Posts by jake_759

Hey guys, looking to see if there's an instruction or some line of code that exists to use the Robots own collision guarding to search for a stack of parts. I know I can add a sensor input to the end of my tooling and use that as a search condition but I am trying to see if there's another way as I don't exactly have time to add an input, and I would have to add this sensor to multiple end of arm tools. My thinking is have a position above my stack of parts, have a skip condition line of code, then very slowly move to the position taught at the bottom of the stack of parts essentially searching for anything in between the two positions. When the robot collisions on top of the stack of parts, record this position and begin de stacking from there. I would need to disable the robot from faulting or force it to reset the fault after the initial collision.

I know I can disable the collision guarding, is there a way to maybe monitor a motors torque in code and use that as a stop condition as soon as it begins to increase slightly ?

I used to be an integrator 10 or so years ago and I vaguely remember doing this exact similar situation with code that I am referring too, on a job with a smaller robot, but I cant for the life of me remember what that instruction looked like or how I did it.

I am using an M-410iC with the R30iB controller.

Is this possible ?

Thanks for any and all input.

Hello all, I am having a problem with unauthorized people playing with teach-pendants after an authorized person has logged in to a controller, performed work and then failed to/forgotten to log out. I am trying to figure out a way to combat this without the use of administrative restrictions. Is it possible to do any of the following ?

- Auto log off user based on time in the ABB software

- Log off based on I/O

- RAPID instructions to log off

- auto log off current user/log on to default user, when the teach key changes state to auto mode

- auto log ON when the teach key turns to the teach state

I have done some research and reviewed the manuals but i haven't been able to find anything. I really don't want to get to the point where i have to lock the teach pendant in some sort of plexi-glass box so i thought i'd check out the forums and see if anyone has crossed a similar situation.

Thanks guys.

Thank you for the responses, sorry for the delay i've been sucked into a few other projects . The holes in this particular part were about an inch wide. They also can potentially appear any where on the part not the same spots. Attached is an image of my recipe for this particular part. All my parts are exactly the same recipe to recipe. They are all some sort of solid shape, flat blank of steel. I did also think i could some how use the blob locator to find these holes but again, not sure how to teach it to be a failed part rather than a requirement for a pass. Whatever tool i choose to use i need to be able to replicate across every part for the line.

UPDATE :

The blob locator tool worked. I was able to see the lack of pixels in an image with a hole on a part versus an image with no hole in a part. A half inch NPT knock out created a 100~ pixel difference. The new problem i am encountering is that i still need to use the GPM locator tool for orientation of the part. When a part with no hole goes through the vision system, the robot will pass on the blob and gpm tools and pick the part no problem. when a part with a hole goes through however, it fails on the blob tool but passes still on the gpm tool, and thus the robot will still pick the part, which is not ok.

Any other thoughts ? is there anyway to make my vision conditional to both tools passing instead of either or ?

Hey guys, I am running a 2d inspection process of flat blanks of steel running traveling through a 2d vision camera, which basically line tracks with a robot to pick said parts off of a conveyor and stacks them in place.

The blanks are well lit and are flat on a black conveyor, very easy for the vision system to see the parts. How ever i recently had a few parts go through the system that had large holes in the blanks of steel which is a deviation of what the part should look like. My taught image is solid and only sees the outside edge of the entire part. I assumed the vision system would see the holes with in the part and reject it but it seems based on my taught part it only cares about basically the outside edge of the part.

Is there a way to teach my GPM locator tool (or other tool) to look for holes or other deviations and send a fail signal rather than a pass ? it seems i can teach to look for these deviations and add them as requirements for the part to pass but i want to do the opposite. The holes in the parts can also land any where on the part, not just the same spot over and over.

Appreciate any advice, thanks.

is it possible to increase the number of PRs over 200 ?

good idea, should have thought of this my self, thank you.

Hello everyone, first time post.

Right now I'm trying to make some modifications to my M410IC material handling robot. I'm trying to add my own PR offset to a pick position, but problem is there is already an offset PR present at the move I'm trying to offset. The current offset only adjusts the Z height and needs to remain, where I need to adjust the X, Y and Z. I know I could just take all my offsets, dump them into registers then manually add all the offsets to each axis of the move PR before the actual move it self, but it would be a lot easier if I could just let the offset do the work for me.

Is there any possible way to have two PR offsets for a single move or do I have to for example dump my PR offset into a VR offset and do it that way ?

Thanks