Posts by retobor
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I have versions of software that are built specifically for a certain customer, that isn't a FRVC supported version. However, I can edit the version and Build ID in the backdate.dt file to 'trick' RG into thinking it is a supported version. Not sure about V8.23, but you can give it a try. For example, I would edit V8.23/xx to V8.20/xx:
Your backdate.dt file:
Code
Display More20/11/23 01:57:44 Version: V8.23P/06/None Build ID: V8.23 4/10/2020 1A05B-2500-H551 1A05B-2500-H521 1A05B-2500-J684 1A05B-2500-J765 1A05B-2500-R663 1A05B-2500-J567 1A05B-2500-R784 1A05B-2500-R650 1A05B-2500-R694 1A05B-2500-R809 1A05B-2500-R850 1A05B-2500-J541 1A05B-2500-J878 1A05B-2500-R843 1A05B-2500-J873 1A05B-2500-R848 1A05B-2500-J945 1A05B-2500-J946 1A05B-2500-H746 Z
Edit to:
Code
Display More20/11/23 01:57:44 Version: V8.20P/06/None Build ID: V8.20 4/10/2020 1A05B-2500-H551 1A05B-2500-H521 1A05B-2500-J684 1A05B-2500-J765 1A05B-2500-R663 1A05B-2500-J567 1A05B-2500-R784 1A05B-2500-R650 1A05B-2500-R694 1A05B-2500-R809 1A05B-2500-R850 1A05B-2500-J541 1A05B-2500-J878 1A05B-2500-R843 1A05B-2500-J873 1A05B-2500-R848 1A05B-2500-J945 1A05B-2500-J946 1A05B-2500-H746 Z
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Hello,
I would like to learn more about the autotune function as there is not much detail provided on the robot or in manuals.
QuoteAfter Autotuning is started, the servo gun will perform the following by opening and closing the gun:
- Acceleration settings
- Inertia measurements
- Friction measurements
- Spring constant measurements
- Force control gain settings
- Contact speed settings
- (Profile option is selected) Profile internal parameter settings1
1. Where are the parameters saved?
2. When tuning completes successfully, there is a page with values displayed before power cycle. What do these values mean?
3. How often should a gun be autotuned in a production environment?
4. Are there any system variables that need to be reset to default before an autotune? (e.g. $SGSYSCFG.MINIMUM_TRQ, $SGGUN1.$SGTWD.$DIV_STROKE)
1: p.24, MAROBSGUN05121E REV D -
yes, it's says device offline (weld controller).
Isn't this caused by the fault condition in the I/O (enet, dnet) setup?
I believe the choices are WARN, STOP, etc.
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This is a case where the robot is close to singularity or end of reach. Using J motion the robot will move on a curve almost imperceptible but the difference will be you are allowing the robot (motion algorithms) to disregards many of the constraints .
As always be careful, but if the robot is on a really bad spot, use a J motion.
Or linear with WJNT modifier.
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3. If I load one of the LS files (a file that has local positions /POS and /END), then it fails to load.
To be clear, when you say load LS files, do you mean the LS file created by the ASCII conversion tool?
Can you just do an LS backup from the virtual controller instead? I've never used the ASCII conversion tool.
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I would suggest posting your code; it would be easier for other forum members to troubleshoot and contribute. Is the touch schedule writing to that PR?
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Hello,
I am working on a GP50 MH robot in a sanding application. One of my sanding patterns requires a circular motion in the direction of travel; similar to buffing a car. To achieve this, I am using an 'Ellipse(Tool)' pattern weave schedule, running over the work piece in passes. However, I am receiving numerous 'Alarm 4513: Excessive segment(Safety 1)' alarms on multiple axis throughout the path. The alarm description in the manual is very vague, but I gather that this is caused due to a motion command that is unachievable (excessive) by the robot. I have tried different speeds, PL values, etc. but nothing seems to fix the alarm. The robot is not near singularity.
Another weird issue that I am noticing is if I make any motion or weave schedule changes, the alarm will still occur in the same area of the taught path. However, if I cycle power (after schedule or motion changes), the alarm no longer occurs in that area of the path. I still receive the alarm, but further or closer to the start of my path. It seems like the alarm, or some motion, does not take effect until after a power cycle.
Any ideas regarding motion, schedule, or programming changes to remedy this alarm and achieve my desired path?
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Is there a way to disable joint jog? There have been scenarios where we wanted to 'hide' joint jog on robots that could be potentially damaged by only jogging 1 joint - deltas, barstools (f-200iB), and gantry coordinated pairs.
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Is it possible your physical controller is running a different software revision than the virtual? I believe I have seen convert when loading a different version. I haven't had any issues in doing so in that scenario.
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Is it possible to generate targets from a taught TP program? The only way I can think of doing this is running to each position and generating a target at TCP. Air target doesn't seem to work too well and I don't have CAD to generate from surface.
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Controller: R-30iB
Arm Type: M200iA 900L
Software: V8.33/P13
I'm working on a large MH robot and encounter this 'CPMO-095: Too large Jnt Cmd' alarm on Axis 8 (Joint 6 on this robot). The remedy for this alarm is to 'increase value of $CP_PARAMGRP[].JNT_VEL_LIM[], $CP_PARAMGRP[].JNT_ACC_LIM[], $CP_PARAMGRP[].JNT_JRK_LIM[]'. There isn't any detail regarding these variables. There are other robots of this size carrying around the same payload (800-900 kg) that do not encounter this alarm, but the mounting of this tool on this robot in particular is further offset to one side of the tool (mounting is further from COG). I'm assuming that this exceeds a limit when the motion is calculated. Adjusting speed does not seem to help. This is on joint motion. Any idea's on how to fix this?
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Your start and end point must always be Fine or your circle will be lopsided. In C your starting point is not the first C point but instead is the non C point before your first C point. With A your starting point is the first A point.
Fine termination type isn't really ideal for most applications (arc welding, laser, sealing). Having 20 linear segments to create a single arc isn't ideal either. I've always attempted to make A or C moves work for these applications, but usually just end up with the linear segments because they end up providing the best motion. Are these motion types really applicable to these types of processes? Would there be any benefits (ex. more consistent TCP speed)? Even spline for sealer path. Just curious.
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Is it possible this 'Mecademic-Meca500-R3.robot' file has been moved or corrupted? Could also be a sync issue if that location is backed up with a cloud service. Could also try running the program as administrator?
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I'm having issues exporting CAD files using the 4D Edit in RG. The 4D edit display in RG does not have any visuals either, I can only see my models and the robot in the main workcell view. Files are not created when I 'synchronize'; there is nothing in the tpgl export folder. However, there is a exportlog.txt file that says 'connection failed'. I'm not sure if this is a related issue. Any suggestions?
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You should at least get a yellow prompt box on the TP which asks the user if they want to resume from that line. This may be a production check setting under Setup - Prog Select.
Regardless, this doesn't really help as it's just another step they can preform. You should be able to prevent access to the program with the password option. Alternatively, you could send a signal to the PLC when the TP is enabled and track it that way.
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Interesting. I have this option in Roboguide, but mine only exports SOP I/O and register comments. No robot I/O, digital I/O, etc.
I'm not too sure what would cause that. The only instance where it will not export I/O is if the comment field is blank. However, you can create comments in the .CSV and import them as long as the formatting is correct.
It can be flaky to use. I've noticed it will not import/export if devices are not mapped or set to offline.
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Hi, retobar. What is the name of this option. I am currently trying to add it but there is to many of them and there is no description of what they are used for. Thanks.
It is not a robot option. It is an addon to Roboguide. You must select plugins when you install Roboguide, or run the installer again and select the option. You can enable the option in the application from Tools - PlugIns.
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pdl is correct.
You can auto update the 8.10 to the latest revision though, which is P/32.
May help with some stuff fixed along the way
Would upgrading from V8.10 to V8.30 be considered a major revision?
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After you perform an all of the above backup, depending on the robot controller, you can also do an ascii backup from the same screen.
Alternatively, set your backup folder location, then set MD, F4 SAVE AS will backup AOA and LS in one shot.