I guess it's not exactly what you are looking for, but "some stuff" regarding the web server can be found in B-82974EN/04 Ethernet-function.
Posts by HalbesYoyo
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The controller is a R30i-B.
What is the exact Alarm message?
Does it show any other Alarm at [MENU] -> [ALARM] -> [ALARM LOG] -> [HIST] / [ACTIVE]?
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Meh, the solution is already there.
Have a look to the second picture in post #2. The formula for/in column Z will do. The disadvantage is that you will have to use 136 registers.
An example with a table with just 12 values:
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W...T...F?! I didn't realize yet that the sequence of arguments in atan2() can be different in different programming languages.
Nation , you are the hero of the day! You certainly saved me several days of searching until I would have noticed it.
Changed the order in EXCEL. Works fine.
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Another possibility is to write a "small" program named CALC_ROW like
Code
Display MoreIF AR[1]=1 AND AR[2]=1 THEN R[1]=61 END ENDIF IF AR[1]=1 AND AR[2]=2 THEN R[1]=47 END ENDIF ... IF AR[1]=8 AND AR[2]=17 THEN R[1]=68 END ENDIF
... and call it like ...
... with two arguments specifying the row and column from your table. This way CALC_ROW will write the desired value to register 1 and you will not need the Palletizing Option.
Or is there an even smarter solution, HawkME ?
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As AlanL already wrote:
... when you have the palletizing option installed you get access to pallet registers that have row, column, and layer.
First check if the Option Palletizing J500 already is installed:
MENU > STATUS > Version ID > CONFIG
Unfortunately the list is not sorted in any way, so you have to check carefully line by line.
Alternatively, you can make a "all of above" backup of the
robotFANUC and have a look into the file SUMMARY.DG where you can use CTRL+F to find the J500.If not already installed you have to buy and install the Palletizing Option A05B-2500-J500 from FANUC. For this you'll need to make a backup of the
robotFANUC and send it to FANUC. They'll tinker the option to the backup and send a download-link to an image along with a PDF how to install the image.With the option you'll have access to the palletizing registers PL[]. You may have a look to the Operators manual Basic Function (B-83284EN/10), Chapter 4.4 for details.
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If you use this numbering ...
... you may use this formulas:
This is from a german speakin' EXCEL.
REST is the MOD-Function for both EXEL and FANUC.
ABRUNDEN will be ROUNDDOWN for EXCEL and TRUNC for FANUC.
I took a look to the FANUC manuals. MOD is available in TP and KAREL. TRUNC is available in KAREL only.
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... using the formula from Nation 's first program to be found in transforming coordinates from one user frame to another (#3) ...
... works so far. But converting the matrix back to XYZWPR using the second program to be found in the same posting doesn't work.
Keeping in mind this matrix, ...
... simplifying the program to this ...
Code
Display More... //W P R if (IsClose(NZ, -1)) w = atan2(OX, AX); p = PI / 2; r = 0; else if (IsClose(NZ, 1)) w = atan2(-OX, -AX); p = -PI / 2; r = 0; else p = -asin(NZ); w = atan2(OZ / cos(p), AZ / cos(p)); r = atan2(NY / cos(p), NX / cos(p)); endif endif ...
... and using the given formulas in EXCEL to calculate the XYZWPR from the matrix drives me crazy because I keep getting wrong results:
I tried to fix it during the last days but I guess I probably can't see the wood for the trees (anymore). Something doesn't fit here, but I can't figure out what. Can someone please keep an eye on this and point out the error that I've been overlooking for days?
Thanks a lot!
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Excellent, did the job.
Using MOM 's table as shown in General conversion between different coordinate system types ... (post #31) and cross-checking the calculation using the formula from Nation 's first program to be found in transforming coordinates from one user frame to another (#3) the values are ... at last ... identical.
The rest I'll bother you tomorrow with.
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Hi all,
can someone help me out "quickly"? I would like to calculate for any given position XYZWPR whether it is singular or not. I already know it can be done with the determinant. If the determinant is not equal to 0, then the linear system of equations can be solved (and the according matrix can be inverted). If the determinant is equal to 0, then the columns (or rows) are linearly dependent, i.e. the position is singular.
I'm just a bit lost with the application. My problem is: how do I convert a position into its matrix in order to calculate the determinant?
Incidentally, I'm not just interested in the pure application, but in understanding what happens under the hood.
Thanks for any enlightenment.
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You don't have to apologize for that.
Perhaps I should have quoted one or two sentences more.
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The goal is to set a PRs configuration to NUT 001. Actually it's to change the configuration of a given PR from NUT 000 to NUT 001. Because using TP the configuration of a PR only cannot be altered you have to copy a whole PR already containing NUT 001 and overwrite the X,Y, ..., R with values from the given PR.
It is inconvenient and rather unpleasant, but unfortunately this is often the case with FANUC.
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Looks like to have quoted the not yet edited version.
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Hi Svetozar,
Can I set NUT 001 in a position register?
What you can do in TP is to prepare any empty PR to contain the configuration NUT001 and cartesian coordinates with all values to be zero, like:
From here you copy the PR[64] to any other PR and just add the cartesian coordinates.
CodePR[1] = PR[64] PR[1,1] = ... ! set value for x PR[1,2] = ... ! set value for y ... PR[1,6] = ... ! set value for r
Leaving the values for X,Y,...,R uninitialized (indicated by *****.***) prior to copy the PR will result in error INTP-311 (<prog>, <line>) Uninitialized data.
If you'd like to alter the configuration of any given PR you'll need KAREL because in KAREL there are commands to perform this task. For details have a look to GET_POS_REG(), CONFIG data type and SET_POS_REG() in the B-83144EN-1/01 KAREL Operator's manual reference.