Posts by KeesVos

    Hi there, late reply but may be useful. I’m a Sprutcam user and use it for milling with a Fanuc robot. Sprutcam is basically a CAM software capable of making code for robots. Most CAM softwares cannot do this, 5-axis simultaneous is very difficult, but for a 6 axis robot it’s even harder.

    Robots have issues like singularity that a normal CNC doesn’t have And Sprutcam has functions to check singularities and adapt the orientation of the robot.

    Translating CNC G-code to robot code is asking for crashes. It’s not rare that in the created code one of the axis suddenly flips and the robot will try to achieve this.

    Checking the created code is hard, can be done by the offline program from the manufacturer (like Roboguide for Fanuc), but this will slow you down a lot as you cannot see changes instantly but first have to post g-code, translate, load and play.

    The postprocessor of any CAM is the blueprint of the posted program for the robot. It will translate the set speed, position data, etc to how the robot needs to read it etc.

    These postprocessors aren’t always available for every robot but it’s growing. A post processor editor usually is provided but you need to know what you’re doing, it’s basically coding.

    I’ve hired somebody to help me with it and it took a full 2 days to have it working like a charm.


    Thanks a lot for your reply’s. The menu utility isn’t a available option in this robot. I do have Roboguide and serialized the robot, there this R577 isn’t in the list.

    It also doesn’t have a iPendant, just a regular.

    (Robot is a R2000iA 125L with a RJ3ib controller)

    I got some help today, we went for a main program that calls a Karel program. It shows a full screen message on screen asking to choose program and press corresponding F1, F2, F3 etc button. This sets a register to a value. Next button gives a next screen for more options. Once the Karel program has ended the main prog looks at the register and jumps to a corresponding label, there it calls the correct program.

    I can use Roboguide to change the values shown, luckily that isn’t often.

    Anyway, thanks again!

    Hi everyone, I'm looking for a way to set a register value via a sort of menu. Basically ask user to set register in a user friendly way. Situation: The robot always runs a MAIN program. The user places a jig in front of the robot and connects a connector. This connector is used to automatically select the correct program that belongs to that jig. (using 24v DI inputs for that).

    This works perfectly for jigs that can only do 1 program. But I now have a jig for flat plates (wood, EPS, foam, etc). So I want to place the jig, put in the connector and start. The robot knows via the connector it's the flat plates jig so in that program it will then ask the user something like:
    Enter corresponding program number and press ENTER:
    1. Program name 1
    2. Program name 2
    3. etc. etc

    It then waits until it receives a number and the enter. The number is written to a registry. Next step in the program is look at the registry, see number 1 is sub program 11 or what ever and runs that program. At the end it sets registry back to 0 so no error is made.

    Is there a way to ask the user this way?

    So answer for future reference:
    The analog IO of the robot makes 10v. The frequency inverter I have can be set to receive a external source. So the 10v+ of IO goes to the input in the inverter. Both the grounds are connected and it works.

    Hello Everyone,
    In a Fanuc robot with a R-J3iB controller I need to use a Analog Output Module, a ADA02A; it is going to be used to set the speed of a motor via a inverter. The inverter converts a 0-10v signal to the correct RPM.

    My question is how do I connect the module to my inverter. The page in the manual B61813 shows how (see image), but I don't get it.

    The inverter sends out a 10v+ and a 10v GROUND, it expects 0 to 10v on a 3rd pin.

    Where on the AO do I put these 3 cables?

    Many thanks in advance!


    I’ve been searching for a setting where I can make a specific numbers DO I/O to off in case of E-Stop. If that’s not possible than a setting where all go to off in case of E-Stop.

    Does anyone know if that’s possible on a R-J3iB ?

    Thanks! Kees

    Apparently I have a old manual but a newer version device. Combined with the RJ3iB it can be switched between negative and positive. Standard it is positive switching. So that's working.

    However when OFF it still is giving 6V. My relay isn't reacting on it but as I understand it isn't how t should be.
    I'll take that up with the maintenance company that's here every year for the robots.

    Thanks for advice!!

    Hello bidzej, Thanks for your reply. I'm basing my connection on the label that's in the cover of the AOD16D. I'm seeing the opposite of what you are showing or am I wrong?
    Also, I'm looking in the manual B-61813 and here it says the AOD16D is negative switching.

    What manual are you looking in? Did I get the wrong one with the robot?

    So I've been putting this idea to practice but I'm not getting the result I expected.
    I've copied the situation as on the picture I posted before on the robots controller. In the place of the light bulb I used a relay.
    I expected the relay to switch when I put the corresponding DO to on, in the test DO number A0. The little LED goes on so I know the DO A0 is on. But nothing on the relay, in stead I got 6V when DO is off and 0V when DO is on.
    What am I doing wrong or forgetting? Any ideas?

    Here you can see my test. Too left corner is the DO with multimeter.

    First picture is DO to on and showing 0V:

    Second picture is DO to off and showing 6V:

    The MENU > Utilities > Program Adjustment did the trick. Thats exactly what I was looking for.

    However I am also going to look for the register tip. In the end it might be more useful if I can change a lot of programs in one go, which I assume I can do with register.

    Yes it is that simple, however I am looking for a function to change a lot of lines in one go. In stead of going from line to line and change it manually.
    I know this is possible at a Panasonic Robot for instance.

    Hello. Is there a way to change the speeds from say step 11 to 33?
    I've programmed a robot on R-J3iB controller with a milling motor to move at a specific speed but at some points it can go bit faster because of several reasons.

    Hi. As far as I know you don't have to declare this, assuming that you are starting from scratch and don't have any programs yet.
    If you replaced the robot you would have to re-set each user frame that's used in any program.

    Ok thanks, I'll look to that.

    How do I connect the motor? Below a scheme, lets say the motor is the light bulb. The 24 + comes from the splitter block and the negative comes from the I/O board?

    If this is correct I need a relay anyway because the converter is activated by a positive signal or is my electric knowledge not enough?

    Hello there everyone,

    Thanks for taking the time to read my post with my probably simple question.
    I have a Fanuc robot R-2000iA 125L with a RJ3iB controller. It includes In and Outputs modules 32DI and 32DO, also EE Connector RI8 and RO8.

    I'm new to Fanuc and have a training planned in November (yes, long time from now). I know my way around a Panasonic robot and I started playing with the Fanuc. It is actually going pretty well. I have it moving nicely around already.
    Our goal is to use it to finish plastic products, so it will get a milling cutter to do the job.

    That's where my question starts. How do start my electric milling motor? What is the best method.
    The motor has its own frequency converter that runs on 230V, it can receive several 10V signals to do something like turn on the motor, turn left or right, low speed or high speed etc.

    I was thinking to use the I/O board. Is that smart?
    The 10v signal can't come from the I/O board right? It can only do 12v or 24v ?
    Any suggestions are most welcome, thanks!

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