Posts by Hazard

    I went through this something like this a few years ago on an RJ3. The previous install user had not left any documentation of his password. I first did a backup. Then I was able to open the backup of SYSPASS.SV file in Wordpad. While most of it was gibberish, the install users name was clearly legible in the middle of it and a few characters later was a 4 digit number that ended up being the password.

    Put a laser upstream on the conveyor and another downstream. Any time an object passes the upstream laser, a flag turns on and stays on until the downstream laser detects the object leaving. Program so the robot will not interact with the conveyor while the flag is on.

    I think cold start only shows up under the function button when you have booted up with a controlled start. Also, I've only cycled power for variable changes. I don't recall doing any that specifically required a cold start. Which variables are you looking to change?

    On my RJ3iB (w/ color tp) it's Menu > File > File > F5[Util] > Set Device and select MC. Then you can copy your .LS to the MC. Alternatively, selecting PRINT will save a .TP as an .LS on the MC.

    My experience with this has been that certain pieces of equipment will sometimes generate enough vibration to cause a momentary misalignment with the light curtains or cause a connector to lose connection. If I see it happening only when certain programs are run that's the path I follow.

    How far does the offset in PR[80] move it? Will it move ok from P[19] to P[20] without the offset in P[19]? Does it pass through singularity in the motion? Have you tried an intermediate point between P[19] and P[20]?

    I saw something similar to this once when a robot tried to move to a point programmed in user frame 0 while another user frame was still active.

    For the SRVO-051 my R-J3 book says:

    1. Replace the servo amplifier.
    2. If this does not clear the alarm, verify that all connectors are securely connected.

    You may want to take another look at those cables and connectors.

    You can change the sensitivity of collision guard programatically. In the collision guard setup you have to set a register to use for sensitivity. Use it to decrease sensitivity when interacting with the chuck and then increase sensitivity when done.

    1: R[13:Col Guard Sensitivity]=75
    2: Col Guard Adjust
    3: Blah
    4: Blah
    5: Blah
    6: R[13:Col Guard Sensitivity]=100
    7: Col Guard Adjust

    I know this is not exactly what you're looking for, but it will give you more control over when the robot stops due to collision detections.

    I also have several RJ3s with various versions of HandlingTool. None of them have the IF(...) statement.

    Alternatively you could use a program call

    1: IF R[1]<>1 OR R[2]<>1, CALL PRG001

    1: DO[1]=ON

    Depending on what you are doing with your process, you can add other lines in PRG001 to do whatever else happens along with the output turning on. Then you can potentially call this in other programs as well.

    [shadow=red,left]3. There may be a way (i am not sure) to have a pop-up occur on the TP which will prompt the user to select a program.[/shadow]

    There is a way to do this. I think you have to have the Menu Utility option. An Operator Entry menu and/or List menu will do this. The Operator Entry menu can be configured to accept various types of data such as boolean, numeric, etc. The List menu can be configured to list up to 8 items or so that can be selected.