Posts by Crocodile Tears

Fully supported version of the old IRMATH karel program would be cool. I can't find it anymore, outside of one for robots with vision, for some odd reason.

Been doing palletizer robots forever. Luckily those crashes are usually vertical or smashing some cardboard boxes, nothing too dramatic. Hit a fence once in a while. I run into ghost crashes left and right from people that don't seem to know how to set up payload properly and get some unexpected series of motions that result in spinning the tool a bit too quick for the improper payload setting, so lots of troubleshooting to find those outside fault cases. Similar with the fence hits - never fails to be a joint move when some edge case jumps around some linear motion.

Used to work with a guy that was a bit high strung and thought pretty highly of his own skills. Would reprogram to add a station or add in a new unit load and just press go at 50% of automatic speed instead of doing the sensible thing and just jog through a layer or two to confirm the paths. I got used to tossing a couple extra cables and photoeyes in my bag if I knew I would cross paths with him. Nothing grinds my gears more than arrogance combined with impatience

I feel like a bit of a world class dummy, but I cannot for the life of me find the basic irmath .kl code. I'm certain its available straight from fanuc, but I have no idea where its at. I did find on myportal a vision specific version of irmath.kl, but it is for use with irvision, and will not compile in a clone of my palletizer.

Anyone have ideas? I know I've come across a directory of box stock fanuc karel in the past but I, for the life of me, have no idea where it would be in their software package.

Wondering if anyone had some input here.

I am working on a V7.70P/53 robot with pallettool software, setting it up to do alternate infeed functions, one has wide side cases, the other has narrow side cases. These all run on a single pallet. I am set up to where I can run this properly through standard unit loads.

So, I now need to set up mixed layer palletizing. For instance, I have a UL4 and UL 54 that comprise ML104. Both of these utilize the alternate infeeds, and can build full unit loads when I run UL4 or UL54. However, when I load up ML104 the robot works, but only to a degree.

In ML104, it runs UL54 for 3 layers and UL4 for 8 layers. It picks and places, but only off of Infeed 1. When I get to a pick that requires the alternate orientation and to pick off Infeed 2, it sits in return to perch and will not pick.

That all happens over PLC control. For grins, I decided to run direct off TP for a test. If I set up to run directly out of the teach pendant, when you get startup data on standard unit loads, in details it allows you to define multiple infeeds to the pallet. However, if I run the mixed load, it only displays the ULs that make up the load and only a single infeed option, instead of two lines.

Am I missing something here??? I cannot find in a manual anywhere that says this explicitly does not work, and considering the robot is truly only running the unit load data that is functional independent of the ML, I am a bit confused to say the least.

Thanks for any input.