Posts by chintankAne

How to Set Digital Output when robot at Safe Position?

Quote from Fabian Munoz

First of all, dont use tool offset, use just Offset

Put the part on on the FOV, take a picture and look at the value of PR60

Move the part and check the value again Is PR60 changing ?

How are you passing the values from the camera to the robot ?

Yes PR[60] Value change.

Camera transfer data to PLC and from PLC to Robot

Quote from Fabian Munoz

Hi

Note I'm assuming a lot of things here

Place a sheet of paper (lets say 11 by 17) on the FOV

Aligned the vision to the sheet and find three corners (origin, x, y) Dimensions are known

Teach a user frame on the same three points with the robot

At this point you have the vision coord matching the robot user coord

Teach the pick point based on the user frame

The values that you obtained, are the values you have to introduce in you vision coord

At this point you have the x, y from the common origin

Same principle with rotation

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I did exactly same as you said.

L P[2:Pick Point] 1500 mm/sec FINE Tool Offset PR[60: Offset Data]

I can pick up part with out any problem If it move either X or Y or Rotate. But If Part rotate and move in either X or Y It can not Pickup.

Any Suggestion ?

Quote from Iprogram

I have not used IO link yet in plc or a fanuc robot but i am looking into it. I see that you need a IO link master for the AB plc but has anyone use IO link sensors connected directly to a fanuc robot?

Yes used Balluff IO Link straight connect to robot over Ethernet/IP

I am using the 2D Single View Vision Process for Fixed Frame offset. I got Reference X, Y, R and Found X,Y,R when I run get offset instruction I got data in my VR1 VR1 X,Y,R



I want to know what is math calculation to Find VR1 X,Y,R



For Example:

Ref X 2.253 Found X 2.7 VR1 X 0.447

Ref Y -1.611 Found Y 1 VR1 Y 2.611

Ref R -124.5 Found R -119.5 VR1 R 5





So How VR1 data is calculated from Ref and Found ?

I had a backup from a customer and remote local selection is Op panel and SI[2] Remote is ON. But in my current configuration, I did same system configuration settings but I never get Remote on. I attach two pictures.

I can see the only option for origin X, Y, Angel. How can I define my user frame X and Y direction in camera?

Hi
I am using Fanuc robot with Cognex camera for vision-guided robot application. In Spreadsheet I have following values.
Set X Found X
Set Y Found Y
Set R Found R

Now My question is how can I calculate Offset X, Y, R. ?? And Can I calculate Offsets number as accurate in IR Vision?

I want to call program from PLC. I want to know what are the program calling methods. Like in fanuc RSR,PNS ...

I have to send Program Number from PLC?

Thank you..

I send you my email Id in your personal message..

Will you please share patch file ??

When I try to upload my backup file in roboguide(.DT) I can not open my work cell. After loading file I got message OPTN-017 No updated on this media. I even can not see work cell or robot. I attach screenshot as well.

SITUATION : MY ROBOT PROGRAM IS RUNNING AT SPEED OF 75%. AND IF MY SAFETY BREAK(LIGHT CURTAIN) ROBOT WILL GO IN HOLD. AND WHEN I CLEAR MY SAFETY AND START CYCLE ROBOT WILL START AT VERY LOW SPEED 15%. IS THERE ANY WAY I CAN START ROBOT AT SAME SPEED BEFORE GOING IN HOLD.

NOTE: I AM NOT USING OVERRIDE FOR SPEED CONTROL (I HAVE 6 DIFFERENT SPEED IN SAME CYCLE)

My Robot is slave. I have UOP signal

I am using the Fanuc R-30iB controller for my robot. And my robot application is a continuous glue path (Same as welding). So the situation is if someone broke my safety zone my robot will stop. But when my safety zone is clear. It will not follow the rest of the path. So I have to do reset, then robot go back to home and It will begin cycling from the start again.

So how can I enable the robot from the same point from It was stopped??

Quote from JonHopper

Hello everyone...

Working on a project here with an RJ-2 that has no Config menu. I've found all the system variables I need so far, other than what I need to enable CSTOPI to ABORT programs.

I have:

$OPWORK.$UI_ENABLE set to true

$SHELL_CFG.$USE_ABORT set to true

$SHELL_CFG.$CSTOPI_ALL set to true

But my PNS programs will still not abort, regardless of the state of any other bit (fence open/closed, immediate stop on/off (ui1), enable on/off (ui8))

I thought that CSTOPI_ALL variable was the one that gets set in the Config menu usually by the use cstopi for abort all programs selection..

If anyone knows of any other variables I need to look at please let me know, thanks

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If you are using PNS program selection method and if you set variable $SHELL_CFG.$cstopi_all to True so it will not abort current execution of program. It just abort que of program from external CSTOPI input siganl. If you want to immediately abort all program. change $SHELL_CFG.$cstopi_all variable to False.

Thank you for your help my friend. I am not sure any parameter setting related manual in it. This is my first project on FANUC and I usually work or motoman robot. And I do not find any material in it that will help me to create user frame.

I would like to thank you one more time for your help.

Do you mind if you can mail me ??

Quote from chintankAne

Hi I am looking R-30iB manunal. If any one have please help me

Please some one help me.