Typo, thanks for catching. If the camera was calibrated correctly. IR 2D vision only deals with x, y and R. Dont have to zero out z, w, p.
Posts by jrv5207
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Check the cables coming out of the controller. There should be one that matches the Teach Pendant receptacle. If you call Fanuc CRC then can guide you on a way to obtain all the manuals. It will cost money though.
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Like Iowan stated, will a Joint Move or a Linear Mov? Might have to reteach the previous point to an area where it wont interpolate out of the soft limits.
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Yes you can. Go to INST>Vision Controls>Vision [] Offset
PR[]=VR[].Offset
Then
PR[i,6]=0
usually with unwanted rotation, means that camera calibration process was not done correctly.
Is the part you are trying to pick up only offset by x and y. Is there no rotation of the part?
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I attached a snippet of code. I am running this job in BG logic. This job clears out the shift count registers when a certain time condition is met.
Thanks
JRV
Code3: !7:300 ; 4: IF $SYS_TIME.$HOUR>=7 AND $SYS_TIME.$HOUR<0,JMP LBL[100] ; 5: IF $SYS_TIME.$HOUR=15 AND $SYS_TIME.$MINUTE<0,JMP LBL[100] ; 6: !300:1100 ; 7: IF $SYS_TIME.$HOUR=15 AND $SYS_TIME.$MINUTE>=0,JMP LBL[200] ; 8: IF $SYS_TIME.$HOUR>15 AND $SYS_TIME.$HOUR<23,JMP LBL[200] ; 9: IF $SYS_TIME.$HOUR=23 AND $SYS_TIME.$MINUTE<0,JMP LBL[200] ; 10: !1100:7 ; 11: JMP LBL[300] ;
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set your voffset to a pr and then use the PR[1][i,j] to modify another PR[2][i,j]. Then use PR[2] in your motion statement
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MOVE TO command was removed in the new version of karel.
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Thanks for the reply.
Is there a manual that explains the format of the file. Example like fanuc .ls files have header, subcategories such as Begin/END/POS/ ect...
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i am wanting to write a job file from scratch.
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I have the same issue, i enable the outbound skip move in the system variables, but the flag does not come on consistently. Any info. Just using the line tracking option, not visual line tracking.
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Is there a ascii file that we can edit with a txt editor? Does yaskawa have a manual for programming with a txt editor. Do we have to compile it into another format for the robot to read?
Thanks
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To those that program for commission or to complete systems, What are the step needed to become an ASI for Fanuc?
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