here are some pictures showing the frame numbers, and the tracking screen under setup, the same frame numbers are stored under nominal frame.
Posts by jariuscs
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Hello
I have a crazy Idea where I am using circular line tracking with a R2000ib/150u robot with R30iA controller to track a part that is being bent in a press brake. so basically the press brake bends and the robot moves with the part for support. The issue I am having is we may use many different dies with various parts, most of the dies are random height. Because I am using circular line tracking I need to setup my tracking frame axis at the height of whichever dies I am using, so I sort of need to have the height adjustable on this tracking frame, this is where it gets tricky/impossible? I know the tracking frame gets saved in system variables, under $LNSCH[1].$TRK_FRAME, I can go in there and manually edit it, it seems to be in a standard Uframe format, I need to be able to adjust these values. attached are pictures showing where the system variables are, and some code I have been messing with to try and pull those numbers. If anyone knows how this can be done or another method, would be greatly appreciated, I have been trying different stuff for a couple days now.
thanks
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Code
1 : PR[3:A MATRIX]=UFRAME[1] ; <-could use Argument here
2 :;
3 : PR[4]=PR[4]-PR[4];
4 : PR[4,3]=90; <-could use argument here
5 :;
6 : !PR5 = PR3*PR4, R6=ERR CODE ;
7 : CALL MATRIX(3,4,5,6) ;
8 : UFRAME[1]=PR[5:C MATRIX] ;
so I've been experimenting with this code and cannot seem to get the desired output, all it seems to do for me is change the Z value of the user frame.
Maybe it has something to do with the strange way it is copying the uframe into the PR, it is not the usual XYZWPR, instead its NX, NY, NZ, OX, OY, OZ, AX, AY, AZ, LX, LY, LZ, this is however the only of the 3 pr's that uses this format, is that an issue? I am not sure what the 6 does on line 7, I assume it has something to do with an error scenario, which I assume is not needed?
anyone have any idea on this?
thanks again
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yeah I know that (have done it wrong a bunch in the past), but in my situation I can only reach the origin, z+ and Y+ accurately, so I need to teach it with origin, x+, y+ and then spin the frame 90 degrees around the y axis, and that should make z+ up y+ should be to the left and x+ should be straight away
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only reason I have for correcting it is, I like have Z+ go up if possible, easier to remember, and I will be doing a bunch of Z+ offsets within this particular frame.
I do have the matrix function but am not quite sure yet how to use it properly.
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Hello
working with a R30iA controller with handlingTool
I am wondering if there is a way to manually teach a user frame by entering the origin, the Y and the Z instead of the origin, the Y and the X, I want to teach the frame with the 3 point method.
any help is appreciated, thanks in advance.
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ok I will fix that, I just assumed the core software has the serial number in it and it should be there automatically.
thanks for the help.
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Hello all.
working on a R30iA controller, R2000iB 150U robot
I have a bit of an issue with our robot, we bought it used, I did get the core software with it. We reregistered it with fanuc and added a few options, so recently we wanted to add another option and they asked for the summary.dg file as they usually do, so we sent it, they responded by saying the serial number is blank. So I check it out and sure enough it says Controller ID : F00000. OK so I check previous versions of this file that we had sent them the first time we added options and it was also blank.
so the only thing I can think that may have messed this up is I did reinstall the core software at one point to fix an issue I was having, was I supposed to enter the F number somewhere when doing this maybe? Will this be an issue with fanuc? we are still waiting for a reply from them.any insight is appreciated. thanks.
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that error is only after 30 feet of distance. Just kidding, just checked and the angle change was about 0.2 degrees not 0.05
I will make sure its marked and documented. thanks.
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I like this thread, very useful information. Thanks to all who have contributed. The reason squaring it in my case doesn't make much sense is that the J1 stickers were gone when I got the robot, and the mastering was definitely done "by eye" therefore incorrect in my opinion. So basically I had set J1 mastering by making the robot move fairly squarely with the axis 7 rail. Maybe Ideally I would square it up and then remaster J1 the way that I did now by squaring up the world frame with axis 7. I adjusted the J1 mastering by less than 0.05degrees so I think everything will be fine. I could record that J1 axis is mastered simply by squaring the world frame to the rail, for the next guy who has to master it.
thanks again. I am happy with the solution.
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Just checked the axis 7 configurations and there is no setting for angle, only direction . So I guess adjusting J1 axis master it is.
Neighbour1, I believe if I only adjust axis 1 master it will not effect the linearity of the robot, in my head it will only turn the whole frame of the robot which is exactly what I want to do. I believe that is why vision mastering does not effect axis 1 and axis 6.
thanks
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Just saw your post now Nation, I was wondering if there was an adjustable angle like that. That's exactly the way to do it. It makes sense because what if you mounted it at lets say 45 degrees off on purpose. I will check if I have that setting. Thank you very much.
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That guys for the replies. Very helpful.
I find it very interesting that adjusting the J1 master will affect this. The robots mastering was incorrect, so I vision mastered it, which apparently doesn't do anything to axis 1 and axis 6. So I don't feel bad about changing the J1 mastering. I am also not worried about messing up taught positions because I am still setting it up, and not much has been programmed yet. We did get it used.
I believe this specific robot 150U is specifically designed to be hung upside down, there is no balancer on it. But I will double check the parameter.
again thanks for help.
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Hello
I am working on a R2000iB 150U robot with R30iA controller, the robot is hung from a rail upside down, the rail is axis 7 in group one of the motion groups. My issue is how can I correct for the robot not being mounted perfectly square to the 7th axis rail. When I move the robot in world frame y almost as far as it can reach both ways and make a mark on the floor at both points, I then make sure the TCP lines up with the first mark, and jog the 7th axis to the second point(instead of with the robots y in world frame) it is out by about 8mm. My assumption is this is caused by the robot thinking its perfectly square with the linear motion of the 7th axis, but I think it is out slightly. I have a attached a picture to help show what I mean, I have greatly exaggerated the issue to make it clear.
any help is appreciated. thanks
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the reason I have the JPos is because the robot will not always be starting in the same position, lets say the part is bigger and the robot is further away from the tooling, it will still track around the same "arc center" assuming its the same tooling in the press brake, but the starting position for the robot is different, this makes sense in my head at least.
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What seems to work fairly well is move to the press, wait for the command from the press to say part is clamped, start tracking program, in the tracking program I go PR1=JPOS and then move to position PR1, which is where the robot already is, but the next line is wait till DI1=off so it tracks in the position it is already at, till DI1 turns off from the press, meaning it is at the bottom of the stroke. It seems to stop tracking as soon as the DI1 turns off. Does this seem like a good way?
thanks again Nation.
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Thanks Nation for the answer. I will try that.
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Hello all
I am working with a Fanuc R2000ib/150U with R30iA Controller, I am trying to get the robot to track a part being bent on a press brake, I have everything hooked up with the encoders and trigger, it works pretty well, problem is I am not sure how to get it to stop tracking, in other words the press moves down, clamps the part, I trigger the robot to start tracking which it does very well, but once the press is at the bottom of the stroke I need to stop tracking, so it doesn't track backwards at high speed as the press moves upward, I'm just not sure how to stop tracking.
I am using circular line tracking to follow the bend, the center of the tracking circle being the tooling of the press.
here is a sketch from the side of what I am trying to do.
any help is appreciated.
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thanks for the reply. It seems I have found my problem, sorry for not specifying, the camera is the Sony XC-56 going through the robot directly into the JRL6 Port on the CPU. I found the 0.5a fuse on what I assume is considered the main CPU board, replaced it, and it popped again, tested the camera and it was not working, just replaced the camera and the new one is working properly. not sure what caused the camera to go bad, but everything seems to be working again.
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Hello all
I am working on a R000iA/100F robot with R30iA controller.
so the robot was working perfectly using irvision to find parts, until all of a sudden the camera stops working. When I opened the camera screen and snap a picture its just black. so I checked my vision cable using a continuity test, everything checks out. But there is no 12v from pin 1 to pin 2, I checked on another robot and sure enough there should be 12v on the hirose 12 pin connector. So does anyone know where the 12v come from inside the controller? if there is a fuse somewhere?
any help is appreciated. thanks