The file sizes are correct. I have had corrupted Roboguide installs in the past. Maybe try reinstalling. Make sure to run the install as administrator.
Posts by jmd2777
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If I understand correctly, your Roboguide cell was not created from a backup of this robot. I would confirm that the robot controller used in Roboguide is identical to the real robot. Or even better is to create the Roboguide cell from a backup of the robot. Then build the Karel program again.
The Karel user manual has a warning about using Karel programs from a different software version.
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Great. Thanks for the update.
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This has worked for me:
Vendor=7
Device type= 12
Product code = 198
Size:
Input = 10 word
Output = 10 words
Assembly Instance:
Input = 100
Output = 150
Configuration = 0
Advanced screen:
I/O data type - 16 bit words
Set Target to Originator Transport Type: UNICAST
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One option would be to create a Karel program that runs infinitely in a loop (don't forget to add a DELAY statement in the loop to prevent locking up the system).
A Karel program with
%NOLOCKGROUP
%NOPAUSE=ERROR+COMMAND+TPENABLE
%NOABORT=ERROR+COMMAND+TPENABLE
%NOBUSYLAMP
will continue running regardless of T1/T2 mode or FCTN->Abort All.
The main loop could check for the status of T1/T2 mode and take action when the condition is met.
The Karel program could be set as the Hot/Cold Start Autoexec program so that it would run when the robot boots up.
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That is odd. One thing to check is that the Karel program was built using a compatible version of the Karel translator. In other words, the Roboguide cell that you use to build the Karel source code should match the software version of the robot. The easiest way to do that is to create the Roboguide cell from a backup of the robot.
Another thing to try is simplify the Karel program as much as possible. Maybe even use an empty Main routine. Also eliminate any unnecessary directives at the top of the code (statements that begin with % such as %NOBUSYLAMP)
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I just tried connecting to my RoboGuide cell with UA Expert. At first it correctly showed the register values in the Holding Registers. The position data also was working(MotionDevices->Axes->AxisX->ParameterSet->ActualPosition). Then my RoboGuide did that thing where it becomes unresponsive for a few seconds. Then the Holding Registers showed all 0. I had to disconnect in UA Expert and then reconnect and then the Holding Registers were showing the correct values again.
When the Holding Registers are working I was able to write a value back to robot. Beware, when I used the write feature in UA Expert it converted all of my data registers to integers.
1. I am using the default $SNPX_ASG.
2. The Holding Registers are truncating any value after the decimal point. For example if I have R[1] = 0.4 the Holding Register[1] shows 0, If R[2] = 10.2 the Holding Register shows 10.
3. We have been using OPC UA in Labview to read and write data registers to a real robot and we have not had any problem. So it may be a RoboGuide problem or it could be a UA Expert to Fanuc Robot problem.
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I can't test in RoboGuide right now but here are a few notes from my experience:
1. I first tried Prosys client (connecting to a real robot) and it would not work. UA Expert client did work. I think Prosys sends an invalid timestamp on the first connection and the Fanuc OPC-UA server rejects it. So try UA Expert if you have not already.
2. What address are you using in the OPC-UA client? My guess would be: opc.tcp://127.0.0.1:4880/FANUC/NanoUaServer
3. I don't think all network-based services are emulated in RoboGuide. For example, I have tried testing Ethernet/IP in RoboGuide and it does not seem to be running. Do you know if the OPC-UA server runs in RoboGuide?
Search this forum for system variables: "EIP_ENBL_IO" and "MODB_ENABLIO". There are other threads where people have said that enabling this variable allowed them to use EIP or Modbus in RoboGuide. Maybe there is a similar variable for OPC-UA.
4. Verify that your RoboGuide robot is running version 9.1 or newer. That is when they added OPC-UA to the HMI option.
Update:
I tested on a RoboGuide cell and I am able to connect to the OPC-UA server.
This is the environment:
RoboGuide V9 Rev. K
The RoboGuide cell is made from a real robot backup. The rRobot software version is 9.10P/25
I connected with UA-Expert using opc.tcp://127.0.0.1:4880/FANUC/NanoUaServer
I did not change any settings in RoboGuide to make it work.
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Hi. I'm not sure this is what you are looking for but I have used this in the past:
1. Access the Robot Home page using Internet Explorer or some other web browser
2. Click on the link for Error/Diagnostic files (text) available on MD:
3. Click on the link for TPMENU.DG
4. Here you will find a table for all menu screens with the Screen ID. The Browser menu screen is towards the bottom of the list.
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I think a coordinate transformation occurs when you execute a motion command with a VR offset. In other words, the offset values in the VR are not directly added to the master pick position.
I have had a similar experience. I took offset values from the VR and copied them into a PR. Then I executed a motion command with a PR offset but the pick would be incorrect. But if I use the VR offset it works fine.
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Did Keyence tell you the expected behavior for this setup?
Does CALL KEY_SEND_CMD('TA') send a trigger to both cameras?
Should CALL KEY_RECV_VAL return the detected position for both cameras?
I guess that Keyence gave you the the compiled Karel file (.pc) and not the source file (.kl)?
If you have the source files then you could check the Karel code to see the commands they are using.
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I would recommend that you enable logging in iRVision. That will allow you to go back and check if the vision tool correctly found the bolt head. If it is consistently finding the bolt head then check if positioning fails when the offset angle is large. If tool center point and user frame is not taught accurately it will show up most when there is more rotation in the vision offset.
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This is my understanding:
I don't know which port is use for GIGE camera (as attach file)
There is a dedicated port in the controller. It is the ethernet jack that is by itself (left-most in your image)
-Every gige camera can connect to fanuc robot or special brand and model ?
Not sure. They use Basler cameras but I don't know if they are restricted to cameras provided by Fanuc.
- How can i check my controller has it this option or no(gige camera)
Menu->Next->System->Version
There should be a button for OrderFill (you may have to press NEXT key). This will show all of the installed options.
- What about Sony xc 56, can i connect it also to controller?
I don't know.
- Is there any multiplexer for this controller , that can connect 4 cvx digital camera to controller ?
Fanuc offers a multiplexer for CXV cameras. Each multiplexer can attach to 3 cameras. If you need more than 3 cameras, then you need to daisy-chain 2 multiplexers.
- I need any document about connect gige camera and irvision specification .
It is going to be a difficult job if you don't have access to documentation on Fanuc CRC.