There is a guide somewhere on forum.
Posts by dha
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Try 2015
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Save it as syspass.txt or .jpg. I will rename it later.
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Can you attach syspass.sv?
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You have several option.
Maybe easiest is Program Adjust function (MENU -> UTILITIES -> Prog Adj.
This function lets you shift whole or part of a program.
Next option is that you write program in specific UFRAME and then change that UFRAME.
You can also add OFFSET PR[x] command to all points in a program and edit PR[x].
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Just what I was looking for few days ago. But I was looking in KAREL manual as I tought this was KAREL function ...
Thanks
You have to create a file named argdispeg01.dt, load it, and reboot the robot.
Here is what the contents of the file looks like on a job I did:
Code
Display More[PROGRAM] NAME = "SAFE_PERCH" ARGUMENT = '2' [ARGUMENT] N01 = "J1":'0' N02 = "J6":'0' [ENDPROGRAM] [PROGRAM] NAME = "DRAWER_DATA_SEARCH" ARGUMENT = '2' [ARGUMENT] V01 = "LH":'1', "RH":'2' V02 = "Empty":'0', "Raw":'1', "Finished":'2' [ENDPROGRAM]
The handlingtool manual goes over it pretty well.
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Safe IO Connect is an option you have to buy.
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You need Multi-Equipment option on Fanuc robot.
To enable 2nd equpiment you need to set $AWSCFG.$TOT_ARC_EQ = 2
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There are several.
Probably best know is Servo-Robot. They developed software together with Fanuc years ago.
They are also developing new software which should be released by the end of this year.
So I think this is best choice for Fanuc robot.
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I'm not sure but maybe CD Dynamic UFrame option (R845) can help you.
Instead of follower (robot) points being saved in absulute form, they are saved in relative.
With this option you can than use OFFSET instruction for example.
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Stop prediction will prevent damage to the robot. Robot will not hit the fence (or go outside the defined box) at any speed.
If fence is robust enough to withstand robot hitting it at full speed and there is no danger to people, maybe performance level is not affected. But I'm not sure ...
I would reprogram problematic points.
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Is there a way to limit T2 speed?
Maybe some variable?
I have a welding application, so for every weld override must be 100%.
Best I could think of was to set DCS Speed check with override setting:
DCS is checking speed. If speed is > 200 mm/s, override goes to 5%.
This solution is working, but robot is constantly accelerating and decelerating and it doesn't look good.
Other solution I know is to limit speed in DCS, and programably setting overrride.
Before each weld OVERRIDE=100%, after each weld IF T2 THEN OVERRIDE=5%.
Any other ideas?
Thanks
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You can do it in KAREL
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I know this post is a couple weeks old, but I've run into this problem a number of times over the years. I wrote a little KAREL program that you can use to get the status of a task by name and also wrote up a longer article about TPE's RUN statement.
I haven't used it in production (yet), but I plan to next time I have to spawn off a concurrent task.
example usage:
CALL TASK_STATUS('TASK_TWO', 1) ;
IF R[1:TASK STATUS]<>2,JMP LBL[500] ;
! task is aborted ;
! ok to run ;
RUN TASK_TWO ;
END ;
;
LBL[500] ;
! if R[1:TASK STATUS]=0, task is running ;
! if R[1:TASK STATUS]=1, task is paused ;
! there are other statuses detailed in the article.
jay, very useful program. I had problems with your program in a multitasking multigroup robot cell until I added :
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We usually order (in EU):
- J567 (Dual Check Safety (DCS) Position / Speed Check Function)
- J568 (Dual Check Safety (DCS) SAFE I/O Connection Function)
With J567 you get all function for speed and position checking. With J568 you get Safe IO functionality. Ledder like ligic where you can use 2 safety inputs and 2 safety outputs already on E-Stop board for safety curtains or other safety device.
If you need more inputs and outputs you need to order A20B-8201-0110 (Safety I/O Board Mini slot) and connector with which you get additional 8 safety inputs and safety outputs.
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Thanks. I will check this.
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Thickness is included in SPOT instruction.
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I noticed this too...
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I only used Spot Tool with servo gun once (one fixed and one movable tip).
When you program a spot point, fixed tip should be touching the part.
Before weld servo guns open to thickness + distance from SD.
Do you use macros after tip changing and milling?
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Try putting DELAY 50 instruction at the end of while loop.
Instead of CALL DATARECORDER, use RUN command. You will have to set arguments before you use RUN, maybe in Register and String Register.