Is there a way to prevent the USER screen from popping up when debugging a program (in auto)? I believe this is driven off the MESSAGE instruction when executed from the TP program.
Obviously I can just remove/remark the instruction, but I am looking for a quick and temporary solution.
Have you tried disabling OverTorque Protection in the Servogun menu? Not ideal, but may temporarily resolve your issue.
I usually convert to .dxf when working with AutoCAD because it is an acceptable file format in RG.
There are two more options on the Payload IDENT screen for R30iB+ controllers - 'Estimate by 3 motions' and 'Motion pattern'. The manual does not go into much detail regarding use for these options. 3 motions seems to move joint 3 4 degrees from a specified joint angle.
Does anyone have any detail running these options? Does the accuracy of payload estimation increase?
You have a few options;
1. Serialize the robot. This is the same as creating a new robot in a Roboguide cell. However, nothing should change other than the software aspect of it.
2. Restore AOA at controlled start. Similar to how you would restore a real robot.
I don't see any major differences or drawbacks, other than the fact that you may not want to load specific files, in which case you can load the files that have changed (.LS, .VR, etc.) also at controlled start.
I am having trouble finding the active collision guard value on a robot.
I find if you use the COLL GUARD ADJUST command in programs, the value does not update on the Collision Guard menu page. Digging through some backups, I found $HSCDMNGRP[1].$ACT_RATIO. Some of the backups contain the COLL GUARD ADJUST value I've set in the program, some do not.
Does anyone know where the value I'm looking for is stored or have any additional information?
I always highly suggest extended axis. Avoid Group 2 if you can.
Well then odds are it was slightly off before, guess it'll be even better than new now.
Well, until you have to touchup all your programs because they were all taught with a bad TCP.
The tips of the weld gun should always move perpendicular to the metal. Start distance and end distance are calculated offsets in mm based on cartesian position.
I don't see any reason why you would want a joint move during spot welding. They're only used for air moves away from the metal.
Yea, that's a tough one..
As far as I know, bigger facilities have a 'brake box' to release the brakes, and physically move the arm with a crane/forklift/another robot. Not an easy situation to get out of.
I want to have some light curtains & Floor Scanners monitoring. If any of these are violated I want to reduce the speed of the Robot to 10%.
You could interconnect your SPI to DI and monitor in BG logic to change GENOVERRIDE to slow down the robot. However, this is not a safety function. There isn't any other way to do this other than how gpunkt described above (unless you have a cobot, which it doesn't sound like).
Have you selected equipment 2 in the program header?
Is there additional spot motion commands for group 4?
Just some suggestions, I'm not too familiar with spot dual arm. I could take a look if you post a backup.
Regarding your "Motion Group config. mismatch" alarm, I believe you are adding SPOT command for group 1/3 robot when your program header is calling group 2/4.
PATH frame is a function of ArcTool, and only ArcTool. So, you likely looking in the wrong manual.
PATH is mentioned in section 4.3.7 of MAROBAR8304141E REV H (ArcTool Setup & Ops.)
You might be able to pull PATH frame from system variables. However, from my understanding, PATH frame is only created at the instance the program is paused.
Maybe LPOS motion instruction would work better, as a suggestion. Not sure what you intend to do.
Hi,
It is possible, but requires a jumper, software option, and modification of Safe I/O.
Changing the mode without a mode select switch.
Hello,
“External Mode Select” option in the FANUC R30iB robot controller allows the robot cell integrator to use Safe I/O SSO(6) and SSO (7) to toggle the selector switch instead of using the actual switch itself.
so there is an official Option for that. i had 2 robots with that. was really an improvment.
old Mode selector gets replaced with a Jumper.
To view 4D DCS Display:
Menu => 0 (Next) => 6 (System) => 7 (DCS). Click Cart. position check: => Next => F3 (4D).
A faster way that a senior showed me
When you are on the DCS menu
i + FCNT (related views)
Works for many pages
Well, it depends how big the unused programs that you deleted were.
If I have a flash drive full of pictures and videos, and I delete all my pictures, is my flash drive empty? No, because videos take up a lot of space. Same with programs with hundreds of positions in them.
Memory should free up as you delete programs, so I am assuming your programs are quite large. Unless there is another issue, I've never seen this before.
I would take a backup, then try and delete more programs. On the select screen, I believe F3 and option 'size' will tell you how big each program is.
Let say, by using frame offset, i was able to copy program from T1 to T2. And now am running the program on T2 table. Robot is moving fine with that but table T2 is not rotating according to robot motion, instead of that Table 1 is rotating.
Idk how turntables are handled
I believe you need the Coordinated UFrame option for this to work properly.
If i copy the same on Table 2 as T2_XYZ, it gives the below error:
INTP-250
INTP-252 User frame number mismatch.
You should not copy the program, but use the 'Frame Shift Utility' to translate the program to UF2. You do not want to select the option 'convert positions'.
This is also assuming you have setup your UFrame the same between tables.
Well, they aren't totally honest with their answer. It is clear that they would like to sell you more software to make more money.
Although you should not load an entire AOA backup as you have done, there are certain files that you can load to speed up the process. This will depend on your robot configuration and software revision. Meaning, you can load some variable files, as long as the recipient robots software revision is the same as the donor. FANUC advises against loading files like .SV from different versions (e.g. V8.2 to V9.1). I have had some luck doing this as the robot can convert variables from older versions.
Additionally, you can load .TP files from robots with similar configurations. You cannot load a .TP program to a robot that doesn't have similar motion or instruction commands (e.g. SPOT instruction to a Handling robot). Although you won't risk damaging anything like you could loading .SV files, you will get an alarm.
If you search "Program and File Manipulation" in the SpotTool manual, there is a list of loadable files.
Have you optimized your payloads? I think this should be #1 as this will definitely affect your accel and decel. There is an option (I think in maintenance menu?) to set path priority or cycle time, might want to evaluate this as well depending on your application.
