Posts by HawkME

It would do no good to move to PR[5] because you would literally already be there.

You want to use an offset with PR[5].

You can see those lines in the LS file, but not on the teach pendant.

I've never come across a use case in my projects to send/receive the entire position.

If I want the PLC to know the robot is in a certain position, I will setup reference positions with DOs. If the PLC needs to calculate an offset, I will just send that offset value as a register.

You don't really need BG Logic. If you can write from your PC to GIs, then you could just as easily write to UIs, there is no difference. Just map the UIs to the correct rack/slot/start point.

DI, GI, and UI are all the same thing as far as an external device is concerned. The robot uses them for different purposes, but to an external device, you PC for example, they are all just bits.

You must use UOP signals.

If you can map to DIs then you might as well just map to UIs instead and control it directly without using BG Logic.

Not really. Unless they are all deleted.

Can you send a backup or copy of the .ls files for that program.

You just press select and then highlight the program and press enter.

It sounds like you would benefit greatly from some basic robotics training. You need to learn how to navigate the menu and take backups.

That indeed should be a blind hole, generally used for attaching a cable carrier. If grease came out, then 2 things would have to happen. 1. The hole was drilled through, 2. There was a grease leak.

I have seen a small amount of grease separate and drip out if a robot is stationary for a long period of time. Perhaps that is part of the issue.

Do you have any previous backups?

Can you post the A and B programs?

The EE connector is RO and RI.

Right but your intermediate points can be CNT100, such as P[6], instead of CD5.

I'm not a robotic welding expert so maybe someone else can give some insight.

But I can tell you this, the circular move won't make a circular shape unless the start and end are Fine or pretty close. You might get away with CNT5.

Your start and stop point of the circle need to be FINE moves.

I would suggest the moves on lines 14, 17, 21, & 34 (line Numbers in black above) be Fine, all circular moves in between those could be CNT100 if you want.

Take a backup first before doing any trials.

Completely agree with SkyeFire, you need to understand that detail and be able to reliably detect the markers. It would be easier if there was one unique marker in a single corner you could always find. A rectangular marker may be ok, but there are better options, such as an off center cross-hair shape.

In addition, you would use a fixed frame offset. The vision calibration grid would be placed on the working surface and you calibrate and teach a UF for the vision grid there. The grid frame is all that is needed for User frames.

After that you you use GPM locator and voffset to offset your label placement positions.

Z height of the blank markers from that grid user frame must be a fixed known value.

Is the camera mounted to the robot or fixed?

Are the markers you are taking a picture of on a working surface or held by the robot when you take the picture?

The answers to those questions determine if you are offsetting the frame or tool.

A user frame is part of any vision process to determine the vision calibration grid location.

Small circles are problematic with articulated arm robots. Generally you shouldn't expect them to be great. It's caused by compounding backlash in the joints.

Show your code of what you have attempted. Have you tried using the actual circle or Arc movement type.

There is also a paid option you can install called "Small Circle Accuracy" that can improve results.

There are only a few ways to interrupt motion and then take an action. SkyeFire mentioned skip or SkipJump, which would be the typical way. Another option would be a condition monitor, but that doesn't allow you to directly resume motion which could get complicated. A third option is to use the PLC and UOP to help.

The PLC could monitor your signal and then abort the robot when needed. It could them send the Prod Start signal to start the robot over again. But also send an additional signal or register in this case so the robot can call a different routine that handles the state your robot was in. If you structure the PLC and robot program correctly it will achieve the same thing without needing to add Skip to every motion.

Check all fuses.

I would use a 6-point for each to account for the angle.