Yes, you can use that position to set a quick master reference.
Perfect. Thank you very much !
Yes, you can use that position to set a quick master reference.
Perfect. Thank you very much !
The easiest and best way would be to get new vernier alignment marks, choose a posture that the robot CAN reach inside the cell, place the alignment marks on each axis in a visible location so that they are aligned at this position, and document this position somewhere safe. Then, in the future if you need to remaster, jog to the alignment marks and do a Single Axis Master on the whole robot at the recorded location.
Thank you. I thought of it, but customer most likely wont agree to any marking.
Hello all,
I have finished programming my cell. Currently, robot is mastered at zero witness marks. Now I am told I need to use two locator pins for mastering the robot. The EOAT has 2 pins and will line up with a plate with 2 pins in front of robot.
Also, I realized that my J2 cant reach zero degree (cell layout). And this means I cannot master J2 and J3 at zero witness mark either in future.
What are my options here in setting a new mastering position to locator pins without reteaching my cell completely ?
Can I set a Quick Master Ref Pos at locator pins and use it in future to Quick Master ?
Thanks. Appreciate the help !
Vish
Thanks pdl. I am writing this program from scratch. Will keep it in mind.
Yeah I thought it would move based on active coordinate system but not.
Thanks everyone.
I changed the representation to Joint and a MOVE_TO still wants to crash. So, based on your inputs and testing, MOVE_TO is definitely LINEAR, except there is no documentation it in HandlinTool manual.
@robotero
Thanks for this tip ! Changed it to Joints and now I dont care about UT UF for home moves
Hello,
The robot takes a totally different path to go to PR[1] when I call the move from TP program vs directly using MOVE_TO from POSITION REGISTERS screen. Pic attached.
When Robot is at Line 155, going to J PR1 takes a desirable path. However, when I am at line 155 and use MOVE_TO to PR1, it takes a bad path and EOAT pretty much crashes into itself
What am I missing here ?
Thanks
Vishal
You could set up 8bit or 16bit "Group Inputs". Write a value to it from PLC.
Have BGLOGIC in fanuc program which copies GI value into Register. I think this will work.
I have never done karel programming> I dont know if its easier/possible in karel.
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WPR is a sequence of rotations to get a desired orientationFirst a rotation around Z
then follow by a rotation around Y’
finally a roll around the X’ axisThe rotation angles depends on the orientation you want to reach
The origin is located at the center of the robot tool plate
Looking at the picture:
X coordinate is zero because the center of the two tool plates seems to be aligned with the center of the robot face plate
Z coordinate is positive for both tools because they protrude from the robot face plate
Y is positive for one tool and negative
for the other, and is the distance from the robot face plate center to the center of each tool plate.Now for the WPR
W is -90 and P less than 90 for one tool because the tool plate has an angle
For the other tool W is 90 and P is again positive and less than 90 degrees.
R is zero for both tools
This is only one possibility as you might want the X axis pointing in a different direction
Another way is to make both W,P zero
and just Roll around X less than 90 degrees, positive for one tool and negative for the other onethe Z axis always normal to the tool plates, but there is infinite choices for the X axis
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Wow. Thanks for detailed explanation. I am glad that I ended up with same explanation as you for XYZR . I am still trying to get my head around WP.
I am waiting to power up the robot and move it so that I can play and make sense of it.
Thansk again !
viskeyIf you know how, just teach a rough TCP (6 points) , just to get some numbers. Then show them to your "mechanical engineer"
Usually, It's been taking years to teach them, they do the design and they dont have a clue about the zero of the robot and the dowel on the face plate. Tool always end up crooked when the robot is at zero
Yeah, I have communication issues between robot and PLC (CIP safety with EIP), so robot aint moving yet. Thanks !
Hey,
DCS IO : SSO[6] and SSO[7] control the mode with external select. By default, they are off and that relates to Auto mode active. If you want to run a program in Auto with SOP, I guess you can just select a program on TP and hit CycleStart using SOP.
If you are trying to put the teachpendant in T1 mode, you can write up one line logic in Menu-->System-->DCS--> (2)Safe I/O Connect
SSO[6]= SSI[6] (SSI[6] is ON when Controller and TP estops are Ok)
OR
SSO[6]=ON
On DCS screen,you will need to hit Apply. It will prompt for Code,default is 1111. It should perform cold start and you should be good use TP in T1.
If you want T2 mode, set SSO[6] and SSO[7] ON.
See attached.
Hello.
I have an EOAT (picture attached) for which I want to set up two tool frames using direct entry method. Can someone please help with W,P,R values field in direct entry method ? Where do I get this info from ?
My designer says he can provide X,Y,Z but not W,P,R or atleast he doesnt know how to in Solidworks.
Thanks in advance.
Vishal
Hello all,
So I was able to fix it.
I uninstalled everything related to Fanuc.
Then, deleted the Win temp folder
Then, deleted C:\user\AppData\Loca\Fanuc folder
Then, Went to windows registry. Searched for "fanuc" and deleted every registry key that came up with fanuc name. Almost 100+
Restarted pc and reinstalled. Everything good now !
Alternatively, you could use Revo Unistaller Pro. it should remove 99% of keys and then manually find keys in registry as above to delete the rest.
Thanks
Vishal
Hello folks,
Fairly new to Roboguide, using v9f.
While creating a new workcell, after all config is done and I press finish, I am getting a fault for Neighborhood object. Fault says: "Could not get robot neighborhood object. Reboot pc and try again"(Screenshot attached). I have tried rebooting, uninstalling and re installing roboguide, tried setting up workcell with diff robot, diff virtual controller, diff add-on options, but I get the same fault always.
Ran out of all options. Only thing left is installing on new pc,but thats not practical at the moment as Logix,Cognex,etc are installed on this pc. I cannot use a different version of roboguide as the robot M20ib/25 is only available with v9.
How can I fix this ?
Thanks a lot !