Posts by pegermain

For now, flipping is not really an issue.

So what I'm trying now. I took this routine :

Thread

Fanuc- Pos2Joint

Hello,
I would like to get a Cartesian PR with UF, UT and then convert it to JPos with Pos2Joint.
Do you have an example Karel?
thank you.



it's my karel code no default or result

BEGIN



Pos_Actuel= CURJPOS(0,0)
-- Recuperartion des entier de la routine TPE paramétrée
GET_TPE_PRM(1,data_typ,data_init,data_real,data_str,STATUS)
ValPrDebut=data_init

--Recupe PR en cartesien
Pos_Debut=GET_POS_REG (ValPrDebut,STATUS)
Pos_UFrame=GET_POS_REG (60,STATUS)
Pos_UTool=GET_POS_REG (61,STATUS)



--Convertion pos cartesien…

krugorr

July 8, 2019 at 12:03 PM

I make it for my starting point, my end point and my intermediate point.

Then I do a mean on the J6.

Take back my new intermediate pos in joint and put my J6 Mean into it.

I still need to monitor but it seems to make it.

My rotation at final is not the same as initial.

Let say I'm at -90 on J6, I would like to go at 90. With a substraction I will have 180 instead of 0. You see where I'm going ?

Yes you can put a argument to R if you want. That not the issue here. In my case I would rather have kind of command that will "ignore" the R between the 2 movement.

WJNT is for linear move only and just act like Joint movement. Will still go to the position that I have.

FUT or NUT is neither configurations that affect/change my J6 rotation issue/ calculation.

XYZ position calculation is not the issue. The issue I'm having to calculate properly the J6 orientation. Sometime between my Indermediate and final my robot will make almost a 360 degree because I was near limit.

Hi there,

I'm looking to go from right side of my robot to the left side passing by 1 or 2 intermediate point.

Basicly I want to control the XYZ pos of this intermediate pos but I don't want to affect my J6.

My first and last point are dynamic mean that I can have always a R different.

So sometime it just make useless rotation from/to my intermediate point and it seems to slowdown the robot.

Is there some way to check my J6 pick and J6 drop and put my intermediate point to half of his movement.

( I always point down my robot)

Do you know if there is some kind of DO or systems variable to know then this pop up is on ?

Reason is I will have another HMI to control my cell. I would like to know in some kind of way that we have this popup. Confirm is easy by DI.

Thanks

Do you have more information about this " Robot Interface " ?

I'm gonna have a new project with codesys and Fanuc Robot. Is that possible to have your program as well ?

Thanks

I have the same issues on my new robot. What is your issue ? Any idea what could it be ?

Same for me, did you find the issues ?

Yes I work with them on AB. Quite easy to integrate. I would like to use it on a project where I dont have a PLC on it. I want to try it to retreive a value of a keyence laser.

Hey, I'm quite curious if you have been able to solve your issue ? How did you make it ?

Hello pdl

Sorry not to mention that. We are at 575 on the tap. We do have a B cabinet.

I don't remember where in the doc but I saw that I can be between 200 and 230 on the estop board.

Hello Everyone !

I have receive a old robot that been on a shelf for +- 10 years. The robot have 30 hour on it.

Goal is to put it back on track ready to be put on a production line. From my understanding they use the robot in case they needed parts.

Obviously the robot lose the master count. We had the alarm, so we reset the pulse coder in order to do the mastering. We tried to move the robot to zero position.

However, we face a new error.

SRVO-043 DCAL alarm on axis 1 and 2.

We took a look in the maintenance manual.

Quite strange because the robot was never put in production.

I check the fuses and everything look fine.

I take a look on the fans and they all work.

Temperature is normal (21 deg C )

We do have a voltage of 240V at the breaker terminal of E-stop unit. We have 600V as our main supply

I didn't try to replace the E-stop unit yet because I'm not sure about the next point.

I dont see any connector on CRR63A and CRR63B. I'm not sure if I'm supose to have it or not.

We do have a cable on CRR45A but nothing on CRR45B

Do you guys have an idea what can I do about that issue ? Should I have cable on 63A and 63B or this depend on robot model ?

Thanks

I supect the operator to use the estop on the robot to go to lunch... I would like to know if there is a way in the backup to know how many estop they did.

Hi everyone !

First post on the forum,

I have a little problem when power off my robot, my RO ( robot output) are going to off. That made my gripper to close some valve. Then power up the machine, the gripper is still closed but I need it open. There is a way to make the robot not changing the output statut when I power off the machine ?

Thank you