Posts by jmd2777
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Sorry, they may not use those terms anymore. What I meant is the main 2D Vision Process settings.
See the attachment.
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Please post a picture of the settings you used for the 2D Single View Vision Process. For example, Application Frame and Grid Frame.
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1. Did you create the Roboguide cell from a backup of the robot?
2. What do you mean the "inputs and outputs are not turning on/off like they should"? Does this mean you can't turn the DOs on and off in your program?
3. What behavior do you expect from the DIs? In Roboguide they are not getting any signals from sensors so they will remain off.
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I can't offer any solutions, but I wanted to say that I have struggled with a similar problem in GET_REG and SET_REG commands.
I feel like we should be able to set a Data Register as Integer or Real data type.
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The third argument to CNV_INT_STR is the base. You are using "1". Thats not valid. Try using "0" which will use base 10 for the conversion.
For example:
CNV_INT_STR(arg1,1,0,temp)
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There is a discussion about that here:
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I don't know what the best practice is for that setup. iRPickTool may have some features to help with this. In iRVision you have the Model ID functionality. You can use multiple GPM tools with different Model IDs. Or you can use Model ID to identify the type of part that was found. For example if 2 sheet metal parts have the same outside shape but one has a hole in the middle. Then you can use the same GPM tool to find either part and use a Conditional Evaluation tool to look for the hole and add a value to the Model ID if the hole is found. You can then set multiple reference positions within a 2D Vision Process based on the Model ID. So the pick offset returned will be set by the Model ID.
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Which situation do you have?
A) the user selects the current part and the system only looks for that part on the conveyor
B) any of the 10 parts can be on the conveyor and the system must look for all part types
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You will need to read the Handling Tool manual to get an understanding of the UOP signals. You may be misunderstanding the function of Hold. When a Hold signal is received the robot stops and the current program is stopped.
To resume, you may just need to send the Start signal but that might depend on how your Prog Select is configured.
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Zahid,
I don't know if you have access to the Fanuc manual on HMI Device Communication. It has been helpful to me. It says that an input signal cannot be changed even if it is assigned to a holding register. Then they say if you want to change an input signal, you can change an input signal through a flag by assigning the input signal to flag, which is rack 34 and slot 1.
So, yes you would assign Flag[x] in the SNPX_ASG.
I don't know why some of the UIs do not change status. Its possible they are changing state and then reverting back so quickly that you can't see it. I would try to manually turn the flags on and off from the teach pendant and see what the behavior is.
I can't help with the communication errors either.
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As a simple test, can you turn any Flag on or off using the write_coils command?
You should be able to see the Flag value change in Roboguide.
Also, I thought SNPX assigned the Flags to coils starting at 20000. In other words Flag[1] is at address 20000, Flag[2] at address 20001 ,etc.
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Select the Measurement Output Tool. Click the white down arrow at the top of the screen until it moves below your arithmetic calculation tools. Now you will be able to select the result from arithmetic calculation tool as the output of the Measurement Output Tool.
Basically the measurement output tool only lets you select from tools that are "above" it in the tree.
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I think you need the SET_VAR command: "Allows a KAREL program to set the value of a specified variable"
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I have done it. I followed a Fanuc webinar which has a section specifically on connecing a Basler GigE camera to Roboguide.
Link to the webinar:
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You could use the blob tool and a measurement output tool to get the semi major axis value.
Select the blob tool and then click the + symbol to add a sub tool. Select measurement output tool.
In your TP program use the VR[].MES[] instruction to get the measurement value.
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You could create multiple Blob tools. In the blob tools, use a double threshold and set the range to only include the objects that you want this tool to find. Set a unique model id in each blob tool. The model id is accessible in the vision register that is returned when you call RUN_FIND.
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You need to use the GET_VAR command to read system variables. The syntax is in the Karel user manual.
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Please post your Karel code and the error that you get.
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In the Karel manual they use port 59002. I have used port 6008 successfully. It might be worth a try. Otherwise, could it be a firewall issue?
If you are using Roboguide, you can access some ethernet diagnostics here:
http://127.0.0.1/MD/ETHERNET.DG
at the bottom it shows some port information.
And any communication errors here: