Depends on what we are talking about by continuous running loop. If the robot is continuously moving and doing stuff, that's great. I just don't like having a continuous running loop to check for a start signal. A Wait instruction that waits on the signal instead of time achieves the same thing and you can see which line of code it is waiting on instead of a constant blur.
Posts by HawkME
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There is really no reason to have a continuous running TP program on a robot. That isn't how they are intended to run and makes troubleshooting difficult. Use a wait instruction to wait on a start signal. The start signal can come from a PLC or the robots own BG Logic.
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It's all covered in this thread. Read from the top.
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Actually there is a way in this specific scenario since you have a fixed origin point and fixed W and P angles.
You need to matrix multiply the original UF with a PR that only has that angle correction in the R element, and everything else set to 0. Then the resulting PR will be your corrected user frame.
I use that method frequently with only 2 points.
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Please share your result. Someone else may find it useful.
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We have a sticky thread under the Fanuc Manuals and Tools section that would be a good start.
Think of BG logic like and extra mini PLC that is running inside the robot.
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I'm guessing it isn't configured, or is incorrectly configured.
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In my experience it "centers" the accuracy errors but doesn't truly eliminate them.
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You could use the Hand Broken input instead. It is an input on the EE connector. Please note, hand broken is a fault condition that will stop the program.
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Please post questions in the regular Fanuc help forum. I moved it for you.
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Press then release the estop on both controller and pendant. Open and shut the controller door. Press and release each dead man switch. Then walk out of the room and back in.
Finally, press reset and see if it works.
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You need to use linear motions to prevent flipping. Just make sure you unwind the wrist with a joint move when the gripper is empty.
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The LR would use a different controller. It is used on the smaller Mate controllers. It is slightly different software.
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Not that I'm aware of.
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Rack 0 slot 0 is not a physical IO board. It is the internal memory port. Essentially it is just another set of boolean variables you can toggle on/off. Doesn't physically turn on anything.
I use it to control DIs from DOs. Normally a DI can only come from an external source. But say you have a need to control a DI directly from your robot program. You can map a DI and DO to the same internal mem port bit. Then toggle the DI on/off via the DO.
That is the only use case I have found for rack 0 slot 0.
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500 microns = 0.020 inches.
Articulated arm robots don't claim to be that accurate. Repeatable, yes, but they generally won't achieve accuracy better than that for dynamic applications.
There are some robots that can achieve higher accuracy with calibration, but I don't believe that's on option on the LR Mates.
You may be able to use the vision adjustment command to tweak it in.
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I usually like to break it up into multiple programs when I change frames, so each program uses only 1 frame. Not a necessity but helps with trouble shooting.
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Yes. In your program insert a new instruction.
INST>Miscellaneous>Parameter name>$......
Highlight the "$..." Then press enter>options>keyboard, then type in the variable name. Then you can highlight the last part and enter 0.
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Please post the code for your entire program. It appears that you are winding up the wrist.
You need to to have a joint move to a fixed position, no offsets, that you move to everytime you approach and exit from your fixture. Make that position as neutral as possible (J4 and J6 as close to 0 degrees as possible).
Also you are putting the robot near a singularity. You could fix that by changing the relationship of height or angle between the robot and fixture.
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Right, your for loop registers already are counters. Just use them.
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