Let's say something of the sort.
When I ran the IDENT, I got back some payload values that exceeded the 12 Kg my M10 was capable of, and which was impossible for the gripper.
Posts by ClaudiuA
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Hello all,
I've been playing around with the IDENT function on some of the FANUC robots we've been installing lately, but I'm pretty sure I don't understand how this SHOULD work or what I should be doing with the info it gives me.
Whenever I run the IDENT function I'm getting back rather crazy values for the PAYLOAD, and even crazier ones for the CoG, values that don't correspond in any way with our grippers / parts.
So...can anyone please write a "How to" for this? Thank you.
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I know i have to put in an offset between the Robot and the External axis, but the question is where should i put this value of 45 deg. There is just one variable "Mounting angle", which i have already tried changing.
Could you please explain how can i set just the Robot at 45deg and external axis as 0deg? ThanksUnfortunately, no. I've never seen a robot mounted on an external axis that way.
I'm really rusty on my external axis - haven't done one since my college master's project - BUT...couldn't you set the JOG as a Y+ instead of an X?
Sounds to me like this could be solved as long as the jog direction of the axis is paralel to one of the robot WORLD axes...which would be Y by my understanding.I may be wrong or completely misunderstading the problem.
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Hello all,
A question:
Is there any way to manipulate the CONF data of a PR in a program?I've recently written a program where a robot loads one of two ports on a machine. Due to the robot position, each port has a different configuration.
Now, that would be easy enough to solve if I didn't want the program to be scalable in the future for more ports, more machines - because I'm lazy.
Does anyone know if there is a parameter anywhere that allows me to set, in a program, the CONF of the PR?Thanks for your time.
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Well...that makes sense I think. You've told your robot that his external axis is mounted at a 45-degree angle, which means that going on X, he's going up or down. Angle the axis at 45 degrees and the TCP will probably stay fixed in position.
Shouldn't the robot be configured as mounted at 45 degree and the axis at 0?
I've never mounted a robot like this so I may be wrong here. -
Bingo. Was exactly the variable I was looking for. Couldn't find any mention of it in the manual I had on this computer, so needed to reach out.
Thank you kindly.
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Hello all,
Does anyone know if I can add more spaces to check with the Space Check function?
I'm reprogramming an old M410 robot with an R-J3iC controller and my automation guy would like me to give him some signals when the robot is away from the various conveyors we're covering. I have 3 Space Checks available, but I would need 5 of them to do things exactly as he'd like.
Yes, I could use Reference Positions and all that, but I don't like that solution. And I know this is not exactly what space check was intended for by FANUC, but if the shoe fits... -
Just a short question here: that is the ONLY error that the robot is showing? I've had this on an R2000 but it came with a whole sleuth of other errors to check.
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Create a BG program that checks for your START input and does whatever you want to do. A simple IF that does what you need afterwards. Keep in mind you can't use Waits or other more complex instructions.
I'm sure there's a smarter way to do this, but it should work for what you need. -
Tagging for curiosity. They have a certain simulator available on the UR website, but you need to jump through so many hoops to have it running...annd it's nowhere near comparable to RoboGuide or RobotStudio.
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Reduce accelerations and speeds for those movements that trigger this warning.
Also, check your TCP, Payload and CoG settings. Usually those are the culprits. -
It means you've set a MoveJ with a negative or zero speed or acceleration. Those values need to be >0 for the robot to execute the movement.
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You will do this with USER frame, not Position Register.
You need to teach a user frame on your machine that can be taught again at the client side. You teach your programmed position relative to your UF. Best way. Easiest way. -
This is gonna sound condescending, but are you sure you're not moving in JOINT instead of USER? I've had it happen when a client called us with this issue. Was an awkward phone call.
Also, check this please: FCTN -> Toggle WRIST JOG. You need to be in WORLD coordinates for it to show up.
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Just a tag to read later. I'm quite curious if this can happen at all.
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Easiest solution is Space function
I second this.
DCS is a paid option but Space Function, to my knowledge, is rather standard.
The problem with Space Function is that you can still stupify the robot into hitting something if you turn the TCP away from the forbidden space, but even that can be tweaked to perfection. -
Based on an AM0iB, I can say that you're not likely to need to reset encoders unless you do something absolutely terrible to the robot. The AM0iB has a very weak brake in J6 so we've constantly ended up spinning the joint around while installing the welding equipment on it. I don't remember having to remaster the robot once we started it up.
But I do remember having to remaster an M900 after transport at one point when J3 got moved forcefully when unloading the robot from the truck. -
Sorry to say, but no.
We swapped out the cable as a last resort after we rebuilt an R30iA cabinet almost completely - someone thought it would be a good idea to send 220 V through a 24 V line into the safety board...smoke ensued.
By this point we had swapped out the safety board, the main board and the cpu. This optical cable was the last resort before calling in FANUC to deal with it. Worked in the end. The company that bought the robot went bankrupt soon after, so I don't have any follow up on how things were afterwards. -
Maybe I am old school, but I like to follow Fanuc's recommended greasing positions. They are there for a reason. Or at least the ones that have any angle besides arbitrary.
As far as when you are finished, I have never seen a robot that they only want you to move +- 10 degrees only. Not to mention that it also depends on speed and time.
I do agree with using a hand pump and taking your time. But I believe you may need to refresh your procedure. Along with based on robot conditions, age or robot, usage, etc. a yearly PM may or may not be needed.
To be perfectly frank I don't even go as far as that most of the time. +/- 10 degrees a few times is plenty if you've gone low pressure and allowed enough time before you put up the plug. After pointlessly exercising robots for minutes on end, I ended up ditching most of that as well. 5 years, no problems, results speak for themselves on this. Only time that backfired was when a M600 peed all over me from the J4 reducer.
Of course, I don't mean LR Mates or M10s/20s with the oil change. In those cases I fully recommend following the procedure as it makes things easier. For some M410s and M900s you need to actually set the correct position to have access to the outlet, but not for much else. And I swapped out enough reducers - not due to maintenance issues mind you - to see why it doesn't really matter how you set the robot.
But with some robots in tight cells or on very high pedestals, we need to make concessions. I have a few robots where following the position in the maintenance manual actually makes the maintenance impossible -
This is a really big gotcha for someone who used to work with industrial robots. Also "feature" != "base". Features are evil.
Nothing truer has ever been written down about UR.