Hey guys,
I figured out the problem. Not being overly experienced with nachi I mapped alot of unnecessary tags to the map to the PLC. However I found out when you map a variable it expects it to be used. Once I unmapped the hold and other variables I didn't need it started up no problem.
Hey guys,
I am using a nachi robot for the first time (brand new install). I have it successfully communicating with the PLC and all my base programs written. However I am trying to start the robot in auto mode. I am following the timing chart.
It says to:
Turn Motors On (Here we see the green light on the controller start flashing and the motors light comes on in the corner of the pendant)
Select Programs BIts (no problem)
Program Strobe (when we do this we get a release the robot pause error. A2974 Pause(Hold) or External pause(hold) signal is being given UNIT1 --(---)
Im sure I am missing some sort of setting or configuration as I am brand new to these robots. I have been hunting through the manuals and tried turning on and off the external and other pause signals but no matter what I do I get the same response.
Please let me know if you have any suggestions
THanks,
Kevin
I did get this corrected. Not sure what was causing the bad IO assignment. However I expanded my inputoutput map from 6 words to 16 words. (I needed the extra space anyways) and this corrected the issue. Somewhere something must have been referencing outside of the 6 words. Still would be nice to understand what was happening.
Hey guys,
I have setup a bunch of robots from scratch. Probably around 50. I am working on a customer site and we are re-purposing 4 robots. Arc mates I120IC. We are just using them for a clipping appliation. So no external axis or anything hooked up to the robot from the EOAT. I have put our standard routines and IO assigments in however I am getting the bad IO for the ethernet. I don't know if it will stop me in auto mode yet but it seems just like a warning. I have configured everything under the IO tab. THe DI/DO, UOP all configurations are green and active. They don't exceed my ethernet mapping. My robot is communication to the PLC without issue and everything lines up exactly. I just don't know where this error is coming from. It must be something left over in the robot. DO you guys have any suggestions of where to look
Thanks,
Kevin
in my "all of the above" backup. I dont see any va files. All the ones I see are .vr files. When I open these up in notepad ++ they are just a jumble
Hey guys,
I have a backup of an robot that I cant seem to open up in my older version of roboguide (doing the create a cell from backup). The customer set me backups & I also have backups. I am looking for a way to compare the data and position registers. I don't mind doing it manually I just need to be able to open them. Mostly the data registers. I am not sure if there is a way to view the numreg file. Or a way to take an existing roboguide sim and just import the data reg's to look at them.
Any suggestions?
Thanks
Kevin
Is it possible to output a TCP speed to a group output? Maybe using background logic?
I'm sending triggers via Ethernet/IP and I don't have any latency problems. Only problem I have is little distortion because of acceleration and deceleration but it doesn't bother me.
Could you please show me what that looks like on the fanuc side? How you are sending the triggers.
Hello,
I have a base level arc mate robot I am using (given from customer) for a 3d line scanner application. The 3d line scanner is mounted to the robot. I need to feed an "encoder" pulse to the controller of the 3d scanner from the robot to handle the triggering. I have used the scanners before and with a drive i generated a pulse based on position. Then in the camera I set how much movement 1 pulse is and it will trigger based on the pulse to make a perfect stitched together image through the travel. It will be a straight X direction movement during the scan. The camera has a physical wired input for this pulse. Hopefully I can somehow utilize it this way. I am worried if I do it over Ethernet I will have some latency issues. Do you guys have any experience or tips for trying to do this?
Thanks
Kevin
Hello Guys,
I am pretty new to denso. I am trying to move around an object to get to my install point. I had to teach about 5 position to get to where I need. However the robot stops at every points. I want it to be a more consistent movement. What is comparable to fanuc CNT. I am using a 3 axis denso with the rc8 controller.
MOVE P , P60 'Send Robot To Clip 6 Transition 1
MOVE P , P50 'Send Robot To Clip 5 Transition 1
MOVE P , P40 ' Send Robot To Clip 4 Transition 1
MOVE P , P30 ' Send Robot To Clip 3 Transition 1
MOVE P , P20 ' Send Robot To Clip 2 Transition 1
MOVE P , P10 ' Send Robot To Clip 1 Transition 1
Here is my little snipit of my code. I am looking for a continuious motion from point 60->50->40->30->20->10 and to stop at 10
Thanks,
Kevin
Press motion (1,1) =( start distance schedule #1, pressure schedule #1).
To find the pressure go to [data] [f1] select pressure this is the pressure table. (You May need to press [prev] to see all pressure schedules)
Depending on software version this may also have the thickness in the pressure table.
Depending on software options you may have a tip dress command. If you have that, that is the best way to dress caps. To check go to menu (6 setup) [f1] and look for tip dress. If you have that option use it. To use it simple add the tip dress command to the end of the position. Same way you would for adding a spot weld point. [next] [inst] spot welding, tipdress.
Thank you very much for this response. What is a start distance schedule? Where would I find this? I do have the thickness in the pressure table. I was trying to use this for dressing, but also for a cap changer. I have to close on the changer at a set pressure.
Thanks
Is anyone familiar with this command? Is there a better way to do it?
Here is a picture I found on google. Looks similar but not exactly the same. But it is a C frame welder, and the upper action is a servo. Which opens and closes the gun.
Sounds like you need a servo gun manual and a spot tool manual.
There is an argument table for the pressure scaling.If the robot is properly licensed to you, you can access these from the Fanuc CRC site...
This is my first weld robot and it was provided by a customer and its used. However I do have many other lr mates and 710s that are registered to us.
What exactly do you mean by open and close? None of our welding robot have any actions i would describe that way. A picture of your End Effector might help.
Sorry I don't have a picture handy. Its an arrow servo weld gun, setup as a 7th axis on the robot.
I am revisiting this application again and was hoping for some help here. On this robot there is an existing program that has a command Press_motion P=[1,1]. This will close the gun, I can see it bend a bit so it seems to have a good force. However I have no idea how much force this is. Also if I had a piece of wood inbetween the gun it faults out. So im guessing there is a thickness setting somewhere. Can anyone help me understand how this command works and where it is pulling its information.
What I am trying to do is alter this for a cap dresser. So I would need to close to 1" for example @ a force for 300 lbs.
Thanks,
Kevin
Sometimes going a fixed amount like 250mm or whatever amount can put you in a joint out of range error. To avoid this situation figure what is your max "z" height is, then move up max "z" minus current "z" and you will always got to that same max height.
Yes you are correct. I do remember this happening before. Instead I just used a LPOS then moved to a known Z position that I knew I was clear
To piggy back off of Robo_Eng_13. The functions JPOS and LPOS are useful when writing the homing routine.
Ive done this is some very basic PnP application. Z offset 250mm to back away from anything then straight home. I would often include a (work zone envelope) in this as well. Just make sure that this will always work!
Hello guys,
I am using a weld gun on a 7th axis. It seems like someone has already set it up. I have no experience in using a weld gun. My experience is all with pick and place.
To open the gun I am using a Jog command with a group 2 and a position of -127.271
This seems to work Fine.
I was also using this method for closing the gun for cap changing and some other things.
I see in the program a Press_motion P=[1,1] I can run this and it will close the gun and its good. Im assuming this is a close to force type of thing.
What I am trying to do is understand how this works, how much force Im applying. Also When I try to close on a block of wood "for testing" I keep faulting out. I am assuming because of the thickness of the wood.
I am trying to come into a cap dresser and I want to make sure Im closing to the correct force and holding it
Thanks,
Kevin
Fixed, Good job guys.
My issue was I wasn't starting at 1, but 0. Once I changed the Start to use and mapped my DO to slot 2 (outputs) I was good to go.
Thanks !
