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Posts by USURP_RUR

    Hot start is one of 2 normal Production starts. If Menu - System - Config, Use Hot Start is set to TRUE, then the robot can resume its task when power comes back on. The robot will “remember” what was happening 8 milliseconds before the power was lost. If the physical robot body’s position is within its “resume tolerance,” which is likely, the robot will move slowly to re-acquire its interpolated program path, and then speed up to the override speed set in Menu - Setup - Cell, resume speed.


    Cold start is the other of the 2 normal Production starts.

    If Menu - System - Config, Use Hot Start is set to FALSE, then the robot will power up on a Cold start when power returns. Think of a Cold start as a Hot start with a FCTN - Abort thrown in there. The robot will have forgotten its program stack upon power up, and so the task it was doing when power was lost cannot be easily resumed (unless you understand very well how to rebuild the program stack.)

    A Cold start is also the only way to exit a Controlled Start, and must be done, in that case, using the FCTN key (or wrench key), Fctn - Start (COLD)


    Controlled Starts and Boot Monitor (BMON) starts are ways to... shall we say... fool around with the robot’s memory ( change memory settings or add software or prepare the robot’s memory to restore a backup.)

    All 5 available JogFrames (JGFRM) are fixed Cartesian frames and are relative to World. JogFrames are not relative to any UT, but only to UF[0], which is World by definition.


    Jog Frames do not affect the recording of positions and no offsets can be done relative to a Jog Frame. It is only a method of jogging that most people do not use. That means it can be your little secret, and there will be no harm in setting up a Jog Frame even on a robot that is already in production.


    Make a fresh "All of the Above" Backup of your robot, and to a uniquely named directory. Put the Backup in a safe place. This step is important, so get help if you do not know how.


    Go to MENU- Setup- Frames, then press F [OTHER] to select Jog Frames. Make SURE you are modifying a Jog Frame, NOT a User Frame or UTOOL. There a 5 Jog Frames available. Choose one of them and fill it with zero's (it probable already is), except for the yaW value.


    Make the yaw value 180 (or even minus 180 if you prefer) and leave everything else as 0.00


    When it is time to do straight-line jogging on your Bat-Robot (your upside-down robot), choose JGFRM with the COORD key instead of WORLD. Now use SHIFT + COORD to make a particular Jog Frame active, whichever one you chose to modify. Your +Z major will now move the faceplate "UP" instead of down.

    Does anyone know the .CF code or .CM code to comment Numeric Registers and Position Registers?

    I do not have the Karel option on my robots (R-30iA and R-30iB).


    I received some great help from Nation and HawkME on commenting UTs before. I also read Bidzej excellent pin on .CM files, but did not find what I need for commenting Registers without the benefit of the Karel option. Thanks in advance.

    R[ ] registers are global within a particular robot system. So is everything else viewable within the DATA window.
    And so are all I/O signals, also global, GI and GO included.


    I think it will be absolutely necessary for you to NOT use the same GI [ # ] for 2 different purposes. Neither use the same R[ # ] for more than one purpose.


    Do you know how to make an MD backup??
    The .ls and .dg files from an MD backup might help the forum members to help you solve your problem.


    Can you make an MD backup of your robot and zip it and then post it on the forum??

    As long as your spot weld guns are servo-driven (not air or air-over-oil driven), go ahead and use the maximum CNT 100 for every spot weld where you can get away with it. With a properly-mastered servo weld gun, the G2 (servomotion group 2) motion will take care of the necessary "FINEness" of the spot location accuracy.


    Indeed, if you do not use some relatively large CNT value, then the SD an ED distance schedules will be unable to do their jobs.


    If your spot weld application is pedestal-mounted/floor-mounted (instead of carried by the robot faceplate), then utilizing the motion option RTCP my help to standardize observed motion.



    Example for pedestal-mounted servo weld gun:


    24: L P[9] 800 mm/sec CNT100 RTCP
    : SPOT [SD=a, P=b, t=3.2, S=c, ED=d]


    Example for carried (faceplate-mounted) servo weld gun:


    24: L P[9] 800 mm/sec CNT100
    : SPOT [SD=a, P=b, t=3.2, S=c, ED=d]


    where a, b, c, and d are schedule numbers for Start Distance, Pressure (bite force), weld timer heat Schedule, and End Distance

    Check to see if you have dropped 1 leg of your 3-phase input power.
    Also make sure that connector CRRA12, at the bottom of the 6-channel servoamp, is connected properly.
    Also check that breaker QF2 is ON and not in the trip-free position. If it is trip-free, go all the way to OFF and then back to ON.

    R-30iA and R-30iB Controllers:


    Is it possible to have a version of GET_HOME.PC that cannot be deleted from the SELECT window? Someone is deleting mine and I have to do an Image Restore to put it back on the robot.


    Thanks in advance.

    If and when the schedule is cleared, the changes then become permanent.
    Do you have a recent “All of the Above” backup stored in a safe place?

    Is your robot communicating with a PLC?


    If so, some rung (typical ladder logic) of logic in the PLC project has a condition causing the rung to be false.
    The coil of that rung, when true, causes the robot’s HOLD signal to go on (this is desirable.)
    The HOLD signal is UOP I/O input UI[2]


    Maybe some piece of equipment in the cell is out of position?

    No. This does not cause any changes that you would need to reverse.


    But your concerns might be minimized by first conducting a standard “All of the Above” backup.
    Doing a standard backup just never hurts anyone or anything. Never.


    On occasion, the Teach Pendant will “lock up” when attempting to take backups, or to print screens. This does not stop production, and can be fixed at a convenient time with a normal re-start.

    Try a USB plugged into the door. Small size USB drives (2 or 4 GB) seem to work better.


    In every case, you must first set your device within the File window (and you can also make directories there, if you wish.)


    1. Plug in your USB on the Controller door
    2. Navigate the MENU to the File window
    3. Press F5 [UTILS] and choose Set Device
    4. Choose UD1:
    5. If desired, press F5 [UTILS] again to Make DIR (create a directory instead of saving to the root of UD1: )
    6. Now navigate to whatever window you would like to have a screenshot of
    7. Use the FCTN key as you did before to print the screen that is showing


    Good luck

    Within a Controlled Start, press Menu, next, and Program Setup


    What is your Num. Dig. Ports?


    FCTN, Start (COLD)
    to return to production


    I was not able to get in front of an RJ-3iB, but looked at an R-30iA and an R-30iB
    Unable to experiment with them due to being production equipment.

    Good. Thank you.
    1) The green box at the upper right of the Teach Pendant (TP) display is an override speed for servo motor motion, and should be at 100 % for Production.
    Now consider the following position instructions, as may be viewed after pressing the EDIT key while the robot arm is moving...


    17: J P[4] 60% CNT 100
    18: J P[5] 100% CNT100
    19: L P[6] 1700 mm/sec FINE
    20: L P[7] 2000 mm/sec CNT 50


    Lines 17: and 19: specify and request a speed lower than what your robot is capable of.
    Lines 18: and 20: specify and request the maximum speed that your robot is capable of.
    The % number in the green box (hopefully 100%) is a multiplier against the speeds specified in your individual position instructions.


    The maximum speed for a J move is 100%
    The maximum speed for an L move is, usually, 2000 mm per second


    Item -1) Do your individual position instructions, as viewed in the EDIT window, specify a high speed?


    Item -2) Pressing the HOLD key should not cause a rapid stop, as an Emergency E-Stop would.
    Pressing the HOLD key will cause a Controlled Stop, and that is right that a Controlled Stop should move some distance before stopping, and upon dynamic motor braking, and not the sudden engagement of mechanical brakes.



    I hope I have understood your question properly and have not spoken below your intelligence. Such will never be my intention.