I can confirm that (no matter how many times I forget when jogging in Z world and crash down onto something) the orientation of world frame always stays the same, no matter how the robot is mounted. I.E. a ceiling mounted robot will jog down towards the floor when jogging in +Z world.
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Posts by pdl
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You will need the DCS Safe I/O connect software package.
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What type of force sensor are you using? How is it currently connected? What type of PLC do you have?
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If latency is an issue, you're going to want to feed the force control signal directly to the robot as an analog input and use the high speed skip instruction to hold your robot.
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Is perch_init.pc already loaded onto the controller?
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Range should automatically be set, you will still have to configure the group i/o though and probably the UOP's as well.
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If you have an overhead crane available, then use that plus one of these:
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One of these.
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I believe that will work for the second group as well. Just look at the values as they stand, if they're uninitialized it probably won't work, but if have values I would give it a try. Just remember to take an image first.
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Here's the code to enable collision guard on axis seven and eight on a robot with one motion group.
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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?
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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.
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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.
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Yes, the newer mate controllers are spec'd at 200 to 240vac, single phase.
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What is version M6.3?
I've never seen that before? Does this robot have an F number or an E number?
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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.
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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.
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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: