Posts by Bill Lin

Can you show us some photos?

maybe u can check the three recorded point position to find if u had made some mistakes .

fanuc robot can easily connect with keyence camera through socket.They(fanuc and keyence) have develope series specialized pc programs .

can we find out the password through this way?

Hello ! I'm now using R30iB plus controller Robot,and i find that when deadman switch released, override will decrease to 3% automatically in T2 mode.

Anyone knows which system variable or config can disable it ?

i think u can use the edge pair locator tool to measure the depth, and use the measurment output tool to get the value from VR[1].

hi! I am using Fanuc robot R2000iC/210F to do a bin picking application.And now I have some trouble with singularity avoidance function.

I set the program detail to enable singularity avoidance function. It worked successfully until recent when vision worked normally and robot started to go to the approach positoin,it posted the error "SRVO-114 singularity detected " .I had to change the motion type from linear to joint to continue. But it was the first time that robot still detected the singularity after using the singularity avoidance funtion.

Attachments are my postion before approach point(P[2]) and approach point(PR[22]). It happened when robot excuted from P[2] to PR[22].

Anyone knows what happen?

Quote from MIRobotGuy

This will work. I have used this in the past.

Code

PROGRAM TPP_ARG
%COMMENT = 'TPP Arg to Karel'

VAR
  arg : INTEGER

  -- Dummy Variables for Karel Built-Ins
  Dummy_Int : INTEGER
  Dummy_Rel : REAL
  Dummy_Str : STRING[10]
  STATUS : INTEGER

--------------------------------------------------------------------------
---                          Main Program                              ---
--------------------------------------------------------------------------
BEGIN
-- Use the Get-Parameter Built-In to read the TPP Arguement
--          |-- Parameter Number (Arguement Number)
--          |  |-- Data Type (1-INTEGER, 2-REAL, 3-STRING)
--          |  |   |-- value of the parameter if the data_type is INTEGER
--          |  |   |       |-- value of the parameter if the data_type is REAL
--          |  |   |       |          |-- value of the parameter if the data_type is STRING
--          V  V   V       V          V        V-- return status
GET_TPE_PRM(1, 1, arg, Dummy_Rel, Dummy_Str, STATUS)

-- Display Arguement Value on the Teach Pendant
WRITE('value of arguement:', arg, CR)

--------------------------------------------------------------------------
END TPP_ARG

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that' great!