Arc starting and Weld start but no one in reality activate DO[101]
CALL -INST_EASYAW_START() doesn't change DO status
Posts by fmiroslav
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Hello,
I have weird problem with my fanuc robot. Comunication betweed welding powersource is ok .. touch sensing works , gas button, wire buttons ok but when i wand weld robot makes like is welding off.. No error.. even if i make override lower no error appiers.. Welding io are ok.. triing from DO turn on welding process will start but not from arcstart command.. don't know why..
Similar problem with CRX-10iA, R30iB Mini Plus, Wire +, Wire -, Gas Purge, all working with dedicated DO, only Weld Start wouldn't. It was suggested to me to use WO1 but for that is necessary to have CRW11 card. I override this issue with additional command to DO[***] ON and OFF.
CRW11 is connector and
Process I/O board MB, A05B-2650-J061 is interface card with
5 WI, 4 (sink) WO, 2 D/A
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fmiroslav have you used a UR before? I am trying to compare whether I should switch to FANUC or stay with UR.
Thanks!
My experience is only with Fanuc. I search Cobot application and find a lot of YouTube video with UR, and seems to me there's nice and intuitive interface for programming. With CRX comes a new drag and drop programming, but I find out vertical compatibility issues with some commands. Fanuc is old fashioned with steps in a new programming way.
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For the welding torch holder I installed, I tried the procedure for automatic measurement and determination of TCP. Although the value for the Z axis is negative (perhaps due to the welding torch cable), working with this chosen tool was flexible and pleasant when determining the welding points.
I must correct myself, I pay more attention to onscreen instruction, particularly J6, J5 and J4 axis and result is pretty different. Geometrical against real model, for Z axis in reality I have 317 mm.
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CRX-10iA on every boot ask to confirm payload
Default Code is (1111)
I found the settings for this tool. After entering the load confirmation code, the robot worked normally. Realistically, that protruding TCP and weight of 0 kg could not be felt in the work.
For the welding torch holder I installed, I tried the procedure for automatic measurement and determination of TCP. Although the value for the Z axis is negative (perhaps due to the welding torch cable), working with this chosen tool was flexible and pleasant when determining the welding points.
Please don't judge by tool look, robots weld it's much better!
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CRX-10iA on every boot ask to confirm payload
Default Code is (1111)
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This reference I find for EE connector
https://www.phoenixcontact.com/online/portal/…rary=usen&tab=1
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CRX-10iA, positioned all J1-J6 to 0 deg. Markers for J5 are slightly shifted.
From robot origin to robot zero 245 mm + 540 mm gives 785 mm, I am measuring in J6 793,5 mm!? 👀🔍
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I get this manual from local Fanuc representative
R-30+B Mini Plus CONTROLLER
MAINTENANCE MANUAL
B-84175EN/01
And there is JRM-18 I/O map
Also I find at My Fanuc
and little bit more Doc -
Waiting.................
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Hello,
Does anyone have a specification for JRM-18 connector and Wago interface card (Fanuc A058-2695-C150).
Jumpers are for EES.
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The imperfection of the actual robot recalculated and entered into RoboGuide.
Initial data for robot position X 0 / Y 0 / Z 810 / W 0 / P 0 / R 0
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Machined forehead plate, from them You can make some measures
Try to give us some measures robot-table-tray
Your provide X and Y, what is with Z values, I am not sure that Z is always the same!
In Joint COORD set J4 0, J5 0 and J6 0 deg.
Use UF0, UT1 (0,0,150,0,0,0) touch corners P1, P2, P3 and P4, note values for X, Y and Z read
on TP (press button POSN, change to F4 WORLD).
When you cross data from Real Robot and 3D You can get info how is Your Real Robot displaced and twisted in space.
I have a feeling that W, P and R will be more than 0.
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Second test – ( with correct Tool Frame – using a pointer that attached to J6 so only Z length entered in Tool Frame) – made User Frame using the tramming stone . Made sample program to hit all 4 corners of the stone . When moving X250 mm – the robot actually stops short about 2mm from the end of the stone ( which is 250mm away) . position screen says that robot is at X250mm. Next point X250/Y250 – robot is overshooting by a 1mm in X and .5mm in Y . So Basically the Robot is not moving square to the Frame .
TCP for Your Tool isn't defined only by Z, Your Tool Frame is more like this
With UF set ( using three points) and using correct TCP ( pointer sticking out from the J6 , X0,Y0,Z150mm,W0,P0R0)
Different Tool Frame,
TCP 1 - X0 / Y0 / Z150 / W0 / P0 / R0
approximately
TCP 2 - X-50 / Y-50 /Z100 / W90 / P225 / R0
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W0
P0
R-90.1
By this data You have only rotation by Z axis in CCW (-0,1 deg), as You can see in my post for two robots I have from zero up to 0,5 deg rotation almost every axis.
Check parallelism of Yours table/working piece relative to forehead surface at robot base, determine UF, activate that UF, teach Points, must be OK. And on end but first You must precise determine TCP. If You determine E.g. UF5 and UT5 the in your program activate
USERFRAME_NUM=5
UTOOL_NUM=5
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If robot doesn't go in line with your table edge using world frame, most likely that your robot is not installed right.
My problems with the movement of robots on X, Y and Z (Arc Mate 100iC 12L and 8L) are just manifesting in the mentioned way. Since RobotOrigin and RobotZero points are virtual points that cannot be accessed, the front surfaces (machined) on the front or right side of the robot carrier (base) should therefore be used. In relation to these surfaces, a work table, a work object should be placed, and then the UF should be determined. The UF thus determined will contain some values for W, P and R which means that the plane is rotated / tilted along the X, Y and Z axes. When you activate that UF and jog robot along the X and Y axes you have to get parallel movement with the edge of the table or object. If you said that the repeatability is good, try to write a program where only P1 is learned and you get other points through PR and offset in relation to the starting point, if the repeatability is good and you set 250 mm offset, it must be 250 mm in reality. The values for W, P and R are an indicator of robot unperfection. In my example on two robots through the calibration procedure the following values were obtained for X, Y, Z, W, P, R for Robot1 (1,080 / 0,777 / 0,873 / 0,030 / -0,327 / 0,529) and Robot2 (1,451 / -3,725 / 0,782 / 0.000 / 0.052 / -0.073), when jog robot 1 by Y axis (1000 mm) I had about 10 mm drift, on robot 2 this drift was less, about 4 mm. So this unperfection for everyone robot is his personality and it occurs between the base and the mechanics of the first axis. This you can't eliminate, you must live with this. All this applies when you work with TP, if want to work with RoboGuide and program teached on 3D model transfered to real robot, things are more complicated, very soon I will post my experience for this problem.
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Can you provide some picture of robot, tool, granite stone against the robot.
Ok, I find out pdf file.
What are get for UF1 after teaching?
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How accurate are the table measurements? Is the distance of the table top edges from the front forehead markers on the robot carrier the same? If you position tip of the tool above one corner and jog along the x axis to the other, what is the deviation along the x axis?
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Made sample program to hit all 4 corners of the stone .
Is this program made in RoboGuide?
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As a TitusLepic ask, what is status of point register?
Check your PR[54], must be initialized with zeroes minimum.
If You see * instead R follow steps from pic below
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