Posts by TomFoolious

Quote from keyboard7

I don't know how your positioner is set up but using inches per minute may not be the way to go.

When you spin something in A circle the closer to the center you are, the faster it spins.

Both near the center and farthest edge of A disk both travel 360 degrees when rotated one complete

cycle. The farthest away travels much farther than the center. Try changing point to J 100 % fine for the positioner. Then adjust your travel with the % value. Surely some trial and error will occur, don't be afraid to make drastic changes in the % value when you start, will get the results you need faster.

Positioner needs to spin at in/min per customer requirement's for weld speed unit type. I figure that's why Coordinated Motion may need to be used...because that would then tell the positioner how fast to spin compared to Robot TCP. It's just a slightly messy way of taking care of my welding situation since the same weld job is used in different positions along a 2000m rail...So I'd either have to write a weld job per each position (200+ of the same program) or write 1 job with an indirect PR...but that's where the Coordinated Motion gets messy and why I am hoping to avoid Coordinated Motion, but it's looking like my ONLY option right now.

EDIT: Oh and I can't use Joint % because that is not in IPM for the customer's quality database.

Hello all,

I'm trying to get an idea of the best way to program a positioner to rotate in a welding application. My positioner is mounted in front of the robot, spinning around the X+ Axis. A tube and fitting will be spun for a full circle weld. Robot will stay in the same world position/orientation while the tube spins. So far, I've programmed the positioner to spin at L P[1] 35in/min FINE. This did not work though. It seems to be way too slow and my weld bead turned into a weld puddle. Just for note, Robot and positioner are their own groups.

Edit: Simplified post

Yep, that's what I'm seeing as well. But a separate motion group isn't going to work either because then Robot 2 won't be tracked along the rail.

The reason the 7th axis is so tricky is because we're holding the part between centers using the linear axis...so I need to make sure that there is no motion, but there are enough interferences within the cell that warrant the use of IIC between robot 1 and robot 2.

I have some ideas to make it as safe as possible and I'll roll with those. Reaming/Cleaning ops will only be useable when no part is present, when there is a pressing force I will enable a DCS Check to make sure the 7th axis does not move, etc. etc.

It's fine...It's too bad even setting up as an auxiliary axis doesn't get us a way to mask the extended axis away from the remainder of the robot axes. Oh well!

Thanks for the reply pdl!

Hello all,

I have a multi-arm welding setup. Robot 1 is stationary at the end of the rectangle table. Robot 2 is on a sled that moves linearly towards and away from Robot 1. Robot 2 and the sled it is on moves to a length and parks there...Part goes between centers and is welded until that model is done. Then robot 2 and the sled move, park, yadda yadda yadda. So I only need the linear axis when I do a model change.

I'd like to have the benefits of having Robot 2 know where it is along the rail, but I do not want to use the Extended Axis in every job...For example, when Reaming I just want the robot to go to the reamer wherever it is and not worry about where it is along the linear axis. For this I could take a LPOS and drop the 7th axis value into the Reamer PR of my choice, but I'm afraid of a "what if taht doesn't happen one time" scenario. I could always set up a NSI to enable a Joint Speed Check and make sure the axis doesn't move when I am doing just Robot stuff...That could help stop a "What if" situation.

It seems I can't track motion along the rail if the Extended/Linear Axis is placed as its own group, so Robot 2 stays stationary.

So to recap: Looking for a way for Robot 2 to know where it is along the Linear Axis, but not have to write programs with 7 axes that only require 6 axes. Any thoughts?

Thanks for helping out the "not so bright" with this

Ok I have one more question, make sure I'm doing this right since I'm no mechanical engineer...

In the attachment I found a website to do the conversion and want to make sure the conversion parameters are correct.

Thanks for the answer Nation. I did see the post that is inside the post you had linked, but I got lost through some of it and also didn't know what the importance of a capital L was to a lower case l (if that even matters, mine are all lower case l's as you can see) from all the data in the post. Thanks for helping me out, again.

I'm trying to wrap my head around getting the numbers to put into the payload screen. I'm reading past posts, the handling tool/arc tool manual payload section and I am struggling to understand what numbers to use on this sheet in front of me for a welding torch.

I get the Mass and Center of Gravity numbers, but when I get to the Payload Intertia X, Y and Z portion of the payload screen I'm lost with what numbers to input. I have:

Inertia Relating to the Coordinate System XYZ (Kilogram * MM^2)
lxx lxy lxz
lyx lyy lyz
lzx lzy lzz

Intertia in the Center of Gravity relating to the coordinate frame XYZ (Kilogramm * MM^2)
lxx lxy lxz
lyx lyy lyz
lzx lzy lzz

On a side note:
I'm getting a lot of disturbance excess and random collision detect alarms on two new 100iD arc mates and am hoping getting the correct payload in will help. I had a FANUC tech in here last week for a positioner break-in issue and he recommended running these robots through a break-in routine overnight. After having these issues and coming in today to see both robots were off position after running them in T2 without issue on Friday, I'm going to run this break-in routine sooner than I thought...

Anyone else have the Revision and Virtual Robot version in title and have not been able to Show/Hide IIC Models? Ever since I upgraded a couple days ago I have not been able to see IIC models in the world. I also tried making a new HandlingPro world and WeldPro world to see if it was only affecting my workcells made with old version, but I'm not having any luck there either.

Of course I can still use 4D on the Pendant, but I'm wondering if FANUC may have messed up their IIC on Roboguide?

Thanks,
-Tom

Hello all,

I found this (somewhat) nifty Escape Utility in Roboguide. In the end I had to copy the contents of the ESC job that was generated into a new program just to use it. Yesterday I was able to run the line PR[90: Current Pos]=LPOS just fine. Now after booting up Roboguide for the day to test further this escape program, I'm getting INTP-311 Uninitialized data is used.

I'm wondering if this is a Roboguide issue though...yesterday I had this same issue and all I did to fix it was change my job from "Recovery_A1" to "Precovery_A1" and the PR worked fine recording LPOS. I tried that same trick just now (Changed ESCTEST to PESCTEST or AESCTEST) and that didn't seem to work. Very confused how PR's work now. I've also taught the point to current position, made sure I was in the same group that the job is running, group masked the PR, double checked UF and UT...Still cannot get this PR to initialize and I'm not sure what changed from yesterday to today.

Hello all,

When I create a robot from a backup (Backdate.DT) the robots are not dropped into Roboguide with the spacing between them. I have to bring up the teach pendant, go to IIC Calibration and input the calibration data into each robot's location data in Roboguide. Is this normal, or is there a setting I'm missing?

Thanks,
-Tom

Yes, that was it! I missed that one area when going through the variables. So, on the robot that was working as intended we have this:
- $OVRD_SETUP.$OVRD_NUM_S was set to 6.
- Under the details of $OVERRIDE_S from [1] to [10] -1, 0, 5, 25, 50, 100, -2, -2, -2, -2

And I understand that if I were to change $OVRD_SETUP.$OVRD_NUM_S to 7, that I could then use a seventh step if needed to add another Shift + %Speed (i.e. if I wanted to go from VFINE, FINE, 5%, 25%, 50%, 75%, 100%.

Thank you very much for the help and the explanation! Going into my notes for sure!!

Thank you for your input, but that is not what I am trying to achieve. I am trying to have my cells with single arm robots match my cells that are dual and triple arms. Only my single arm robot cells (for some odd reason) are not incrementing 5, 25, 50, 100, rather they are incrementing 5, 50, 100. I figured it would be as easy as changing a variable, but all the ones I've looked at that concern speed override are the same between all cells.

$SHFTOV_ENB is set to 1 on both robots (being the one robot I'm trying to increment correctly on one cell and the robot that is already incrementing correctly on another cell).

Currently that variable is set to 5. I've changed it to other numbers and not seeing a difference in the shift + speed increment. Is there a specific number to input in here to get this robot to increment 5%, 25%, 50%, 100%? That's my end goal, sorry I just realized I didn't put my end goal in the OP.

Hello all,

Right now I have a robot that increments 5%, 50%, 100%. I have others of the same exact robot that are incrementing 5%, 25%, 50%, 100%. I've looked between the robots from each cell and cannot find any difference in variables. I've got to be missing something. Running R30ib-Plus with V9.10P/04.

Thanks ahead of time!
-Tom