Menu > I/O > Interconnect. Just set a DI[101] -> RO[1] interconnect and enable.
Posts by TitusLepic
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Map a DI and DO to the same internal (Rack 0, Slot 0) port. For example, map DO[52] and DI[52] to the same port, then change your logic to DO [52] = DI [50] AND DI [51]. When DO[52] triggers, DI[52] will too.
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p[2] to p[3] is about 520mm.
$SCR_GRP[1].$M_POS_ENB is set to true. -
Just tried the DO option, it didn't turn on. It seems like the program is completely ignoring the DB instruction.
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I was trying to avoid adding a point because I didn't want to have to calculate an offset PR for it.
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I'm moving the TCP to a Point with a PR offset. At a specified distance before I reach my point, I want the TCP to slow down from 250mm/s to 50mm/s. I'm can't figure out how to change the movement speed on the fly, so I decided to use Distance Before to call a macro (SLOWDOWN) that changes the override speed to 20%.
11:L P[3] 250mm/sec FINE Offset,PR[70:LSkirt X+W] DB 50.0mm,
: CALL SLOWDOWN ;The problem is that it never calls SLOWDOWN. If I change it to Time Before, the program will call SLOWDOWN. Using Time before doesn't give the results I expect though - a TCP speed of 250 mm/s means that DB of 50mm should be the same as TB of .2 seconds, but using a TB of .2 seconds it doesn't slow until it's already reached P[3].
Is there something I'm missing here? Or maybe a better way to accomplish this? This is all being simulated in Roboguide, I haven't put anything on the physical robot. Rj3iB controller, I don't have BGlogic so that isn't an option.
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Here you go. 1 3/4" hole viewed from both sides of the product. It looks a little bit misshapen, but that's because the surface it's drilled into isn't flat - not a problem with the hole.
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14 years old, RJ3iB controller, has about 4200 running hours on it. I don't have the small hole accuracy option. Our product is usually 5-8mm thick, but I've cut 12mm with no problem. I can hold about a 1mm tolerance. My usual hole sizes range from 1"-2.75."
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I have a R2000i/165F cutting holes in FRP backed vacuum formed acrylic with no problems... I generate my circles using the method you have shown in your photo, I use a 10HP router running an Onsrud 60-252 bit 12000RPM @ 30mm/s
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Without roboguide I have no idea (I'm hardly an expert though). If you are using roboguide: when you're making a feature, go to the Raw Normals tab and set the translation offset across the segment to 1/2 the tool diameter.
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I think you're looking for the softfloat option. Try searching this forum for "softfloat" and you should find enough info to get you pointed the right direction.
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It will stop
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You could use a skip condition. Here's an example:
1: SKIP CONDITION RI[1]=ON
2:L P[1] 1000mm/sec FINE Skip,LBL[1] ;
3: PR[1]=LPOS ;
4:L PR[1] 50mm/sec FINE Offset,PR[2] ;Line 1, set the condition to your input from the ultrasonic sensor (RI[1] in my example)
Line 2 is your motion towards your material. If the robot reaches P[1] without your skip condition becoming true, the program will jump to lbl[1]. Otherwise when your condition becomes true the program immediately advances to line 3
Line 3 saves your current position to PR[1]
Line 4 is your motion after detection - PR[2] contains the offset value, for example x=0 y=0 z=-50 w=0 p=0 r=0So in this example, the robot would move toward P[1] at 1000 mm/sec until the sensor detects your material, at which point it would move -50mm in the Z direction at 50mm/sec
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I've dealt with this by using a skip condition like this:
1: L P[1] 1000mm/sec FINE
2: SKIP CONDITION DI[1]=ON
3: L P[1] 20mm/sec FINE Offset,PR[2] Skip,LBL[1]
4: PR[1]=LPOSP[1] is your approach point
PR[2] is a PR holding the distance to search (For example, X=0 Y=0 Z=-100 W=0 P=0 R=0 will search -100 mm in the Z axis). If the skip condition (DI[1]=ON) hasn't been met by the time you get there the program will jump to LBL[1]. When the skip condition is met, execution will advance to line 4, which records the current position to PR[1] -
From MENU -> SETUP -> FRAMES, hit the [OTHER] softkey (F3) and select User Frame. If F3 is [FRAME] instead of [OTHER], hit the "Prev" key to go up a menu level.
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Check your RIs.
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Your spindle has sensors on it to tell the robot whether the drawbar is in the open or closed positions. It should show up in your robot inputs as "RI[1] TOOL CLAMPED" and "RI[2] TOOL UNCLAMPED" or something to that effect. RI[1] in my example will be ON when the drawbar is in the fully closed position and off otherwise, while RI[2] will be ON if the drawbar is fully open and off otherwise. Your error is telling you that RI[1] is OFF while the spindle ON command is being given (which will be a DO signal to the spindle inverter). Every spindle I've run into has been spring clamped - air unclamped; if your drawbar springs are bad that can keep your spindle from fully closing. However, since you changed the spindle and still have the same issue (i'm assuming this is a new or rebuilt spindle), you likely have a broken wire or loose connection somewhere that's interrupting the signal from the drawbar sensor to the controller. If the cables to the EOAT are getting wound up during a move, that can pull wires out of a terminal strip; I've had that happen to me before.
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How to check installed options: https://www.robot-forum.com/robotforum/fan…91279/#msg91279
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