Posts by PPP

I am looking for the manual R-30iB Plus CONTROLLER iRVision OPERATOR’S MANUAL (Reference) B-83914EN. If anyone would share it. I have some other basic fanuc ones as well if we could trade

When I'm down there next I'll record one

Medium fast, to fast. Not sure exactly. But it's bookin it. The PLC will slow it down at certain points as it goes. It's all set as a few registers.

I mean like, when it makes certain moves, you can see the wrist studdering. Kinda like hitting speed bumps. Not sure how to describe it really. But definitely overloaded is true.

I've never had the privilege of integrating a robot or anything. So most of my experience comes from self taught. I don't get to ask more experienced people. This little conversation has opened my eyes a lot on things I thought I knew and things I had no idea.

I'd have to look and see how many hours are on it. Honestly I couldn't tell you. But it's nowhere near 20 years or even 10. The integrator installed the cell back in 2016 if I'm not mistaken plus or minus a year.

I've never taken apart a fanuc either. So that's all new for me. If we had to do something like that then yes we would get a contractor to come in with that. Anytime I hear we are getting someone with knowledge of fanuc I'm right there to assist and learn from to help grow my knowledge.

pdl well I'm not sure since the reducers are at max 30% and that's only one j3. Rest are under 5%. Are they even bad? Does the jerkyness come from the reducers? Almost sounds like maybe the robot don't need to be changed then. They are wanting to possibly change the whole arm out.

Quote from pdl

There is a 70 kg payload variant of the 710iC with the same dimensions and reach, it just has the speed reduced. If you can deal with the cycle time, that would be a much better option.

M-710iC/50

M-710ic/70

The robot really needs to be exercised with the seal bolts out after greasing. I would also recommend using a vacuum to create an air pocket, both on the inlet and outlet side. When properly lubricated, a vertically mounted reducer should only be filled to 3/4 of the reducer diameter.

This is from the Nabtesco (they supply the reducers to Fanuc) technical brief:

"too much filling may causes damage for an oil seal with increase of internal pressure. Please leave about 10% of the room inside"

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Yes I am aware of the 70kg one. They didn't wanna do it. I forget the reasons. Like I said earlier, I can only offer advice. I believe they are beginning to understand and listening more but that's a work in progress.

Our greasing was with a vacuum. We would use that on the outlet as we pump on the inlet till we got clear grease coming out the outlet port.

How do you know if you're only 3/4 full on the vertical reducer? Just by working it a lot? Letting it work it's way out? Then plug the holes back?

I'll be sure to bring this up and see what they say. But just because it's blown seals and a little jittery we shouldn't be changing it?

Quote from pdl

Please don't take this personally, but it's not the EOAT that is beating up the robot, it's the user (again, not you, but the company). If this robot was integrated by another company, I would be discussing this with them. However, this does not necessarily place the blame on them.

Is collision guard enabled on this robot?

When you state "I did look at the manual and I moved the robot around a lot to release the air/pressure before plugging it back."

How did you move the robot? Jogging in T1, or running in T2/Auto?

What environment does this robot operate in?

As HawkME said, you need a larger robot.

You might also want to consider adding additional local ventilation to the motors.

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Yes it was integrated by another company. The engineers signed off on this years ago.

Collision guard is just standard. At the 100%.

Robot operates in a climate control building.

I would love to get a bigger robot. May not fit. The cell is so tight together there's not much room to move.

I did move the robot in T1. Not in auto.

I'm not taking this personally. No worries. It's a learning thing for me and my company. I want to become smarter to help the robots survive longer and be happier.

HawkME I've tried getting them to get a bigger robot but it was turned down. Reasons are beyond me. I can only speak up and say hey, I wouldn't do this again. There's a lot of issues in general with the cell as an overall. The flame should be on the robot, not the part. I can see both robots stuttering at certain points and it runs constant almost 24/7. Sometimes it don't run weekends. I don't know much about the internals of the robot but it can't be good. The one we want to change out has been running over the last 6 years. It has had 618 collisions even.

pdl I did check, it did come with the cabinet and all. I checked in the storage area. We have the robot here. The main reason for replacement evenually is the seals blown and it's jerking some at certain points. Even the other robot (we have 2 that do the same thing) that one is only a year old and not 4 months in, the seals got blown out. Wasn't even due to a PM or anything like that. It's the 50kg one and the tool that it is throwing around is right at 50kg and that's not including the festo manifold/cable pack that's sitting on top. The payload was never set right from the beginning. They are running at max speed even. We are picking up a big plastic part and throwing it around a flamer to flame the part. There's a ton of twisting and rotating going on for the pathing.

The grease we are taking out is extremely burnt. I did look at the manual and I moved the robot around a lot to release the air/pressure before plugging it back. It's the EOAT that's beating the robot up

pdl good question. I would assume from Fanuc but there's no telling. I'd have to ask the guys who do the ordering at my facility.

I looked at the reducer life and it's still under 10% for us. J3 is the only one that's over 20%. We have a lot of blown seals and it's leaking grease all over. J4 was basically dry. I wonder how accurate the diagnosis is for the reducer life page.

DS I will look for that sheet. Thank you!

Nation Does the new arm come with the master counts on like a sheet of paper or something? How do I know the master counts of the new robot? I'm assuming all I'll get is the arm and that's all. Thanks for helping.

Hello everyone,

I will be doing a complete robot arm change out with a new one in the coming weeks to a month. The cabinet will be staying and everything, just the arm is changing. What would be the best procedure in getting the arm to act like the old one? Do just load in the sysmast.sv or is there more to it? Can I direct enter master_count? What's the purpose of having the mastering data on hand?

Any help would be greatly appreciated!

Quote from mosbe

First of all you said you don't know anything and you want to learn.

Okay so first step I recommend is to sign up on my.fanuc.eu and get acces to manuals you need. You have to wait some time for acceptation, before an acceptation you can only watch commercial stuff.

I forgot - you need to find out things that you need - like iRVision, iRPickTool, etc. (And your robot manual too)

Next go search for some tutorials of basics. There aren't any advanced things for being more proffesional, unfortunately. I can recommend channels like Adam Willea, Timothy Mehring and Fanuc (but fanuc doesn't have much). Some Indians have "tutorials" for more advanced things like line tracking, rail movement and more. But be aware that Timothy does everything slow and usually first 10 minutes of video is always same setup.

I recommend you downloading RoboGuide for learning and also for programming your current robots.

Also you can avoid mistakes and collisions.

Later find out about calibration of robots and all the setups you have to do.

Then it's time to read those manuals that you have and those downloaded. Now you can in roboguide have fun with settings, setups and more. That will help you understanding how does it actually work.

It's not a piece of cake

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I do have CRC and can get the manuals, I have most of them that I need. reading them isnt as easy as most of the manual I do not use. I do have roboguide and I do use that to the best I can. I'm still learning that software. It's a lot to learn by being self taught. I learned all my programming mostly by reading the manuals and just seeing a few different cells from over the last 2 years or so.

I know my goals are high, but I wanna be better in every area that is Fanuc.

Quote from Fabian Munoz

Hi

" how do you know what to put into the parameters?" you don't know , the software does it automatically based on the vision and the screen that I showed you

Yes, they have a lot of programs, for example for circular conveyor that you don't need

You have to understand the screen that I send you to be able to understand how the software reacts

This is a simple way to look at the MAIN_PK program

1 PK_INIT Initialize all variables

2 LBL 100

3 PK_PICK1 calls PK_PICK_11 Uses PR[57]

4 PK_DROP1 calls PK_DROP_11 Uses PR[63]

5 JUMP LBL 100

"since I'm not really an integrator or anything'

So, what is your interest, this is a high level software. Requires a good understanding of Fanuc principles.

I can help you, but you have to be more specific

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That helps actually. If its just a standard build based off that screen you were showing then it would make it easier to learn the screen more and hopefully the rest will follow more. I do recognize that this is a higher level programming. I would say I'm in the beginner / intermediate stage of programming fanuc.

The main reason I want to learn more and more and such high level applications is just for the fact that when we have integrators in our building I can help support and guide into making our cells better. Currently our cell I showed you is in horrible shape. Payloads, EOAT, Pathing, the space the robot has to move in, is all not good. We have so many things in the cell and such a small confined space. The 710iC 50kg robot has a 50kg EOAT even. nothing is setup properly. and of course... we are running at max speed at every point almost.

Its hard for me to be more specific when I don't know the right questions to ask. It is just trial and error and see how all this comes together. I love fanuc and I absolutely enjoy programming them. Since our cell is getting ready for the next product so its getting reprogrammed somewhat.

I do apricate your response. Hopefully my company will pay for training for me. Theres talk even about building our own cell in house and that would require me knowing a little more even. Which I know I could do it. Just would take a little time and some manual reading still.

I an get to that screen yes. I'd have to review that screen myself more. I don't ever need to be in that screen since I'm not really an integrator or anything. So I rarely get to do these things. But I see you said they are macros, but how do you know what to put into the parameters? Is there any info on this? Or is that just always what's being passed into those macros? And I don't adjust the program PK_CV_Pick11. I was using it as an example of what it's running. They have a ton of PC programs that I don't understand that it runs in the main program. I do have CRC so I can get all the manuals. I have a bunch of them but as I read it sometimes I'm so lost I need guidance or a hands on test to see how it functions together. If any of this makes sense.

Quote from Fabian Munoz

Describe your systems

How many robots, how many cameras, etc, show me a picture of your setup.

I'm not in the shop on Friday but for sure I can help you on Monday

Here is a picture I got of our cell. the part comes in on the conveyor where the light is. Theres a iRvision camera above where it tracks the part and then it comes in and stops and then the robot goes and grabs it. (line tracking isnt working that well since its stopping to grab the part) We use PK_CV_PICK11 program to acually move to grab the part. I guess my biggest question is, from my understanding is that this is a template program for line tracking. Where can I learn this at? I have programs called CALL PKCSCHKPOS(CStn ID=R[110:Pklx StnId] and must more. I dont know where to go to learn this kind of stuff. We have 2 robots that pick off this conveyor. Other one is on the other side. These poor robots are used and abused with the pathing even. Nothing is setup properly.

I wanna learn how line tracking, iRvision, and iRPickTool work together to get a part and if i update a position how would that effect my pickup. Recently I had to zero master, calibrate this robot. On one of the parts that it picks it will try to go down and pick but before it goes to the part, i get a position config change. I know something is off but how do I go about figuring out what has slightly changed? This is where I get confused as well.

Thanks for all your help and anyone who offers suggestions.

Quote from Fabian Munoz

Describe your systems

How many robots, how many cameras, etc, show me a picture of your setup.

I'm not in the shop on Friday but for sure I can help you on Monday

I'll be glad to show you some pictures. Tomorrow when I go in to work I'll grab a few and give you a little more details on it. The manuals aren't making a lot of sense either. I, for the life of me, can't find this template either for line tracking. But I'll get more info tomorrow.

That works, Monday. It's not a rush thing. I'm just trying to better myself so we can make changes and make the cell better.

Quote from Fabian Munoz

Yes, it's not easy. The manuals (plural) cover a million thing that you are not going to need for your particular application.

Are you using iRPicktool or you are trying to put the twospftwares together yourself ?

Yes, I am using iRPickTool. And yes, I'm trying to learn how they work together but the way the integrator put our cell together was horrible and I don't know enough to make changes due to not understanding the vision and line tracking well. I do know that we are using a template that fanuc provides for line tracking, but again, it makes absolutely no sense.

I wish I had an extra camera I could play with and hook up to my laptop. I do have roboguide. I'm still new to that as well.

Where would you go to learn more about iRvision 2D and Line Tracking. I cannot find much online about how to program this or even set it up. The manuals are not easy to read, at least I am having a hard time understanding.

Thanks,