Posts by RobotAymo

Last night I was bored and writing on ultra edit for fanuc. Since I have so little spare time to actually write, i made a bunch of ultra edit macros to proofread my .LS and .KL files. So I was able to type up code quickly then run the macros That would search for any logic missing and convert to gaurunteed good build and roboguide. And then I fell asleep without saving most double I still have a few but I'm wondering has anyone done this before and if so can you send me share your macro code? Yeah or help me jog my memory?

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Quote from nzn

Are there any robots we can use in our homes?

You can use robots any where. used a robot to paint another older robot because i lack the motor skills to keep from getting paint all over my clothes

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Quote from SEAN-DUDE

I was just about to ask the same question, but I used the search like a good robot forum member.

Any body know about this?

How does one use it? Its a .xls that is supposed to generates .kl?

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Quote from RoboGuy

Check your collision guard. Should be 90-100% (120% is too sensitive for our applications) If the move is an Linear, consider changing it to a Joint. Also, look and see if the air moves are fine, might want to consider changing it to a cnt for a smoother point transition.

Hope this helps!

Yes i went through and smoothed out trajectories

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I am also getting SRDY OFF ALARM ON all axis. I tried to recreate the payload schedule a fewtimes but it could not finish due to axis faults. I was able to get the IDEN to complete its calculation by setting high speed to 90 and accel at 25%

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Does anyone have advice on ABC overrun. This is a new fault on a robot 350 payload r30iA controller, every other week the robot will start getting collisions in mid air when ran at high speeds. If slowed down ran at 50% it will go away then boosted back to 100%we start getting random collisions on axis 4 5 6???

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Abc over run?
Srdy off?
Axis faults?
All of the above and I ain't talking bout no backup
Help

No I don't have payload ID but thank the Lord I was able to find the cats to pull up in SolidWorks so now I have a good estimate of with parts but I'm not sure how to add weight to it for when the tools are carrying Parts in SolidWorks

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Quote from K-Sky

You didnt mention what controller you have(not that I even know how far back this option goes), but I would look into whether you have Payload ID, it allows the robot to auto-set the payload for you. It isn't perfect, but far better than having no Payload set. If you could somehow get a Solidworks model of your EOAT from your integrator you could get a pretty accurate payload specs from that. Im sure you can remake it in SW, but would be nice if you didnt have to.

I am by no means an expert at setting up Payloads, and have never worked on a setting the payload on a robot larger than a M710, but having an accurate payload set does help with cycle time in my experience.

R30iB controller

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Hello fellows, I am now working for a company with many large fanucs. Around 30somethin M900 & R2000. 165kg 210kg 350kg. Apparently all have cells have been programed by outsourced intergrators, with no I'm house programmers. While looking to cut cycle times I found that NONE of them have had payload schedules! These are all load unload with heavy Eoats. Now that it has slowed I would like to start playing with gripper empty and full schedules. I am pretty familiar with fanuc tp and offline programming capabilities. Although, There is pretty much NO type of specs for any of the tools. So any measuments/weights I will have to take. I haven't setup payload with fanuc and it seems to be it's own thing all together. Inserting the pay schedule into prog. I know how to do. I have access to roboguide and solid works.

?::::My questions are::::?
Are thier any simple methods of payload setup for 20-50lbs gripper difference pick/place schedule?
What physical measurements can I take of eoats to use for payload calculation?
Is they're anyone I can pay to school me on calculating a payloads?(( Especially in the circumstance that their are no CADs or any EOAT information)?
Will they're be a noticeable difference in creating With and Without Parts Payload Schedules? (i would assume so given the size and centered robots are running multiple machines in surrounded area)

I have literally dozens that need done so any advice will help and I'm sure I will have better qeustions once I get started.

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Quote from CSaunders

When loading an image, the controller SRAM/FROM module size will be compared to the size it was when the image was created. Make sure they're the same size (part numbers should match). The SRAM/FROM module cannot be smaller than the image. Going up a size hasn't been a problem for us. Part numbers and sizes below for reference. May not cover all available configurations.

A05B-2600-H060 A20B-3900-0283 FROM 32M/ SRAM 1M
A05B-2600-H061 A20B-3900-0284 FROM 32M/ SRAM 2M
A05B-2600-H062 A20B-3900-0285 FROM 32M/ SRAM 3M
A05B-2600-H063 A20B-3900-0286 FROM 64M/ SRAM 1M
A05B-2600-H064 A20B-3900-0287 FROM 64M/ SRAM 2M
A05B-2600-H065 A20B-3900-0288 FROM 64M/ SRAM 3M
A05B-2600-H066 A20B-3900-0280 FROM 128M/ SRAM 1M
A05B-2600-H067 A20B-3900-0281 FROM 128M/ SRAM 2M
A05B-2600-H068 A20B-3900-0282 FROM 128M/ SRAM 3M

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Thanks. Idk the cause but loading image fixed it

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Quote from andreic

I think CPU can be exchanged between same controller type. Make an IMG backup and AoA of the "donor" robot. If you exchange SRAM/FROM module be sure to have the same size in order for image restore to work.

Also what do you mean by same size. This is the only R1000 we have, majority of every thing else with a R30iB controller. does that make a differece.
Can i restore image back-up instead of doing init start?

Quote from andreic

I think CPU can be exchanged between same controller type. Make an IMG backup and AoA of the "donor" robot. If you exchange SRAM/FROM module be sure to have the same size in order for image restore to work.

Yes i made image and found image from a bit with almost exact programming.
Fanuc recommended swapping axis control card[connected to fiber optic cable] and 3v battery on board. I tried swapping the access control card and then doing the Init start up but it still would not finish INIT start. Getting stuck in freezing up on "INIT 2 complete" Should I try putting a new battery and try INIT START again? or instead of an upstart just go straight to image restore?

I am doing all of this from the boot monitor screen because ever since I froze up on the a INIT START complete 2" yesterday It will not finish booting up.

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Finally (after a long day of back n forth from stuck on starup) came to the conclusion that I have a bad cpu board? After changing tp cable and a0a backup, image back, up INIT START. FROZE ON INIT start 2 compete Are R30iB cpu boards inter changable between different size robots. I have r2000 robot's R30iB that can afford down time. The robot that needs new boards (or battery or axis control card)is an r1000. Are these interchagable???

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Make sure u do image back ups! went into a them saying thwy Already had back ups..38 bots no image. Make sure u have image cause that will make or break ur ability to trouble shoot serious issue

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Quote from Racermike123

You may want to make some changes to the load ratio, max speed, and accel times in the setup for the extended axis.
I would start with increasing the load ratio if it isn't maxed out. Then the max speed, and then the accel times.

I have read up on this, Thank you everyone for the knowledge. How/Where do i Adjust the Load ratio? and Gear Ratio?

Yea Im sure it has always run at these settings cause the fella who set it up 6 years ago hasn't been back since,,,,, the ovc alarm started occurring after adding a application that calls for heavier load to the 7th axis. Increasing the gear ratio is done on controlled start?
I was going to try to increase the allowed amp to for that axis to see if that would effect the over currents...but that axis disturbance torque cannot be adjusted, J7 it is (****) with the alarm message Collision Detect Disabled.
Would Setting payload even affect the rotation of this axis?
E1. J7 it is in SubGroup 1 and not a separate group 2.

Quote from HawkME

Auto payload ID is only accurate if the load is off center from the faceplate signicantly. Which is not ideal as I try to design EOAT to have min inertia. So I get much more accurate results from calculating mass, CG, and inertia in the cad software.

If I was at 96% capacity I would be looking at a larger payload robot. What if you ever need to add something? No room for futures changes, which will end up costing more.

In your situation, the biggest concern would be an overheat or overcurrent condition, which can be simulated and checked in RoboGuide. Overheat can occur even if you are below the load spec. If you have an issue, then it could go away by slowing movements down. Since you say you're not over 25%, then it might be ok.

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I am having this issue Over Currents at low speeds and any machine faults that stop/abort programing. The payload is manually setup just running at max capacity 125kg.

Sorry ^ There are not any payload schedules set up. Since none are set this means that the default payload is set to max capacity? Which in this case is 125kg. With Collision guard enabled @ 100%.

Yea... there are payloads set . Im guessing its ran with out payloads since its install.