Posts by I3ooI3oo

    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.

    Is this auto generated, or created manually?

    It is manually created. While I write the robot process along with laser process, ultimately our field service department will be doing the install along with training the staff on how to use the system. Knowing that I task the FS department to create one based on printed copies of all the created TP Programs. This lets me know they truly understand the process and are capable of answering any questions that may arise during the install of the system.

    I'm a fan of both. I write most programs to be vertical when starting, however soon morphs into horizontal once I find code that I have already written being needed again. Each time that happens a new program is born.

    As HawkME stated using an exact AI to R[j] can be problematic, both because of what HawkME said about the precision and the fact you may want to have it be a range that be something like 0-10 volts = 500-1250 mm. For something like that I would calculate the slope and offset and then multiple it by the value of the AI. If you wanted to have discrete positions then you would have to setup multiple IF .. Then for each of the discrete settings.

    R[1] = AI[1]
    IF R[1] > 0 and (R[1] < 2.5 or R[1] = 2.5) then
    PR[1] = PR[10]

    R[1] = AI[1]
    IF R[1] > 2.5 and (R[1] < 5 or R[1] = 5) then
    PR[1] = PR[11]

    R[1] = AI[1]
    IF R[1] > 5 and (R[1] < 7.5 or R[1] = 7.5) then
    PR[1] = PR[12]

    R[1] = AI[1]
    IF R[1] > 7.5 and (R[1] < 10 or R[1] = 10) then
    PR[1] = PR[10]

    This would give you 4 discrete locations for the voltage range of 0 - 10 Volts

    Depending on the volume of air needed and the speed in which it is needed. You can have the valve at the base of the robot and use Air 1 to pass it up to the EOT. Air2 is connected to the internal valves which can't switch vacuum.