Posts by Douggle07

Hey all,

I am on site working on some robot cells and only have my laptop with me. Usually at the office I hook up to multiple displays (monitors) when running roboguide.

I opened up my workcell and quickly found out that I am not able to see the property windows when trying to view any property window..

I can tell that the program is indeed opening the windows as I double click to access them, but I cannot see them on my display.

I have tried some basic windows display setting changes (cascading windows, reverting back to single display) but nothing has worked so far to make these property windows visible.

Has anyone encountered this problem before? If so, please let me know if /how you managed to resolve this.

Best regards,

Doug

Thanks for the quick repsonse pdl , very useful to know that.

I will plan to write programs based on v8.10 software for now...

Hello friends,

I don't have any immediate problem, but am posting to seek some insight on a line upgrade in the near future.

I've heard we have around 1 week of day shift downtime (~40 hours) to implement a couple new cells that an existing robot will interact with, adding a double gripper and 8 new part types with all different sizes/weights.

The existing robot is a M-20iA/10L, with an R-30iB controller running v8.10P /30 software. Another company had previously programmed this robot ~10 years ago and the code is messy, but I'm in the process of cleaning up the code and adding in the new functionality the robot will need.

The robot is communicating with a PLC through CC-link, and has basic DCS, motion package, and a Safe I/O kit.

My intention was to simplify the existing programs by utilizing background logic and IF-THEN statements, but I realized that IF-THEN isn't available in v8.10 software.

So my question is, considering the details above is it recommended/worth it to update the software version from 8.10 to 9.3 (or any version where IF-THEN is available).

I've done software updates before but only jumping 1 or 2 versions... not one as large as this.

If anyone can provide some insight on possible risks or things to consider for such a large software update, that would be greatly appreciated.

Best Regards,

Doug

Thank you both for the quick responses!

Lemster68 , Removing this line did fix the issues, but brings up another question. My FOR loop automatically increments the index +1 at the ENDFOR statement. Is there a way to change the increment value without running into this issue again? For example, increment +2 or +3 every loop.. or even -2, -3?

hermann, That also makes sense, I will experiment with some FINE and DB0 movements as well.

Hey All,

I am writing a homing routine (AUTO mode..) for an LR Mate 200iD robot and am trying to implement FOR loops to make things a bit more compact, and also to expand my FANUC programming knowledge.

The problem I am having is that a register I am trying to increment at the end of the for loop is actually incrementing TWICE for some reason, causing the loop to skip over a position and fault out the robot for a limit error.

Please see the code section below;

R[4:POS_MEM] = R[4:POS_MEM] + 1

FOR R[4:POS_MEM] = R[4:POS_MEM] TO 17

L PR[R[4]] 500mm/sec CNT25

R[4:POS_MEM] = R[4:POS_MEM] + 1

ENDFOR

I could hard code every case here since it is only around 3 positions or so... but for the future I would like to know what's going on here.

I stepped through the program multiple time and here's a summary of what happens.

R[4] starts at 14, gets incremented to 15 before the FOR loop.

Once the FOR loop runs, it goes to PR[15] since I am using R[4] indirectly, no problems here.

Next, R[4] gets incremented again to 16, the next position I want to go to.

I reach the 'ENDFOR' statement, when I press step, the register R[4] increments by 1 AGAIN?!

Now on the next iteration of the loop, the robot tries to move to position 17, not 16.

Please let me know if anyone has encountered a similar issue to this, or has a hunch what the problem may be.

Best Regards,

DH