Posts by joschott

Did you try to use the WJNT (Wrist Joint) option? I think this option is free.

MENU -> SYSTEM -> CONFIG -> WJNT for default motion: (ADD, line 25 on my R30iB).

This option helped me a couple of times to avoid singularities, when I did not need an exact linear motion.

Hi guys,

thank you very much for your help. I'll look into the Kepware OPC Server.
For a temporary solution I finally found something to work with through a browser.
ABC-iRobotics has released a free webcontrol Panel for moving the robot and monitor some inputs and messages. You can download the files and instructions here: https://github.com/ABC-iRobotics/fanuc-webcontrol
This was a nice start to build my own solutions. I hope it'll help others with similar problems.

Thank you!
I was hoping to find some way around this fudge , but it'll work just as well.

Hi all,

I have an issue with the KAREL SQRT function. I want to CALL a KAREL program in TP, that returns the square root of a number (simple application of the theorem of Pythagoras a²+b²=c²).

This is the code i have in KAREL

PROGRAM WURZEL
%COMMENT = 'Wurzel berechnen'




VAR
r_RADICAND		: REAL
r_RESULT			: REAL			-- result value of the SQRT
i_RESULT_REG		: INTEGER 		-- Number of the numeric register
data_type			: INTEGER     	
int_value			: INTEGER     	
real_value			: REAL        		
status			: INTEGER     	
string_value		: STRING[80]  	


BEGIN


-- WURZEL(r_RADICAND, i_RESULT_REG)


	-- get the readicand
	GET_TPE_PRM(1, data_type, int_value, r_RADICAND, string_value, status)

	-- get the register number where the result will be written to
	GET_TPE_PRM(2, data_type, i_RESULT_REG, real_value, string_value, status)	


	-- calculate the square root
	r_RESULT=SQRT(r_RADICAND)


	-- writes the result to the register number
	SET_REAL_REG (i_RESULT_REG,r_RESULT,status)


END WURZEL

And this is a small program to test the result in TP:

/PROG  WURZEL_TEST
/ATTR
...
/MN
   1:  R[74]=49    ;
   2:  CALL WURZEL(R[74],75) ;
   3:   ;
/POS
/END

When I run the program with a real value in R[74] it all works fine (e.g. R[74]=64.5 --> R[75] will be 8.03319). But as soon as I'll try an integer value like 64, the Karel program writes 0 to R[75]. I tried entering 64.0 but the TP changes it to 64.
Next thing I've tried is calculating the square root with a work around (cause KAREL obviously doesn't know something like a POWER function):

x^0.5=exp(0.5*ln(x))

With a real value it works fine as well, but with an integer value like 64 it crashes ROBOGUIDE.

Has anyone of you encountered this problem before, or am I missing some important things, or is my code wrong?

I'm looking ahead to hear from you guys.

Cheers
Joachim

Hi guys,

I'm new here and quite new to FANUC robots in general. I have almost always found a helpful solution to my problems in this forum, unfortunately not this time.
Here's the issue:
We have a FANUC M20iA/35M with the R30iB in an automation cell from an automation supplier for machine tending of a DMG Mori CTX beta 1250 TC. This cell has its own tablet PC from "adstec" with which we can monitor I/Os an read/write to some numeric registers, DOs etc. with text boxes and buttons in an HMI. The tablet is connected via LAN cable to the R30iB.
My firm now has decided to buy some more FANUC robots and to build our own automated cells. Therefore we want to program our own HMI, preferably with a webserver, where we can read & write to numeric registers etc. (e.g. part diameter, height) from a tablet or smartphone. The goal is that the machine operator has to have no in-depth knowledge about robots and robot programming and does not have to pick up the teach pendant for setting up machine tending.

Can anyone of you tell me how to achieve that, or how our automation supplier does it? TCP/IP, Telnet, FTP, PC Share...?
I have called the FANUC support quite often in the past weeks and read a lot in the user manuals but I'm not getting anywhere and I'm starting to get desperate.

I'd be very glad if you could help.

Cheers
Joachim