Posts by MooseHorns

Creating a program that look for parts in a box and places them in a CNC. Problems are:

1. Parts can be upside down. We have a way of flipping them but I need to be able to look for 2 vision patterned at the same time if 1 do x if 2 do y. Looking for tips.

2. Parts are circular but vary in sizes (130 different diameters) but other wise the same. I would like to be able to input a recipe choice to choose what set of vision parameters are needed. If recipe 1 look for 1 inch.... if recipe 130 look for 9in. Looking for tips.

I know how I would do all of this in a fanuc robot but unsure how to do this level of complexity with the URe10 we have.

Can anybody point me in the direction of some good Karel information? It seems like a powerful tool that I do not understand but keeps popping up in my work.

Can anybody give me an explanation of how monitor statements work and maybe an example of how they have used them? PalletTool uses them alot and I would like to understand them before I monitor them.

I am trying to control which way my wrist rotates in PalletTool. to prevent hose wrap up. I have tried searching the forum but the search tool is garbage. what tools are available and how do I use them to change wrist rotation direction?

I am having a difficult time using a 2D Single View Vision Process- GPM locator tool.

I am able to find the target words and get the offset information that I am looking for, but it is taking a full second to find which is an eternity too long.

Does anyone know ways to speed up the vision process? am I looking for too intricate of a pattern?

We have a customer that is absolutely impossible to train on proper error recovery. They will manually force the conveyor forward while the robot tool is still in the way of the flights and it knocks the robot out of out DCS zones (they are VERY tight because we have 4 lr mates in a line with roughly a foot of space between them).

It happens rarely, but frequently enough that is a pain to coach them through a DCS recovery when no one there is trained in basic robot handling.

I was wondering if there was a way that I could mute the DCS Zone only in the go to home program, since our homing program moves always in a very safe direction, several of LPOS and JPOS calculations to negotiate a safe trip home.

Can I in set the mute input to a robot output and mute it at the beginning of the program and turn it right back on at the end? Or must it be a dedicated "safety input"? I'm still hazy on my PLC and Safety controller setup, so I am unsure what the difference actually is.

This is just for general knowledge not for a specific problem, but I have questions about the purpose, benefits, and reasons to use a Macro program instead of a regular program?

I realize that Macros can be assigned to pendant keys and manual functions (we don't often use those here, because we prefer not to have our customers access the pendant) but what else can they do?

If I assign one to a DI, does that mean whenever I get that DI it calls that program? Like could I assign a GO_TO_MAINT program to a DI and when ever the robot receives that DI it goes to maintenance position? Does a macro input tender always run in the background?

Fanuc just seems really proud of this ability and I have yet to find a use for it in my entire 5 months of robot programming (such a long time I know), and I want to know if I am missing out!

***if there is already a thread here please direct me to it***

We often want to send a negative value to the robot for either an offset modifier, or to modify other registers.

We use mostly 16-bit words to communicate a negative number actually subtracts from the high end 65535, so when the PLC sends a -1 it actually sends to the robot 65535, we modify that using a BG Logic program similar to this:

1: IF (GI[X]<=32768), R[X]=(GI[X])
2: IF (GI[X]>32768), R[X]=(GI[X]-65536)

which sets the GI's to a register and gives them the appropriate sign, this does obviously limit your total value options to -32,768 thru 32,768; but we rarely need a value higher than 10,000.

turns out something about the IF statement BG logic doesn't like

Solved my own problem... I was looking for a variable when I already had it.

IF UO[8: TP ENABLED]= ON, JMP LBL[9999]
R[t]=GI[y]
$MCR.$GENOVERRIDE=R[t]
LBL[9999]

I set the override to my GI then I jump over that when the TP is enabled

I have on previous occasions controlled the $MCR.$GENOVERRIDE variable with a GI.

Is there an easier way to control robot speed from the PLC from a GI?
I don't want to use the OVRD Select option, because I want to vary the speed from the HMI via the PLC.

Is there anyway that when I am using a PLC controlled speed that when the robot is in T1 I can control speed from the pendant?

This is an original instalation, so I will not have to modify existing programs.

We are using the newer R-30iB plus controllers as well.

This might be incredibly simple, but in s dispense program I need to stop the actual dispense prior to the termination point to prevent the "tail" or excess form dragging or disrupting the pattern. How do I fire the DO in motion prior to the termination point?

Heck, how do I fire a DO before or after any motion?

Again this might be Robot 101 but I can't for the life of me figure it out.

Anybody have any experience using the new PLUS controllers? Should I go through the prompts? or should I continue business as usual and ignore them?

-Tyler

I have 4 LR Mate robots working in close proximity to one another, I have advanced dcs installed and all other add ons necessary to utilize DCS fully. I have established zones that the robot is safe to operate in that will prevent collision between and 2 robots. Now I heed to make a safe zone for the EOAT. this needs to only be for the tooling and prevent it from finding the actual conveyor.

A walk through on how to create a DCS model for the tool, and how to change the safe zone to incorporate that instead of the whole Robot would be nice, and I believe helpful for others in the future. Thank you in advance.

great suggestion, I am still looking for a was to get an arc of a circle larger than my square in my corners. I have created a path, and can crudely make it work but it will not be scalable or to a correct radius.

What I am looking for is a way to set a radius and then travel to a degree of that circle along that circle. I remember this being a function that I could do with Motoman back when we thought that was the way of the world. And I thought I remembered it being a relatively simple function, if anyone has any resources that might point me in the right direction let me know.

not necessarily trying to round the corners, I am trying to make a decorative addition, this robot is decorating cakes.

Currently trying to maintain a radius of a circle, but go so specific points on the circle. I need to make 4 arcs in the corners of a square. Is there a way to manipulate my points based on a radius and an angle from the origin? This feels like a basic operation yet it is something I haven't come across until this point, and I am having trouble finding information on this through the forum search or other searches.