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Posts by pdl

    hello there, i have a question , did u do a backup from a R-2000iA robot with a R-j30iB controller? because i also bought a robot and a controller in separate ways in secondhand but the controller has preload a painting robot and i want to change it to the other one beacuse im having problems with the wold coordinate movements.... the thing is , i want to know if you have a backup image from that, and if you could share it please , thanks, greetings

    Given the fact that your reposting in a thread titled:

    R-J3iB controller image backup- stuck at first line

    I think it's safe to assume that this is not about R30iB controllers.


    Do you have an RJ-3iB or an R-30iB? There is no RJ30iB, and I am not sure if there was ever an R-2000 iA that worked with an R30 controller.

    That is where the master counts for quick mastering get stored. The value in degrees will be different for every robot type based on the gear ratio.


    If you want to know the position of a joint in degrees, you can always just look at the JPOS (PR[x]=JPOS).

    I have already make Uframe in Fanuc robot same with origin of keyence camera. X and Y coordinat is working, but for rotation it doesn't work. If I rotate the workpiece, Robot cannot follow the workpiece. Do you have any suggestion?

    Posting the same questions in multiple threads is very confusing and should be stopped. I hate to say it, but "I" would prefer if you just keep bumping your original thread.


    That being said, it sounds like you are hitting a configuration change. Have you tried a Joint movement instead of a linear movement, or adding a WJNT to your linear movement?


    I think I remember your original problem, but when you post in so many different threads it is very hard to follow, please keep your original question to one thread.

    That is a very old version of robot controller, RoboGuide support for anything before version 6 is extremely limited. I don't believe that there is a solution for your problem, but I may be wrong.


    I've only used RoboGuide with a few rev 5 controllers and that has only been with PalletTool. The support for rev 5 controllers is not very good, and I would not expect it to improve as those controllers are ~20 years old; there's no money for Fanuc to support them.

    The simplest way to do what you are asking is to turn on a separate, discreet output to indicate that the sign is negative, and the PLC can multiply the value received by -1. Three total, one for X, one for Y and one for Z, if you are only interested in sending pos and not interested in orient.

    Technically, you do not need to send a sign bit if both sides are speaking the same language.


    Group I/O is a 16-bit signed integer in two's-compliment. Sorry, I cannot remember the endianess of it (I *think* it is Big Endian, I may be wrong). I'm lazy; I usually just see if it is correct, if not , it will need to be flipped, which is usually easier to do on the non-Fanuc side.


    But to your quote Lemster68, yes, sending a sign bit and being limited to 32766 values is the simplest way. At least it is for sure the simplest way five years down the road when you don't remember...

    Sometimes the MASTER_CAL option won't be available (should be option 3 under variables) if it isn't then open up your variables and set $MASTER_ENB to a 1 then cycle power and it'll show up.

    A power cycle is not necessary after setting $MASTER_ENB to 1, it takes effect immediately.

    Just a note, you cannot use the speed override inputs for anything safety related such as slowing down a robot when someone approaches it. This must be done using safety rated I/O and DCS.

    Linear speeds only affect XYZ movement, not rotation about them. For example, if you have two points with the same XYZ co-ordinates, but with a 180 degree rotation, the linear distance between them would be 0. Any adjustment made to the linear speed will be a moot point, because the robot is not moving the TCP in XYZ, only about them. It looks like from your picture that you have several hundreds or thousands of points on your path, which would mean that the linear difference between them would be very small.


    There are a few things you can do to actually get real linear speed, but the easiest place to start would be to specify the speeds in degrees per second, or as a timed move in seconds. I don't know your process, but if surface speed is important, you will need to do some calculations for this to work.

    If the door is properly latched, and the cables entering the controller are properly cinched by the foam retainer, you should not have any dust ingress into the controller. The fan unit is a heat exchanger that uses back to back heat sinks with fan to transfer heat from the inside of the controller to the outside, without actually exchanging any air.


    It sounds like your dusty controllers are not properly sealed.