Posts by jariuscs

    Thanks Nation for the response. I am wondering if I have it setup the same way as you are thinking, My understanding is that the robot should just pull the programs as it needs them the way I have it setup(the CMOS and SHAWDOW settings), I have a second robot setup the same way only I am pulling the programs from the CF card, and that seems to be working a lot more reliably, Attached are 2 pictures showing my settings. Does it make sense to run the code you suggested the way I have it setup? or do I need to change my settings?

    Hey Guys.

    I am working with a Fanuc R2000ib/125L robot with R30iA controller, I got the option to load programs from external devices, and am pulling them from a NAS that is connected directly to the robot with ethernet. Everything seems to work ok, except sometimes when a program gets called that isn't "loaded" into the robot yet, I will get an error message, usually just hitting reset and start again will successfully continue the program because calling the program loads it to the robot. Sometimes though the robot tries to load the program from the NAS and just hangs up for a couple seconds, and then the program just disappears, and I have to reset the controller to have it pop up again, then I can just select it manually so it gets loaded, and then have the program call it.

    So I am wondering if there is a way to "load" a program before I call it, I do have Karel so that might help.

    any help is appreciated. thanks in advance.

    Update on this issue.

    I got a new 16-bit card and also a 12-bit card.

    the new 16-bit card acts the same way as the previous one, however the 12-bit works perfectly! It starts at 880 and ends at 220, the count doesn't reset multiple times through the sensors range.

    So now I'm really curious, why this is happening with the 16-bit version card. Does the robot know its the 16 bit card as opposed to the 12?

    turns out the 12 bit card gives me enough resolution, so I will keep that for the project.

    HawkME thanks for all the suggestions, maybe you are right and I will just have to buy a new one.

    hermann yes I have tried 3, 4, and 1, maybe I should try the last one and get a new card if that one is acting the same.

    I did try voltage with a signal generator, wired like you said, and the results were very similar to what I am seeing now, it counted up and reset to zero about 7 times instead of 3 times with current.

    Unfortunately I don't have another card to try, I bought this one brand new on eBay.

    this is the 16 bit version of the card, does this affect anything maybe? I might not need the high resolution, what I am after is a higher refresh rate then, when I had it run through a siemens PLC into the robot using group inputs.

    Below is how I wired it. I even added the FG2 to ground.(except its wired to input 3 not 2 at the moment) adding FG to ground doesn't seem to make a difference though. when I look at the variable you mention I see it is already set to true. which is odd, because I thought I had configured all the IO myself.

    So I connected a little analog signal generator(model SG-002), and it acts the exact same way when I have it setup as 4-20ma, but when I change it to 0-10v and wire it accordingly, it also counts up and restarts the count at 0, but with voltage it counts up and resets 7 times, as opposed to 3 times with 4-20ma. maybe this can help narrow down the problem.

    also I did a test where I measure the voltage between V2- and I2+ and it starts at 4.4v and ends at 1.1v as I move the sensor closer, and it appears to move perfectly linearly. also I did an amp reading and it started at 0.005amps and ended at .018amps with my volt meter, which is 5-18ma with a proper milliamp reader it would probably come out a little better. I also tried the channel 3 instead of channel 2 and it reacts the exact same way. so what could I be missing? configurations maybe?

    Thanks HawkMe for the reply.

    I added a wire from 0v on the 24v side of the power supply to the Cabinet Ground, and also a wire from there to COM2, and it still act the exact same way. is it possible something is configured wrong? all 4 analog channels show up in analog inputs.

    So when I wire it up like DaveP said, buy without the resistor, the count on the teach pendant starts at 1749 and then counts down to zero 3 times(and restarts at 4096), and then ends at 3538.

    nothing changes when I connect V2- and COM2.

    the power supply has no ground on the 24v side, so I don't have it connected to the FG2.

    I know the sensor works because I had it connected to a siemens 4-20ma input module and it worked flawlessly.

    Below is the schematic with the notes underneath visible, maybe that will tell you what I am missing.

    Thanks DaveP for the help.

    I wired it up like you described, except I used a 220 ohm resistor since that's what I had on hand. but now when I watch the readings on the teach pendant, I get about 2428 at the furthest distance, and it counts down to 0 after moving closer by only about 1/4 of the distance, and then it jumps up to 4096 and starts counting down again as I move closer ending at 1645 as the closest reading.

    so something is still off. Any ideas?

    Hello all

    working with an R30IA Controller.

    I got a AAD04B Analog input module and I would like to connect a Balluff Distance Sensor to it. I am new to analog signals and am confused how to connect the sensor to the input module.

    attached is a picture of the Fanuc module schematic and a picture of the Balluff sensor schematic.

    Any Help is much appreciated. thanks.

    Hello all

    working on a r30iA controller, with Karel.

    I am trying to communicate with a Panasonic GD-C2 double sheet detector over rs232.

    I have tested the communications with a laptop using HyperTerminal, and I am able to make changes and read data from the Unit.

    the problem is when I try running a Karel program to put the unit into "set" or "run" mode it doesn't seem to work,

    I also noticed when I connect the laptop to the robot I get the command, but it's as if the robot sends a line feed, but no carriage return(the same happens with putty), I will attache a picture showing what I mean.

    Also here is the Karel code I am using(it is copied from the forum, but slightly modified):

    -- DSD3.kl


    %COMMENT = 'Serial Test 6'


    file_var :FILE

    text :STRING[8]

    a_num :INTEGER

    port_num :INTEGER

    atr_type :INTEGER

    atr_val :INTEGER

    BEGIN -- serial test 6

    -- Force User Screen


    -- Clear User Screen


    OPEN FILE file_var('RW','P3:')

    -- Status messages

    --text = 'OUT0'

    --a_num = 930

    -- Write text to serial port

    WRITE file_var ('SMD1',CR)

    -- Close serial port on User Operator Pannel

    CLOSE FILE file_var

    -- Write message on User Screen


    END DSD3

    the picture shows this program above being run and then the same program, but with SMD0 in the write command, and then the the same above again. etc.

    any ideas what might be causing this?


    ok so I did the vision mastering a couple times now, the first time I got corrections:

    J1 0

    J2 -0.426

    J3 0.268

    J4 -0.004

    J5 -0.006

    J6 0

    so I applied the new mastering and redid the whole procedure. the new values were:

    J1 0

    J2 0.000

    J3 0.001

    J4 0.001

    J5 -0.001

    J6 0

    so then I flipped the robot back around so its reaching behind itself, and this time the grid was on the floor instead of up on the 7th axis (which the robot hangs from), and I got the following corrections:

    J1 0

    J2 0.769

    J3 -0.401

    J4 -0.028

    J5 -0.102

    J6 0

    I am a little disappointed with how far out the numbers are with the last set of corrections, but that's how it is.

    So I'm thinking apply half that last correction and that's as close as I'll ever get it. does that make sense?

    yes HawkME, The issue is exactly as you stated, and I could compensate for it with separate positions, but it would be nice to have it tuned properly because making new programs will happen regularly, and if I can fix it now, I do have the time.

    I like how you think pdl :smiling_face_with_sunglasses:

    I will give it a shot.

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