Posts by Robo_Eng_13

From what i remember, this occurs when the robot drops more than it is allowed between the servo power being cut and the brakes engaging. I do not remember how to fix that issue. Are they old robots, such that the brakes could simply be wearing out?

What is the robot model, and which axis do they wish to change the grease for?

Position Registers that are stored in Cartesian Coordinates can be shifted by changing User Frames. If you have a User Frame through the points you need to use, and you have taught one point in a Position Register while in that frame, you can use another Position Register with the values [0,0,0,0,0,20] to offset either the frame or the original register about the Z Axis, which should be rotation within the set plane. I do not have a free teach pendant to figure out the precise syntax, but something along those lines should do it.

Fanuc only allows a single undo, while Motoman allows up to five, although they both have very similar rules on what will cut off your ability to undo.

And the Motoman language is called Inform II, i think.

Motoman both have a max teach speed of 250 mm/s, but Fanuc's max speed in play is 2500 mm/s and Motoman's is only 1500 mm/s.

Fanuc monitors for collisions by measuring the current through the servos for sudden spikes, while Motoman measures temperature fluctuations in the grease surrounding the motors. Motoman will also do analysis of the grease periodically to detect traces of metal that would indicate wear and failure in the mechanical parts.

I've been looking at how to put together a handful of Non-Teaching Enable Devices for our new Fanuc robots, until i realized that the CRMA96 terminal that it would have plugged in to only seems to exist on the B Cabinet. I have a few ideas to work around this, but none of them are exactly what i am hoping for. I've considered wiring it in to the E Stop circuit, gate circuit, or even having it as a set of digital inputs that are handled via background logic, although that one is a stretch. I have wiring diagrams for the A Cabinet, but would like to avoid splicing anything in with the deadman switch currently on the Teach Pendant.

Does anyone know if there is a similar terminal in the A Cabinet that i just haven't found in our manual? Or, failing that, an elegant solution for a secondary deadman switch which could be jumpered out when not in use?

In Fanuc, each point is recorded in the user and tool frame that the controller was in at the time, and you must be ion that same user and tool frame to run the program. In Motoman, the user and tool frame are just used for jogging, and the points are always recorded in a global coordinate system. I can't say one way is overall better than the other, but they are different. In addition, Fanuc allows direct access to the system clock in programming, while motoman only allows you to look at operating times through the cycle time and does not let you use those numbers in the program.

I think you just need to make your post a little clearer. What is your question, exactly?

I have been doing some of this, but i am sharing the one Fanuc robot we have had access to up until this point with several other individuals, all with a lot less programming experience than me over all. In addition, the robot will no longer be available to us from tomorrow onward. I have learned a lot from the manuals i have gotten my hands on and from this forum already, and we will get the full set of manuals with the new robots, but that is a few months off, and i'd like to be able to hit the ground running as much as possible.

If i can convince someone with a bit more weight to throw around than me to get us access to a robot again, then i will definitely spend more time playing with it. Most of the playing i did was testing its limits, in terms of speed, variable values, calculation power, and stuff of that sort. One roadblock i had with regards to your advice was a lack of experience in manufacturing. I am fresh out of college, and although i understand the principles of robotics very well, some of the applications just don't occur to me naturally yet. This limited the programs i could think to assign myself for practice, and i could not take time from the more experienced engineers to ask them to come up with assignments for me when i am already signed up for training.

Apart from my one class, most of what i have learned so far has been through playing with the robot, reading manuals, browsing this forum, and shadowing the more experienced engineers and technicians.

I've recently been hired as a Robotics Engineer. I have a degree in Mechanical Engineering with a minor in Robotics and a focus on programming, however i am still new to all specific brands of industrial 6 Axis robot arms. I am being enrolled in several Fanuc classes, and i would like to know if there are any classes i have overlooked that would be more useful than one would think at first glance. Right now, I am enrolled in Electrical Troubleshooting, Mechanical Tear Down, Dual Check Safety, iRVision 2D, Karel, and Advanced TPP. I have taken Basic Handling Tool Programming and Operation already, although our robots are primarily for welding rather than handling, i am working with a weld engineer to learn the finer points of that side.

Any advice on other classes to take would be appreciated, or if you think this will cover everything, i won't worry!