Posts by HawkME
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There is also the PTH motion modifier. If you add to the end of each motion it should help maintain speed with many close points.
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A program type condition monitor may better suit your needs. You can start it at any point in your main program then it should be active from that point on until it is triggered or the program is aborted. If you need to restart it after it is triggered, then you can do so in the action program.
Another option is instead of monitoring for the part to drop, you can check it after the robot reaches its destination then call an action program if the part is no longer in the gripper. This is quite a bit simpler to set up and gives you similar results. If it is acceptable to check after the robot finishes the move then I would go this route.
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There are several types of condition monitors. Progam, System type 1, System type 2. If you have access to the manual it will explain each of them in detail. Macros may also be an option.
Can you explain what you are trying to achieve?
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Condition monitor
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Yes, that is exactly how I do it. Makes it much simpler in the PLC.
You have to make sure the following system variables are set to 0 first then configure the IO, otherwise it will try to fill in the unused bits from word 1.
$IO_AUTO_CFG=0
$IO_AUTO_UOP=0 -
Where would someone find one of these de-compilers?
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This is what I know.
On version 8.30/P03 and older, it is the 5th-8th characters
On version 8.30/P15 to p31 it is 5th,6th,9th,10th
I tested on HandlingTool and SpotTool+.
I'm not sure at which patch level it changed, but somewhere between patch 3 and 15.
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Correct, you would then be setting the PR = the point in the current job program. As long as nothing modifies that PR again before you need to use it.
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I think it used to be the way you describe on an older software version. I figured it out by changing the DCS code and comparing the files. I noticed that the 5th, 6th, 9th, and 10th characters after "1b 25 fd" make up the code.
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Yes, this is a good way to "hard-code" a position register in a program to help protect if from unwanted changes. It doesn't matter where the point is because all position data in a program is available as soon as that program is called. Here is a trick to do this without having to actually move to the point.
: JMP LBL[1];
:J P[2] 100% FINE;
: LBL[1];
:;
: PR[11]=P[2]; -
It is 1111.
From the string 10 f3 10 80-eb f0 1b 25-fd 00 00 04-bd 57 46 27
The hex code is the 0457 that I have in bold which is 1111 in decimal. -
I've noticed much better results from using the .STEP format over the .IGES or .STL formats; including a much lighter use of GPU Resources.Step would be nice, but RoboGuide does not allow the use of step files. Are you using a different software?
Here is direct from RoboGuide "PRO software utilizes IGES import as its preferred method to get CAD information into PRO Software.....PRO Software also support STL (.stl), COLLADA (.dae), OBJ (.obj), VRML (.wrl, .vrml), RWX (.rwx), 3DS (.3ds) and DXF (.dxf) format."
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You can tie the ref pos output that PDL mentioned to your ROs using BG logic. This will allow you to create different logical scenarios.
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No line tracking.
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A few questions:
Do you know if the robot is in good working condition?
Are you able to power it up and jog it?
Is it correctly mastered?
What controller model and software version is installed? -
The normal implementation is called Extended Axis control (option). You add a Fanuc servo motor that controls the rail, and treats it like a 7th axis on motion group 1. You configure in the software that the 7th axis is connected to the base of the robot. Other than that, programming is straightforward, what you would expect of an integrated solution.
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If you connect the robot to the network via Ethernet, then you can use any ftp method to backup the robot.
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If you open up the property page for the User Tool, there is a tab called "Feature Pos Dflts". You should be able to set this behavior by adjusting those settings.
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I experience the same issue and as far as i know this is a flaw of Roboguide. The best solution I have is to simplify the geometry of the cad file before exporting to iges.
I think they choose poorly when making iges the import file type. It does not have the performance level you would expect from a very expensive piece of software from the largest robotics company in the world.
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