Check out User I/O or UOP in the HandlingTool manual. Or search this forum. I am sure there is an existing thread that can give you a pretty thorough explanation.
awesome. Thank you ! I was able to download the handling tool manual from the Fanuc website last week. It’s mammoth to say the least
Hi, i am at the end of a robot integration. I have completed all of the points and am now at a stage where I want to bring all the controls away from the TP and controller and onto the HMI. Do you know where I could look for guidance? I have never done this. The only HMI programming i Have done is with PLC. I will be using a Allen Bradley for current project. I need to select recipes from HMI, cycle start, hold, terminate pallet.
I found the solution...
I have to use this KARAEL command:
CodeRUN_TASK( progName, 0, FALSE, FALSE, 1, STATUS )
Hi, i am at the end of a robot integration. I have completed all of the points and am now at a stage where I want to bring all the controls away from the TP and controller and onto the HMI. Do you know where I could look for guidance? I have never done this. The only HMI programming i Have done is with PLC. I will be using a Allen Bradley for current project. I need to select recipes from HMI, cycle start, hold, terminate pallet.
I was stuck in a program one time and did a init start and it cleared it. perhaps this will work for your problem also.
Normally yes, but I think this was a one-off kind of situation where they forgot to manually trigger a flag off again
So the trick to starting at a certain position is this. I had to Function/Abort, go to the position in the program i want to start at, Step to that position, then hit start. The robot will then start in the selected position and continue the program from there. I am not sure if there's a setting I am missing that makes it start at any given point or not.
What turns UI 15 on/off? You have to make sure that signal is reset.
the PLC tells UI 15 to turn on. However I have this problem regardless the situation. No matter what it will always start where it left off instead of going to the line I choose on TP
It would be more helpful to have the actual program. But from what I see it looks like you may have a wait condition? If so you probably need to start there.
So, robot was given UI15 when there weren't any boxes (i had turned on DO25 manually and forgot to turn off). So, it went all way to step 8 before i could stop it. I needed the robot to go back to line 4 and repeat pick process. However, robot alwahys goes to where it left off
It would be more helpful to have the actual program. But from what I see it looks like you may have a wait condition? If so you probably need to start there.
it’s not a condition. I meant it’s waiting for a box to pickup. I’ll try and post code later.
Can you post your code?
this basically:
Pick up Routine:
JP HOME
LP Wait
LP Pickup box
LP wait
JP pallet approach
Robot thought there were boxes there to pick up but there weren’t. I stopped robot and jogged robot down to get parts. I need to be able to start robot on any line I choose basically. Right now when I stop and start robot always picks up where it left off.
You can scroll down and start at any line you want, but if it's calling any sub programs you must start at the top level. A better solution is to make your program more resilient so you can abort and start over any time and it recovers. For palletizing that means keeping in registers the status of which row/part you are on, handling a part in the gripper, and getting home safely.
I have not been able to get around to using all of the registers. Right now for instance, the robot didn't pick up any boxes off infeed so I want to go back one step. But when I go to the line I want the robot to start at, when I hit start the robot skips back down to where it left off. I need it to go back a step and complete the pickup.
We are troubleshooting the robot integration and sometimes I am having to stop the program and go back and made edits in other called programs. This is forcing me to abort/end task. Now the program wants to start over when I have an unfinished pallet. How can I start from a certain line in the program ?
Here is code:
DI15=ON
UI15=ON
Pick stuff
DO15=OFF
My robot is stuck at UI15. I can’t find all of the necessary conditions in the PLC that turns this UO on. The entails at least 4(?) different bits that add up to 163. They include the IMST, hold, and a couple others. It seems like a safety issue but I assure you there’s no estops pressed and very thing is enabled as far as cycle starts. How can I figure out what bits are communicating between the PLC and robot. I found the DI15 by turning it on and off while looking at the logic in PLC.
Palletizer or custom application?
It's custom made by me. I have the pallet pro software but i can't figure out how to make it work.
my offset is going to 1.75" for picking up slip sheets i guess. Thats how far slip sheets are below sensor when the input triggers.
If digital input 3.2 is the sensor that will find a slip sheet, how do I code the program to keep finding a 3mm thick slip sheet? I understand it needs to keep going down 3mm, but i don't understand how to do that.
My code waits for UI15 to be on to pick parts.
When I pick, I need to send that UO15 is on back to PLC. I don't have that option in the robot. How do I send that back to PLC?
Display MoreThe user frame is a way to store a new base (coordinate system) that depends on the robot placement.
That is a reference all the points will be base on.
If you don't do a user frame the points coordinates depend on the robot base itself (the axis 1 center of the robot) (USER_FRAME = 0).
If you create another user frame, what you are doing is creating another reference system points will depend on.
That is used mainly for 2 things:
1. before you dismount the machine prior to send it to your customer, you store the user frame for every unit physically separated from the robot and then, when you arrive at your customer you retouch the base and all the points will move accordingly.
2. to be able to move your robot easily using a known axis system even your robot is rotated against the working units.
In your case, if your pallet is rotated 13 degrees in relation to the robot itself, you would have to apply trigonometry to every offset to recalculate the points, if you create a user frame, then it's direct.
The same point in space can have different values if it depends on different user frames.
Hope this helps a little.
i just don't understand how I can fix my pallet pattern using a different user frame. I have watched countless videos that show you how to create them, but none of the videos show how they can help fix a pattern.
Adjust the uframe of the pallet. That's the intention of uframes
you say that but for someone with with only basic programming Skills that doesn’t help. I can’t find any manuals.
If my pallet pattern was 1.5 inches too high, 2 inches too far right (hanging off the pallet), 2 inches too far forward, and the roll of the tool was 2.5 degrees off. How do I program that? I attempted to set all of these in the position register and offset the drops with that register but it didn't work. well it worked only one time.
Yes I have programmed all of the points. However it’s all of the other handshaking between PLC and conveyors and other IO that is confusing me. I don’t have anything to reference to figure it out. I have the manual but it doesn’t include anything like that.
Honestly I just prefer to roll my own palletizing program in HandlingTool.
