Posts by Mark Krohn

Thanks guys, I really appreciate the helpful input!

Greetings

We are using a R-2000iA/165F, with HandlingPro software ver6.4, that was manufactured in 2002, to cut holes in pipe and cut them to length. We have mounted a plasma torch on the tool head at a 45 degree angle from the plane of J6. The robot is mounted on a platform and J1 is a rotation. We are simply utilizing the robot's ability to move from point A to B, etc. and I/O to activate the torch and pipe table rotation. At the start of each program, the robot cuts the bolt holes at one end, then moves to the middle and cuts a hole, and then moves further down for a cutoff. We have hundreds of different parts at various lengths. To create a new part program, we copy a program and subtract from the Y-axis value (of mid hole and cutoff) to increase length. We accomplish this programming offline with OLPC Pro.

In the program libraries I write, the thru holes work every time as they are basically constant. However, the mid-hole and cutoff sometimes go wonky. At a certain point the wrist will spin and we have to stop the robot and re-teach that position. I understand this to be the result of a "Gimbal Lock".

My question: is there any way to prevent this in the offline programming? As we have so many programs already written, we don't want to change the torch position. Nonetheless, what specific changes would be needed to the torch position for future projects with a similar, re-purposed robot?

Thanks!

Hello All- currently using a DO on a 2003 RJ3iB to toggle a rotation table ON/OFF. The various speeds are set manually with a pot and accuracy/repeatability is a problem. So we're upgrading the table with new servo motors that will be set to receive 1-4 digital signals from a PLC . Can the PLC be controlled from the RJ3iB with one hard wire sending variable low voltage? If so, how would this be accomplished? Thanks!

Blade,

I have an RJ3iB controller with an "A" cabinet. It has a 2-slot backplane with some I/O cards. One card is an input card for a laser sensor and the other is an output for the plasma torch, which is controlled by RO[ ]. The pot is probably a simple voltage divider. We are using DO[ ] to turn the table ON/OFF.

I'm searching for a Fincor 2400 MKII Model 2402 user's manual online, as we don't have one.

I don't know too much about the Macro. In fact; I'm quite new to robotics, electrical wiring, etc. I was a forklift driver at a small manufacturing plant, the owner bought a robot and wanted to teach it how to cut pipe with a plasma torch. We had to hire a guy to come program it and he showed me how it worked, so I became the operator. Eventually i learned how to program it for other parts, so the owner bought another and we made it work, now I'm the programmer. I realized problems with the manual pot in regards to process repeatability. So now I'm investigating and learning fast as I can, which is a stretch for me. In terms of a career move, this is a great opportunity for me and I'm trying to make the most of it. I appreciate your patience.

Thanks,

Mark

Hi Blade

I'm trying to duplicate the 0-24v signals, and have the robot controller act as the potentiometer. We don't want to manually turn the pot, as there are various speeds needed and it would be great if each robot program could select them based on I/O. I see that FANUC R-J3iB has analog outputs of -10v to +10v and I wonder if that would control the FINCOR 2400MKII Model 2402, which supllies DC power to the table. Also, wonder what type of I/O cards for the robot would be needed.

Thank you for the suggestions, links, and help!

Mark

I'm trying to use the FANUC R-J3 to control the rotation speed of a old Vernon pipe processing table. It's my understanding that we might need another process I/O board. We want to use 24v to control the potentiometer of the Vernon table and to regulate the speed with various voltages. We are currently controlling it manually with the original Vernon potentiometer, but it's difficult to find the exact same spot on the dial (we need to change speeds for pipe in-feed purposes). Accurate rotation speed is crucial for programming the various cut-offs we need. Is there a way to seize control of the old potentiometer with analog robot I/O? I appreciate any instructions -