Posts by pdl

I too agree you might get more answers at a different forum, but I think you will get the best answers here

I would love to see some pictures of this project and maybe some of your previous builds too?

Nope. Servos can't commutate without feedback and there is no way to set them up to run open loop.

Have you ever used any kind of vision system?

Where are you located and what specific site are you using?

Fanuc America's site still has RoboGuide:

I think there are two parts to your question: exporting and executing.

I don't think there's any real workaround to exporting, or more precisely, running the program from the robot controller. The program will somehow need to execute from the robots RAM. How you get it onto the controller is up to you, whether it's a USB drive, PCShare, or FTP.

Executing the program from your computer is definitely possible. For a quick and dirty approach that only requires an ethernet cable and PC, I would look into using KCL commands over Telnet.

What line did you delete?

And you can load the file if you don't edit it?

Yes and no, it depends.

Do you have the ASCII upload option? Do you have RoboGuide?

If you are already using MasterCAM, you might want to look into Robotmaster.

If I had to guess, it's probably an order of magnitude more expensive, but if you're already started down that road...

I usually setup a group output for each piece of data I want to monitor. I just set the outputs in PLONPAL.TP after calling open_tool and pulse an output so that the PLC knows when to update the HMI:

 280:   ;
 281:  GO[2:0:Current Station]=R[4:Current Pallet] ;
 282:  GO[3:0:Current Layer]=R[5:Current Layer] ;
 283:  GO[4:0:Current Unit]=R[6:Current Unit] ;
 284:  GO[5:0:Current Unit Load]=R[2:Current Unitload] ;
 285:  DO[80:OFF:Upd Layer/Units]=PULSE,1.0sec ;

Omron also supports Ethernet/IP. Having used both EtherCAT and E/IP, I would use E/IP.

Both field buses will require a paid option, but E/IP is only a software option, no hardware is required.

Yup, should be there. This is from V9.30p/32:

I would highly recommend you NOT automatically abort simply because the robot is faulted, that is just throwing the baby out with the bathwater.

For example, do you really think it is a good idea to abort your program when you're stepping through in manual and you get a fault because you released the dead-man switch? Or, when the robot faults because of a program bug, do you really want the robot to go back to line zero of the program, or would you rather debug from the line of code that generated the fault?

I prefer to use a user alarm with an adequate severity to abort the robot when needed, rather than aborting for any and all faults.

Distance To Go (DTG) is super helpful. I am not sure why it is not enabled by default or discussed in any of the manuals.

You'll have to adjust these system variables, this should help:

I'd be interested to know what they are actually charging. Are they an authorized Fanuc systems integrator?

As an authorized integrator, you are not allowed to mark-up Fanuc's spare parts prices, you have to sell them at their list price. The only margin that an integrator makes on selling Fanuc spares is based upon the discount that the integrator receives off of the MSRP.

If you are using Fanuc's force sensor, you will want to setup a force control schedule the contouring feature. The target force is part of the contouring schedule. The vector of the applied force can be setup relative to either a user or tool frame. I haven't used it with RTCP, but I believe that works too.

You can monitor the force real-time in multiple ways. One way is through the force control web interface. As far as Fanuc web interfaces go, their force control one is pretty good.

You can also setup a log using TPP instructions. IME, the data produced by this log is better than what the web UI spits out. It can be setup to post 6 DOF forces vs position for each ITP (4ms).

Brand New? What version of controller?

This was true for older versions, but the standard program select interface came back to PalletTool a few years ago.

Quote from Paolo

Hello, everyone.

I want to give a HOLD to the Fanuc Robot when I press a button on an external Touch Screen.

How can I do this since the UI signals of the Fanuc Robot do not have a Hold command?

Thank you very much

UI[2]=*Hold

When UOP's are enabled, this signal must be held high to run. If this signal goes low, the robot's motion will be held.

Useless is a very strong word. If you know what you are doing, you can use the old values to quick master the robot.

But is the ROBOT running?

Do you have the PalletTool Manual?

Research "Gripper Setup"