Posts by AlanL

You may be able to get some contrast shining a light across at a shallow angle

You can do an incremental move. In the same spot where you defined your offset there is an option to make the move incremental. You'll then have to set the point values to (0,50,0,0,0,0).

There may be another way, but I would put it inside an if/then block like this:

IF (R[x]<=x) THEN
L P[1] 100mm/sec FINE INC
ENDIF

1. No

2. I think DCS is what you are looking for. In DCS position check you can make safety rated zones that trigger safe outputs when the robot is inside/outside of those zones

3. I think generally most people use DCS zones to figure out where they are for homing (at least as a starting point)

4. I can't really speak to this one, I don't use analog inputs

5. It seems correct. I haven't calculated exactly and compared the robot's auto payload, but it always comes in where I would expect it to

I think the easiest way would just be to do a find and replace, and just remark them out

I haven't used scara's so I don't know if they have it, but my first thought would be payload setup being different.

Concentricity is tough. I had a similar issue and found that my tooling held the part .015" off center, which was too much for my application. It may not work in your case, but if I remember correctly, I was able to use remote tool center point and then used an incremental move with r being the only field used (0,0,0,0,0,xxx). I wasn't doing a full rotation though.

As long as you have an image there really isn't a need to ever take another unless you do something like add an option. If you need to do a restore you can just put in an old image and then immediately put an AOTA to get up to date programs.

We usually have our operator moves done through offsets, entered in the HMI. You can then limit the values in the HMI so they can only go as far as you allow. We don't do weld operations though, so I don't really know if you have too many points for that to be practical.

Yes, it will work fine

I have a m710 toploader, the battery died so we had to remaster it. 3 of us that have all remastered robots many times can't seem to get it correct. I lined up all the hash marks and did a zero position master, then calibrated it. The y axis works fine, but we can't get the x or z axis' to jog along their respective axis. Instead they are close, but not quite 90 degress out. We tried to compensate by single axis mastering joint 2 at +90 degrees, that was closer, but still wrong.

Do toploaders have a unique mastering technique?

Go to your PRs and shift touchup PR[18]. PRs need to be initialized before you can use them.

It sounds like your GI mapping is off. In your GI config you have rack, slot, start pt, num pts. The binary for 7 is 0000 0111, the binary for 55 is 0011 0111, and for 14080 it's 0011 0111 0000 0000. My guess is that you are either looking at a big/little endian issue or you have a problem with your config in your GI config (or maybe both).

When I see you getting 0000 0111, when you should be getting 0011 1011, I get the impression that start pts is off by 3 in your config in the robot. When I see you getting 0011 0111 0000 0000 when you should be getting 0000 0000 0011 0111, I start thinking big/little endian problem.

When you look at the binary equivalents to the numbers you are putting in against what you are getting out it's reasonable to conclude that the information is getting through, just not decoded properly on the robot side.

Doesn't Roboguide output a video file when you run the simulation? I think I've had this problem in the past and I found that the video files had true to life cycle times. My simulations were doubled, but the playbacks were proper.

ANSI/RIA R15.06 American Standard for Industrial Robots and Robot Systems - Safety Requirements

Is there a disabling input in your DCS CPC?

Did they change their firewall settings? If you can't ping any of them remotely it sounds like a network issue.

You want the key on the controller switched to Auto and the teach pendant off. If you are trying to move manually with the teach pendant you want to switch the key to T1 and turn the teach pendant to on, then set them back to auto and off to start production again.

Are you using the Palletizing option? If not, when you have the palletizing option installed you get access to pallet registers that have row, column, and layer.

I don't know off hand if there is a direct mapping for a DO to an SOP, but you can use background logic. If you don't have an unused DO you can map one to rack 0, slot 0. Then background logic you can do DO[x]=SO[x]

Depending on where it's set you can sometimes get a few more degrees in: Menu > Next > System > Axis Limits