Thank you! I'm well versed with TP, but this is my first real rodeo with KAREL. It's ... great ....
Posts by PSU_Crash
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Is there a file that stores the KAREL positions in a backup? Something like posreg when using TP code? It seems that loading a backup with KAREL doesn't load the robot targets.
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That worked THANK YOU!!!
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I'll give that a try and report back
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i had an older version of fanuc ladder III (v6.70) that I am attempting to import the ladder.pmc file to. Robot is an R-30ia controller with version 7.3 on it. After contacting fanuc tech support they told me I needed a newer version of fanuc ladder. OK, no problem. I ordered version 8.70 and installed that. I still get the same Format error of S0 record when attemting to import the pmc file.
Talking with Fanuc again after this hasn't got me anywhere.So hopefully one of you can give me a hand. It may be something silly I'm doing wrong. It's been a few years since i modified a robot ladder.
Here's what I did.
Created a new program Called PR11LD
Set device to robot and PMC type to R30ib (since that's the only option)
PMC path left on 1st, instruction, symbol and comment all standard.
I did not set anything under FB Library or I/O Link
From here I attempt to import LADDER.PMC as Handy-file Format. The ladder file I am importing is from a robot backup. That's the only thing that I can think I might be doing wrong?
Any help is appreciated!
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Thanks for the pinout Robo_Eng. That matches what i have from the integrator for I/O assignments. So using pin 23 as a low power DC common should work.
Any idea what the A1 on pin 8 and A2 on pin 23 are referring to? That designation makes me think of a relay coil. Can't see how that would be relevant here though.
I'll go over my wiring and make sure I didn't screw something up, like accidentally end up on pin 22 or 24. I double checked all that, but it doesn't hurt to look again. -
Hello All!
I have a question about the EE connections on my M-710iB. The documentation I have from the integrator shows pin 8 as 0V and pin 23 as COM. Since pin 8 is already used to fire gripper solenoids I thought I could use pin 23 as a DC common for a low power (<.2A) LED backlight. Some quick testing shows 24VDC differential between pins 17(+24VDC) and ground as well as 17 and pin 8. Nothing between 17 and pin 23.
Any insight is appreciated! -
Tony, that's not a bad idea at all!
That would get most of the PR positions set in stone. I'm definitely the only one in the plant who knows how to do a controlled start and access the background program. There would still be some things to figure out, such as the above pick and place points. I also use a PR for the place offsets as it stacks parts. In theory those should be self correcting even if someone touched it up since the calculations are done on each cycle.I played around with the LOCK and UNLOCK PREG yesterday .... that's not going to do it for me. Far too easy to get around. My guys aren't good and don't put effort into anything, but there is one or 2 that would figure out how to get around it. Even if only by dumb luck
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My recommendation is DCS. If you do not use an approved safety method to prevent the robot from "exiting the cage" then it is an obvious violation of the industry safety standards. It sounds like your "robot safety team" doesn't know much about robot safety... I feel for you.
That could not be more true!!! It is very frustrating at times. I came from a place with DCS on everything, many sensors and interlocks to assure safety.
Here ... I can't believe people don't get injured more often.
Thank you all for the replies! -
I was under the impression that LOCK PREG would lock the current values of all PR and not allow them to be modified by code until the UNLOCK PREG command was given.
For instance, I would still need this part of the homing routine to work. Or am I understanding this incorrectly?19: PR[5]=JPOS ;
20: R[19]=PR[5,1] ;
21: IF R[19]>95,JMP LBL[2] ;
22: IF R[19]<65,JMP LBL[2] ;
23: ;
24: !CONVEYOR AREA ;
25: ;
26: PR[5,2]=(-7) ;
27:J PR[5] 25% FINE ; -
Hello all!
We have a Robot Safety Team that spans across 7 plants. I am the only one using Fanuc, with the others ABB. Needless to say there are often some misunderstandings between the 2 protocols.One of the plants had a technician modify a global variable (basically a PR in my case) and not fully test. Changed over to a new part program and the robot promptly exited its cage. Now they are mandating that all global positions be locked down. We use password login on all of our robots already. I thought it would probably be doable to create a custom password level that allows users to touch up points, but not able to modify any registers. So far i haven't come up with a solution here.
I brought up using DCS to keep the robot from EVER crashing into a hard obstacle. I don't believe that my distance co-workers know what that is and dismissed it. Honestly I don't have time to go through and implement DCS on all of our cells anyways. Push comes to shove I would definitely call in our local integrator to lend a hand though. After all, you can't put a price on safety... until they see the bill
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Thank you for the clarification!
Time to modify some code now that I understand
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I'm fairly adept with programming these monsters, but there is a bit of code that I've never completely understood. Our integrator uses this code extensively in their move home and transition programs.
CALL SAFE(X) where x is a constant.Program SAFE
PR[100]=JPOS
PR[100,2]=(-30)
PR[100,3]=0
PR[100,4]=0
PR[100,5]=(-75)
PR[100,6]=(-30)!CHECK FOR J1 COMMAND
IF (AR[1]<>0),PR[100,1]=(AR[1])J PR[100] 100% CNT100 ACC125
[END]Now I understand that I am taking the current joint positions and loading them into position register 100. Then modifying joints 2,5 and 6 position accordingly.
Check if joint 1 position not equal 0, set PR[100,1] equal to the current J1 position.
After all that, it moves to PR[100]What I don't understand is the value that is passed with the SAFE() program. How does calling SAFE(60) differ from calling SAFE(0)?
My first post, so be gentle