with the 3 points method you'd have a "copy" of the factory TCP (same directions). If you need different directions, specially for Z, you may need the 6 point method. With an RJ3 controller you can hace 10 different TCPs
Posts by K-macho
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Yes, you have to use the correct tool frame and user frame. If, by mistake, you change them the coordinate systems may be different (jog and program).
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Yes it is. With RJ3, you can make a controller back up.
1.- turn off the controller
2.- press PREV and NEXT at the same time you power on the controller
3.- select CONTROLLED START
4.- Menu > File
5.- Backup > controller -
this variable $MCR_GRP[1].$otf_speed provides the speed of the last movement.
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I think that the node configuration is wrong: verify the scanlist, baud rate and node address. If this doesn't work, then check the hardware:
1.- A termination resistor equal to 121 Ohms 1% , 1/4W must be attached at each end of the
Trunk cable.
2.- The DeviceNet cable must by grounded at only one location.
3.- The thin wire trunk line max 3 amps and the thick wire trunk line 4 amps (max 8 amps)
4.- voltage between the Red V+ wire and the Black Vwire above 15 volts
5.- When multiple power supplies are required, V+ connection must be broken between the supplies. -
I don't understand why you need that. I guess you are trying to use your robot as a CNC machine and you want to mill by coordinates. If my guess is correct you can do this:
Option 1: you can have several TCPs, one for each bit
Option 2: jog your robot to touch the plywood and write down the position in WORLD, that will become your zero
Option 3: you can use PR[i,j] to make an offset -
Hello HawkME, I tried this:
c:\CC\Work\BckUp>ftp
ftp> open 192.76.251.55
Connected to 192.76.251.55.
220 R-J3 FTP server ready.
User (192.76.251.55:(none)): master
230 User logged in [NORM].
ftp> cd
Remote directory \md
550 Invalid device or path <---------- did you meant here or above?
ftp> get pick.ls
200 PORT command successful.
150 ASCII data connection.
Control-Break <---------- I typed ctrl+Pause because it got frozen
451 Requested action aborted.
ftp> bye
221 Goodbye.During that "frozen" time, a .TMP file was created in the selected directory of my laptop. It got deleted when I aborted
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Hello guys. I want to download a backup of one of my robots using TCP, FTP or TELNET. Being honest I don't know a lot of these protocols I just plugged in an ethernet cable and this are my findings:
1.- typing the IP address of the robot on Internet Explorer displays:
FANUC ROBOT WEB SERVER- Program/Diagnostic Index for : ROBOT_5
Variable files (text)
TP Program files (text)
Error/Diagnostic files (text)
Binary files
(here I can download the listed files individually)2.- using TELNET command from my windows command prompt:
C:\>telnet
Microsoft Telnet> open 192.76.251.55
Connecting To 192.76.251.55...R-J3 Telnet (Robot: ROBOT_5, F No: F00000 )
log-in:
password:3.- using FTP in the command prompt:
C:\>ftp
ftp> open 192.76.251.55
Connected to 192.76.251.55.
220 R-J3 FTP server ready.
User (192.76.251.55:(none)): anon
230 User logged in [NORM].
ftp> bin
200 Type set to I
ftp> mget *.*
(and nothing happens)4.- I downloaded some programs like: TFTP, Backup Tool and Total Commander but it seems that I missed something because they are not working. With Total Commander I was able to connect but the program stays with a Download prompt that never ends.
Any clue?
- Program/Diagnostic Index for : ROBOT_5
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I remember that on the training it was possible to first teach and record the position and then use them in the program. Anyway maybe that's VAG system has some limits to it... I didn't get any description so I don't really know how it's work .I have a robot with a program just like that. First it has a declaration area in the program:
PR[5]=P[11]
PR[6]=P[12]
PR[7]=P[13]And then you use the PRs in the program. (Of course you'll receive an error if ou don't record the positions 11, 12 and 13 first)
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There are a lot of functions in DCS, it seems that what you need is Cartesian Position Check. Basically you can define 3D areas whre the robot is able to move. By having more than one area you can work with zones using an input to disable each area allowing the robot to move outside of it.
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$MCR.$GENOVERRIDEYes, thank you. That was the first thing I tried and it didn't work. then I found that I was writing it with lowercase....
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Do you need the TCP speed in [mm/s] or just the override value (the "speed" setting in [%])?Hello bidzej, do you know the variable to read the override speed?