Hello, I'm looking to rewire an external axis cable I have on hand that was cut. It goes to a Fanuc alpha i motor.
I have a replacement encoder connector end purchased from eBay that fits the encoder, however I do not have the pinout, and I have not been able to locate it online. It is the standard 10 pin pulse coder connector. Does anyone have a pinout for this connector?
Yeah, so I purchased these robots at an auction, I haven't attempted to power them on. I'm guessing that they just put older pendants with them to sell them complete.
Thanks for the information.
Hello, I am looking for some information regarding switching out Motoman pendants.
I have quite a bit of integration experience with Fanuc and ABB, but minimal on Motoman, though I've programmed paths on a few dozen in the past.
I have a DX100 MA1400 with this narrower pendant. I would like to switch to the larger style pendant I've used in the past. https://www.ebay.ca/itm/313712…ba1de5:g:cqMAAOSwsG1h5qxY
I'm not well versed on if Motoman has interchangeable pendants. Is the narrower style some sort of legacy product? Are they interchangeable? Can I simply purchase the larger pendant and utilize that instead?
I'm looking to add coordinated motion to a 120iC 30iA mig welder with a turn table. I want to be able to weld while turning the table. What options do I need to purchase from Fanuc? Does anyone know which options are required for coordinated motion with an external axis? The robot already has the external axis set up on the robot.
You're only look at a singular round hole. You haven't given the vision process anything to reference the angle off of. If you can, utilize part of one of the holes to either side, and look at part of those edges. You'll be giving the process a reference point to base orientation off of. Until you have something to reference the circle off of, you can't correctly interpret the orientation.
Firstly, yes the password protection will follow, but you can turn it off in the customization in a controlled start.
To your second item, technically yes it is possible, but it is not a simple process. You can turn the image files into a bootable drive and manually delete files, add the TPs you want, then split the image back up. I've done this with success, but it is a bit of a pain to do, and takes some trial and error to get it right.
What I would do would be just to delete the TPs once the image is installed, and then use the restore function from a controlled start and restore the TP files. This will auto load the TPs from your folder. Or just restore the MD and get back everything. This process wouldn't take overly long. Even deleting the TPs on the teach pendant you could blast through it in 5 minutes, and the restore from a controlled start is only a few minutes.
Alternatively you could FTP into the robot and remove the unneeded TPs, and upload the TPs from the MD backup that way.
Once it's hidden, you may be able to load a copy of it back on to the robot and overwrite the current hidden copy.
There isn't really a need to load the TPs onto the image. Just load the image, then delete the unused TPs, and reload the TPs that you want. Why do you think you need to add them to the image?
Hello, I am creating a Karel script to help set up some robots with a common standard. I have all of the IO comments writing without issue, and if no bits are configured in the digital input or digital output table I can map them however I want without a problem.
However, if anything is mapped, it is obviously a conflict. Is there a Karel command to clear out IO mapping without knowing what it is?
Hello, I am looking into using Karel to create custom log files based on events, but there are some gaps in my knowledge with relation to a few things.
1. What I would like to do is have a Karel program constantly running in the background, but preferably hidden from the users sight, so avoiding using BG logic, but this isn't a deal breaker.
2. I would like to start a collection period based on a DI, then monitor and add items to an array based on other DI/DO changes, until a desired DI changes, then save that recorded data to a log file. Can you do while loops in Karel? Can you use 2D arrays in Karel?
You absolutely can. Depending on the generation of the robot and the software, they react a little differently. The newer 30iBs handle the motion of it much better and your weld spots will be accurate even with a CNT100. When using a spot command the CNT simply controls the gun open/close speed as it approaches the point.
Current General Motors robot standard calls for all weld spots to be 800mm/sec cnt100. That standard is running on over 3000 robots without issues.
Be a little more careful on ped applications on older robots, as they tend to close the gun a little quickly on spot commands when its set to a cnt100. I've had some issues on some RJ3 stuff before where the gun made contact with the metal a little early and my spot moved a mm or 2. Easily fixed by lowering the CNT value. I've found that anywhere from 30-80 seems to do pretty well on the older stuff and saves quite a bit of time.
As d.kerekes said, getting your gun open/close distances dialed in can help huge. If you're welding welds in a straight line with no interference to clear, open and close distances of 10mm is sufficient and much quicker then larger distances.
Just be aware that if you make your distances too low, you will get a message during welding that calibrated speed could not be reached for that pressure. This relates back to your pressure table and what speeds you set it up at.
Yeah I seen something odd in a picture from an RJ3iB Mate manual where under "Type" it they had a "Jobs" option selected, but I've never seen an option for anything like that here out on the floor. Wonder if that's what you're referring to?
Jobs are for dispense applications.
So, I'm looking to start an image backup to a USB via a CF File. I know how to trigger the execution of a CF file via Telnet, through the KCL port, but I do not know the what the KAREL code would be to do this.
I know it can be done, as I have done updates for General Motors Fanucs which will preform an image to the USB before they update, but I haven't been able to find the necessary code.
If anyone has any input, I would be interested in hearing it.
Additionally, I'm also searching for the code to simulate button presses on the Teach Pendant. Again, I've seen it in practice but have not been able to figure it out.
I built a single robot cell before to utilize multiple fixtures. I had 2 pins, one on each side and 4 pads for the fixture to sit on, the stand was a U shape, with the pins and pads on each side, once the fixture was on it was held in place with 4 bolts. Quick to remove and swap. I had the robot running the cell so I had dogs on the side of the fixtures, 4 sensors on the cell work table and configured the sensors to a group input which gave me 15 possible fixtures, though we only used 4.
It worked well and the customer is still using it.
3D vision would correct for this issue, as it will give you Z offsets for depth
However, you could mount a laser switch to the EOAT use a Skip function to search down until the laser turns on, then use your vision program from there. That would be the quick and easy way to get it functioning without having to manually input something every time. You may have to re teach the 2D vision with the search found point as the new origin to make it work at the start but after that, you should be able to run without manual intervention.
Here's a standalone offline utility I wrote to preform this function on LS files, feel free to use it. You'll need to have the ascii upload option on the robot in order to reload the LS files.
Run it, select the program you wish to shift, enter the number of degrees(between -360 and 360) and press the "Rotate By Degrees" button. Then, select the destination to save the file to and press the save button.
This program currently only works if you have a user frame without rotation, I will be adding the ability to add that later.
I have it, though I thought you needed robot server to utilize those functions, no?
I've seen some indication that this is possible, though I'm unsure of how to go about it. Does anyone know how to send KCL or Karel commands via a laptop over ethernet?
I'm working on newer R30iBs
I'm looking to remotely send out some commands to do some configurations on the robots without having to go to each robot and run a CM file.
Any help or leads on where to look would be appreciated.
I've been writing some offline utilities to ease the setup on some new lines we're building, and am having trouble setting DeviceNet devices via a CM file.
I'm creating a DeviceNet definition file (dndef.dg) without issue and it will load fine and the definitions are visible from the pendant. My CM code is setting variables in $DN_DEV_LIST and though they are visible from the pendant after running the CM file, I am still not seeing anything on the DeviceNet IO Menu screen. I know I must be missing something but I can't seem to figure out what it is.
Obviously it's quite easy to setup the devices manually, I'm just trying to eliminate as much hands on work as possible.
On new 30ib robots.
Any help or insight would be appreciated, thanks.
EDIT:
To anyone else who needs this information, I found that setting the required variables with a CF program was the better way to go, I found that there was one variable which would create an unassigned dnet device on the pendant.
I found I needed to modify the DN_DEV_INDX variable in order to actually create the devices, and then assign mac ids and devices specifics after.
Below is a sample of the code I'm outputting.
SET VAR [SYSTEM]$DN_DEV_INDX[2].$INDEX[34] = 0
SET VAR [SYSTEM]$DN_DEV_LIST[1].$DN_DV_BDIDX = 1
SET VAR [SYSTEM]$DN_DEV_LIST[1].$DN_DV_MACID = 20
SET VAR [SYSTEM]$DN_DEV_LIST[1].$DN_DV_PDT = 1
SET VAR [SYSTEM]$DN_DEV_LIST[1].$DN_DV_STAT = 1
SET VAR [SYSTEM]$DN_DEV_LIST[1].$DN_INP_SIZE = 6
SET VAR [SYSTEM]$DN_DEV_LIST[1].$DN_OUT_SIZE = 1
SET VAR [SYSTEM]$DN_DEV_LIST[1].$DN_DV_VNDID = 1
SET VAR [SYSTEM]$DN_DEV_LIST[1].$DN_DV_DVTYP = 22
SET VAR [SYSTEM]$DN_DEV_LIST[1].$DN_DV_PRDCD = 130
SET VAR [SYSTEM]$DN_DEV_LIST[1].$DN_DV_MODE = 2
SET VAR [SYSTEM]$DN_DEV_LIST[1].$DN_DV_NDIN = 48
SET VAR [SYSTEM]$DN_DEV_LIST[1].$DN_DV_NDOUT = 8
