I may be completly wrong, but isnt there an option to turn on part drop in the set-up -> pallet system screen? then I believe that's all done by the robot if one of the EOAT's sensors isnt made but should be.
Posts by MechE
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I'm having a similar issue at the moment.
How many infeeds do you have? If you just have one infeed you could write a program telling the robot to go to the infeed's perch position and wait there for the inputs saying the box exists; which works well unless you have multiple infeeds with irregular production rates (where I'm at). -
Hey y'all, I have a palletizing robot with two infeeds and pallets. during set up of the infeeds, The robot would pick even though there were no boxes present. I "fixed" that by writing a program telling the robot to wait indefinitely for the signal that boxes exist. The two conveyors have different and sometimes sporadic production rates, this is leading to one conveyor being backed up.
What would be the proper way to set up the infeeds so the robot waits for boxes and goes where it's needed?
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You would want to go to Menu -> Setup -> PalletSystem -> should be number 7 or somewhere on that screen
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If I'm understanding you correctly, the PLC would do the counting then tell the robot the pallet has been completed?
Does it do that by changing R 16? -
That was an Idea, however my customer has constantly changing pallet sizes based on what their customers order. For example, One customer could order 200 boxes worth of material, while another could order 1000 boxes, so I do not believe changing the pallet size each time is efficient. Nor would I trust the operators to be able to do that without accidentally changing another important value.
I guess the question boils down to; Is there an internal unit counter that I could set to end at a specific value to tell the robot the pallet is done without changing the unit load each time?
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Hey Yall,
I was wondering if there was a way to make partial pallets in Pallet tool. Right now I have counter going based on picks, and that works and Index's the pallets just fine but will not reset the robot or tell it to grab another pallet after the indexed pallet is clear.
Before I had just set it to index the pallets when they were full (register 16 i believe?) and that told the robot to grab another pallet after the previous one had been indexed. -
On the robot I'm working with, you can set genoverrides and speed override in the data registers. Have you looked there to make sure they're where they should be?
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I have been teaching the points by setting the end of the robot a known distance from the infeed origin, and adjusting the z height as needed. As of right now, the vacuum head gets to the boxes just fine but is about a quarter of an inch too high to actually grab the boxes.
And no, we tried to contact FANUC to get a copy but they said that they only had a troubleshooting guide for handling tool. -
I really hope so. I was brought on this project just recently and the company had the robots sitting in storage for over a year... It's been quite the cluster just getting them set up the right way.
Thanks for all the help PDL, I really appreciate it. -
Apparently the electrician who installed the robot and mastered it, just went to where the position screen said zero was and mastered it there...
After doing a proper mastering, everything looks more normal, just lower than it should be. How high above the infeed and pallet origins should i teach the positions?
Attached is the new back up with everything "fixed" -
I agree that we could use the training, but unfortunately the next class that I've seen is in november.
As for the backup, I just spoke with FANUCs pallet tool expert and the backup I sent him had the fixtures in a circular coordinate system for whatever reason, but here it is anyway. -
As it turns out, that data was not entered... but after getting it all in, the issue still exists where the robot will not go to pick boxes.
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After stepping through PKFRMINF the robot just went to the assigned infeed position, then went up and down.
I is possible that the gripper was never assigned seeing as I cannot find where to check for that. Is it in the gripper set up menu or the unit load menu? -
When I go to pick, the robot will go to the infeed unit position (PR 1) in the PLONPAL and then get hung up when it tries to adjust for each unitload. I have tried to compare it to a simulation I made in Pallet Pro, and to me it looked like this program would be the issue, not PKFROMINF?
Should the robot adjust for the unit load in the PKFROMINF or PLONPAL program?
As for the teaching of locations and the gripper, they should be correct. -
I'm working on finishing up a project for a customer, and the robot will not pick up product. I've narrowed my issue to the PLONPAL program in Pallet Tool. I have looked over the code and it seems right to me. I think the issue lies in the offsets for each position. Any suggestions on where to begin?
R-30iA controller
Pallet Tool v7.70/52 -
I actually just figured that out a couple minutes ago...
And sorry, it's a R-30iA running an R-2000ib/125l -
I am not aware how to do that, but the current thought would be to just change the PR's to new ones and go through the code swapping out the old PR for the new one? It would definitely be more work but im assuming that would be a for sure fix?
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PR36 (slipsheet search start)
PR45/46 (CalcZHeight)
and PR48 (Diag Return Pal2)I cant run the programs without going step by step and skipping lines with PR46 because the position it is beig changed to is not within the reach of our robot...
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Howdy y'all
I'm working with Pallet tool and as far as I can tell everything is working as it should with the exception of 2 or 3 PR's. Fanuc support told me that it's likely something in the code itself changing the PR.
Could there be another cause for this? Or is there possibly a quick fix that would allow me to run some parallelizing cycles to show my Boss progress is being made?
(this is my first time working with robots or programming at all)