This seems possible depending on how you set up the tool and the speed of the tool rotation when moving between points. To my knowledge, there isn't a specific instruction for what you are trying to achieve.
If I were trying to develop this then I would try to make adjustments to the ROT parameter and see how the manipulator responds. Also, I know how difficult it is to get good answers from Epson but you could reach out to them and see if they have a good solution.
Automotive mfg facility utilizing Kuka Robots in previous years, recently we have some new Epson Gantry Robots (G3, G8, G10 models) that would be nice if we could edit specific points in a job while in auto. Previous robot experiences call this feature Dynamic Editing or PAM, is this possible with Epson Robots???? Any information would be very beneficial, Thanks
I am a little late to the post because I spend most of my time digging in the Fanuc group trying to learn a new robot.
It's definitely possible to load different points files, change the points in those files, and save the points in those files. You just need to make sure you are using the proper commands for what you are trying to achieve. You can always modify the points but if you don't use a SavePoints command then the points will revert back to the original point data.
LoadPoints "pointfile.pts"
SavePoints "pointfile.pts"
I have used Epson robots extensively they last 15 years so if you have additional questions or would like to see some samples coding please let me know. My experience is specifically with the RC170/180, RC520, and RC620 controllers so if you have something newer then I can't be much help but I don't believe they would have removed this functionality.
You can use an HMI that includes a GE Series 90 SNPX driver like Erik mentioned but you could also use an OPC UA server or Modbus/TCP. The OPC UA and Modbus/TCP capabilities are more recent releases and you need to have V9.30 software.
These would all require you to purchase the HMI Device option.
The manuals for the HMI Device Communication are:
MARUCHOPM05191E | A : HMI Device Communication (with OPC UA or MODBUS/TCP) Operator
MARUCHMID06121E | B : HMI Device Communication (GE Series 90 SNPX) Operator
These manuals are free as eDocs on the FANUC cRc website if you have a cRc account.
: PR[x]=LPOS-LPOS; (Sets to cartesian zero)
Thanks HawkME! I did decide to write a tp program for now and I appreciate this extra line of code that you provided so that I don't have to check/set the PR data representation individually.
I have reviewed some of the tools and methods available in the sticky section and I am looking for some input about quickly entering PR data for multiple tool offsets. Right now I have 21 position registers being used as tooling offset to run 21 different parts in an iRPickTool cell.
On the first cell that I built, I manually went in and set the PR data and comments. Now I have a second cell to build with different offsets and I really need a better way to automate this very time consuming task.
I started to write a TP program to set all the data but I am concerned about the potential of a point that may be represented in Joint when I want it in Cartesian. Also, I would want to write the comment for the PR too.
I haven't tried the excel tool from OneRobotics for the comments and I haven't tried using .CM files but from what I can tell, it looks like Karel would be best for this.
Unfortunately, I don't have Karel but I do have RoboGuide and iRPickPro if those could be used to help develop a better method. Also, does using Karel also require the Karel option to be installed on the cell?
Looking for some ideas on best practice for something like this.
Thanks!
Unfortunately this cell isn't controlled by a PLC, it is a simple cell with the R-30iB Plus and a safety PLC. I'm pretty sure the only "easy" login option for this cell is going to be using a USB device.
Thank you for the link though!
I don't have the HMI
I am using an OMRON NA5 HMI. I also just checked that I have the HMI Device (SNPX) R553 installed on the robot but I never bothered to learn SNPX . Can you please point me to the correct manual describing in debth the HMI SNPX function ?
The manual for the GE Series 90 SNPX is MARUCHMID06121E ... depending on the version of software you are using you might also be able to use Modbus/TCP or OPC UA to read registers with the PLC. These are available with option R553 in version 9.10 or later I believe. The manual for the Modbus/TCP and OPCUA is MARUCHOPM05191E.
Also, if you have troubles configuring your SNPX addresses, there are some posts on this forum for assigning the SNPX addresses.
Has anybody used RFID tags, like work/security badges, with the Password Option? I am looking for a way to prevent passwords from being shared and it would be awesome if the users could be integrated with passwords and the RFID tag.
I see that there is a USB option for the passwords as well so I will look into that but any additional advice or information is greatly appreciated.
HawkME Do you know the requirements for achieving integrator status? Is it determined by the number of manipulators purchased in a year or is it based on testing and training?
Hello Luiz!
Thanks for your reply! If you are able to map integer and real/float variable to GI and GO mappings then you should be able to modify PR and R data using those mappings but I still don't know how you would gain access to the fault information. If this comes up on your project and you find a solution using the EtherCAT option I would be very interested in your findings.
I have used vision with FANUC robots but I have never used something other than FANUC vision for my applications. Those of you using the Keyence vision systems, I know our Keyence support is top shelf and if we needed them to help deploy a system, they would be here to help. I know that Keyence is pushing these features so I would put them on the spot and request some assistance to expedite things.
If I may, what is the advantage of using the Keyence vision system over iRVision? I have been unable to determine the advantage of using the Keyence vision system for visual guidance unless you are wanting to inspect the parts at the same time. To me you will get a smoother integration and better support if you use the FANUC vision system.
Hello, does anyone have any pdf manuals on incorporating vision onto robots? I never knew you can do that. I have some applications where camera would be useful, I would like to read more about it. Do I have to buy separate option onto the Fanuc Robot?
The manuals can't be shared here but there are videos on YouTube that show vision applications.
Cameras are good for visual tracking, line tracking, circular tracking, product grouping, and bin picking applications. I have not used vision for bin picking but I would someday like to combine that option with a flex feeder so that you I'm not required to singulate parts. It would be really nice if you could use the bin pick option combined with line tracking so that you could get 3D pick data on parts that aren't singulated. If you use the iRVision package keep in mind that the tools available are not for quality inspection.
Also, if you intend to do visual line tracking you will need to use the analog camera option. I ordered a gige camera iRVision Package for vision guidance and as the project progressed we decided we wanted to do a visual line tracking application and this isn't supported with anything but the analog camera option.
I have figured out what I was doing wrong but can somebody explain the difference between the .VA and .VR files?
I think I was trying to load the wrong file, the .VA file, instead of the .VR file. What is the .VA file used for?
SYST-035 Low or No Battery Power on MAIN
Cause: Battery in PSU board is low in power.
Remedy: Replace the Old Battery with a new battery of same kind.I don't have the documentation on hand but I would suspect that this is the battery in the controller. We have an RJ-3 and we only replace the batteries in the robot base and the controller. Is it possible that you replaced the battery with a dead battery or the wrong battery?
I have a cell that I need to duplicate and the cell is currently using 30 position registers to store offset information. I realize that this information was probably better stored in a recipe format but I don't have experience with using the recipe manager and I thought the best way at the time was to have the offsets store in the position register data.
Now that I need to duplicate that cell, I am dreading manually entering the data for the position registers. Also, from a program implementation point of view, it would be best if I could just load teh position register data from the first machine into the second.
I feel that there has to be a file that backs up this information when doing a file backup I just don't know what it's called. If there is such information included in a file backup that I can load, can somebody post the name of that file?
Thanks!
Ok, I was able to purchase the Ladder III software so that I could just update the ladder.pmc file.
The speculation was if the software would load on a windows 10 machine and I was able to do that so I am looking to hopefully hit the easy button here and see if somebody can post the steps I need to follow to load the new ladder.pmc file without needing to actually connect to the PMC. I found somewhere that I could load a new ladder.pmc file when in a controlled start so if that is true then I just need to get the modified pmc file.
I did load the .LAD file into Ladder III and update the bits that I needed to and the projrect compiled without issues. Now I need to figure out how to export a ladder.pmc file from Ladder III so that I can load the new ladder.pmc file into the controller.
Any help here is greatly appreciated.
Not very Fanucish indeed! Lol
Thanks for the information Phil, you are making things sooo much easier!
You will also need to get a LAC code from Fanuc, which should be free from them. I've done this several times at a factory that has 110 identical LR Mates.
This is useful information because I have a similar situation where I want to have a duplicate robot without putting in the work of manually loading the TP programs, IO configuration file, payloads, systems settings. I have already had to load the sysmast.sv file before but I haven't done anything with a LAC code.
Also, the cells I am building are duplicates but they aren't all built at the same time. I might build 1 this year, 2 next year, and 4 the year after that. From what I have read so far about FANUC, they do a really good job of making sure everything is forward compatible so that shouldn't be a problem.
Can you provide some additional information about the LAC code?
SOLUTION:
With HandleTool version 9.10P/19 and up, the SNPX HMI option will come with OPC UA functionality and there is no need for a 3rd party option like Kepware. So right now the solution is pretty clear and that is to use option R553 with an OPC UA connection set up in TwinCAT to utilize the internal registry capabilities of the SNPX assignments.
I know Beckhoff isn't very popular in US but I'm sure that this will help somebody other then myself.
I don't think it is available in V7.3 per the following thread...
Did you edit the program with the teach pendant or did you edit the .ls file and upload the ascii file?
I am fairly new to FANUC robots but I would start by stepping thru your program to see which line in your program is giving the error. I don't think the parenthesis should be included in your logic statements on lines 20 and 21.
