would you please check what is the alarm when your robot stop ?
usually, you can check this alarm in the below corner of the screen.
Posts by diey
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Dear Versino4
i have same problem with you before, i handle Fanuc robot M3iA/6S, this robot always have joint limit excess due to the robot link joint is beyond the limit, but finally i found some solution.
When the joint between parallel link almost touch the limit i decrease the speed of the robot so the robot can free from alarm by monitoring the limit in parameter to the Register.
in your case i suggest you to do this step
- Make a TP program
- inside the TP program make this logical parameter (it is just an example) :
R [100 ] = $MOR_GRP[1].$CUR_TORQUE[1]
- Make this TP program become a background logic program and running in High mode.
- Register 100 will display Torque of J1 all the time, the rest of the logical can you expand as your needed.
cheers
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Dear..
if you have Fanuc robot manual mechanical, i believe there must be some information for you to check when the spare part must be change. -
it is really good idea from HawkME, because CNT100 in P[1] can cut off the way directly to P[2] without touching the acceleration movement in P[2]. you can try it.
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Manual books are really helpful, you can try to read it slowly to learn every detail of the robot, or you can ask the training session to Fanuc member directly.
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Firstly you need to make TP program with condition choice,
- please change the Sub Type of the program to cond.- make a program inside it, usually the program logic is "When"
- Make a Logic program... "When DI [1] On Call program STOP"
- this program "STOP" must have Macro as the sub type so the Monitoring program will running correctly.
- Place the Monitor and Monitor End in the program line as you wish.
i hope it can help.
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Which part of your work piece become your "teaching part" for this vision program?.
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Dear Thomas
I really interested about this matter, kindly send me the detail (diagin96@gmail.com)
thank you very much. -
Hello, you can check the manual talking about Tool Frame, User Frame etc. Hope it can help.
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You can see in VISION Menu
VISION => GET_NFOUND
this program will help you to find how many workpieces seen in one frame camera.to make all your workpiece detect by the camera, I suggest you adjust the camera mode and focal length/focal distance.
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How do you know that robot collision detection is off? the most important point from collision detection is payload setting, payload center and payload inertia.
Beside, you also can set the sensitivity of your collision detection manually. -
Dear All, have a great day.
I am a newbie on this robot matter, I have some program using Register and constant value for calculation Robot offset movement. I think it might be easier when the data register value will input by the Digital signal from PLC. For example, when there is 5 pallet then DI[5] will ON (By sensor) and directly the PLC will input to the data register R[1] = 5.
If you guys have found the same matter or have the same experience please kindly share with us.Thank you