Why do you post Systemvariables with no idea what they effect???
I do know the effect, but haven't tested everything for all conditions. Have you?
If it's a problem for you, just don't read it, somebody else use it.
Posts by neighbour1
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Why do you want to use Karel? It's possible without that
Create a program without motion writing the following system variables:
$SCR_GRP[1].$MCH_POS_X
$SCR_GRP[1].$MCH_POS_Y
$SCR_GRP[1].$MCH_POS_Z
$SCR_GRP[1].$MCH_POS_W
$SCR_GRP[1].$MCH_POS_P
$SCR_GRP[1].$MCH_POS_R
to the GOs (also multiplying by 1000), you like, and then run the program in BG.
Than at the PLC side just divide the values by 1000, and you have everything as you wanted.
That's it.
Have fun!
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It doesn't matter old or not - payload option was possible to load. If it says "the robot does not support this function", you could also check orderfile.dat, whether it's on the list or not.
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Do you have the payload extimation option loaded?
If yes, you could check the payload using the robot and then adjust it according to the real value. Then checking the drop again.
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PR[GP1:13,3]=PR[GP1:13,3]+4
PR[GP1:14,3]=PR[GP1:14,3]+4
Yes, this could help.
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What do you mean vision system? Software loaded to the robot and vision controller by the robot, or stand alone vision system?
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Or change the DCS settings, it you're allowed to do so.
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Yes, you can, but the questuion still exists... was it done with proper mastering or not? Check mastering after restoring the backup, then decide and do, as HawkME said.
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In R-J3 there was no USB
, only PCIMCIA and RS-232.In general you don't need to do the calibration after programs restore.
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The purge controller can be easily bypassed, but if you can't figure it out on your own, you probably shouldn't be poking around in the controller.
Edit:
I should add, it can be electrically bypassed. It is hardware controlled, no simple software change.
Exactly, it's possible, look into the manual for electrical wiring.
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Try checking the actual payload set in the system and compare it to real robot's payload.
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How do you come up with the value to put into $SCR.$STARTUP_CND?
No idea, somehow test and tries
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Group 4 & 5 are positioners. I would like to unplug the positioners and move them to a different cell with a compatible robot. If I remove the groups like you recommended, should I be concerned about any DTER errors from the robot that I am removing them from?
Well... I'm not sure, never tried like this. You can always try and you'll get the answear
If the errors exists, you need to delete it from controlled start.
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You can delete the motors out of the group in controlled start. Without reinstalling core software with the personality you want you will not be able to remove the axis modules to my knowledge.
It's possible,
$SCR_GRP[4].$AXISORDER = 0
$SCR_GRP[5].$AXISORDER = 0
Then $SCR.$STARTUP_CND = 12 anc cycle power.
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What's the reson to release brakes? Then you'd have problems with mastering...
Mind that it's a big robot, when releasing brakes (J2 or J3) it'll fall down, so I wouldn't do it without supporting it or hanging. 90VDC should help, but I'd strongly advice to be careful.
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My employer asked me to find out how to release the brakes on our 410iC unit we sent out for repainting. I replied with the part numbers of the brake release unit sold by Fanuc. They didn't buy it of course and now they need the robot repositioned ASAP in the paint shop without power.
The best for such costomers is to sell them the brake release unit with double price
ASAP needs more money, and when they'd be really pushed, they'd spent the money. Next time they'll listen to you :-))) -
I'd start with checking cabling to those two motors, could be driven from the same servoamplifier to external axes (fot smaller motors).
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Condition monitor or Bg logic would suit this well but I need a way to identify when an arc start fail or lost detect occurs. Needing a way to identify specific errors outside of error output so when said error occurs i can trigger an output. Variable or a setting i have overlooked? Outside of karel because i have zero experience with it.
Look into the manual, section with alarms - each of them has a specific ID and a number, such as:
- ARC alarms => ID = 53
- ARC-013 PAUSE.L Arc start failed => alarm number is 013
which meens: the ARC start failed error number is 53013.
For the rest use the same method
Then use condition program:
WHEN ERR_NUM = 53013 ....
No need to have special function and options, which also work fine
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What about condition program?
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Are the internal conductors not colour coded so you can just match colour for colour?
As far as I remember they're not coloured.
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