The group mask is needed only if you have multiple groups
Posts by robotero
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Store the current position first, then modify the position register
If it is an incremental movement you can use PR[GP1:5,1] = PR[GP1:5,1]-300 in line 41: UFRAME_NUM = 1 ;
2: UTOOL_NUM = 8 ;
3: PR[5] = LPOS
4: PR[GP1:5,1] = -300
3:L PR[5] = LPOS 50mm/sec CNT85 ACC65 ;
5:J P[1] 5% FINE ;
/POS -
Hey!
What controller are you using? You could probably use incremental movement insteadregards
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Hey!
I had the same problem when I tried to simulate a legacy genesis cell from a robot auto back up, I modelled the cell in catia and loaded it into Roboguide and manually located the two axis positioner, the robot had two extended axis too so I also located those relative to the part positioner and finally the robot. I was able to locate everything so as the robot follows exaclty the positioner in the entire motion range.
Since your positioner is of the know kinematic type, the procedure should be a lot easier. Check your coordiante pair in $CD_PAIR[ ].$CD_XF variable. That's the position and orientation of the virtual coordinate system of your positioner. Add a link to your positioner at 0,0,0,0,0,0 of J1, use a sphere as linked cad at 0,0,0 and orient it to match the orientation of the robot world coordinates (this step is necessary because the positioner links cannot be picked individually for measurement). Next, measure from the robot world coordinate (origin) to the sphere origin. Now locate the positioner to match the distances with the coordinate pair values. With that your positioner should be correctly located now, provided your part and fixture and modelled and located correctly, if not they must be calibrated as you pointed with the utility provided in Roboguide.
Regards!
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Hi,
yes, you can output the TCP speed to a group or analog variable and use that to control de dispense rate.
Fanuc sells option software to make the dispensing entirely robot-controlled, you only need to add the hardware (I/O) to connect the valves, etc.The other option is to have an external controller for the dispensing, the robot controller only sends commands to select the dispense program, firing signals and of course the speed feedback.
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Hi
Is all that it needs! But remmeber that there is also a 6 point method! That defines not only position but also orientation of the tool
This is more a mathematical question: if you want to solve a system of linear equations you need at least the same number of values.
If only need the position of a TCP, ONLY need three points
but if you need to define tool orientation, then you need at least six points
But this applies to ALL robots not only Fanuc,
There is a nice function in Nachi robots that calibrates the robot and TCP at the same time!
calculates the axis offsets and tool distances, guess how many points you need to define? At least 12!I used it to calibrate a robot once because I didn´t have the calibration blocks and pins to master the robot and worked GREAT!
I would like to help you more if you can send me more information,
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Check the compatibility, that mouse only works with a few CAD systems It would be great to make it work! Roboguide functionality can be extended using C++ but I don´t have the expertise yet to attempt writting code to interface the 3D mouse, but is a nice idea
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ACC Accurary is similar to the CNT parameter in fanuc, with ACC 0 the robot moves exactly to the programmed position, usually decelerate in doing so, with other values the robot pass only near the point and starts the next movement command. Its is easy to see it when the robot changes directions for example at corners, with increasing ACC values the path would be more rounded.
Nachi controller supports the proposed japanese standard language SLIM (Standad Language for Industrial Manipulators) and provides the utility to convert between them. I´ve tried myself the utility but was never able to convert a SLIM program correctly.
There is a nice book (in japanese) published by the Japanes Industrial Standards that explains the language
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Sure! In Menu - Setup look for the manual functions, you need to create a function then assigned it to a key on the teach pendant
Sent from my iPad using Tapatalk
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Besides of payload, robot are rated by the maximum moment allowed. Manufacturer specs are tricky: Many robots have high payload, but the center of gravity of the payload should be located very close to the end effector mounting plate. If you are going to push or pull normal and centered about the plate, then the limit is the max permissible force which is the actual robot payload. Is this for a hemming application?
If your force is not normal, causing a moment then calculate and apply the max moment allowed.Sent from my iPad using Tapatalk
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IMHO it is very difficult for a company to justify investing in legacy equipment, because is not only the robot, is also all the equipment necessary for a complete robotic application of any type ( welding, sealing, etc).
I am not saying is impossible: I bought myself an old robot and re-sold it. Turns out the robot is still running (!). Probably would be a good museum item. They look awesome! If I were a billionaire I would buy them!Sent from my iPad using Tapatalk
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Check your connections at the servoamplifier Probably power cables are swapped, they have the same key. The brakes reselease ok? If you took the motors off and move ok probably is a mechanical problem. Is nothing obstructing the movement?
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This is due to the mechanism design of the robot (4 bar linkage) So when you move the upper arm in joint mode only the corresponding motor moves but in reverse direction: If you what to move the arm up, the 4 bar linkage mechanism pulls the back of the arm down. That's why the balancer moves down when you move the upper arm up.
but when you move the lower arm, J3 moves to compensate this movement to keep the relative position of the upper arm with respect to the lower arm.