Please give more information. What type of error and what do you want the program to do?
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Please give more information. What type of error and what do you want the program to do?
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P is a local point, PR is a global point. P is tied to a specific UF and UT, while PR will adapt to any UF and UT. PR's can also have individual elements manipulated.
A LBL is for use with JMP LBL. It is a goto statement. It is a line of code you can jump to in the program. Has nothing to do with the robot position.
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Do you have UI8 enable on? Must have UI 1,2,3 & 8 on to do a remote start.
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You might also try contacting a Fanuc authorized integrator. They have a list of them on the website.
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Instead of pulsing the start signal, I would just wait till the right condition is met, then call the main program from the macro.
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1 is remote
2 is local
3 is external IO
4 is OP panel
You shouldn't need to change to remote to accomplish the error recovery routine. A system monitor can trigger a macro, which can call your main program.
Or if you have a PLC, the PLC can handle all of the recovery logic, and normal start. Just need an external start button.
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3. Have the PLC pulse the start signal when it is ready to start.
4. Have the PLC always hold those 3 signals on. If the PLC and robot loose communication they will automatically go to 0 and stop the robot. You can test it by disconnecting power to the PLC and confirm that the robot UI signals turn off.
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If you don't have the error recovery option, instead use a system condition monitor to trigger a macro. The macro can reset the fault, wait for 2 sec, then call the main program.
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Are you using a DCS safe input for the scanner? If not then it it's not a true safety rated device.
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Why don't you create a couple programs named Mix_on and Mix_off. Then you can call those anytime in your main program.
Added benefit, if the DO that controls that ever changes, you only have to change it in one place instead of hunting through all of your programs.
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There it's also one called: jogovlim, at 100% I think it is limited to 250mm/s
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You must save the .ls files which are a text version of the .tp files. They can also be viewed on the robot web server.
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Also, internet explorer needs access through the firewall on your PC.
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First, I use a valve that it's either detented or normal locks the tool.
2nd, I set up a BG logic program that requires two separate outputs to be turned on before allowing the tool to unlock. If the unlock command is given without toggling the interlock output first, it will automatically lock the tool.
3rd, you can set a ref position at the tool change station. A ref pos can be set up to turn on a DO. You can then require that DO to be on to allow the tool unlock.
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@ME andy,
Looks good, I use a similar program for tool changers. I prefer to used the mixed logic statement instead of the if, then,end if, because it is less lines of code. Mixed logic is the: If (...). It works like this:
If (!DO[1]), RO[1]=off
If (RO[1]), DO[2]=on
If (RO[1]!=DO[2]), DO[1]=off and DO[2]=off
Same program in 3 lines instead of 10.
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What is your prog select set to?
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Please use search tool:
https://www.robot-forum.com/robotforum/index.php?topic=17742.0
This is also covered in the manual.
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Menu>system>config remote/local setup = local
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Did you watch the vision runtime display while running those two parts? It sounds like it it's not finding them, and you may need to do some work on your vision process.
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Yes it's possible. I have seen it done by an end user, but do not know the details.
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