Posts by GaliRob

Quote from Reflex

i don't know if you already loock to ORNT_BASE instruction ?

Hi, I don't see that instruction. Should it be enabled anywhere?

Quote from DawnHill

I wonder to know what is the value of small circular radius?

Radius: 10 mm.

In the trajectory there are straight lines, circular trajectory and also circles. The smallest radius is 10 mm.

So, to make circles the start and end points must be fines.

Something like this:

1:  UTOOL_NUM=1 ;
2:  UFRAME_NUM=1 ;
3:  PAYLOAD[1] ;
4:  OVERRIDE=100% ;
5:   ;
6:L P[3:pApro] 50mm/sec CNT100 ACC100    ;
7:  !Welding circle ;
8:   ;
9:L P[4:pStart] 50mm/sec FINE PSPD100    ;
10:C P[5:pCirc1Aux]
:  P[6:pCirc] 50mm/sec CD5 PSPD100    ;
11:C P[7:pCirc2Aux]
:  P[8:pCirc2] 50mm/sec FINE PSPD100    ;
12:   ;
13:L P[3:pApro] 50mm/sec CNT100 ACC100    ;

The welding process must be constant from the beginning till the end. Thats why the it no FINE moves in the code.

Hi

KyleAR: measure the tcp of a laser head is quiet complicate, I got it by Roboguide like an approximated tcp. Then I measured another tcp in a spike. Created a point on the working table with a measured frame and then compared both tcps going to a point. After it, i made some corrections to achieve a better tcp.

Also in my opinion and after some tests, i think it's better with less points.

HawkME: yes, as you say backlash is a problem, and more in this kind of tasks, also a big robot is not the best choice to achieve great circles.

Small Circle Accuracy is not supported in this robot.

I post the code:

1:  !****************************** ;
2:  !*        PROGRAM:           * ;
3:  !*        CIRCLES             * ;
4:  !****************************** ;
5:   ;
6:  UTOOL_NUM=1 ;
7:  UFRAME_NUM=1 ;
8:  PAYLOAD[1:Laser] ;
9:  OVERRIDE=100% ;
10:   ;
11:J P[1: ] 50% CNT100    ;
12:L P[2] 50mm/sec CNT100 ACC100    ;
13:   ;
14:L P[3] 50mm/sec CD20 PSPD100    ;
15:C P[4]
:  P[5] 50mm/sec CD20 PSPD100    ;
16:C P[6]
:  P[7] 50mm/sec CD20 PSPD100    ;
17:C P[8]
:  P[9] 50mm/sec CD20 PSPD100    ;
18:   ;
19:L P[10] 50mm/sec CNT100    ;
20:   ;
21:L P[11] 50mm/sec CD20 PSPD100    ;
22:C P[12]
:  P[13] 50mm/sec CD20 PSPD100    ;
23:C P[14]
:  P[15] 50mm/sec CD20 PSPD100    ;
24:C P[16]
:  P[17] 50mm/sec CD20 PSPD100    ;
25:C P[18]
:  P[19] 50mm/sec CD20 PSPD100    ;
26:C P[20]
:  P[21] 50mm/sec CD20 PSPD100    ;
27:C P[22]
:  P[23] 50mm/sec CD20 PSPD100    ;
28:C P[24]
:  P[25] 50mm/sec CD20 PSPD100    ;
29:C P[26]
:  P[27] 50mm/sec CD20 PSPD100    ;
30:C P[28]
:  P[13] 50mm/sec CD20 PSPD100    ;
31:C P[14]
:  P[15] 50mm/sec CD20 PSPD100    ;
32:C P[16]
:  P[17] 50mm/sec CD20 PSPD100    ;
33:   ;
34:C P[18]
:  P[19] 50mm/sec CD20 PSPD100    ;
35:   ;
36:L P[29] 50mm/sec FINE    ;
37:   ;
38:  !Access ;
39:J P[1: ] 25% CNT100    ;
40:   ;

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Hello all,

I'm integrating a FANUC robot, model R2000iC-165F for a laser welding application and I'm having some problems with circular trajectories.

When we try to weld small circles or trajectories with small circular radius... the result is not as expected. It's like an oval.

And this result is with fast... and slow speed.

Robot has the payload calculated (with robot), we installed Adv-Ctrl Speed and Adv-Ctrl Path, also we tried with more points in the trajectory but at the end it's equal.

I attach a picture with the programmed points and the result.

Any advice for programming circles with FANUC?

Sorry for the late answer.

HawkME:

With FINE i got the same result, the robot only reaches half of the programmed speed.

Then I checked these 2 variables:

$MCR\$GENOVERRIDE: 100

$MCR_GRP[1]\$PRGOVERRIDE: 100.00

Nation:

I made the cell in RG (befores the robot arrived), then I serialized the robot with real one, but later we had to upload an image in the robot and serialized again.

I created a new cell, and tried again the program and it works fine...robot reaches the programmed speed.

Something I have observed is:

In the crashed cell when I see the Profiler, there is an option: "Tool Posture" and in the new cell it doesnt appear. Maybe I marked some option and it causes this strange view of tcp speed.

Thanks

I set the Override in the program to 100%.

In the Menu\Setup\Ovrd. Select is DISABLE.

(Also, when i press "CycleSTart" and the program starts, in the quick bar at the bottom i see the Gen Override at 100%)

The motion segment to analize is from P[2] to P[3]: 1000 mm.

1:  !SimPRO Auto-Generated TPP ;
   2:   ;
   3:  UFRAME_NUM=1 ;
   4:  UTOOL_NUM=1 ;
   5:  OVERRIDE=100% ;
   6:J P[1] 100% CNT100    ;
   7:  !Segment1 ;
   8:L P[2] 50mm/sec CNT100 ACC100    ;
   9:L P[3] 50mm/sec CNT100 ACC100    ;
  10:L P[4] 50mm/sec CNT100 ACC100    ;
/POS
P[1]{
   GP1:
    UF : 1, UT : 1,        CONFIG : 'N U T, 0, 0, 0',
    X =  -200.000  mm,    Y =   300.000  mm,    Z =  -500.000  mm,
    W =     -.000 deg,    P =     -.000 deg,    R =      .000 deg
};
P[2]{
   GP1:
    UF : 1, UT : 1,        CONFIG : 'N U T, 0, 0, 0',
    X =  -200.000  mm,    Y =     0.000  mm,    Z =  -500.000  mm,
    W =     0.000 deg,    P =     0.000 deg,    R =     0.000 deg
};
P[3]{
   GP1:
    UF : 1, UT : 1,        CONFIG : 'N U T, 0, 1, -1',
    X =  -200.000  mm,    Y = -1000.000  mm,    Z =  -500.000  mm,
    W =      .000 deg,    P =     -.000 deg,    R =     -.000 deg
};
P[4]{
   GP1:
    UF : 1, UT : 1,        CONFIG : 'N U T, 0, 1, -1',
    X =  -200.000  mm,    Y = -1300.000  mm,    Z =  -500.000  mm,
    W =      .000 deg,    P =     -.000 deg,    R =     -.000 deg
};

Hello,

I'm working on a welding simulation and the customer wants to know which speed the robot maintains during the trajectory.

First I made a complex trajectory as the weld part needs, and then I analyzed it with the profiler.
I observe that the robot is not capable of maintaining the speed, even if it is very low.

Then i made a simple trayectory: 1 meter in a straight line to analize with the profiler. And the robot can't even keep the speed.

For example: if I programm the lineal points with 50 mm/sec CNT 100 ACC 100, when i see the profiler... the robot reaches only 25 mm/sec

I don't understand why the robot reduces the speed during the trajectory.

!-------------------------------------------------------------------------------------------

ROBOGUIDE - Version 9 (Rev T)

!-------------------------------------------------------------------------------------------

ORDERFIL.DAT:

H552 HandlingTool

H521 English Dictionary

R806 ADV-CP Path Ctrl

R805 ADV-CP Speed Ctrl

J891 Adv. Constant Path

R796 Ascii Program Loader

R507 Ascii Upload

R512 AutoSingularityAvoidM

J618 CE Mark

R534 Collision Guard

J684 Collision Guard Pack

R663 Constant Path

J508 Customer Reg

J523 Cycle Time Priority

J567 DCS Pos./Speed check

J568 DCS Safe I/O connect

J755 Domain Name Serv.

R834 Dual Chan. Profinet

R651 FRL Params

R553 HMI Device (SNPX)

R558 Internet Conn/Custo

R694 Jog in Auto Mode

J766 Maint Reminder Plus

J771 Maintenance Reminder

R583 Motion Interface

R809 Motion Package

R641 PC Interface

J744 PROFINET CP16XX FW.

J931 PROFINET Safety

J541 Password Protection

R603 ROS Ethernet Packets

R843 Remote iPendant

R792 Singularity Avoidance

R904 Spline Motion

J694 TCP SPEED OUTPUT

R726 iRCalib. Signature

R765 iRDiagnostics

FVRC Virtual Robot

H721 R-2000iC/165F

!-------------------------------------------------------------------------------------------

Any advice about this?

Should I use or configure some motion option?

Thanks in advance

Hello,

Software simulator: Roboguide V9 - Rev T.

My question:

Is there any option in Roboguide to modify the origin coordinate system of a part or an obstacle?

I mean, after work with other software simulators, i found really easy to change the origin of any part. but it's something I can't find in Roboguide.

Once you have a system coordinate system for an object... it remains allways in the same position.

Should I modify it before add to Roboguide?

Thanks.