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Posts by HawkME

    I have a sample program I can post later but first I'll give you a nudge in the right direction on how to do the math.


    You can break it down to 2 perpendicular lines that intersect at a right angle. So you need to look up and solve the following questions.


    1. Equation of a line

    2. Tangent of a right triangle

    3. Slope of a perpendicular line

    4. Intersection of 2 lines


    You only need 3 points to solve these equations and only need the x and y values. First 2 points give you rotation 'r'. The final point allows you to solve for 'x'and 'y'.

    What is your question?


    What you posted is neither a question or a statement, just a fragment. I can try to guess what you want or you could provide more information.

    I have done it using trig in TP code and it worked well. I had the math option which gives you all the trig functions.


    If you don't have the math option but have a PLC then you could pass it to the plc for calculation. Another option is to use a taylor expansion series to approximate the trig.

    User frames are always relative to the world frame. To translate a user frame relative to is calculated orientation you have a couple of options.


    Option 1. Leave the User frame alone and instead apply an offset to each motion that needs to be offset.


    Option 2. Use matrix multiplication to modify the user frame by an adjustment matrix. Then store the result into a new user frame.


    The matrix multiplication method was discussed in this post:


    Rotating a User Frame by its own Z axis

    It usually means that you need to update the iPendant software on your laptop. You can get the needed software from the Fanuc CRC website, or I believe from the original load media flash drive.


    Other pitfalls to watch out for is security settings on your laptop. If PC iPendant is being blocked by security settings then it will just show a bunch of errors that are not always helpful. If you are using Internet Explorer then go to the robots web server page, and then go to Settings>Internet Options>Security>Trusted Sites>Sites>Add. Also make sure the "Require server verification" is unchecked. You also need to go to your laptop's firewall settings and make sure that Internet explorer is allowed through the firewall. This is under the settings for "Allow an app or feature through Firewall".

    When you program from the Teach Pendant you make selections from a menu and it will format the code in the correct way automatically. 99% of the time you don't have to think too much about syntax formatting when program from the pendant.


    If you get into offline programming where you are typing in each character in a text editor then you have to get the syntax correct. Usually spaces are more forgiving, but other characters must be exact, such as commas, colons, semi-colons, brackets, etc.


    If you want to lean more about programming I suggest you get your hands on the programming manual. Sounds like you want the ArcTool Setup and Operations manual. Then next thing you should do is see if you can take a training course.

    Are you using a Fanuc robot at this inspection station or are you wanting a stand alone vision system? What inspections are you wanting to do? And what do you consider reasonable for cost? Most industrial vision systems cost at least $5,000.

    The old mastering data will be saved in a file from your all of the above backup, sysmast.sv.


    If you wanted to go back, you can put it in a controlled start and load that file. It then may require you to clear some alarms, set mastering done in the system variables, and calibrate on the master/cal menu.


    If image backup is not available in the file menu, then it is most likely available in the boot monitor screen.

    I would still make sure you have the Ethernet cable plugged into the correct port. On the mate controllers the ports are not labeled in a way that is very easy to read. I have seen this be the cause of the issue many times, and it only takes about 1 minute to try the other port and verify.


    The R-30ib Mate controller should not require any special software options to have access to the web server.

    A few other options to consider that may be easier for other people to read and troubleshoot your code.


    Option 1: is to use Group Outputs. A group output creates an integer, up to 16 bits. You can map the same bits to DO's or Flags. Then you have the option to look at each bit or the total integer value.


    Option 2: Forget using integers or registers. Instead just reserve a block of Flags or DO's (boolean IO type). Each flag represents 1 alarm and can be set or examined independently. If you wanted to scan through all of them you could do so with a For Loop, or an incrementing BG Logic program.


    My honest opinion is that using individual Flags or DO's would be much easier for another programmer to make sense of then to come up with a complex round-a-bout bitmask operation.

    There is no bitwise functions that I am aware of in TP.


    What is the purpose you you wanting to do this? We may be able to help you find a different solution.