Posts by TitusLepic

I think that with the RJ3iB, if you save a UF to a PR it always saves in matrix representation. To be sure, see if you have the system variable $PR_CARTREP and if you do, set it to true and ignore the rest of this post.

The way I do it (I have 50+ programs that have 2 UFrames each) is to put this code at the beginning of my programs:

Lines 1-5 store 2 UFrame values (we have an asymmetric rotating wall)

Lines 8-16 selects the correct frame value into a buffer based on a sensor reading which side of the wall is active

Lines 17-21 further adjusts the frame value based on an argument from the calling program (some of our products are identical, but 2 inches taller) and also adds an adjustment that the operators can manually enter.

Line 22 loads the modified buffered value into an actual UFrame

   1:  JMP LBL[1] ;
   2:  !UFrame data ;
   3:L P[1:Side 1 UFrame] 1000mm/sec FINE    ;
   4:L P[2:Side 2 UFrame] 1000mm/sec FINE    ;
   5:  LBL[1] ;
   6:   ;
   7:   ;
   8:  !Start UFrame Load ;
   9:  OVERRIDE=100% ;
  10:  IF DI[15:Side 2 active]=ON,JMP LBL[2] ;
  11:  PR[8:UFRAME BUFFER]=P[1:Side 1 UFrame]    ;
  12:  JMP LBL[3] ;
  13:  LBL[2] ;
  14:  PR[8:UFRAME BUFFER]=P[2:Side 2 UFrame]    ;
  15:  LBL[3] ;
  16:  !End UFrame Load ;
  17:  R[43:isAFR]=AR[1]    ;
  18:  IF R[43:isAFR]<>1,JMP LBL[4] ;
  19:  PR[8,3:UFRAME BUFFER]=PR[8,3:UFRAME BUFFER]+50.8    ;
  20:  LBL[4] ;  
  21:  PR[8:UFRAME BUFFER]=PR[8:UFRAME BUFFER]+PR[13:UF Manual Adj]    ;
  22:  UFRAME[1]=PR[8:UFRAME BUFFER] ;

Quote

SCIO-037 Invalid item in mixed logic line

Cause: Invalid item is taught in mixed logic line.

Remedy: Please delete invalid item in this line.

Post your code.

Weird, it's always been there for me. I wonder if it might have to do with versions or controller options? I'm running roboguide 8 revK with a 6.31 controller with the following options:

There is a way to check in roboguide; select your program, hit cycle start, and let it generate a profile. When it's done, open the TCP trace you just made, select "color by near axis limit," then select the joint you're interested in and set a tolerance. It will show you potential problem points as shown in the picture below (I set the tolerance to +/-30° just so it would display something for this trace, a more reasonable value would be be +/-5° or so)

If you're using userframes, just adjust the frame. If not, use the program adjust utility (menu>utilities>Prog Adjust) to edit the relevant points.

I would look into tying a laser distance sensor (I use a Keyence GV-H45) into an RI and using that as the skip condition, then use ps0p0r's logic for modifying your toolpath.

Example demonstrating what you're asking for (from the karel reference manual):

Quote

I had tried that before but I was using the remark under EDMC. I found the right one like you said under INST

FYI, comment under EDCMD toggles register/pr comments to be displayed or not. See images below for example:

pasted-from-clipboard.pngpasted-from-clipboard.png

Look up "Scratch Start Function" in your manual

Here are two threads with instructions that might help you out with reserializing to the correct software revision:

Post

RE: How to create a backup of real robot via RoboGuide

You can backup a real robot directly from Roboguide.

Assuming you have the real robot setup in your robot neighborhood:

• In Roboguide, double click your robot, in the robot properties window that pops up, select "Serialize Robot"
• On the new pop up screen select "Create an exact copy of an existing robot".
• Click the Robot Neighborhood icon to the right of the text box and find select your real robot.
• Click next and follow the prompts
• Afterwards, click apply on the robot properties window (where you

…

EnergyAddict

Aug 9th 2021

Thread

How to add more robot software options with the ready cell ?

I created a cell and forgot an option for the robot. Can I add more options with the cell already created in the RoboGuide ??

Below is the image of the options I'm talking about.


robot-forum.com/attachment/27448/

M1chilino

Aug 18th 2020

It's out of reach. I'm assuming you ctrl+shift clicked there to tell the robot to move, that only moves the XYZ of the TCP to the new point while leaving the WPR as it currently is. Click on the red sphere, the triad should appear. Shift+click and drag on the triad axes to change rotation and you should be able to find a way to make the robot reach.

Quote from TDailey

i tried that but could not find the option to write

R[20]= $DCS_CODE Any Help on figuring out how to write that in a TP program would also be greatful

[INST] > Miscellaneous > Parameter Name > ...=$...

Quote from 00Red

Do yourselves a favor and create a TP program, chose an open register (in this case Register 1 was open) and put in the following code:

R[1] = $DCS_CODE

Run that line and look up the value in your Data Registers.

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Why not just use this method that was mentioned a few posts above?

https://www.radwell.com/en-US/…TITUTE/A02B-0120-K842-SUB

Numbers are expressed as the sum of the base raised to a power. For example, using "x" as the base, 375 is 3*x²+7*x¹+5*x⁰. In base 10, i.e. what we use in every day life, you know what 375 means. But if that was hexadecimal (base 16), it would be 3*16²+7*16¹+5*16⁰, equivalent to 855 in base 10. So 25 in hex is 2*16¹+5*16⁰, or 37 in base 10. So base 10 has 10 numerals; 0,1,2,3,4,5,6,7,8,9, and 10. Base 16 has 16 numerals; 0,1,2,3,4.5,6,7,8,9,A,B,C,D,E, and F. A-F in base 10 are the numbers 10-15.

So to go the other way, 60/16=3.75. So your first numeral is 3. .75*16 = 12, which in hex is C. So 3C hex is the same as 60 decimal - 3*16¹+C*16⁰ = 6*10¹+0*10⁰

Hope that makes sense.

Alternately, you could use P[x] points, stay in a single tool frame, and programmatically change the value of your tool frame. (Bad pseudocode example follows)

jmp lbl[1]
p[1] 
p[2]
.
.
lbl[1]

.
!when you want to use tool number 1
pr[x] = p[1]
UTOOL[1] = pr[x]
!when you want to use tool number 2
pr[x] = p[2]
UTOOL[1] = pr[x]

SETUP -> Weld Equipment -> WIRE+ WIRE- speed

Orientation Handling (on the Pos Defaults tab) needs to be set to "Change tool spin along path, keep normal."

Did you install roboguide as administrator and are you running as administrator?

Try posting in a Fanuc CNC forum (such as https://www.cnczone.com/forums/fanuc/). This is a Fanuc robot forum, and although there may be somebody here who knows the answer, you'll probably have better luck on a CNC forum.