Your definitions are unclear. Be more specific.
What is "move from the controller in the Auto position?"
Trying to start automatic run from the control cabinet panel (SOP)?
Trying to jog in Auto mode?
Trying to test-run from pendant in Auto mode?
Your definitions are unclear. Be more specific.
What is "move from the controller in the Auto position?"
Trying to start automatic run from the control cabinet panel (SOP)?
Trying to jog in Auto mode?
Trying to test-run from pendant in Auto mode?
No, I don't use PalletTool nor palletizing instructions.
But again, this has nothing with my question.
I think you mean it's a M410iB/140H, not a M310.
Yes, corrected.
That's s palletizing robot. Everything should be level with the base of the robot.
Not necessarily, but yes, this is palletizing application, which has nothing with the subject.
You shouldn't need that option, unless you're pallet is on an angle...
What are you trying to do?
Wjnt is necessary to unwind the tool rotation to minimum joint angle during linear moves,
to avoid overrotation. Sometimes I cannot use joint moves.
It's especially useful exactly in palletizing application, where I always use it and never had it missing in 5-axis robots.
5-axis M410iB-140H robot with R-30iB Plus controller, Software version 9.30P/23
There is no Wjnt option when editing move instrustions.
$RA_PARAMGRP[1].USE_WJNT is set TRUE.
Move instructions with Wjnt act as expected, when copied from other project.
Any ideas how to enable Wjnt option for editing on the robot?
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.
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.
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.
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.