DB = distance before
So, .1 mm before the point is reached it will execute the point logic. The point logic is setting R[50]
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Posts by HawkME
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If it's working like you say it is then your settings are probably all good. But just for good measure, can you list the settings you used when installing the extended axis? What software tool, version and options?
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Did you zero master the rail and confirm it's mastering status?
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There's very little difference in the syntax. Each item in parentheses evaluates to True or false, with on=true and off=false.
You can use any normal operator:
! (Not)
And
Or
=
<> (not equal)
<
>And you can group logical items in parentheses.
(DI[1]=on) works the same as simply (DI[1]), you can use either syntax, they both evaluate to True.
Just forget about jump labels and you will be fine. They can be used to jump downward but even that is unnecessary with the properly written logic.
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Yes, it's Boolean logic.
You can negate it by putting a "!" in front. ! is the "not" symbol.
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You can't jump up, only down. BG logic programs automatically loop so no need to jump up.
You don't need to use any jumps at all. Your code can simply be:
If (DI[17]), F[1]=on
If (DI[18]), F[2]=on -
Use a BG logic program to turn on a Flag if the input is on. The BG Logic will always be running in the background, even after a power cycle. Your regular TP program can turn the flag back off at the start of the routine.
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It is adjustable by a % of sensitivity. I have never seen a torque spec, but I'm sure it varies by the model of robot you have.
Also, keep in mind this is not a safety function. It is only there to prevent machine damage, but if you have a hard crash, something is still likely to be damaged.
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I don't think there is a direct method. I would have them rewire it the right way.
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Make sure to also check the interconnect menu. I don't think they will show up in a text search.
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Application frame should almost always be set to 0.
I think you are looking for offset frame, which should be your user frame, and is what found position will output relative to.
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The TP programs can be written in any text editor then loaded into roboguide. I am assuming you have roboguide?
Take the ascii version of an existing program to start with, so you can see the proper syntax for the header and positional data.
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The UI signal "cstopi" can be configured to abort all in the system config menu.
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Yes
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You might need to call Fanuc tech support for this one.
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You mean tool frames? User frames are for the work surface, tool frames are for your grippers.
If you look at the tool frame they have xyzwpr but w,p,&r may be all 0. You can change one of them 180 degrees to set your orientation.
Then you're program must use PR's instead of points. Just set the utoolnum in your program and that should do it.
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You can set a tool frame for each gripper, with different orientation values.
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Just add another output to the wait condition. For example : WAIT (DI[X] OR DO[X]);
Then you can use BG logic to set DO[X].
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This is normal behavior when changing frames. I'm not sure that there is a good solution. Changing everything to 1 frame is not a good practice.
Is it causing a real issue or just an annoyance?
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