Posts by jstolaruk

Quote from pdl

The 1783-NATR's NAT table is limited to 32 entries according to the documentation.

There are a lot of other NAT's out there with more features at a better price if you're not married to the AB name. No affiliation, but here is one I've used in the past with good results:

https://www.ccontrols.com/ctrlink/eipr.php

Certainly more cost effective!

Nice thing about the 1783-NATR is that the routing table can be displayed in the PLC's memory image when the NAT is declared in the I/O tree. I didn't look deep but I wonder if the Skorpion can do the same.

The processor can sometimes act as a bridge between A1 & A2 depending on what is accessing it but for the most part, no. We regularly use 1783-NATR (Network Address Translator) modules for that purpose.

90V DC. Big heavy robot, be careful.

Quote from pdl

If I am reading the manual correctly (HandlingTool Setup and Operations, MAROUHT9410201, from Table 10-26), the correct inertia value should be in relation to the COG, NOT the final axis. "This item is the moment of inertia of the payload around an axis parallel to the ___-direction for the tool frame and through the center of gravity of the payload."

That's interesting because a conversation with Fanuc tech support (along with a visiting service tech) told us what I posted. Thank you, I'll have to inquire further.

Got to be careful of Solidworks, by default I believe the inertia values will be about the COG and they need to be about the J6 axis. Then you'll need to be wary of the COG X & Y polarities, they may be different then what SW tells you. In your case, the numbers are so small it won't matter but X inertia and Y inertia may have to be swapped. (again, your numbers are small).

The TP will also allow you to get to the built in web server. Press the following:

MENU

0

8

"Browse ROBOT Home Page"

"Robot Tool"

"Search Tool"

Open a browser on the TP or a connected computer and do a search to see if any of them are used or called before deleting anything.

Are there system variables that detail the components of the current running line of TP code?

Say I'm running a linear move to pr[x] with offset pr[y] and tool offset pr[z]. Any variables detailing those items?

I'm restricted from using Karel, its something I'd like to monitor in a background program.

I've perused the system variable documents but nothing has jumped out at me.

Thanks in advance, Jeff

If I'm understanding you correctly, if your new tool 3 is not defined in DCS then there shouldn't be any complaints from DCS when you select and use it. Add it in later after you've validated it.

Back to your original question, you could connect the Auto/T1 switch to a SIR and use it to disable a CPC, JPC, etc.

T1 is SSI[8]. It can be used directly as a disabling input or connected to a SIR.

If a tool is used in a dcs definition and its value changes, dcs complains and has to be re-applied and confirmed. But I'm trying to imagine how that is connected to the AUTO/T1 switch. Can you provide more details?

From the R-30iB Plus/R-30iB Mate Plus/R-30iB Compact Plus HandlingTool Setup and Operations Manual:

"If the robot general override is 100%, this output turns on, else off."

I'm currently finishing a cell that has a ton of interference with paths that snake between equipment below and overhead. Difficult to maneuver even with a teach pendant moving manually. So I created a move stack that the normal routine "pushes" the moves and then a recovery routine can "pulls" moves to reverse the motions until the robot gets to a pounce position. Time invested was worth it because I have a bunch more cells that are going to have the same problem; robot is big because of the payload but space to move is cramped.

I know Fanuc as an option that claims to be able to do the same thing but I couldn't get it to work well because it wants to "rewind" with linear moves (not joint) and if there is a lot of wrist action, the robot throws up configuration faults. So I home brewed my own. Basically breadcrumbs as HawkME mentioned.

I make my robot gripper extended axis part of group 1; I advise the same based on your description. Even have you have to have different J7 values for different parts at the same pick and place points, its still easier.

Quote from 4gate

I've been having a similar issue to Rbz on a gantry mounted robot system. I tried using a couple of JPCs to disable CPC checks but dynamically disabling CPC zones didn't seem to have any impact on the Process Time Factor.

I'm doing this DCS setup in Roboguide- in case that matters.

And it won't. Only disabling at line 2 "Enable/Disable" in a CPC or JPC definition will change the processing time. Line 14 "Disabling input" acts like a mute input but the definition is still factored in the processing time.

I've had to get pretty creative to keep that processing time low and found boxes are definitely time users.

Restoring the original counts via the system variables assuming they were saved or written down is the only way I know of but it reads like you did that already.

It may accessible from the ctrl-start menu? I haven't done a Fanuc SCARA robot, so I'm guessing but it seems logical.

The computations are going to have be done offline, not unlike a CAD -> CNC package. I just don't see the robots having the computational software libraries to do this yet.

Unless you looked into using a welding package like https://almacam.com/software/robotic-welding/almacam-weld/

Quote from pdl

$ENETMODE[x]

x =

• 1 = CD38A
• 2 = CD38B
• 3 = CD38C

$FULL_DUPLEX

• True
• False

$SPEED =

• 0 = 10 MBPS
• 1 = 100 MBPS

Display More

Thanks PDL, 2 is a speed selection also in these new controllers, I'm assuming 1000 MPS.

I believe its defaulted to auto negotiate. I want to lower it for ethermet/ip - CIP/safety but I want to do it at the robot end, not at the switch it is connected to.

Scoured the manuals but nothing popped, just baud rate on Devicenet.

Thanks in advance, Jeff

Quote from Alangt63

jstolaruk I can try it. but having an e stop signal from the plc to the robot don't make sence that it would loose communication because of an e stop. If I was to make the RPI what would you suggest I change them to?

Something longer that won't impact the risk assessment.