Posts by emielke12

    I've seen examples of what I'm trying to do:

    /JOB

    //NAME TEST_JOB

    //POS

    ///NPOS 1,0,0,0,0,0

    ///TOOL 0

    ///POSTYPE BASE

    ///RECTAN

    ///RCONF 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

    C00000=500,0,100,0,0,0

    //INST

    ///DATE 2023/12/06 10:43

    ///ATTR SC,RW

    ///GROUP1 RB1

    NOP

    MOVL C00000 V=200.0

    END



    I get an error 3190[4] when I try to load this. From what I gather, this means I need the relative job software option?

    Quote


    Either need to use position variables

    How do I define these inline though? It's too tedious to go in to each position register and enter the values needed, and I'm also leery of doing SETE commands, since this is going to be SETE 6 times per position, so if I have 100 positions to go to, my program is now 6x as long. If this is the only option, then I guess I have to use it.... But wondering if there's an alternative way. I see that you can set either a position register Pxxx or P[n]. Are these different? Where can I specify what P[n] is?


    Quote

    have relative job software option turned on

    This is not something I'm familiar with. Could you elaborate?

    Hey,


    New to motoman, but I'm trying to compare the same spline path across different brands of similar geometry/payload robots so we can confirm what we've done with one brand will work well with another. As such, we have a list of relative positions that we are moving the robot through. This works well with say, Kuka robots, because you can easily define the positions with respect to a defined user frame and in-line describe the position you'd like to move to, i.e. with KUKA:


    Code
    LIN {X 215, Y 400, Z -110, A 0.0, B 0.0, C 0.0}


    Is there a way to do this with motoman on a YRC1000 controller? I have 100s of points that this needs to run through, so manually teaching is simply out of the question. I'd like to be able to generate a .JBI file given just the list of points, and then be able to load it onto the controller and be able to run it, as I can do with a KUKA.


    Any ideas?

    I'm sending cartesian positions. I've been sending anywhere from 1mm/s up to around 200 mm/s. If I haven't generated a smooth enough trajectory, I do get jerk faults, but I am able to achieve faster motion.

    According to my co-worker (and confirmed in the documentation) streammotion requires you to send an update packet every time you listen for a packet.


    Have you done this before? I've tried just opening up the socket and sending the start packet and then waiting to receive data, but I am not able to get any data back.

    I am trying to compare motion achieved by fanuc's stream motion (J519) package to the same motion utilizing a teach pendant program. When I am running utilizing stream motion, I can easily check the position at a given time and record, so that after motion is done, I can check the reported achieved path. However, I am unsure if the same can be done with a teach pendant program.


    This seems relatively simple, but I have yet to see anything about this in any of the fanuc programming manuals or training manuals that we have. Is there a way to record actual position throughout a LS program (either at a fixed time interval, or at a desired point) and then be able to dump this file to grab it via USB?

    I am attempting to install a new sunrise project onto my lbr iiwa 14. The project appears correct in sunrise, and I can see the correct IP in the pop-up window when you install. However, part way through the install, I get a number of errors claiming "the network path was not found" and numerous "failed creating directory 172.31.1.147//KRC/...."


    Any ideas would be helpful!

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