Irvision is not required for Ircalibration
Posts by ROBOT_G
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PR[1] = UFRAME[1]
R[1] = PR[1,10]
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PR[1] = UFRAME[1] will work
When you look at the data in PR1 press the page button to Lx value.
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I'll give you some advice scrap them. Save yourself a massive headache and learning curve.
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The issue with a disabled motor is you can't disable the brake power. By disconnecting the brake power you ensure the brake won't release. The servo amp will not send power to a disabled motor. So a disabled motor with brake power will free fall.
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It is possible to move a robot in this situation by disabling the axis affected $SCR_GRP.$AXISORDER. Remove the assigned number replace it with a zero and reboot the controller.
However it is important to disconect the brake cable at the motor for whichever axis you disable.
Brake power will be applied to all brakes when robot is commanded to move.
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The DT files should convert when loaded
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What are the conditions that cause the plc to drop the enable bit?
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Any chance you're logging vision on the controller?
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I would take a picture set your reference data. Do the transfer and touchup the pick position that has the offset vr attached. Make sure your vision register offset is all zeros on the first touchup.
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Set reference command sets the model reference which is done at first setup. However , None of this will work if calibration process hasn't been done.
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How are you moving the parts to second location
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You need a mechanical manual it has everything you need to know
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Put your ear on the pulse coder and jog J2. If the gear is going bad you'll hear the grinding.
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Collision detect which axis?
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declaring array example
RegValues : ARRAY[50] OF REAL
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I can supply you with a .PC file but i cannot give you the source code.
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I have a program that dumps data into csv file. I also have the tp programs that work with it. It takes data from registers but the registers must be in order say register 10-20. Csv is a text file.
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These options can be found in the handling tool manual
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M1a mastering is a bit different than other robots did you follow the manual?