If the pressure being measured is the pressure on the robot base air input, I would relocate the sensor to the air line output on the robot, and connect it to the EE connector dedicated pin.
Posts by Sergei Troizky
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Stupid question, but did you start the scanner?
Also, are you sure the Turck is acting as an adapter? -
The scanner must be correctly configured for the connection size and the adapter input/output/configuration assembly instances.
This information must be provided by the adapter device manufacturer. -
I want to group RI/ROs into GI/GO.
GI/GO configuration in I/O setup requires the rack#.
Is there a rack referring RI/RO? -
I am curious, what is the carton blank that requires a 50kg payload robot.
But if the carton is really heavy and handled with fast motions, spring-loaded vacuum cups may appear not rigid enough. -
Does the handling tool manual give instructions on how to use this function?
Yes.
Is it available for purchase or download?
It's paid option that needs to be enabled using a code provided by Fanuc. -
You did not mention the controller, but here is a page from the R-30iA,B Handling Tool manual:
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Karel is out of question. Our policy is to stay with TP format.
I do want to do this in BG, where I cannot refer PR[n], only PR[n,c].
All this being said, can you explain how a macro can help? -
See the MARMCRIA304071E R-30iA Controller Maintenance Manual.
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I would like to use RI/RO as GI/GO on R-30iB.
What is the rack number for configuration, if any?
I need native GI/GO, not interconnect trick. -
Thank you, Nation, it worked.
I also would like to directly read a user frame component into a register.
This will be done in TP format BG logic, so reading to position register cannot be used.
What would be the syntax for this? Say, I need Z of Uframe 1.
R[1]=($MNUFRAME[1,1]???). How to refer the Z component? -
I need to read a component of a user frame into a register, on R-30iB.
I tried PR[x]=UFRAME[n], but this results in strange content of the position register,
something like NX=1mm, NY=0mm, NZ=0mm, OX=0mm, OY=1mm, OZ=0mm,
which has nothing with the user frame values.I tried then to read the component of the $MNUFRAME system variable directly,
but could not discover the proper syntax for the parameter name.Would greatly appreciate any help on both issues.
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I've never worked with RJ, but does not it have dual-channel safety inputs to stop the robot?
Something similar to "fence" or "servo off" on r-30iA/B.
Safety functions should not be implemented by software, especially for human safety.
The same applies to the press. -
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It's exactly what it says.
If TRUE, the robot will continue tracking (following the encoder) after the program end, until any of the following events:
- The robot reaches its motion limit.
- A non-tracking program takes control.
- A tracking program starts new tracking (not just starts executing, but the next part is inbound).
- A tracking program executes STOP_TRACKING instruction.In pick and place between two linetracking schedules, I would execute STOP_TRACKING in the end of each task (pick and place).
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I have been trying to implement following logicIF(DI[23]=ON),JMP LBL[1]
LBL[1]
UALM[1]But I am not able to display User alarm as it is showing INTP-443 INVALID ITEM FOR MIXED LOGIC.
Can you help me generate alarm for the above logic or if there is any other way to generate alarm, then please tell me.
Thanks in advance
BG logic does not support labels and jumps, and probably does not support UALM (not sure about the latter). -
Not sure about RJ-3iB, but in R-30iA,B:
In normal execution (not in BG Logic), the pulse instruction with no time means a pulse of the duration specified in the $DEFPULSE system variable. Try to preset this variable in the line prior to the pulse instruction.
Unfortunately, I do not remember now what are the units. -
In the robot, you must configure UI/UOs and/or some DI/DOs to rack 89, which is the Ethernet/IP connection. For slot, use the connection number.
After that, activating an output in the PLC module will activate the robot input.
Activating an output in the robot will activate the PLC module input. -
Do not complicate things. Use the robot as an adapter.
For configuration, see my post in this topic:
http://www.robot-forum.com/rob…-files/msg41285/#msg41285 -
Perkwes, What PLC? What communication module, if any?
Chipprogr,here is an example:
with Omron CP1H PLC, I have to use ~$1200 communication module to create EIP scanner (while the PLC itself costs me under $600), or use ~$150 EIP adapter communication module and buy the scanner option in the robot for ~$500.