Thanks all. I tried this and it works now perfectly.
Posts by TexDino
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Hello,
how can I check eStop status of robot? I want to use it in bg logic to turn off pneumatic valve.
Is there a place this information can be found normally? I have access to Fanuc manuals, but have no idea in which to look for this. I also need the same information for fence open and running in auto mode, dead man switch and stuff like that.
I can't use just "Alarm" status on UOP since I need it working to solve some of the problems
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What are job titles of people programming industrial robots? Both integrating them in their company and working for others?
My current title is just Technologist, and when I looked for Automation Engineer jobs a lot of them were just PLC-s or even worse, automation of just software.
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That would probably be the difference! I do not believe we have or use that option.
I have Constant Path on all my robots, it came as standard. Maybe it's difference between markets, I'm in EU
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A lot of things will effect the path of the robot. The CNT#, the speed of the move, the override speed of the robot, the robot's acceleration and deceleration profile and where along that profile it is at that point, the payload, the necessary joint angles needed for a particular move, and the physics programmed by the manufacturer on what constitutes the maximum load to place on the robot in given situations. Even the orientation of the path relative to gravity can have an impact.Shouldn't override speed leave the path as is? I've never accurately measured the CNT paths on the robot, but it looked like it's the same independent of override
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Hello,
is it possible to forward EES to ESPB internally in Fanuc?
My cell is connected so that ESPB turns off the machine, but that works only with e-stop on TP and on cabinet. I have also external E-stops that should trigger ESPB too, if possible.
I have R-30iB Plus, A cabinet.
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but roboguide will simulate those signals are u getting any error in robogide?.. can u send screen shotI dont' get errors, I just can't have it stay disabled after I press the button
In roboguide it works like that, but I want to send the SYSVARS.SV file back to robot from roboguide, and that setting is now on.So the cell works normally, with hand broken disabled, but some variable needs to be changed for some reason. I get the backup sent to me, load it in Roboguide, it works normally there, but the hand broken is enabled. I change the variable, make new backup out of it and send it back so they load the file. Now it stops working since the hand broken signal is enabled and it is not connected.
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Menu>Setup>Coll Gaurd will give you controll on the sensitivity settings. The range is 0 - 200% 0 being off and 200 being much more sensitive. Just be careful with this. I'd start with small increments.Thank you for the answer.
I know about that, but I'd like to have two different settings, one to stop the robot, which is ok at 100% here, but I'd need a second one to switch a digital output if the force keeps growing.
The default one would stop the robot if the robot is the one that is crashing into something, and the second one would stop the rest of the cell from crashing into robot -
Why do u want to set hand broken in disable state..Because I don't use the hand broken signal, it isn't connected anywhere, and if it stays enabled I get hand broken error
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Try this system variable.
MENU --> 0 --> 6 --> 2$DMAURST = TRUE
Thank you for the answer.
It has no effect on the Hand broken problem in RoboGuide, I still can't set it to disabled. Why do you think this should work? It should be completely unrelated variable that sets only reset functionality to dead man switch -
Hello everyone
I've loaded my AoA backup as a new cell in roboguide, and Hand broken signal got enabled. When I go to the System/Config for Hand broken I can't turn it off. When I press DISABLE it gets right back up, and I get message "SRVO-307 HBK close/HBK enabled (G:1)"
Anyone else got this problem? I can't load my cell in roboguide and change some settings, then load it back to robot without manually changing this back. Does anyone know if there are any other settings that get changed when you load a cell in roboguide that will bite me later?
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Robot Outputs are on EE connector (look it up on the manual)
Picture where the EE connector is is in the attachment
There might be a way to access them in the cabinet, but I don't know of it
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Do the tables have any sort of clamp? Fanuc makes some pretty strong robots. We have had a robot go to a machine, grab the part, and carry it to the next machine. Problem was, the first machine had not let go, and was ripped completely out of the concrete floor by its bolts. If there is potential for the robot to have moved a table in some way due to a sequence error, that would be a possible cause.There are just sheet metal positioning pins, no clamping, and the robot has max payload of only 8kg.
We had some collisions there, but at worst case only the pins bent a little before the robot got collision alarm and stopped -
They don't look bent, and they are have h/H fit so they shouldn't move much, definitely not 10mm, and their position in the machines is perfect.
I assume it's the table, just wondering if you people with much much more experience than me have some insight in some secret thing that could be the problem on my side, since the customers chief of production said there is no way they moved something, and claiming that he's wrong and asking for surveillance video would be an insult I would not like to do without checking everything else first
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Did you also check the tool frames? Are you using the same tool frame everywhere, or does it switch between stations?I use only one, but I still checked it, it's the same
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I have a strange problem
My customer has several types of job where he just changes fingers on grippers and enters 1 number in data registers
I use 5 user frames, and a couple of days ago, after successful work for some time they report a problem with gripper missing the position by about 10mm.
It misses exactly the same on 2 user frames (pneumatic pallet table, both surfaces), and it's perfect on the other 3 (inside 3 cnc machines)I've compared all relevant positions and all user frames from current backup with the one that it worked on before, and they are identical
The only reason I can see for this happening is table moving, but I can't check that easily. Is there any other reason for something like this to happen? And a way to check for it?
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Hello everyone.
I have a program where I put a long part gripped lightly into a chuck. Sometimes the part moves enough for robot to say there's a collision, and sometimes the chuck closing signals a collision on the robot.
When those happen the user can just reset and continue.The other problem is that the machine starts in the wrong time. Robot can disable the machine while it's in it, but that should be only done if the machine is pulling on the robot, not if robot collides somewhere else, because emergency stop on the machine breaks the tool almost every time. (This problem happened once and I've found the most probable cause and solved it, but still, to be 100% sure I'd like to put a safety in)
Is there a way to set up some output to trigger on collision, but with different than standard sensitivity? So the robot would stop itself already, but if the force keeps growing it should trigger an output.
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Roboguide installation checks for every little detail on the machine, like mouses and keyboards, usb drives and all internal components. It is not enough to just have the same components, they have to be plugged in the same way. What I did is (on the laptop), pull everything out, generate the key, send it to Fanuc, and when I got their part back I again pulled everything out to do the install.
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Hello everyone,
I'm setting up several identical robot cells in remote locations and I would like to keep them all updated.
What files should I load for update and what for initialization?
When I'm initializing the robot I need I/O configuration and names, digital and robot for now, Numeric register, Position registers, Frames, User alarms, DCS setup, and maybe variables, but I can make initialization program that is ran by the person doing the initialization and sets up the variables.
For updates I have more specific problem, I'd like to updated all the names of Numeric registers, but values of only some of them. Same for Position registers.
I don't want to mess up stuff like mastering, passwords, DCS, or the values in registers the user has entered, for offsets mostly.
What files do I need from the control robot to do this?
DIOCFGSV.IO is for setting up the configuration and names of digital inputs and outputs.
NUMREG.VR names AND values of numerical registers? (I need only names in update, and everything for initialization)
POSREG.VR the same for position?
FRAMEVAR.VR what part of frame is this? I've seen mention of SYSFRAME too, do I need both? Which one does what?What is the best way to make the update process foolproof? I'm currently not worried about malicious people, only too low attention span for following complex instruction, especially with branching... Can I just put everything needed in root of USB and tell them to load all files?
Also, all robots are either R-30iB or R-30iB+. What can I transfer between these two versions?
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Hi, yes, I need my own serial protocol, but there will be 2-5 different signals max, and I can go by counting the pulses, there will be huge difference between them ( currently one should be two short pulses, and other is just ON until the robot responds)
If I do it in BG logic I can get 8ms guarantee? I could make it longer, but probably not over around 70ms each since the machine has to stop to send the signal.
I have only one digital line as I made a mistake that I'll never repeat again - I've prepared twice the I/Os than what I needed at the beginning of the project, and dimensioned the electrical cabinet over that and all the cables that connect robot and the cabinet. And then the demands came in and used all of them From now on I'm always going for maximum.
If I could get one more I would be able to solve it, but unfortunately the downtime needed to change it is too long.
I think I have to do it in BG, as the point of the signal is to indicate that the machine will be ready soon, so the robot can go towards it. But the robot can do something else in the meantime, like tending to the other machine, so this signal should just set a flag for the future. The only reason I'd like two different signals is that the robot can't accidentally start going inside the machine if the machine just sends the "soon ready" signal, it should always wait for the "now ready" signal.
Thank you very much for the comments, they are very helpful!