I think you can start different programs with PNS signal for each group using Multi UOP option where you have UOP signals separated for each group.
Posts by dha
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For accurate TCP speed you need TCP Speed Output option.
You can also try using $SCR_GRP[1].$MCH_SPD variable, but as I remember it is not so good ...
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You can run multiple programs simultaneously with different groups.
Limitation is that you can not have two programs running at the same time containing same group.
You should run main program containing no groups with PNS. That program can than RUN other programs:
For example if you have robot G1, robot G2 and positioner G3:
1. Run main program with PNS
2. From main program, run program containing G3 for initial positioning.
3. Run two separate programs for G1 and G2 to work (weld) on positioner G3.
4. After programs for G1 and G2 end, run program G3 for second positioning.
5. ...
If you need coordinated motion, first run program for G3 positioning, after that run program that contain groups G1 + G3 for coordinated welding.
For managing programs from MAIN I usually use flags.
When program G1 is running, F1 [G1 Busy] is on, and main program waits for F1 to go off before continuing.
You can also use MASH programming but it is more complicated at the beginning. Look at Multi-Arm operator manual.
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For each tool you can set CAD for open and close situation in Simulation tab.
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I'm sending triggers via Ethernet/IP and I don't have any latency problems. Only problem I have is little distortion because of acceleration and deceleration but it doesn't bother me.
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I'm not sure about Bosch but H+W has two signals that you can monitor: Weld OK/NOK.
There is also signal from weld controller that it is in "With Current" mode (comes from robot's no weld signal) so you can monitor that in PLC and stop production. -
Please let me know the results, we have 4 mate controllers in our plant, but they have a vision system on them that no one internally is comfortable with, so we try not to touch or experiment on them for any reason beyond emergency. I would love to know if this is a viable work around.Robots are Fanuc. What the worse that can happen?
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I'm guessing but there could be coordinated motion problems as well ...
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Set $IO_AUTO_CFG = FALSE and $IO_AUTO_UOP = FALSE
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In DO/DI OR GO/GI config you set RACK 89, SLOT 1, START x where x is 17 if you have 2 bytes of diagnostic data ...
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You should have General or Basic positioner option installed. If you have Fanuc positioner and it is install as Fanuc positioner, than you don't have Unknown calibration enabled.
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Try $MOR_GRP[1].$CURRENTLINE
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If variables are not write protected you could overwrite them in BG logic.
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Dead band parameter tells robot to ignore required TAST offsets if offset is smaller than set value.
This means that if dead band is 1 mm robot will correct the path only when required TAST offset is bigger than 1 mm.
Is this what you want to achieve?Can you post your current TAST settings for problematic schedule?
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Do you use feedback or constant in your TAST schedule?
Do you change weld parameters during weld?
How long is OK section at the beginning?It is possible that you gain setting is two low.
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I noticed new option in DCS on R-30iB Plus:
Target model collision check.Whit this option it is easy to prevent EOAT collision with robot.
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You can't have CNT motion and weld. Robot does not stop at the position with CNT
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Classes are installed with Robot server (included in Roboguide instalation).
But you need a licence for this.
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You can restore all from USB via boot menu. But it is not advisable to restore all from RG AOA backup.
Instead you load what you need.
For DCS: DCSPOS.SV (Pos/Speed check), DCSIOC.SV (Safe IO Connect),
For Numeric registers: NUMREG.VR
For Position registers: POSREG.VR
For Frames: SYSFRAME.SV
For DIDO: DIOCFGSV.IO
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