I'm using rack 36
Why are you using rack 36?
that rack is "internal" dcs input/output !
How is the plc connected?
The rack number defines the communication (protocol)
hard wired (modular IO) rack 1-16
Ethernet/IP 89
profibus slave 67
....
Posts by PnsStarter
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21 LOCAL_REGISTERS = 0,0,0;
You have to setup your local registers in detail screen of prog
e.g.
LOCAL_REGISTERS = R,PR,SR; -->LOCAL_REGISTERS = 3,7,1;
this will give you access to 3 local Register, 7 PR's and 1 StringReg
in your case:
LOCAL_REGISTERS = 3,2,0;
Local Regs 10001-10003
Local PRegs 10001-10002
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Hi
use Offset command like
CodeJ PR[10001] 100% FINE Offset,PR[10002]( using local vars)
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Example:
Code/PROG TEST21 1:J P[1] 100% FINE ; 2: CALL SHAKE_RANDOM(5.1,1.1,1.1) ; 3:J P[1] 100% FINE ;Code
Display More/PROG SHAKE_RANDOM 1: !AR[1]: MinMaxRandomX ; 2: !AR[2]: MinMaxRandomY ; 3: !AR[3]: MinMaxRandomZ ; 4: PR[10001]=LPOS ; 5: R[10001]=AR[1]*(-1) ; 6: R[10002]=AR[2]*(-1) ; 7: R[10003]=AR[3]*(-1) ; 8: !RAND2REG(Min,Max,targetReg) ; 9: CALL RAND2REG(R[10001],AR[1],1) ; 10: CALL RAND2REG(R[10002],AR[2],2) ; 11: CALL RAND2REG(R[10003],AR[3],3) ; 12: PR[10002,1]=R[1] ; 13: PR[10002,2]=R[2] ; 14: PR[10002,3]=R[3] ; 21: PR[10002,4]=0 ; 22: PR[10002,5]=0 ; 23: PR[10002,6]=0 ; 24:J PR[10001] 100% FINE Offset,PR[10002] ;Code
Display MoreNo global Vars Version: 1: !AR[1]: MinMaxRandomX ; 2: !AR[2]: MinMaxRandomY ; 3: !AR[3]: MinMaxRandomZ ; 4: PR[10001]=LPOS ; 5: R[10001]=AR[1]*(-1) ; 6: R[10002]=AR[2]*(-1) ; 7: R[10003]=AR[3]*(-1) ; 8: !RAND2REG(Min,Max,targetReg) ; 15: CALL RAND2REG(R[10001],AR[1],10001) ; 16: CALL RAND2REG(R[10002],AR[2],10002) ; 17: CALL RAND2REG(R[10003],AR[3],10003) ; 18: PR[10002,1]=R[10001] ; 19: PR[10002,2]=R[10002] ; 20: PR[10002,3]=R[10003] ; 21: PR[10002,4]=0 ; 22: PR[10002,5]=0 ; 23: PR[10002,6]=0 ; 24:J PR[10001] 100% FINE Offset,PR[10002] ;RAND2REG is the sub prog which generate pseudo random values:
TP-Tools/2reg/rand2reg at main · Backdate/TP-Tools (github.com)
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@Lren
Yes, I understand that what if I want to access those logs while I am offsite?
I think that's a different issue.
It's about network infrastructure and remote maintenance.
The robot should/may not be connected directly to the public network!
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Hi Lren.
A web server runs on every Fanuc robot. (by default)
You can download the data with an http client, e.g. web browser or programmatically. The web server only supports http not https !
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You can fetch the errXXX.ls files with http-client...
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Hi nation ,
I had the same problem some time ago. Couldn't solve it at the time.
I reproduced the problem today in RG and it occurs with R-30iBPlus and RJ3iB(!).
I have not tested other controllers.
As you have already written, the $FRM_CHKTYP variable is of no use here.
Help is welcome!
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Hi Samwebber44,
As far as I know this is not (directly) possible. (maybe I am wrong)
You can use a different CPC with other UserModel attached.
The CPC's can be disabled/enabled using various IO(types)
Keep safety in mind!
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hopefully this helps:
Add PART--> choose BOX --> switch to Image-Tab --> choose image and direction
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I don't know if it's possible to acces the FRB device on older controllers like yours.
(I 'am not able to connect to that device inside Roboguide (old , early R-J3 Robot) via FTP.
FRB is (as far as i know) the f-rom binary or f-rom backup device.
Keep an eye on the error, maybe your flash drive (F-ROM) is dying...
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Hi Taylor Turner,
from, robot homepage
--> (Active Program/Variables/Diagnostics)
e.g.:
http://127.0.0.1/MD/INDEX_ER.HTM
check
errors/diagnostic:
/md/index_er.htm
variables:
/md/index_vr.htm
tp progs:
/md/index_tp .htm
other:
/md/index_ot.htm
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Should I reteach the UFRAME with a different UTOOL?
Just use another UTOOL number where all values are zero (like NULLFRAME).
The reason is that nowadays (newer controllers) don't allow you to use UTOOL[0] from [SHIFT] [COORD] "quick menue"
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I had this problem years ago.
I made an image via the IPENDANT. But the TP cable had a loose connection.
At that time I had no way of checking the integrity of the image.
Even now I don't know if or how this could be done.
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Hi ShawnMott55
Is there a way to set the UFRAME for the position when I record it?
This is really fundamental stuff!
You have to know what you're doing.
Have you had any training?
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Press [SHIFT] -[COORD] to change your frames.
And , don't use UTOOL[0] anymore....
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Really? You are using a 3d camera to get coordinates in a x/y plane? Why?
there is a nice video from fanuc why this might be a good idea:
Overcoming Contrast With 3D Imaging in Robotic Vision Applications on Vimeo
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Second thought: there are signals or other external circumstances that influence runtime.
Especially signals which open and close a gripper, wait for conveyer and so on.
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Hi boriskostov,
Group IN/OUT-puts are unsigned 'integers with variable length' up to 16bit.
However you can use negative values when using the same 'math' on both sides (plc and robot).
You have to program it by yourself.(search forum or net)
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Hi Austin,
[MENU]-[FILE]-[UTIL]-Set Device -->FRA
COPY your files
if you can't see [COPY] press next after closing [UTIL]-Menu to switch to the "second soft key menu"
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The question is, why do you have to do this at all?
Do you really need to find out the length dynamically?
In many sysvars, for example, there is a second var that determines the length of the arrays...
e.g.:
Code[*NUMREG*]$NUMREG Storage: SHADOW Access: RW : ARRAY[200] OF Numeric Reg --> [*NUMREG*]$MAXREGNUM Storage: CMOS Access: RW : INTEGER = 200....
same for Number of Groups, Axis and so on
...
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Hi ,
I think it's not possible...
You can only find out how many dimensions the variable has with "var_info"-builtin
...
If you "own" the var you can use a (complex) structure instead and then use ARRAY_LEN
Or by iterating over and check for "index out of range" or similar (don't know the exact error code / name)
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