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Posts by pdl

    Is the brake plugged into the main servo amp, or the aux amp?


    How do you have the brake setup in the maintenance setup screen that is accessed through a controlled start?

    Yes, this is an operating system error. When the fault occurs, take a full MD: backup (from the file menu, set device as MD, highlight *.* and copy to ud1 or MC) and send it to Fanuc. There is usually no other way to troubleshoot, but the few times I've run into it, they've solved it. The issues have always been odd or obscure, like changing a payload schedule to an uninitialized payload, or forgetting to hit done on a pallet tool setup screen.

    The lock_preg instruction does not prevent execution, it prevents modification of the data so that the robot can look at it earlier in the path planner. I've never seen it have any effect on newer robots, but I've been told that on the first RJ controllers, it made a difference.

    At the rear end of the balancer there are some empty threaded holes. Those holes are for jacking screws that are used to adjust the position of the balancer shaft. You MUST make sure that the balancer is fully retracted when you pull the balancer! If not, when you try to pull it off of the robot, there will be a massive force trying to pull it back together.


    Jog J2 and J3 to zero, and then insert the jacking screws and tighten them, this will preload the shaft and make removal and reinstallation much easier. If you are completely replacing the balancer, you will have to install the jacking bolts on the new balancer and adjust them as you install the new unit.


    I've never found this info in any manual, but luckily I have a much older mentor who passed this info on to me. I can't understand how Fanuc simply passes over this mandatory knowledge in their documentation.

    1. Those options will appear after doing an initial system software load. Many people choose to pay Fanuc to install the software, so they are already taken care of.


    2, 3, & 4. To change these settings at any time: perform a controlled start, then MENU>Maintenance and then F4 for MANUAL

    I just tried to register with them. If they do offer the manuals for free, this will be an amazing resource for those of you who don't have access to the CRC's manual section.


    Fingers crossed.

    P and PR's can both either be taught as Cartesian or Joint representation. The biggest difference is that P points are local to a program and have both a user frame and a user tool associated with them, while PR's do not.


    I did not think it would work, but yes you can apply a Cartesian offset to a position that was recorded in joint representation.


    Also, I did not mention this before, but offsets can be applied to both P points as well as PR's. Both of these are valid:


    Code
    1. L P[85:] R[32:S180 Spray Speed]inch/min CNT100 EV100% Tool_Offset, PR[1:Spray Offset];
    2. L PR[10: Master Taught Point] R[32:S180 Spray Speed]inch/min CNT100 EV100% Tool_Offset, PR[1:Spray Offset];

    Yup, +1 to what nation said. I wanted to offer him some simple code to decompile, but he vanished. Probably because it's not possible, at least not with ten guys spending a year or more on it...

    The position that you show is a "P" point, not a position register (PR). A "P" point is a local point that is exclusive to the program that you teach it in. It has a user frame and a user tool associated with it. A "PR" is a global point that can be used in any program and will not have a user frame or a user tool associated with it.



    Note the UF:F and UT:F.


    The "CONF:FT" is the configuration. Configuration only applies to points or position registers stored in Cartesian format; configuration does not apply to positions stored as joint angles. Since the same Cartesian position can be reached with the arm at different joint angles, the configuration of the arm must also be stored. There are several very in-depth post covering this topic, so I'll let you search for those.


    Now, onto the real meat of your question, "what is the tool offset actually doing?"


    First, you need to have a properly defined UTOOL. You mentioned that your specific tool is offset from the face-plate by twenty degrees, that means that you have either a value of 20 in either ya"W" or "P"itch. To verify that this is correct, once you have the tool defined and selected as such (ignore the fact that my tool does not have a twenty degree offset):



    Place the jog coordinate mode into "TOOL" (ignore that my robot says "S/TOOL"), now jog the robot in +Z and -Z. If your tool frame is correctly defined, you will observe that the tool will move in and out in the direction of the tool, in my case a spray gun. E.G. when I jog, in tool frame, with my spray gun selected (in my case UTOOL=15), my spray gun will move in and out from the part that I am facing, no matter the orientation. I can point to my part from the top, the side, or the bottom, and when I jog + or - Z in tool mode, the gun will always move closer or further from the part, ALWAYS. If your tool is not properly setup, it will move some other way.


    Alright, alright, alright. Now that we have a properly defined tool that has been verified with the actual robot (sorry RoboGuide, I don't trust myself to get it correct 100% of the time in simulation...), we can properly use this command:


    Code
    1. :L P[13: ] 140.0inch/min CNT100 EV100% Tool_Offset,PR[1:Spray Offset] ;


    Lets break this down:


    :L P[13: ] 140.0inch/min CNT100 EV100% Tool_Offset,PR[1:Spray Offset] ;


    This is the standard part, if you don't understand this one, you have a little further to go (there's a wonderful sticky to a wiki style manual n the "Manuals, Software and Tools for Fanuc Robots" section"). This part of the instruction will move to "P" point 13 at 140 ipm with a CNT100 termination.


    :L P[13: ] 140.0inch/min CNT100 EV100% Tool_Offset,PR[1:Spray Offset] ;


    The robot I pulled this code from has 2 extended axes, this code just tell them to run at full steam ahead.


    :L P[13: ] 140.0inch/min CNT100 EV100% Tool_Offset,PR[1:Spray Offset] ;


    Now the fun part, without this one, I would just move to P[13]. However, since I have syntactically invoked a tool offset, the robot will now move to P[13] with a two inch negative Z tool offset. Essentially, it would be identical to stepping through a program to "P" point thirteen and then jogging in tool frame in the negative Z direction.


    I hope this explains tool offsets, if not let me know.


    -Phil


    {This concludes Philly's Fun Fact of the Day for this beautiful Thursday morning down at NASA's wonderful Michoud Assembly Facility in the heart of New Orleans East. AD ASTRA PER ASPERA!}

    First of all thanks for the answers !.

    ¿What do I have to look for in e-bay for a Fanuc brake release unit?

    I don't understand what he means or what I have to give a fanuc to ask for it.


    I could not release the axle 14 brake with the variable:$PARAM_GROUP[1].$SV_OFF_ENB[1] ?

    $PARAM_GROUP[1].$SV_OFF_ENB[1] is used to tell the robot whether or not to disarm the servos and apply the brakes after the robot sits for a while running in AUTO mode. The default timeout is thirty seconds. That means, if the robot is waiting for 30 seconds or more, the servo power will drop out and the brakes will come on.


    In the past, with a robot with a bad brake, I have disabled this so that the arm does not fall when the brakes go on.