I had to edit my last comment. Normally I would use arc in the corner with TCP prediction.
But if you can't get tcp prediction then arc movement may make it worse.
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I had to edit my last comment. Normally I would use arc in the corner with TCP prediction.
But if you can't get tcp prediction then arc movement may make it worse.
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Edit:
Normally you would use circular or arc motion to get a smooth corner, but that will cause bigger changes in speed.
What you really need is TCP prediction to control your dispense. Anything else will be trial and error like atinder stated.
You can't get true constant speed going around corners as that would require infinite acceleration.
However you may be able to improve it.
Use CNT100 whenever possible, it will round your corners though.
Use higher ACC, but it is harder on the robot.
Everything comes with a tradeoff. But first let's ask why you need this? Is there another solution?
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There are many videos out there showing robot singularity. Basically it is when two joints are aligned such as J4 and J6.
Is this actually stopping the robot or just a warning? Some robots have a software option that allows them to move through the singularity fine, but may still post a warning.
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Cstopi for abort is the way do it. Cstopi has nothing to do with your light curtain, they are (should be) seperate signals. You choose when the uop cstopi signal is sent in your plc logic.
The light curtain should be EAS hardwired signals, which is a safety controlled stop for motion, but only pauses the program. So you can still resume with the UOP start signal after a light curtain break.
This is a fairly standard procedure with a PLC and robot setup. Does that make sense?
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That kind of consistency strongly points to a programming issue.
If you post the program code it may shed some light.
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Are you saying it shifts every cycle a 1/4"? So after 16 cycles it's off 4"?
Or are you saying that it is just 1/4" off total?
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Menu>setup>host comm>tcp/ip
Set the address and subnet here.
It could cost you thousands of $ to licence and get software. Probably not worth it for a robot in your basement.
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Yes, you absolutely can go 100% of 250 mm/s. I never said you couldn't, just wasn't sure if you wanted 100% of auto speed or teach speed. PDL's answer is what you wanted.
There is a pitfall you have to watch out for when directly setting the WPR angles. Gimbal Lock https://en.wikipedia.org/wiki/Gimbal_lock
When you get close to this orientation your angles can get wacky and you will loose 1 rotation axis. Fanuc solves this by changing all rotation angles to "approach" from a different direction. The solution happens automatically when jogging, but if you programmatically change the w,p,r angles you may not get what you want.
You can go 100% of 250 mm/s
You need T2 to go above that speed.
I think motion pro usually comes with roboguide. You should see button on the menu to open motion pro when you have an open workcell.
Do an all of the above backup and put into a folder on your computer. Then in roboguide select create a new cell from backup.
It is possible to send the speed to the PLC but I think the motion pro way is more helpful for understanding what is going on.
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This makes more sense. I didn't realize how your tape dispenser was working from your original post.
If you have RoboGuide and MotionPro you can plot a graph of your actual TCP speed as well as view the TCP trace. This can be a very insightful tool.
There are several ways to pause the program. Here are a few.
1. UI hold signal - This is a good option if you are using a PLC with the robot. If no PLC then you could instead use BG Logic and flags to do this.
2. Condition monitor - Create a monitor and action program. Typically would use a user alarm in the action program.
3. TC Online - Need to enable this with the system variables. You set TC Online to look at your DI then it will pause and show an error message when it occurs.
If using a PLC then option 1 would be my choice. Otherwise take your pick. You can look up these methods in the manual or search for more info on the forum here. I believe all 3 of these have been discussed in previous threads on the forum.
You can use the 4 point method for any application you want to. There's really no special benefit of using it besides to change the user frame x,y,z value.
A user frame is helpful for all applications. It helps align the robot to the workpiece and allows the program to be corrected if the work fixture is moved. It is necessary for an accurate 2D vision process and accurate variable offsets.
See, the robot world frame is almost never lined up perfectly with the work fixture so a user defined frame must be created in all but the most simple of applications.
The 3 and 4 point methods achieve the same thing, except the 4th point allows the origin to be offset.
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Are you wanting to know why to use 4 point vs 3 point, or the purpose of user frames in general?
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