Posts by I3ooI3oo

    Personally I have used reference positions with I/O to prevent motion into collision areas. Then check the I/O before moving there. I use 2 outs and 2 In for each area. One is controlled by Ref_pos the other is controlled by the program. The program controlled bits are "Going to location" once the robot is in the area it turns the bit off and allows the ref_pos to handle it.

    I would just debounce the signal. Since if the signal is good then any previous off signal can be ignored.

    IF RI[3] = OFF , R[99] = R[99] + 1

    IF RI[4] = OFF , R[99] = R[99] + 1

    IF RI[3] =ON AND RI[4] = ON , R[99] = 0

    IF R[99] = 50 , CALL PART_LOST

    I've tried to invert a bit for ref pos in the past. I recall this function not behaving as I expected; the controller ignored the bit inversion when assigned to ref pos. Can you confirm that it works?

    The Bit being inverted does work, however if you look at the I/o on the pendent it shows off when not in the ref pos. Since the bit is inverted it is correct, if you look at the electrical signal it has +24v when the robot is not in the Ref Pos.


    The concept of ""DI[109]=ON" does not help me because I'm jogging the robot manually

    "If the robot is off the table can't rotate."

    This is what I'm talking about. It's not about the robot crashing the table. It's the other way around

    In my setup it doesn't matter how the robot is moving when it is in the ref pos the table can not rotate as the signal that controls the rotation is broken by the relay that is controlled by the ref pos.

    I am currently building a system right now with a dial table and LR Mate 200i. We are using a Powerflex 550 from AB.

    First thing I did was have a relay wired into the enable bit of the table controller. When that relay is not active the table can't rotate. The Poll for the relay comes from the Robot. I created a reference position for the table. The bit that is set when the robot is in that reference position is then inverted in the I/O. This now means that bit is active when the robot is not in the reference position. So if the table is rotating and the robot moves into that reference area the table will stop immediately.

    To prevent the robot from moving into the table area while rotating thus, causing the table to stop, We wire the table's "in position" bit into the robots inputs. In my pick program, which is the only program that moves near the table. There is a wait "DI[109]=ON" for table in position bit, This prevents the pick program from moving into the table area.

    Using this setup the table and the robot haven't ever crashed. If the robot is off the table can't rotate. If the table in position sensor goes bad the robot can't move into the table area.

    I think you should be using a Userframe for for what you are talking about. The tool frames are for EOAT and as such will rotate their x,y planes with rotation of the robot's 6th axis. Userframes however will always be orientated in the same. An uninitialized userframe will match up to world frame exactly.

    When you first login look for ASI network, Which now that I look at, I have access because I am a distributor. Under the ASI network link is a link to all the drawing files. They have complete models and assemblies for every robot.

    Look at the gateway on the temp probe, take that and put it as the gateway on the robot that should solve your issue.

    As a network engineer I can tell you that there are thousands of ways to setup a network. Your network could be using vlans. It could be segmented. The switches could be managed and only allowing traffic to specific ports.

    Yes. You would need to change the subnet mask on both to

    If your mask is on the last octect is allowed to change without going through the gateway/router.

    Your program is only hard if the system can have multiple alarms at once. If this is the case then you could just do the following:

    1=Bad Thing
    2=Worse Thing
    4=Really bad thing
    8=Worst thing possible

    At the start of your program you would need to set R[200]=0. Then when ever a new alarm is added it would be R[200]=R[200]+Current alarm number

    Here's how I do it.

    1. Program the user frame to the calibration grid used for vision calibration.

    2. Calibrate the Camera vision.

    3. Program vision find.

    4. Program TP program to use vision find and user frame in step 1.

    Now both should be in the same alignment.

    I just got this in Email from my Fanuc Rep.


    Also – in the SCARA world, FANUC has now (since June actually) added a motion instruction called “VIA”. It works just like the Epson “JUMP” command for general pick and place applications.

    This functionality was added directly due to feedback like yours. So thank you.

    Motion Package RTL-R809 1 $2,095.00
    Details: The Motion Package includes the Motion Interface, Constant Path,
    Singularity Avoidance, ADV-CP Speed Control, ADV-CP Path Control, and
    Collision Guard. The Motion Interface option is used for motion optimization
    including cycle time optimization, path optimization, small shape
    optimization, RV life optimization, and power consumption
    optimization.Constant Path is a motion control option that allows the robot to
    maintain the same path regardless of static or dynamic speed override
    changes. The Singularity Avoidance option allows the robot to work around
    singularity points automatically. Robot singularity can cause regional
    structure degeneracy or wrist degeneracy depending on the structure of a
    robot. The Advanced Constant Path package consists functions for easy
    teaching and cycle time reduction. Collision Guard provides a highly
    sensitive method to detect that the robot has collided with an object and then
    stops the robot immediately.

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