Posts by willy

Quote from DS186

What are the exact alarm numbers?

Can you confirm that the jumper connectors for JRT3 and TP are connected? Did you also connect external emergency stop as well as fence to the JRM18 connector? Also check if 24VEXT_IN is connected to 24V-2 and 0VEXT is connected to 0V in case you are using internal power supply. If external power is used then check the external power supply and its connection to 24VEXT_IN and 0VEXT.

Yes, the jumper connectors for JRT3 and TP are connected on the controler.

The external E-stop and fence are working as they should be, only the pendant alarms are active.

The alarms i mentioned are:

SRVO-002 operator panel e-stop

SRVO-001 Teach pendant E-stop

Today i will check the power connections as you suggested.

Update:

SOLVED:

Its was a bad wiring issue, we lookt over it several times and didn't see it.

Tanks for the info.

Quote from DS186

If you don't have a TP nor the optional switch box you need to plug in a jumper connector to JRT3 located on the front of the Compact controller.

If I remember correctly the jumper connector has a separate order number. Check the maintenance manual for the Compact controller (e.g. B-84035EN/04) for detailed information.

Here i have the same isue, the pendant "brige" and the additional conector as mentioned are in place.

In the DCS setting menu>system>dcs>mode select: is set to external.

The alarm that the estop on the pendant and controler box is not oke are still active.

Are the still some things i can check?

Hello everyone,

In my daily job I'm a PlC engineer. For me, text based code is code which is very easy to use.

I was wondering if Fanuc TP programming is rather old school, or is is numeric based? I know from other robot suppliers that they supply a text based editing environment like STL, or something comparable.

To me it looks like Fanuc is behind with this, what's your opinion on this?

Kind regards.

Well, we applied the Fast Measure inputs on X33.

The interrupt is works very nice, also the rotation around the sensor.

But i am struggling whit the offset i calculate.
First, what i want to achieve are the following offsets:

Finding the Rotation around Z-Axis. in The tool the A-Offset.
The width of the panel. X-Offset in the tool.
At last the length of the panel. Y-Offset of the tool.
If i have these values i have the distance and orientation from he panel corner related to my origin of my tool.

What i do:

1. Move panel to S2 and S3 (see attachment in previous post).
2. When S2 or S3 is triggered, save the position when triggered. then rotate around it.
3. If opposite sensor is detected,save the position when triggered and the panel is aligned whit the sensors.
4. now i can do the calculation of the orientation. i calculate them by comparing the angle of the base of S1 and S2. then subtract the actual rotation of the gripper (keeping in mind -180/180)
This works fine. If i put the offset angle in the new tool, the robot keeps the orientation.
5. Now i have the rotation of the panel aligned whit the sensors, I'm able to compare the actual robot position with the sensor position on X-axis.
the difference between them is the Offset. And apply the offset into the new tool.
6. then move to S1. when sensor triggered i subtract actual position with sensor Position.

After All i activate the tool and move in another base towards an point for example X 100, Y 100, A 180, B,0 C 180

This seems to work, but I'm struggling on the next situation.

when testing i move the robot to an fixed Pick-Up position.
The panel is random placed, after positioning the panel Will move to an point suggested before.
i have drawn the contours of the panel on an paper when positioning done, sow i can check the repeatability of the system.

But when i Retry the procedure, and chance the X/Y direction of the panel before it get picked it comes back on the same position.
unless i chance the rotation of the panel, that Will result in an total other end position.
I'm breaking mine mined on it, the calculated X and Y positions are looking good.
but a chance in rotation result in Strange things.

perhaps there is one of you that who has experience whit it.
is there something weird on mine procedure of calculation, my main question is how tho do the procedure proper.

Sorry my post was not ready.

About the Cycle time of measurement i wil find out what its cone be.
al the panels have an max error on how there put in the infeed stations, so im able to find out an safe position before i hit any sensor.

About the X33 interface, is it an option or standard available on Kuka controllers ?

Thank You,

Very helpful !.

Now i have an plan and i can write some code, i have to do the modification next month.

About the Cycle time of measurement i wil find out what its cone be.
al the panels has an max error on how there put in the infeed stations, so im able to find out an safe position

Thanks Panic mode,

A base lined up with S1,S2,S3 was already in my plan, but there are still 2 questions left.

1:

Quote

my approach was to make TCP at each sensor and base lined up with sensors S1,S2,S3.

did you predefined TCP points for S1,S2,S3 or did you create them based on actual position when sensor triggered ?

2:
Is there an advantage for searching S1,S2 first ?

for example: if S1 is triggered first and rotating around it Will result most of times in triggering S3.
Unless the corner of the plate is passed beyond S2.
See attachment where i situated it.

Tank you.

Tanks for your answer SkyeFire,

That would be nice and even quicker.

But the sensors are mechanical switches, so i can't go trough them like a laser beam.

then the next question comes up on my mind, for calculating the orientation i need at least 3-points. <- Correct me if I'm wrong
the challenge is that the product on the gripper has an unknown orientation also the TCP is not always on the same spot (Length/width) of the panel.

option for your suggestion sounds to me like:

1. find S1 and save position.
2. move away from S1 otherwise i Will properly damage the sensor.
3. find S2 and save position.
4. move away from S2 otherwise i Will properly damage the sensor.
5. search S1 again and save position.
6. calculate.

Hello Everybody,

I'm new on robotics, and working on an project where i have to find the orientation of the products related to TCP of the robot.

Setup:
Robot: KRC 60-3
Controller: KRC4 8.8.33

We have to handle multiple panels all of them have other dimensions.
The panels Will be picked from multiple in feed stations, a vision system Will identify the product type.
based on that I'm able to locate roughly the orientation of the panel in the gripper.

In the image attached the steps of the measurement procedure where i was thinking about.
The result what i need is just an corner of the panel X/Y and its rotation A.

Step 1:
The robot fly's to the measurement space.
This position Will always be the same rotation of the TCP, based on product length and width i can define the X/Y offset.

Step 2:
Find the length of the panel by moving the robot towards S2/S3.

Step 3:
Based on the sensor that was found first, the robot has to rotate around it to find the other sensor.
from here on I'm able to define the rotation from the panel according to my gripper(TCP), and the offset in width.

Step 4:
Find S1 and define the length offset of the panel.

I understand that i can find the positions of the sensors by interrupt, save the position of it an so on.

But i need a little bit of help by step 3. My first idea is to calculate an TCP related to the sensor switch position what is found as first and the actual robot position.
then make an rotation around that point and find the other sensor.

i was wondering are there more easy options to do this ?
for example:
is it possible to skip the calculation of an TCP related to the sensor what i suggested before.
something like S2 found an rotate around fixed position of the switch point of the sensors towards S3.

Thanks.