Do you have any example codes in C# that you have used or you know that works ?
And do you guys know if you can write C# application for windows 10 , if i go with PCDK ?
I read somewhere that it had to be 32bit and only for winxp ....
Thanks!
Do you have any example codes in C# that you have used or you know that works ?
And do you guys know if you can write C# application for windows 10 , if i go with PCDK ?
I read somewhere that it had to be 32bit and only for winxp ....
Thanks!
Thank you guys for the reply ! , Do i need the PCdk to be able to send the commands ?
Hello
Has anyone here used C# application to modify/read registers of a fanuc robot.
I'm looking into the option , and would be really happy if someone has done it and can give out some advises/examples of how they did it.
Regards
Fannar
It is the same tool number....
Does the video seem normal to you guys ?
I have always only used X,Y,Z in world cord when teaching the user frame .....
Here is a link to a small video that showes what i belive is the problem of everything.... i think it has to do with TCP
In this video i'm moving axes 6 in World-cord but the same happens on tool-cord as well as joint.
Hi Robotero
Thanks for your answer
It is a 4 finger gripper , it should hold it concentric yes.
No it does not keep the tip at the same position.
so i guess i need to get my TCP more correct ? if so can u explain how because i have tried so many different ways.
Regards
Fannar
Hi Bagged2drag
I'm holding a screw that has the same lenght as my tube with the gripper.
Then i i'm using tip of the screw to touch another screw that is upside down on the surface.
First point i teach is directly above the point. screw tips touching.
Second point i rotate axes 6 more then 90° but less then 360° in Joint mode , then realign the tips of screws in world mode
Third point i move axes 5 in Joint mode by less then 90° and realign the screw tips in world mode
( i found this information in a manual from fanuc , but it's not working)
I have also tried some other ways without luck ....
This is driving me crazy
Hope you can help
regards
Fannar
Thanks to all of you giving out your knowledge.
I'm still having problem , i have been trying to teach the tool frame again and again without luck.
I have some questions ...
Does it matter in what cord i move the robot to point 1,2 and 3 when teaching the tool frame ? can i switch between joint /world and tool while i do it ? or does it all have to happen with the same cord selected ?
I really hope someone can bring me to the luck
Thanks
Fannar
Dear Fabian
Drill bit diameater was 10mm , with odd pointer ofc. and the tube is also with a cone towards the end.
I have also tried teaching user frame with a tiny screwdriver attached to the gripper , then taught the origin, X and Y but it still does not follow the lines of x and Y (but follows the x better)....
When i have taught the Userframe i'm sure it X and Y have been at 90° angle as the tube holder layout 8x8 holes is standard labware rack.
But when i said appr 90° Angle to it i was meaning when i was teaching the Tool frame..... because i have no means of measuring it..
What is the right procedure from start .... it would be teaching toolframe then user frame ? am i correct ?
And please if anyone can tell me more about how to set up the toolframe correctly.....
Regards
Fannar
Dear Robo_Eng_13
Thanks for your answer
Well it does not go up and down as i taught the frame with the tube touching a flat table.
I tried teaching a tool frame yesterday at the tube end ( i used a drill with sharp edge upside down on the surface table) then positioned the center of the tube above it with 1mm gab and then tought point two and three just at appr. 90° angle to it.
What is the best option to teach the tool frame ?
And FYI , in the program i start it by selecting the tool frame and user frame.
I have found several videos on youtube for teaching tool frame but i feel like none of them explain it good enough on how do know what teaching points should be .
Hope you can be of more help.
Regards
Fannar
Hi Guys
So i'm having a problem with user frames that i hope u can help me with.
I have a plate that is something like 20cm x 20cm with holes 8x8 (each 10mm holding tubes) for pick project.
So i use the holes to define the user frame ( i place a tube with the robot gripper into the holes , origin then X and Y)
I start the program with UFRAME_NUM=1 , if i then place the robot position to X=0 and Y=0 it aligns well with the origin point , but if i call a position with e.g offset Y=100mm and offset X=0 ... the tube is not aligned with X=0 but it's like 2mm off.
It also happens if i just move the robot with TP , Y direction i can see it will not end above the last whole it gets worse the longer it goes away from the origin point.
Is it possible the problem is with the tube not being 100% aligned to the plate grid ?
Hope someone can help i have spent days trying to get it to work (teaching it many times ) but with out luck.
Thanks in advance !
Regards
Fannar
Dear Fabian
Thanks for the answer.
I will not be able to align the plate to the world cord to the robot.
And therefor i wanted to set up user frame but i haven't figured out why it's not working.
I have set the userframe origin x and y .
I did a short program just to see if i could get it to work , and it was like this.
I recorded a position over the userframe origin point
L P[1] 100mm/sec fine. // point in space
L PR[2] 100mm/sec Fine // the point that i recorded over the user frame origin point
L PR[2] 100mm/sec Fine OFFSET, PR[5] // here i was hoping to be able to offset PR[2] by the number i have in PR[5]
The problem is it only goes from P1 to PR2 and stops there it never does any kind of offset i guess i'm calling the offset somehow wrong.
hope somone can help
Regards
Fannar
Good day
I have been trying to set up a user frame and position register for hours but without luck.
i have plate with 64 holes in it (8x8 ) in the holes i have tubes that i want to pick up one by one.
I tried teaching user frame my going to one corner of the plate then giving the x and y axes by going to the last hole on each axes.
Would it not be possible just to start by going to PR[1] then just do offset by +20mm in x (that's the space between holes) until all 8 have been picked then when f.x num = 8 , go to next line offset by 20mm ?
I know the explaination is a mess but hope you guys do understand what i'm trying to do.
thanks in advance
Fannar