Posts by HawkME

If you use a normal user frame instead of a jog frame then you can set UFRAME[X] = PR[X] programmatically.

Did you check the box, collect profile data first?

UI 18 is your start. Try pressing fctn>abort all on the teach pendant. You should have cmd enable signal if the robot is ready to run.

Also check active alarms and history to see if any faults occured.

Also check the prog select menu to see if any production checks are not met. Check dcs menu also.

There's more to it than that.

My opinion is along the same lines as the aux axis. If the robots do not need synced motion then I prefer to keep them separate. Of course you will need probably some communication between them which could be via digital IO or through central PLC, etc.

Having a dualarm setup complicates the programming and requires that you tie together the estop boards, servo amps, add a 12 axis control card, and both robots share 1 processor and teach pendant.

I'm not sure what file it is stored in, but you could purchase the remote PC ipendant option to view the TP on your PC.

To me it sounds like you don't need true synchronized motion between the slides and the robot, just a simple handshake with digital I/O.

In that case I prefer using a 3rd party PLC and servo control. If you don't need synced motion then it's not worth the hassle to set up Fanuc multi group motion in my opinion.

There should be a setting for if the part is generated or visible at the start, or auto generates.Try playing with that setting.

Also you can create a part array in the fixture menu to automatically generate the parts.

Typically it is added to the robot controller. That requires a new axis control card, servo amp, motor, cables, and extended axis software option.

If you use Fanuc control for the servo, then it's motion will be synchronized with the robot. If you use AB servo then it won't be truly synchronized, but more of a handshake.

If you don't want J4 to move then you could teach each point with the same J4 angle and use a joint move.

The robot in the video is near a singularity point which makes this more difficult to manage.

Well, you probably should have had an image backup. A file backup won't do much good now.

Can you post a screenshot of what backup files you do have? Also are they at the top level in your flash drive or memory card, not in a folder?

What are the names of the programs you can't delete? They may be ones that can from Fanuc, part of the original software install. If that is the case I would leave them alone.

I would advocate to get rid of all the different core "Tool" softwares. Move to a single core operating system and have handling, welding, painting, dispensing, palletizing as plugins that can be added. The way it is now there is too much disparity between the different software packages. It doesn't feel cohesive and causes confusion.

That variable is meant to be read only, you can't execute motion by changing it. To control an extended axis you need to run a regular TP program with a normal motion command to move the axis. If you want pass through control from the plc then you could run that program in a loop using jump labels.

The 6 point method has to be done a particular way to be accurate in w,p,r. Most people I see do it wrong and end up with the same result as a 3 point TCP or incorrect w,p,r angles. A laser sensor would not be easy, but Skyfire's method sounds like a great way to do it.

Are you sure it's not that 7 degree Y rotation? Have you tried with that set to 0?

Is the laser sensor perpendicular to the edge drop off?

Can you apply a correction factor and it is consistently good?

Glad you found a solution, but for others that may view this thread in the future, I recommend using Fanucs built in solution of using UI[18] for main production start, and UI[6] for continue only. Then no system variables or BG logic is required.

You must still not be doing something right. With Fanuc you can easily achieve what you are after.

First you need to realize there are 2 different start signals, UI[18] = production start. UI[6] = start. When you configure start for continue only, it affects UI[6]. UI[18] is to start from the top of main. What prog select method are you using?

Your PLC sequence should be as follows for starting at beginning:

PLC program:

1. Pulse Cstop .25 sec

2. Wait .25 sec

3. Pulse UI[18] Prod start .25 sec

Robot Main

1. Call auto home

2. ...rest of your program

Additionally in the PLC add a boolean connected to UI hold, UI start And UI reset. Make buttons for them on your HMI, then you can pause, reset, resume.

Take a look at line 6 of those programs and see which I/O point is being used. Then either reassign it or remark it out.