Posts by hodapp
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soooo, i may been in a bit of trouble here. All i was trying to do was make a somewhat complicated circle shape and use that exact same shape and set of points in two or three different places so i dont have to re-program or touch-up all the same points again for the other locations. so that being said i used the following logic to make a quick test program which worked far too easily.
! PROCESS.TP ;
UFRAME_NUM=R[1:Process] ;
L PR[1] ...
L PR[2] ...
L PR[3] ...At my first location, i taught all the points i needed for a test run, and converted them into PR points which to my knowledge dont care about which user frame you are in (the point position just say UF:F and TF:F instead of UF:1,2....). Then i would just simply use a USER offset, in this case frames 2 and 3. It worked exceptionally well.
Here is where i may be in some trouble. i had all my TP points exactly where i wanted them but unknowingly, i just so happened to have the pendant on USER frame 9 when i taught them some time ago. i converted and recorded all the TP points to PR points and the program ran with ease as expected in the first location. since i was only using user frame 2 and 3 now AND had converted all my points to position register points, i went ahead and cleared user frame 9. now my points are off in all axis by about 4"... does anyone know what file i need to look for in my backups that is specifically for userframe coordinates? And am i going about this horribly, horribly wrong?? Any insight or help would be much appreciated.
Thanks
Brandon -
have you tried switching the DO on and reading the voltage output between your DO pin and 0v bank? also do you have any other DO that could be consuming the total amperage the system could allow? I know i had to get another dc power source to run all of the additional solenoids and external safety hardware because i just didnt have enough power left on the system. have you also tried measuring mv between DO pin and 0v? What kind of output are you sending the light curtain, is it just a safety check back to the device, power, or actual device output?
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I am not very experienced at all, but couldn't you just create a new tool offset? from what it sounds like, it seems the robots TCP has shifted or possibly the physical tool has been damaged or replaced? I would try to measure your offset or your current end effector and recreate a new TCP.
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wait, you can dynamically create a new user frame??? so lets say i really, really liked option 3 for several reasons i could think of, how would one go about creating a new user frame on the fly like that? I am still a pretty green rookie so i had no idea you could do that, but i can think of several places(with my application) to use this. any more info would be much appreciated!!
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Hey Guys,
I have a simple application where i'm using iRvision to find the position of a weld location to account for any part shift. So what i had done previously, would be to use the Voffset[] to apply the vision shift at each point during the program. Now, i am getting ready to productionize this robot so i am setting all my programming as subroutines so i can use it more quickly for other products.
To get to the point, can you use the Voffset directly on the subroutine or do you have to still apply that to each point that is in the subroutine individually?
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I am a rookie programmer (this is my first Fanuc) and i have been struggling with my application. Basically, I have an Acrmate 100iRc, we are simply welding a small circle (plug weld). My issue is that we are welding a very small circle, 2mm diameter for our root pass and 3mm diameter for our final pass. Trying to shove my face in the fixturing to find the center of this circle then trying to accurately position the robot for a c type point for both circles has been tough.
I figure out where my center point of the circle is and then go to the world position screen and drive it blindly to each point by adding or subtracting my new point coordinate from my current x-y position.
Is there any way i can simply position the robot into the center of my circle and just tell it to make a 3mm diameter circle?