In addition to the ITP time you would have to consider the communication time. For example with EthernetIP I believe the minimum RPI is 8ms.
Posts by HawkME
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Yeah, I remember thinking the same thing.
To move just the robot you change X.
To move just the rail you change X and E1 the same amount.
If you only change E1 then the robot will move -x to maintain the same TCP position relative to your frame.
So you have to keep track on your program that the robot is not going to hit a stroke limit.
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Sounds like when you changed the memory you lost your mastering counts. Hopefully you have a file backup or the original mastering counts that you can re-enter.
If you have the file backup then reload sysmast.sv. or if you have the mastering counts then enter them in the $DMR_GRP variables. I woulc check to see if the counts are still there first. Once the mastering counts are in, then you can set mastering done variable to true. Then go to the master/cal menu, reset PCA, and calibrate.
After that take each axis to 0 degrees and check that it lines up with the witness marks.
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If you want to swap x and y You will need to re-teach the frame.
The Frame must follow the right hand rule.
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Each DCS check has an option to assign a disabling input. The input must be a safety input.
Why do you need to disable it?
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What do you mean movement is "changed"?
If it's not jogging in a straight line then your mastering is probably off. If that is the case then I recommend you first search the manual and the forum for mastering. If you still have questions then post back.
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The gear ratio is actually 229.091. But you can check for sure by rotating the table 360 degrees and see if it's back at the same location.
For jogging a group 1 extended axis, there is a setup menu where you can assign it to the J7 keys. If it's group 2 then select that group first.
For the safety, ensure all connections are good for TP, estop board, estop circuit and the amplifier. With power off unplug and reset connections if needed. Power up and press reset.
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I'm not sure if there is a system variable but there is a way to ensure it is initialized and set to joint or cartesian.
This will set to cartesian, all zeros.
: PR[X]=LPOS-LPOS;This will set to joint, all zeros.
: PR[X]=JPOS-JPOS;By doing this in your program, then setting the element values, you can guarentee the representation.
Does that solve your issue? If not please explain.
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What software version is your controller?
What is the reason that you want to remap the signals?
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Yes that is obviously not realistic
The joint max speed is determined by the gear ratio. So when he fixes that it will automatically change. -
I think your gear ratio needs to be 250 instead of .004.
****edit***
I see from Nations post above where you got the gear ratio. That is actually the inverse of how it needs to be entered. So taking the inverse I get 229.091.
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What is the PC doing? Is it just used to view/edit the vision from the robots web server? Are you using iRVision?
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A two plane calibration allows the vision software to calculate the actual focal length of the lens instead of going off the nominal value. This allows the vision process to more accurately compensate for scale when the work piece is at different distances from the camera.
You should always do a 2 plane calibration if possible for best accuracy. 100-150 mm is the recommended distance, or if you are using vision depalletizing then the distance from the top to bottom of the stack.
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The last auto update I attempted on an R30iB+ the controller froze during the image back up!
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This process took me HOURS and I got nowhere in the end. But I was able to turn it back over to production.Exactly! In my experience making changes to Fanuc software is not a fun process and always takes way longer than you expect it should. I have wasted entire days with Fanuc software changes and that is why I have my current philosophy of only doing them when really necessary.
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The worse I have seen is software become corrupted which was solved by re-loading a good Image backup.
One risk is if a corruption happens and the person looses or accidentally deletes their image backup and then cannot get the robot back to a good state. Another risk is that the machine is down longer than what production anticipates costing the company money.
If you are careful about saving an image backup then you should really be fine. But my question is what do you have to gain? If the machine is running correctly with no issues, then at best case you have labor and downtime to do a software update. Worst case you corrupt the software and lost your image backup.
Sometimes you need to do a software update in order to install a new feature or Fanuc directs you to during troubleshooting. All I am saying is I don't recommend doing it unless you have a specific reason to.
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UO and DO have there own separate mapping and are not related to each other at all. Sometimes people map UO and DO to the same points which makes them equivalent to each other which sounds like your case. So if you want to change the UO mapping then go ahead and do it in IO>UOP>Config. Then it will free up your 12 DO's for some other purpose which is what I assume you are trying to accomplish.
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The same goes for any of the revisions ex. v8.0P/xx?Yes, as long as the major rev number is the same.
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Never update unless you have a specific need to.
If it ain't broke don't fix it. Updating software is not risk free.
You can install any minor rev update. So if your controller is v8.x then you can update to any other 8.x but not 9.x.
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I haven't seen it before. It seems redundant with Digital IO so I assume that is why they don't have it on the newer controller.