Another thing to note is that PR's can be modified programatically, while P's must be taught.
Posts by HawkME
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I don't think its possible to get output of a TCP other than the active one, but you can get joint angles.
First enable position output:
$SCR_GRP[1].$M_POS_ENB -> Set to True
Then you can monitor the following for joint angles:
$SCR_GRP[1].$MCH_ANG[n] -> Where 'n' is the number of the joint +
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Your perception is correct, in how you talk to them. For something like this I would not have any conversation, I would simply place an order for the software and hardware through their spare parts department. Of course that only works if you know the part numbers that you need.
A good sales rep should help with that and not push you towards their service department if you tell them you are doing the install yourself.
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I almost always just purchase the hardware/software and install it myself. I have installed DCS and the additional safe IO board; it was not difficult. For software they usually just send you a code that unlocks it (PAC number) and you use the original USB drive to install the software.
It is very expensive to have a Fanuc tech to come out and unless it is covered under warranty it is a last resort for me.
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What PLC are you using?
Are there still parts of the program that will be handled by the robot or are you using the PLC motion interface for the robot?
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Unfortunately Reference Positions are in the the main system variables file. Sysvars.sv (human readable in system.va). This include tons of different variables that I do not think would be a good idea to load willy-nilly onto a different robot.
If you enjoy programming in a higher level language you could read and write these variables directly.
They are held in $REFPOS1[n], where the value in the square brackets 'n' is the reference position #.
If you are always setting the same exact values, then you can actually write to the variables in a TP program. But if you need to be able to export and import from any robot it would require higher-level programming.
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Teach your base point (with no offsets) how you want the robot to be oriented. Then add a Tool Offset. In the Tool Offset PR, you can set x,y, and z values to move the robot relative to the current tool orientation. Once you understand how it works it only takes a couple minutes, just like you mentioned with your Kawasaki.
A point is always using both the User and Tool frame. The point is going to define where the TCP (Tool Frame) is located and Oriented in the user frame.
All Cartesian robot movements are relative to the active user frame. Except for Tool Offsets.
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Rack 1 Slot 1 is not the CPU.
On Fanuc robots Rack 1 refers the the physical IO rack. Rack 1 Slot 1 would be the first physical IO card.
Since you said your outputs are not working then it is obvious that you have lost communication with the IO card. Rumblefish provided the answer above, I am just hoping to clarify it for you.
You could have a bad IO cable, IO module, or IO card. Or simply it could have come slightly unplugged.
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I use UO[10: Busy]=ON/OFF which automatically tells if program is running or not
UO[10] won't help in a multitasking situation, because the main program will already be running.
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Step 1: make an honest attempt to figure it out on your own
Step 2: read the manual if you need help understanding a programming instructions
Step 3: search the forum for palletizing, there are many good examples
Step 4: if you are still having trouble, create a new post showing what you have tried and asking a specific question for help
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The are a couple of tools in the Fanuc Subforum (Titled manuals, software, and tools, but no manuals).
CommentTool or Fexcel allow you to apply comments from an excel sheet.
Also there is a post about CM code in that section.
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You can get it to work with a single counter by reversing the output state:
: IF R[x:counter]>250, (DO[x]=!DO[x]);
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An easy way to time in BG logic is to constantly increment a counter. The counter value will equal the number of scans. So if your scan time is 8 ms then 250 scans = 2 seconds. When your counter reaches 250 reverse your output state and reset the counter to 0. Now you have a flashing output.
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Very similar to setting up digital outputs, but they must be consecutive outputs. I am assuming they are digital outputs currently?
First I would check the config for your current 4 outputs. Find the Rack, Slot, and Start point of the first one. Then go to the config for your Group output and set the same Rack, Slot, and Start, then set Num Pts to 4.
Then cycle power to the robot and it should be ready to go.
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Use the EES (external E-Stop) and EAS (External Fence Stop) terminals on the robot E-stop board. Then you should also tie the Robot Estop to your outside system using the ESPB terminals.
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You can use a group output. With a GO you can group all four bits together and set them as a 4 bit integer value. That would give you a value range of 0 to 15.
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DCS is limited to a certain amount of processing time in order to react quickly to unsafe situations. Each zone and model uses up part of that, and more complex shapes use a lot of it.
For user models, boxes use up a lot of time factor. Zones created with lines use more than diagonals. It is all detailed in the manual.
The best way to reduce it is to change any box elements to point or line elements.
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The only thing I can think of is electrical interference or something wrong with the controller like you said.
Another possible option is to upgrade to a digital camera such as the Kowa or Basler.
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I see the black lines you are talking about now.
Is this a fixed mount or robot mounted camera?