Posts by pdl

Given that you have the hardware, the easiest way to get an answer would be to test and find out.

Please post your findings.

I haven't used a third party application for setting up DCS before, but it looks like .XVR may be a compatible format:



Usually when loading any DCS related files, you have to load them from a controlled start. How are you trying to load them?

Have you looked into the documentation for Safety-Robot-Manager?

Quote from PnsStarter

What's the error message?

+1

The error code will post which safety check (type and index) is failing.

Suggestion: post more details:

What happens specifically when you try to run?

Any faults?

A pic of the TP would help.

What type of robot and which version of controller and software are you using?

Under System > Config, are there any Autoexec programs listed?

Under Setup > BG Logic, are there any programs running as Background logic?

I would use DPM. Your use case is exactly what it was designed for.

Unlike a lot of Fanuc options, it even has its own manual: B-84474

The manual should cover most, if not all, of your questions.

You'll have to figure out the specifics of how to search for and calculate your TCP corrections based upon your actual hardware and I/O.

Once you have figured out the deltas for your TCP corrections, you can use this outline to adjust your current TCP:

!Save TCP in Cartesian Representation
$PR_CARTREP=1

!Store Current UTool
PR[x]=UTOOL[y]

!X Offset
PR[x,1]=PR[x,1]+R[x.offset]
!Y Offset
PR[x,2]=PR[x,2]+R[y.offset]
!Z Offset
PR[x,3]=PR[x,3]+R[z.offset]
!W Offset
PR[x,4]=PR[x,4]+R[w.offset]
!P Offset
PR[x,5]=PR[x,5]+R[p.offset]
!R Offset
PR[x,6]=PR[x,6]+R[r.offset]

!Apply Offsets
UTOOL[y]=PR[x]

!Activate Adjusted UTool
UTOOL_NUM=y

!If needed, switch back to Matrix representation
$PR_CARTREP=0

The robot's flange never changes, unless you have a really, really bad day.

You can reference your points to the robot's flange by using UTOOL[0], or a UTOOL with all zero values.

But this leads to the question: What are you trying to accomplish by adjusting your UTOOL definition?

Do you understand the difference between a User Frame and a Tool Frame?

Do you understand how User Frames and User Tools are both independent components of a Fanuc Cartesian position?

(I.E. the position is the UTool relative to the UFrame image.png )

Yes, you should be able to do this.

First, I would backup your current cell by creating a compressed package:

Then go into the robot properties:

Then select "Serialize Robot":


Finally, in the "Virtual Robot Edit Wizard," select "Robot Options" in the left pane, and then select Ethernet/IP Adapter:



After checking the option, the "Finish" button should be available. Click it, it will then bring you back to the Robot Properties page, click the "Apply" button.

Your screenshots appear to show your code functioning properly as programmed.

Do you have a question?

Please, for the love of sanity, RTF Alarm!

What is on line one of DEMOPROGRAM? (HINT: press the EDIT key)

Are you trying to copy from a program that already has group 1 positions recorded to it? If so, that won't work, you need to create the program from scratch, or delete any taught points in the program you are copying from.

In the program you want to slow down add this to the beginning, where X is the percentage of your main override that you want to run at; i.e. a scale factor. I would probably start with 25.

$MCR_GRP[1].$PRGOVERRIDE=X

and add this to the end of the program:

$MCR_GRP[1].$PRGOVERRIDE=100

If you have a main program that is calling all the other programs, you should probably add the $MCR_GRP[1].$PRGOVERRIDE=100 to the top of that program as well.

This will allow the main override (the % in the top right corner) to keep working as it has for your other programs.

Also, X can be a register, it does not have to be a constant.

Yes, this is normal for a Fanuc SCARA.

If you are running an NVIDIA card in mixed/auto-select mode, be sure to check that RoboGuide has been added and configured to use your dedicated GPU. By default, the NVIDIA control center will select the integrated graphics card.

Check these setting:

You also may want to check the RoboGuide system options for graphics memory and to enable anti-aliasing:


Modifying any of these settings will require a RoboGuide restart.

Have you checked the Program Select screen? (Menu > Setup > Program Select)

There is a function there for checking single step in auto mode:


I would compare the single step detail screen between your two and check for differences:

One of your devices is shorting the SDI circuit to ground. Is there a specific input that would only trigger every few hours, or an output that only fires once every few hours?

Thanks for trying to post your electrical drawings, but posting the actual picture instead of a screenshot of picture would be much better. I can't read a thing in your pictures other than the titles on the Fanuc docs, the rest of the text is just to small.

You already to have RoboGuide. Please post the .LS file.

Asking for help to review a picture of code from a real teach pendant is marginally okay in a pinch.

Asking people to sort through multiple screenshots across multiple posts of code that is already on your computer is............

Quote from warmer

Mechanical Unit Operator’s Manual MAROTP50I11111E REV B in Mastering chapter.
Is it proper manual?

Which robot model do you have?

Are you using the builtin I/O provided through CRMA15 and CRMA16?

If so, do any of the signals pass outside of the cabinet? Have you checked those cables?

Do you have electrical prints for any peripherals using those signals?

Please post a picture of your Digital Input and Output Config screen.