can you get to the BMON screen ?
Posts by ROBOT_G
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some additional info
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I did aluminum cylinder head depalletizing and those parts were shiny. The exposure times for the laser were less than 5ms.
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Click the three dots in the top right of your browser. Select reload in internet explorer mode
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You can run edge in legacy mode.
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are you using a mux board or directly into the main CPU?
Robot mounted or fix mounted?
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Menu/0/system
F1 type....select config
Scroll down until you see remote / local and make sure it's on local. The cycle start button on the top panel should work.
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I recently had a robot doing something similar. I would move J3 and J2 ,j5 would move also. What I eventually found was the payload Z is in centimeters and someone put 662. 662mm was the correct number but 662cm is like 21 feet. Changed it to 66cm problem went away.
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I totally looked at that wrong. I see what you're saying. You should see something like this sendsyvr(0,0,0,0,0,0,0)
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Possibly background logic also
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All your AR are attached to the registers. Those values can be manipulated in any program.
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Is your goal to pick this part in the same place everytime? If so you should teach a user frame where the parts are presented to the camera. Use fixed frame offset mode. In the TP program use the offset VR[*]. This assumes you have proper calibration and reference data. Depending on your system you could do this with one position the pick position. The path going to and from your part are just offsets of the pick position.
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its a fanuc program
in the handlingtool manual under advanced functions section 14.46.4
Send SysVar( )
The Send SysVar macro is used to send the value of a system variable (whether integer, real,
or string) to the PC's Event Handler. The request code determines what data is being sent and
what the PC is supposed to do with it.
Table 14–126 lists and describes the Send Data macro. Send SysVar Sample Teach Pendant
Program shows a sample teach pendant program that uses the Send Data macro.
Table 14–126. Send SysVar Macro Description
MACRO ITEM DESCRIPTION
Syntax: Send SysVar(request_code, wait_sw, status_reg, "name1" [,"name2" [,"name3"]])
request_code - This item determines which event is triggered on the PC. It can be a
value between 0 and 255.
Wait_sw - This item is a wait switch. Valid values are either 0 or 1. If 0, do not wait for
an answer form the PC.
If 1, wait for an answer from the PC. The default value of wait_sw is 0.
Status_reg - This item is a register which stores the value of either the answer or the
error status for which the teach pendant program is waiting. Valid values are either 0 or a
register number. If 0, no register is used, and no answer from the PC is reported back to
the teach pendant program.
If wait_sw = 1 , then the teach pendant program waits for the PC to answer, but the
answer value is not placed into a teach pendant register. If an error occurs in the macro,
the teach pendant program is aborted.
If status_reg is not 0, this is the register number used to report the PC's answer or error
status to the calling teach pendant program.
If wait_sw = 0, the teach pendant program will not wait for the PC to answer and the
register will only be used to report errors. R[number] is set to 9999 if an error occurs.
Parameters:
Name1 through Name3 - These items are STRING values which are used to create one
system variable name whose contents are then sent to the PC. Each string can be up
to 16 characters long; however, since some system variable names are longer than 16
characters, the optional parameters Name2 and Name3 can be supplied. Send SysVar
appends them to Name1 to form a single system variable name.
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I don't know how this would work without defining what the arguments.
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you'll need the multi group option J601 if you dont already have it.
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That doesn't look like a Fanuc program at least i've never seen it before.
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if the robot doesnt have any payload for example a tool you can go into the payload settings
menu/0/system
F1 type
select motion
highlight payload [1] press detail
change the first line PAYLOAD to = 0
press the PREV key
Press F5 SETIND
1 then enter
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menu/0/system ---F1 type .....select variables.
Scroll down to $DMR_GRP press enter twice
The first variable is MASTER_DONE = TRUE
Make it false
It joint coordinate jog the robot to zero positions (witness marks)
when finished
Menu/0/system
F1 type
select master/cal
zero position master
then calibrate
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you're setting the registers to = 1 in the program. Lines 10,11,30,31. Change these to zeros and the timeouts will actually timeout or change your wait to wait for them to = 0.