HOLD is not a stop type that can be configured with DCS. It is a UI signal that can change state from an external device like a PLC or when pressed on the pendant. The 'Controlled Stop' Cat. 1 is basically the same, except servo power is turned off after deceleration.
Posts by retobor
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I would suggest either Space Interference Check or a DCS CPC zone, with the DCS signal mapped to an NSI (SPC & DCS are both paid options). Not sure how else to do it if you want to add points, but also be at a specific point to trigger a signal.. You can also increase # of ref. pos.
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This only works on R-30iA & R30iB, it will NOT work on R-30iB+ (OS error fault). Hopefully will save someone like myself some frustrating troubleshooting hours...
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R-30iB. System - config, option #34: Signal to set if E-stop.
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Sometimes I get this error if I keep RG opened for a few days; a restart usually fixes it for me..
As a temporary (and probably better solution), could you use the 'Logic Simulation Assistant'? I/O simulation is more flexible and saves per program. Under 'Test-Run' tab.
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R stands for register, AR stands for argument. The first two lines are moving the arguments, as Lemster pointed out, to their respective registers.
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When I am verifying path, I will run the first few inches to verify the size of the weave, then return to the start in step. Skip the weave instruction, and fwd execute to the next motion point. Also, if you fwd execute a weld instruction, it will play at weld speed. If you then bwk execute, fwd execute again, it will play at 100% speed in T1, ignoring the weld speed. Two ways I do it.
Correct, it will run at the schedule speed. I find this more flexible as well. I have tested using (x)inch/min and WELD_SPEED in Roboguide. When I ran 4000in/min, it did not weave. When I ran WELD_SPEED at 2000mm/sec, it executed the weave instruction (this would be at full speed).
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If you use WELD_SPEED instead of a defined motion speed using weld schedules, it will weave even at robot max speed (2000 mm/sec for arcMate). Regardless, you will never be welding at that high of a speed while arc welding, unless you are looking to put arc strikes and a bunch of spaghetti all over your parts.
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Previously, I had been working on a Fanuc cell utilizing Henrob SPR guns and integrated RTU's. They were R-30iB controllers. They had SpotTool+, Multi-Group Motion (J601), and Independent Axis Control (H895) software loaded on them.
1. Is there any benefits to using SpotTool+ (vs. default HandlingTool) for the riveting application?
2. Can the Henrob servo be Fanuc controlled through Independent Axis Control? Has this been done?
3. Is it possible to disable Multi-Group Motion option (this was not being used) so that group 2 does not need to be masked in program header when creating a program?
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All the local [P] points you have taught use tool 1, therefore they need tool 1 to run. You have three options:
-Use Position Register [PR] global, if multiple tools share common position like home or pounce
-Tool shift utility function, this will convert taught [P] positions to tool 4. You have the option of keeping the tool in the same orientation (likely what you want if you have updated your TCP) or keeping the robot arm in the same orientation (if you were teaching to a bad TCP)
-Update the frame data for tool 1
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The BREAK instruction does not allow the robot to execute the next motion instruction until the cursor has reached that part of the program. Therefore, it depends on what non-motion instructions are used following the break instruction. If you have WAIT command, the path will vary depending on how long the robot is 'waiting' for. The longer the wait, the closer the robot will be to the taught position. Constant path will not function properly with this command.
HandlingTool Chpt. 7.3.3
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FYI 1089 is your current processing time, 1000 is the max to enable DCS. It is displayed inside the CPC list menu (5).
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Coated material will create higher resistance in the circuit, resulting in lower current and poor weld quality. If another cell is able to weld the part ok, you may want to check the weld location and fitup.
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Which way are you orienting your calibration grid relative to the camera? The process detects how it is oriented using the 4 large dots.
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I usually use a joint position check with a .5 degree tolerance as a disabling input for the joint speed check. I've had issues in the past; this way when I am at the commanded position I do not receive nuisance DCS faults like this.
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Delete the internal I/O mapping for the UOP signals under the I/O -> PMC menu. You might need to remove them from your ladder program as well.
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Go to the option you want to make a shortcut, press 'menu' button, then press and hold until it appears in the Menu Favorites tray.