How I can give a soft limit to the for the specific axis using bg logic
Is this to stop the robot if in forbidden area?
If yes, this can be even done in BG logic, but the reaction time may appear insufficient for fast moves.
Or, probably, may be done by Inteference Check, with fixture models modified programatically on demand.
If, however, the axis limits are intended for MROT motion, they must be system settings and yes, require power cycle after modification.
Try skipping the motion when out of compliance, with immediate re-execution with new offset..
Not sure it has necessarily to be FINE.
LBL 10
SKIP CONDITION= F[10:OUT OF COMPLIANCE]
L P[1] 250mm/s FINE OFFSET PR[1] SKIP LBL 20
JMP LBL 10
LBL 20
Actual joint coordinates are in system variables $SCR_GRP[1].$MCH_ANG[1] …[6].
Actual world XYZ coordinates may be obtained from the undocumented $DIAG_GRP[1].$CUR_TCP_X (_Y,_Z,), but not W,P,R.
Also (not sure about v8.30)
$SV_INFO[1].$CART_POS ARRAY[6] OF REAL is the actual position in the World coordinates.
$SV_INFO[1].$CART_POS_UF ARRAY[6] OF REAL is the actual position in the active User Frame.
What is the controller model and software version?
Press Shift-Display and select Single Wide.
I think both robots have been remastered before I joined the project. I have the original mastering counts from Fanuc so may set them back to the original and try again. Does that sound reasonable?
Also thank you everyone for the replies. I will also try the approach mentioned by hermann as well
If robot was remastered, you cannot just set the mastering data back to the original.
However, you can try setting the mastering data back to the original with following quick mastering.
If the reason of the earlier remastering was only encoder data loss, not mechanical disassembly, this will work. But be sure to keep record of the current values, since you may need to restore them.
No matter possibility of such upgrade, I see no rational of such, based on the information provided.
In very few occasions had I problems because of not upgrading, but many times because of doing so.
Not only with robots.
Sounds as mastering imprecision to me.
Is the robot still under factory mastering or ever remastered?
yes i have ifferent IP address for both the port.
Different IP address is not necessarily on other subnet.
If your subnet mask is 255.255.255.0, at least one of the first 3 octets in IP address must be different.
Why not let program itself generate its ID by writing a literal value into a register?
Also, the following is missing in R30iA vs R30iB:
- Jumps in BG Logic.
- Point Logic in motion TB/DB option.
What is the controller and the cabinet type?
Do you need the rack only? Strictly this model?
Cables? I/O modules?
What is your location?
Not clear what is "disable the PLC".
Hopefully, not killing its power, which makes no sense.
This works in BG Logic on R30iB Plus.
Don't know if such system variables exist in R30iB.
Zero mastering position is each axis aligned with its zero mark.
Quick mastering position is zero position as shipped by Fanuc, or whatever reference position applied later by user.
Use Override Select function.
- Assign any inputs to Signal 1 and Signal 2.
- For all input combinations, set the same desired override %.
- Enable the function.
Is this the main selected program or one called by CALL or RUN?
When teaching UTool by points, only their mutual position matters, therefore teaching may be done in any frame, provided that the frame remains the same through all points.
Are you talking automatic run or manual jogging?
What controller? What software version?
Robot type not specified.
Articulating (number of axes)? SCARA? Gantry?
