Posts by Lpoels

Compare functions, Online / offline (software in Roboguide VS real robot)

Quote from saberdud

It's not super elegant, but I have used the iPendant you get from logging into the robot on a web browser for an online version. I then pull up a pendant on roboguide for an offline version and compare the two.

I do the same now....

But living in 2024 i hope there are better solutions.

Is there any way to compare FANUC robot's program?
( Like in Siemens TIA, that you see the differents between Online/offline directly).

I would like to compare programs that are in Roboguide with the program in de robot online.
Can't find anything about this from Fanuc itself.

Other options perhaps, export from RoboGuide program, and then open and compare it in Notepad++?

Is there by the way a easy way to get the latest version?

I always mail Fanuc, because on the 'MyFanuc' website is not possible any more to get the laters RoboGuide...

Is there also a way to make to history list longer?

ERRALL.LS is max 100 errors...

Quote from RWD Controls

If your issue is variable part weights, I don't think the Variable Payload Compensation Function is the tool you are looking for. This tool is more to compensate for repeatable variations in external force during a specific motion.

Just curious, what is the target weight? I'm wondering if 0.5 kg is a small or large percentage of that target weight.

What other causes of payload errors have you ruled out? Are you doing your PAYLOAD function before you grip or release, not after? And after your do your PAYLOAD instruction, are you waiting a short amount of time for the payload change to take effect before doing a move? Is your Payload Change Distance non-zero?

Its about a CRX-25iA, with a configuration of 30Kg.

For example, the product is: 15 kg, testing shows that the products actually deviate by more than >0.5 kg. According to the knowledge I obtained from Fanuc, the CRX-25iA would notice a difference of 0.5Kg (and stop..).

To rule out that it is due to picking, I have previously (with support from Fanuc) set waiting times before/after picking to rule out picking. It can also be seen when switching the Payload that (in the furthest extended position) the cobot lowers a little... Discussed this with Fanuc and they had no explanation for this.

The product picking is done as follows:

* At pre position (a few mm above pick position) disable DCS Push to Escape,

so that force searching can be used for without the cobot moving away.

* Search by force with SKIP function (This is slow and sensitive, so that SKIP occurs sooner instead of COBOT function).

* Then Payload Change (schedule let say: 15Kg).

* After this, press another 5mm to ensure that the vacuumgripper fits properly.

* Vacuum on, vacuum OK and wait 0.5 sec

* Then turn away in Y and Z to be free of pallet / other products.

When Z is >50mm out of Payload change Area (Yellow led off).

Payload error appears after moving up.

Already also tried to make this smoother with Acc/Decc.

Maybe the product is against others product during going up, but i can't solved that.

Quote from TitusLepic

If you have passwords enabled on the controller, you'll have to log in using a username and password over FTP as well. I think at least setup level access, but I'm not sure. Anonymous login won't work.

Okay, but if someone push a USB stick in, could someone else always copy the AOA?

I will also start working on this shortly, because the products to be picked vary by more than 0.5 kg than the target weight and cause many payload errors.

I have already looked through the documentation, but it is not yet clear to me:

When picking a product, do you have to do RECORD when picking it up (and the product is free of the pallet)?

And PLAY until your product is dropped?

Quote from gpunkt

FANUC recently also released a software option for temporarily changing the kinematics to 5-axis (basically disabling J4 and locking it in -180°/0°/180°) wich enables both jogging and program motion through singularity points.

Palletizing mode is the name of the option, I think.

Also, there is the Singularity Avoidance option, which will allow for minor posture/orientation changes during the linear motions through/near singularities.

Quote from gpunkt

FANUC recently also released a software option for temporarily changing the kinematics to 5-axis (basically disabling J4 and locking it in -180°/0°/180°) wich enables both jogging and program motion through singularity points.

Palletizing mode is the name of the option, I think.

Also, there is the Singularity Avoidance option, which will allow for minor posture/orientation changes during the linear motions through/near singularities.

I have already worked with this, it indeed prevents the singularity.

All the Lmoves in that program will be Palletizing mode then.

The conditions to use the Palletizing mode is that before you start the linear movement, the axes are already in the 'Depal' position: So J4 at 0 degrees and axis 5 at -180°/0°/180°). So better to move in Joint first to that axis config before selecting the program with the Palletizing mode.

Can you also secure this, so that not everyone can access these files?

I had a kind of similar problem.

The cobot also sometimes stopped earlier on the Syst-348 payload monitor (force) alarm than on the search by SKIP function.

Solved by setting the SKIP speed to around 10mm/s.

Is there also a way to see how the robot is set? UOP Local or remote?
So i can send that to the PLC

-> Found it: SI2[remote] like Fabian Munoz viewd in the picture. Thank you!

How did it works now?

1. First you need to confirm the paylaod at start up,
you also can do that by a signal like a Flag or (safety) input from a PLC instead of the pop-up. But you need to do this always at start up or when you loose a product during moving. Make shure there is no one around when you Confirm the payload.

2. The max speed of the cobot function is set in the DCS.

Got it working,

But in a other way, only have to connect the outputs on one place:

PDF: OPERATOR'S MANUAL(Collaborative Robot Function)
2.3 OUTPUT SIGNAL OF COLLABORATIVE ROBOT STATUS

by set the system variables.

$DCSS_CLLB[1]. $DOTYP_SAFE: 2 (DO)

$DCSS_CLLB[1 ]$DOIDX_SAFE: (number of the used Output)

Output directly connect to the status of the cobot.

Works perfect.

Thanks for explaining, will try it this week.

Quote from C_hiney

They can be assigned locally on the robot as digital signals, there in rack 36.

Sp1- slot1, spo-2, ssi-3, sso-4, sir-5, cpc-6, csc-7, jpc-8, jsc-9, csi-10, cso-11, ccl-12, ccr-13, rpi-14, rpo-15, fsi-16, fso-17, sli-18, slo-19.

We typically use safe io connect to make them csi or cso signals to pass them over CIP, to the PLC

Thanks for your reaction, so only to interconnect them as hardwire is possible? Not possible to arrange it to Rack86 for the ethernetIP signals?

I am currently commissioning a CRX-25 cobot.

The cobot is functional and is connect via Ethernet IP to a PLC for the program commands.

If the cobot comes to a standstill (for example due to loss of product or collision), I would also like to know this. After this, the 'PaylaodConfirm' must be done by a person

(via the PLC).The Cobot must then receive its 'PaylaodConfirm' again to determine its 'net' empty weight. Naturally, this must be done safely by a person who confirms that no one is hanging on the cobot.

This cannot be seen via the standard UOP signals…

Now I would like to extract the DCS signals from the cobot to know the safety status in the PLC. Is it possible to link these Safety output settings (SPO, SSo, SIR, CCR, RPO, FSO) to a Digital Output? So that I can read this in the PLC??

I had the same problem last month.

Logging in at administrator level and turning off firewall etc didn't help.

Then uninstalled the current RobotGuide and installed an older version.
This one worked, then installed the latest version over it.