Do you also have the password option on your robot?
Posts by Erik Olsen
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Still wrong
What software version are you running? would you be able to upload the syspass file?
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whoa there.
Do you mean you cannot change the Register used in a line of a TP program, (IE R[1] -> R[2])?
Or Do you mean you cannot edit the value stored in that register.
If it's the first one, make sure your teach pendant is on. If the second, make sure there isn't a program running resetting the value of the register.
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Alright, give 9578 a try. Haven't done this in a bit too long. Might have to play around with some syspass saves in roboguide.
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Can anyone help me to find DCS code?
1234?
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Yes, I had forgot about the LPOS instruction. So something like:
PR[1]=LPOS + PR[2]
where the PR[2] stores the incremental information
However, I am curious about the INC instruction (I have never used before)
Where do you enter the amount of the increment when using the INC?
Thanks so much
when you give the motion instruction the INC modifier, it will zero out the position used in the motion, you will then enter whatever offsets you want into the point position.
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If the DCS Menu was disabled by default I would guess you don't have the option.
Has anybody tried to use the system variable: $MOR_GRP[X].$ROB_MOVE ? Watching it on a running robot seems to match what you're looking for, and I am able to use the parameter in TP instructions.
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Do you have a main program loop that could check for a signal from the HMI? (Does you waiting for the case program loop?)
IF so you could put something like this in your program loop.
IF (DI[1]=ON) THEN ;
ABORT ;
ENDIF ;
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I am using my own routine with the teach pendant. One program to wait for a box on the conveyor and another for box position on the pallet. Then I call the wait for box program and once a box is detected I call the box position program 1-40 boxes. The product change over never ends on an exact amount so I need to be able to start over at some point less than 40. The robot does not like to restart from the beginning with a program already running so I have to power the robot down and back up again to clear out the program.
What part of your program doesn't "Like" to restart from the beginning? Do you get a "program already running fault"? Is the box count/positions not being reinitialized?
As hermann said, you shouldn't need to power the robot off to abort a program, there is both the FCTN->Abort option as well as TP "abort" and "end" instructions you can use in a program.
Let's say you just finished a run, what changeover steps do you take, and what does the robot do?
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If you have robots in same cell right next to each other, and they have communication b/w them, then you can enable a DO saying "robot in area, do not allow other robots to enter". Then all other robots if they want to enter that area, then must wait for the equivalent DI to become false. Once it's false, then other robot can enter the area and turn on it's own DO.
This method should work if you don't have any of DCS options available.
I would recommend using at least a Robot heartbeat signal, or a signal handshake between robots in conjunction with this method. It's pretty easy for a programming error, network problem, or electrical issue to crash robots if you're only using a single digital input.
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Not enough details to know what's going here.
Are you writing your own palletizing routine or using Fanuc software options?
Why would a pallet end up with less than the number of cartons you specified (ie product change over?).
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I cannot find any references to PK_TO_SR_FIT in any searches of google or Fanuc online documentation. Do you know what software option includes this program?
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If you boot the robot into a controlled start or into the bmon menu will the teach pendant still hang after a few minutes?
Do you have the original software media for the robot?
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Do you know offhand how you would check if a program is running with logic? I assume Karel can do it. I know our shop has done PCDK implementations that can do it, but are you able to do it with TP?
Also, for the options above, is there any way to see the parent of the stack rather than just the program currently executing?
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I agree with HawkME. There is probably a better way to do this. If you have a Karel program that is always running and waiting to abort TEST.TP, then how will you run it when you need to?
It sounds like neighbour1 will be able to check the status of the TP enable switch, and only run his karel logic whenever the teach pendant is on.
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thank you for your information.
so I will not be able to get the source file.
That is correct. The operations manual for your software package should have a description of many preloaded programs and what they do. Also you can often glean some information about how they work by looking at their Karel variables. (Select the program from the "SELECT" Menu, then hit "DATA" -> F1"TYPE" -> 4 "Karel vars")
Hope that helps. Good luck.
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It should also be said that Fanuc uses Karel programs throughout their software packages (IE pallet tool) and absolutely has no intention of distributing their uncompiled .KL files.
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Why would operators be opening the mastering menu?
You can change the "(MSTR POS )" values from these system variables:
$PARAM_GROUP[x].$MASTER_POS[x]
Power cycle for the change to take effect. I have not tried this on any actual robots, so I have no idea if this value is only used by the mastering menu or if it has a function somewhere else. Take backups and try at your own risk.
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Could you add a PR offset to all of your motion instructions? Then initialize the XYZWPR values of the position register to zero.
IE:
L P[1] 2000mm/sec FINE Offset, PR[50: Rail Ofst]
Then, whenever you change the position of the user frame, change the E1 value of the position register by the same amount.
IE:
PR[50,7: Rail Ofst]=R[x:Frame ofst]
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The only thing I can think of would be the Remote iPendant option, but from there you would still have a lot of work to integrate it with your HMI.