Posts by retobor

Use the group exchange utility once the program has been created.

I don't really think anyone actually knows the potential problems that could occur from a minor revision upgrade, because nobody really does it (including some Fanuc techs). I've transferred files (with the exception of sysvars and some other .sv files) between major revisions without issues. I've also upgraded a multiarm ArcTool cell from 8.0 to 8.3 because of issues with coordinated motion. I never had any issues, but nobody wants to take on that liability either. This is just my opinion.

HandlingTool manual explains that you can go between minor revisions 8.10 to 8.20 for example. I would take an image first (auto update does preform an image prior but I have heard that this has crashed on people before), then preform the auto update. Never heard of .TP's not transferring. They can be translated between any major revision or xxTool software as far as I am aware.

Quote from I3ooI3oo

I am currently building a system right now with a dial table and LR Mate 200i. We are using a Powerflex 550 from AB.

First thing I did was have a relay wired into the enable bit of the table controller. When that relay is not active the table can't rotate. The Poll for the relay comes from the Robot. I created a reference position for the table. The bit that is set when the robot is in that reference position is then inverted in the I/O. This now means that bit is active when the robot is not in the reference position. So if the table is rotating and the robot moves into that reference area the table will stop immediately.

To prevent the robot from moving into the table area while rotating thus, causing the table to stop, We wire the table's "in position" bit into the robots inputs. In my pick program, which is the only program that moves near the table. There is a wait "DI[109]=ON" for table in position bit, This prevents the pick program from moving into the table area.

Using this setup the table and the robot haven't ever crashed. If the robot is off the table can't rotate. If the table in position sensor goes bad the robot can't move into the table area.

Display More

I've tried to invert a bit for ref pos in the past. I recall this function not behaving as I expected; the controller ignored the bit inversion when assigned to ref pos. Can you confirm that it works?

You define user frame and user tool when you setup your limits for space function.

I've integrated many dial tables at different customer sites which usually are 1. A motion axis part of the controller (Fanuc servomotor) 2. Have DCS Spd/Chk option. That being said, we have always incorporated 2 DCS CPC's for the dial; one 'not stop' for monitoring and one 'Stop Cat 1' which is disabling.

It really depends on your hardware. If it is not a Fanuc servo, I've always found some way to use a reference position (even if it is simply to monitor J1). Sometimes, if I'm lucky, the customer has ordered Space Chk Fnct. and I use that.

Quote from PetrBroza

I would like to run payload identification, but I have fairly large effector and very small cell. It can be executed only in AUTO, but I want to test it in T1 first with limited speed, since I don't know what kind of motions I can expect. Is that possible?

You can use the "move to" function under detail to move between position 1 and position 2.

Setup MainProg in the macro table with the corresponding DI you would like to use.

There is no file for config settings as far as I am aware. You may be able to do some setup with a CM file at controlled start; I've never bothered because it was more work then to modify on the TP.

Quote from hermann

But it will be much easier to set/control the speed. And as far as I know, speed is a important parameter for welding. Without coordinated motion you only can set percentages of maximum speed, but with coordinaten motion you can set the linear speed in mm/s.

Definitely an important parameter. Defining a relationship between positioner origin and TCP would give you a better control over the process, so I understand the desire to use coordinated. I don't usually get these luxuries as an integrator.

Lots of things get easier when you pay for them .

It depends on your setup. I'm going to assume your positioner is setup as a separate group. Based on what you described above; create a motion program with group 1 & 2, position the welding torch in the desired orientation, arc on instruction, then rotate the positioner without moving robot.

You likely don't need the coordinated motion option.

Yes, I believe you are correct. I have not seen more than one equipment used per group before.

Utilities -> Group Exchange

Very useful if you are frame shifting on a multi arm as you can only shift one group at a time.

I just copied parts of the program (tool offset utility, frame 0 to frame 0). First I copied line 1-55, then line 58-xx.

No problem!

Try this. I removed lines 56,57, so you will need to add PR[90] again to line 57. At least the rest of your positions are recovered (if it works..)

Quote from Eipmfg

Thanks for the reply. it work as you stated. I may have an old copy of arc tool and the manual didn't tell me that small but very important detail.

many thanks

I figured it out the hard way; it is definitely not stated in the manual. No problem.

Fanuc uses kg * f * cm * s * ^ 2, s being seconds, which can also be converted in payload checker. Solidworks does not output force or seconds in the moment of inertia calculation.

If you want to change the Equipment on a selected screen, you need to SHIFT + DISP and select Display Equipment. Sometimes you need to double screen and try in the other screen to get it to work.

Quote from bencor21

I've been seeing some people who like to begin all of their created program names with underscores so they all grouped together in the program screen. Not a fan but whatever.

Collections are a solution to that.

Quote from Taes

So if I took Image Backup from the existing robot which is the same as a new one, and load to the cabinet everything should be ok.

In theory, yes, but like I said, best to get core from Fanuc if you have the option. There are going to be files like mastering and torque values that are going to be specific to each robot which need to be replaced. I don't know what they all are but SYSMAST.SV is definitely one of them.

I've had issues in the past where I had to switch laptops because I was unable to successfully reinstall. I don't think the uninstall process completely removes all keys in windows registry.