Posts by wag_FFU

    Hi, I ´m trying to configure a cell in roboguide with 2 robot using the IIC option (intelligent interface check) option

    I´ve configured the Host name and the cell RIPE to allows the 2 robot to communicate with each other, but when I try to calibrate the robot in interference menu, -> Calibration between robot I ´ve no robots to add to Manager/Member configuration.

    There is more to configure than cell-> Ripe setup and host comm ip address? Thanks

    In Paintool use the UOP input number 6 [Start] to activate the production mode butremeber, selector key on Auto, Tp selector Off and no errors active.

    The green button works in the same way, selector key on Auto, Tp selector Off and no errors active.

    yes I ´ve understood, but there isn´t a variable to manipulate the 7th axis, to change the current position according with an external offset?

    I´m simply speculating... I ´ve checked the Fanuc manuals and I´ve found nothing about it.

    What I´ve found is the 7th axis move if I use the frame offset instruction but the operator have to insert the instruction in every movement.

    Good Morning, I ´ve some question about the 7th axis and the robot frame.

    In my case it should be a robot with controller R30ib, Fw 9.20 or more with a rail system to move the robot along a 10 m rail .

    Now I ´ve checked with roboguide and if I set the 7axis as part of the group 1 I can move the 7th axis syncronized with the robot, but the frame doesn´t care the 7th axis.

    If I change the frame the robot will reach the new position but the 7th axis is not affected and it will be allways in the position saved in the point.

    There is a way to change the 7th axis frame, to shift all the position if I change the frame? thanks

    Good Morning, I ´m working with a project involves a Fanuc robot (P250 r30ib) and a 3d Sensor.

    The parts are attacched to a rack wtih some hooks and it move in front of the robot using a conveyors.

    The customer will teach the part one time, using a selected frame, and than execute a scan with the 3d sensor.

    After that the operator must be able to hang the part in a spot different from the original ( but with the same face).

    The 3d sensor should provide offset value and of course the original part center, where the offfset is related to,

    the operator use the same program, but the robot must be able to adjust the frame to match the program with the part.


    Right now is a frame shift related to and external point.

    The robot will receive an offset (X,Y,Z,W,P,R), original part center (X,Y,Z)


    I worked with robotguide and what I found is this


    the part center must be calculated using the original frame (used to teach the programm)


    I create the rotation matrix using the formula , where "Center X,Y,Z" are the original part center X,Y,Z values and the R values ( the center matrix) is the Offset (X,Y,Z,W,P,R) transformet to a matrix without the X,Y,Z values



    than I apply the offset X,Y,Z






    Rotation Matrix =




    1


    0


    0


    Center X








    X




    R(1,1)


    R(1,2)


    R(1,3)


    0








    X




    1


    0


    0


    - Center X


    0


    1


    0


    Center Y


    R(2,1)


    R(2,2)


    R(2,3)


    0


    0


    1


    0


    - Center Y


    0


    0


    1


    Center Z


    R(3,1)


    R(3,2)


    R(3,3)


    0


    0


    0


    1


    - Center Z


    0


    0


    0


    1


    0


    0


    0


    1


    0


    0


    0


    1






    Than I apply the Offset X,Y,Z to my Original Frame , where Frame is the orginal frame converted to matrix and Shift is the offset frame but only the X,Y,Z values.





    Frame Shifted X,Y,Z




    Frame(1,1)


    Frame(1,2)


    Frame(1,3)


    Frame(1,4)








    X




    1


    0


    0


    Shift X


    Frame(2,1)


    Frame(2,2)


    Frame(2,3)


    Frame(2,4)


    0


    1


    0


    Shift Y


    Frame(3,1)


    Frame(3,2)


    Frame(3,3)


    Frame(3,4)


    0


    0


    1


    Shift Z


    0


    0


    0


    1


    0


    0


    0


    1






    The last step is to create the shifted frame with a matrix multiplication |Frame Shifted x,y,z| x | Rotation matrix|


    It seem to work, I ´ve tryied it with Roboguide, but there is something strange in it, like the rotation matrix without X,Y,Z.

    Someone now a simpler way to achieve the frame shift related to an external point? thanks to all.

    Hi, in controlled start in paint tool setup ( the first page than appears when you enter in controlled start) you can find some setups.

    if you scroll down the options you ´ll find:


    use Preset per job/style ; it enable the preset job options

    No of presets/Color: tjis is the number of preset, you can increase it to 60 or 70, 255 if you buy an options from Fanuc.

    No of job style : the number of job you need , the limit should be 1024


    Enable it will force the robot to use the preset table for the selected job, example job 10 will use preset table number 10.


    Try to increase the number of presets before use the preset job style options, Paint tool is a broken software and I don´t know how it will reacht to a big ammont of data,

    I ´ve never used this option before, we store the presets in the PLC.


    REMEMBER!!! EVERY CHANGE IN THIS PARAMETER WILL ERASE YOUR OLD PRESET!!!! Save it, make a picture or a backup

    Uuse paint setup to change gun on/off delay (setup -> setup paint)



    Negative value, the command is set before the point,

    Positive vlues , the command is set after the point


    You should decrease the gun on delay and increase the gun off delay .

    Is this for a 3D offset?


    Either way, I think you are over complicating it. If you are shifting in a frame that is already defined, just take the offset from the camera, subtract it from your reference position, and run with that.


    I don´t understand it, should I create a shift using my part center and the shifted part value?

    Hi guys, I´m working with a project where the customer want to use the same program with the parts located in different positions. The offset is calculated with a scanner.

    The customer idea is to create a program for every parts , like usual robot projects, but instead of attach part always in the same position, it simply scan the original part and the send the difference from the teached part directly to the robot.


    I receive the shift values, X,Y,Z,W,P,R and the current part rotation center values (X,Y,Z). I have to rotate the Frame to adapt the program to the scanned part.

    Right now I´ve created a program to rotate and shift a frame related to a point .

    I´ve done everything with Matrix


    1) Shift the frame used to create the program with the Shift X,Y,Z values


    (F is the frame used to teach the program converted in matrix)



    2) Rotate the original part center of rotation


    (R is the Shift W,P,R with X=Y=Z=0 converted in Matrix)



    3) The new Frame is (of course is a matrix)


    |New Frame| = | Frame Shift| x | Rotation Matrix|


    Am I doing it right or I ´ve overcomplicated the entire project?

    Is it a different way to rotate and shift this frame, also with a built in instruction I haven´t found yet?

    That boter me so much, I can´t believe I ended with a so complicated solution , should I use the 2D camera options? Thanks to all

    Good Mornings guys

    I ´ve a strange problem with a robot, the robot is a P250 with controller R30iB Version 9.10(Paint tool)

    The customer use the instruction waitconv(), Fanuc instruction present in TP but If the robot is waiting on Waitconv instruction for too long it freeze.

    What is very strange is the instruction is not present in Paint tool manual and fanuc advise against it,

    Has someione ad problem or the same issue with this instruction?


    thanks

    Hi guys I´ve a problem with 5 robot P 250 SW 9.10 with paint pro software and line tracking

    The paint pro sw is the american paint firmware for robot. It has a function inside than calculate if all point with the gun ON are reaceble in a single movement, and if is not possible it will wait until the part is not in the right spot.

    Everithing work fine until the conveyor stop and the robot is waiting for the part to reach the right position to paint it . after 2 or 3 minutes PRIO-179 and PRIO 178 all related to the main processor start to appers and a new arror appear every 4-5 minutes until the controller freeze.

    I now what it means but I don´t know what to do because the robot is doing pratically nothing. I have no BG logic, no Karel programms, the robot receive the Job and execute it.

    Could be somethings related to the ethernet?


    thanks

    You have to create a project with tia, where you configure the CP1604 with the byte in and byte out dimension, Than load it to the Robot CP1604 and use the same project to generate a GSD file to use in your actual project.

    If you need I can send you a manual

    Thanks guy I´ve done some test and the 7 axis integrated in group 1 suit better for DCS and also for frame.

    But I need another advise.

    The main idea is to hang the part on the conveyor and send the part number and the offset to robot. That ´s mean than the operator has to teach only one part, and then the robot will move along the 7 axis to the part by itsel.

    I tryed some solution but I´ve found only one way, insert an PR offset in every movement instruction and than insert an offset in PR [X,7]. Is possible to change the programm frame with an instruction to effecct also axis number 7? thanks guy

    Good morning guys, I need a little help with a new project.

    The customer want to use a 6 axis robot and a 7 axis integrated in robot controller to move the robot along the parts. It doesn´t want a robot with the 1 axis linear (for no reason).

    The parts are attached to a conveyor and the work envelope is about 10 meters

    the PLC send parts numbers and offset to the robot and it should move and execute the programm on each parts.


    I have to decide which solition suits better between one group with 7 axis or two groups 1 with 6 axis and the other with 1 but I have no experience at all with external axis, and right now I can´t decide which solutions is better.

    I ´ve created 2 cell in roboguide with the 2 solutions and I´m working with these

    what I can see with 2 Groups the DCS move with the robot and also with the Reference points, where ther are 2 groups of points.


    any idea?

    Hi, I did this motion long time ago. You have to move the robot in the start position and use this position to create a Frame. Shift the frame along the direction than is your radious, the shift distance is the selected radious. Save the point with the new frame and rotate the frame with the selected angle (example 30 Grad). Use a Linear movement with the speed in Grad and the RTCP option at the end of the movement.

    The robot will execute a movement along the arch with the selected radious with the tool facing the arch.

    But do you need this? It´s work but is a bit complicated and need time to be executed by the robot (stop with fine and wait 0.1 sec, save frame, save point, restart again)

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