Posts by HawkME

You need to use linear motions to prevent flipping. Just make sure you unwind the wrist with a joint move when the gripper is empty.

The LR would use a different controller. It is used on the smaller Mate controllers. It is slightly different software.

Not that I'm aware of.

Rack 0 slot 0 is not a physical IO board. It is the internal memory port. Essentially it is just another set of boolean variables you can toggle on/off. Doesn't physically turn on anything.

I use it to control DIs from DOs. Normally a DI can only come from an external source. But say you have a need to control a DI directly from your robot program. You can map a DI and DO to the same internal mem port bit. Then toggle the DI on/off via the DO.

That is the only use case I have found for rack 0 slot 0.

500 microns = 0.020 inches.

Articulated arm robots don't claim to be that accurate. Repeatable, yes, but they generally won't achieve accuracy better than that for dynamic applications.

There are some robots that can achieve higher accuracy with calibration, but I don't believe that's on option on the LR Mates.

You may be able to use the vision adjustment command to tweak it in.

I usually like to break it up into multiple programs when I change frames, so each program uses only 1 frame. Not a necessity but helps with trouble shooting.

Yes. In your program insert a new instruction.

INST>Miscellaneous>Parameter name>$......

Highlight the "$..." Then press enter>options>keyboard, then type in the variable name. Then you can highlight the last part and enter 0.

Please post the code for your entire program. It appears that you are winding up the wrist.

You need to to have a joint move to a fixed position, no offsets, that you move to everytime you approach and exit from your fixture. Make that position as neutral as possible (J4 and J6 as close to 0 degrees as possible).

Also you are putting the robot near a singularity. You could fix that by changing the relationship of height or angle between the robot and fixture.

Right, your for loop registers already are counters. Just use them.

It sounds like backlash in the gear reducers. All articulated arm robots have backlash, the longer the arm the worse it is. Also you have an old used robot, so probably worn. Backlash would occur when changing directions.

A CNC would have been a much better choice for this application.

IMHO your best off cutting your losses and getting a proper CNC mill or router.

The distance would be from the edge of the DCS zone to the light curtain plane. You would need to calculate the stopping distance off the robot and the total reaction time and hand/finger penetration depth between light curtain beams. The complete formula would be:

RobotStopDistance + (63in/s X TotalReactionTime) + DepthOfHandPenetration.

The 63in/s represents a fast human hand.

Your distance is likely going to be large enough that a person could stand inside the light curtain. In that case you need to protect both vertically and horizontally with 2 light curtains or sometimes you can get by with 1 mounted at a slant.

Good job solving the riddle. I would emphasize that that "assignment" was just a way to get you to think and understand logical commands. For that purpose, it's fine, but not an ideal way to program a real project.

If you really needed to do that then simply using 7 motion statements is much cleaner and wouldn't give a headache to anyone that has to look at it. If you had a repeating pattern that would require many stair steps, I would use a for loop. A for loop would be much cleaner than a bunch of jmp labels and if statements.

Excessive use of jmp lbls is a sign of a poorly written program.

It can be done with 0 if statements.

You essentially have a starting point then 7 offsets.

You could just do those 7 motions and offsets in series. The if statements just make the code unnecessary complex.

Do you have an image backup? That is the first step after installing software and before making any major changes. If so simply restore the image. If not then I usually use FTP to send all files to the robot while in a ctrl start.

Will it allow you to apply DCS parameters and restart?

Is it running DispenseTool software? If so you can go into the menu and toggle wet/dry mode.

We are not allowed to post Fanuc manuals on the forum.

The offsets are relative to the vision reference position that you teach in the vision process.

It won't work correctly with CNT, only with FINE. Can you move your P[10] further away and then use DB with Fine? If that isn't an option then the only other way I can think of is to monitor the position in BG logic and turn off the spray signal when it's past a certain positional value.

I'm not aware of any function that will do that for you. You will have to come up with your own algorithm.