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

Quote from retobor

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.

Quote from Fabian Munoz

l3ool3oo

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.

Get access to the CRC.FRC.COM website. All the drawing you could want are there.

Allow I would ping the temp probe with robot. If you can at least the robot is on the network.

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.

Quote from tomexx

Thanks for replay guys, Here's more info:

My laptop's I/P is 10.7.71.**

Robot's I/P is 10.7.114.**

Is this an issue?

I also put the gateway address into Router I/P spot on the controller.

Still can't connect.

Thanks,
Tom

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Yes. You would need to change the subnet mask on both to 255.255.0.0

If your mask is 255.255.255.0 on the last octect is allowed to change without going through the gateway/router.

The router IP is the gateway. A gateway is only ever needed to send data from one network to a different network outside the subnet mask.

Recently they were selling off their used stock. Robots that were used for Fanuc demos and R&D testing. We just bought a M-1A for 66% off. All are functioning and quite capable for learning. I could see Fanuc donating one of theses. They had most models available.

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

IF R[200] >= 8 THEN
R[200]=R[200]-8
CALL WORST_THING_POSSIBLE
END IF
IF R[200] >=4 THEN
R[200]=R[200]-4
CALL REALLY_BAD_THING
END IF
IF R[200] >= 2 THEN
R[200]=R[200]-2
CALL WORSE_THING
END IF
IF R[200] >= 1 THEN
R[200]=R[200]-1
CALL BAD_THING
END IF

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

You might want to look at the utool. If the Z value of the tool changed all taught points would be wrong. There would be nothing in the TP that would have changed if the utool was incorrect.

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.

Quote

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.

Do you already have the laser engraver? My company builds industrial laser systems. We are also Fanuc integrator. If you don't already have a laser engraver you can get a complete system from my company which would work for all the product you request. Pm for more details.

Are you going to need vision? Are the parts to be removed always in the box the same way?

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.

Your network is most likely considered public and thus the firewall is blocking most traffic. Try disabling the windows firewall.

That one was created with Draw.IO