Yep, it was exactly that.
Yep, it was exactly that.
We have a integrated HMI Menu in our TP, created from our integrator. The robot is loading a CNC machine and is only working with the HMI menu ON.
the user of the robot asked me if i can create a Quick function (like open/close gripper with macro) for enabling and disabling the HMI Menu.
Now my question is: Is there a variable to enable / disable the function?
How to program it with th evariable isn't an issue for me, i just ned the variable for that.
Normally, when I have a E-stop error, we have to reset the errer in the meu. Normal reset with the RESET button doesn't work.
Menu -> 4 Alarm -> 1 Alarm Log -> F4 RES_1CH -> Then you get asked to "reset Single Channel fault?" Press YES (F4)
That should help
I did a Payload for the empty Gripper and one as well for the Gripper + Part.
Yes, after closing or opening the Gripper i set the Payload.
The movement is okay now
Thank you agian.
Thank you for your awnser.
I just added acc option to the movement.
Now it works perfectly fine with ACC 80
We have a LR Mate 200 id to load our CNC with parts.
With our bigger and heavier parts we have some troubles.
First of all, how the robot is set now:
The max Payload for the robot is obviously 7kg. The Gripper itself is about 1.7kg and the gripped part itself is about 1.4kg, so both together about 3.1kg. Normal picking and placing of the robot isn't an issue at all. The fault appears at the reorientation with 100% Joint speed. The reorientation is from Homepos (-90, 0, 0, 0, -90, -90) to the Waitingpos in front of the loading window of the CNC (90, -75, 70, 0, -90, -90). I know the Waitingpos isn't the best Position for the robot, but we have very limited space to move in.
The Payload is set properly. I used the fanucs payload esitmation programm with known (weighted) mass. The part is about 150mm away from the flange.
The fault appears from to Waitingpos to the loadingpos in the CNC (99, 0, -26, 0, -63, -89.4).
The programm runs at 80% speed and the fault appears. With 100% run speed this fault appears: DIAG-005 Reducer load excess (G:1 A:2 L:91 P:Programmname.TP)
I can work with that settings, but I think the robot's lifetime is short, when we let it run 24/7 with this faults.
What can i do? My boss said, last option is reducing run speed.
Would it help to reduce the distance between the flange and the part (mass center)?
Thank you in advance
(and sorry for my bad english )
This isn't a question in first way...
1st of April this year, I started a new job were i can programm fanuc robots offline with Roboguide. The robots grind bodies for water taps. Offline programming is all new to the company as well, I am the only an first one who does this. I can't ask guys from my companie...
Before this job, i worked for 7 years with CNC machines, I have a good knowlege about basic tooling with milling and turning machines and programming in ISO-Code, Fanuc-CNC, Siemens-CNC and CAM programming. But robot programming is all new to me. I already had the Roboguide basic training from Fanuc Academy Switzerland. At end of April, i will have basic usage training of Fanuc robots.
Through this Thread, I want to find pepole who have a similar job to mine. Ones who can give me some tips for programming robots for grinding and polishing parts with RTCP. It's not about my problem like, why does my robot don't move??? It's more like: I am doing it this way. Do you know a better way?
Maybe in some time we can learn from each other and proceed to the next level together.
Thank you guys
And sorry for my english