensure the correct program starts every time because I have had problems with operators selecting the wrong programs before a cycle start, whether the cell had a plc or not. I use the reset on the pendant of operator panel on the controller.
-
The macro is 2 lines:
$SHELL_WRK.$cust_start = 1
wait .5 (sec)You'll need to specify the program you'd like to start in the program select menu as you mentioned in the first post.
This post addresses the mapping you're looking for:
https://www.robot-forum.com/robotforum/fan…ack-assignment/It's been a while since I've used Model A IO so follow the mapping in the above post.