Here you go. The part was custom designed and printed in house
Posts by jjessup
-
-
We had this issue a few weeks ago... ended up having to replace the servoamp. Fortunately, it was still under warranty...
-
For example... we have job numbers that the HMI sends to the robot. Each Job sends the bot to the starting zone (process), then sprays the part (process), checks the elbow to make sure it's not twisted wrong (process), then returns from the starting zone (process), or untwists as needed (process) then home (process).
Out of the 6 processes we use, 5 are reusable, and can be tweaked between robots as needed.
-
Think about the Job as the main program. You set up any special instructions, logic, set registers, PR's, etc... but no motion. Processes hold motion instructions, but typically not logic, and no CALLs...
-
You can use If/then and jmp/lbl in a process, if you set up the instruction first in a job, then copy/paste into your process. We've been running programs like that for over a year now, and it works great
-
Yes, Roboguide is for offline programming and simulation. It's the core program behind PaintPro, HandlingPro, PalletPro, etc.
When I started here, they were doing all programming on the robot. Now we do 90-95%in roboguide.
It has cut overtime/weekends out, while letting us get new product programmed faster. We can also tweak existing programs on the fly without holding up production, and try new approaches for cutting cycletime/saving materials -
Try looking at the SELECT screen, then press [TYPE] [Karel Programs] they should be there.
If you didn't get an error when transferring the file, then the program should be there.
-
We use a combination of a steel frame with milled dots at the center, X and Y extremes and a pointer that's a combination of a fiberglass rod w/ a 3d printed adapter for the spray gun.
Makes it easy to set up the frame to where our cart will be located (and replicate between cells!), and also easy to check drift.... just run the bot out to 0,0,0, install the tool, and measure the drift.
-
When I'm writing a new program, it's close enough to at least run without hitting the fixture.
I normally get it to within 90-95% finished in RoboGuide, then use an in house developed tip for our spray guns that uses a laser and zip ties to show the spray pattern to finish it up.We've gone from having to come in on saturdays to do new programming, to working during production's breaks.
-
If you're in edit mode, you can single-click on the shift button to toggle it on (or off). Then click forward (or use the home key)
-
Will doing this affect the calibration between the virtual and real world robots?
Parts calibration? It shouldn't... due to calibration programs using UFrame 0 (which should be the same as your world frame)
-
To be accurate, why not just copy the frame coordinates from the robot to the virtual robot?
Highlight the frame on the bot, hit <Details>, and mark down your XYZYPR -
ActiveX is a microsoft standard for embedding controls. In Windows, nearly everything you see is an ActiveX control of some type.
Log into the Fanuc crc, and do a search for "FANUC iPendant Controls"
-
I'm actually using Chrome to access our bots (3 P-250b's)
Echo doesn't work for me, but CGTP works fine. Was included with the bots.
Do you have the ActiveX controls installed?
-
Assuming Z is positive... PR[i,3]=PR[i,3]+2
-
Wow. Ok, probably the easiest way then, is to get the 30 day trial of roboguide, and go from there
-
Ah. I HOPE that's not the case... not even sure where'd you begin on that..
-
Start a timer a the beginning of cycle, write to a register at the end.
Log the number (probably manually since you don't have Roboguide/Karel).
Rinse and repeat for a day or so until you have 20-30 cycles (more is better) then average them.We're currently logging how much material is applied, target material per part, and start time.
I've been getting cycle time using roboguide, but am about to automate it (100+ programs times 3 robots)Roboguide IS a bit expensive, but time saved in offline tweaks, new program development, etc WILL pay for themselves quickly
-
I don't know about doing it in Karel, but we run into a similar situation with our paint bots. There's a couple of ways around this. First, if you know where the problem point is, either add an intermediate point, or try playing with your angles some. It won't take much. At some point in your move, it's shorter for the bot to keep going toward it's limit. You want to tweak the angle so it wants to go back toward the middle of it's range.
Otherwise, to fix it before sending home...
3: PR[15]=JPOS ;
4: !Store Joint 4 Angle in R30 ;
5: R[30]=PR[15,4] ;
6: !If R30>0, Elbow is twisted one ;
7: !rotation too far. Call Unwind ;
8: IF R[30]>=0,CALL UNWIND ;
9: IF R[30]<0,CALL Z2_POINTS ; -
Yeah, actually... if you know how much you need to shift the frame, it's under Menu>Setup>Frames>Other>User Frame
Each frame is defined using the same XYZWPR that a position, or a PR uses.
Just remember that the position is defined using World Coords.
I would load a program, play to a point, change the frame by a small but noticable amount, then play to the point again. Rinse and repeat till you get the frame where you want it.