Quick Mastering cannot be used in the following cases:
- Replacement of a gearbox or a pulse coder
- If a motor was disassembled and assembled again but in a different (twisted) position
- If the mastering data is lost and there are no recordings
Regarding 3. That doesn't matter. Quick Mastering is still possible.
1. In zero position mastering, a new zero position is generated. New master counts are recorded in $DMR_GRP. $MASTER_COUNTS. This results in losing the accuracy of the robot. Re-teaching / touchup is required.
Correct.
2. In quick mastering, the old master counts are maintained. The robot restores its previous accuracy. How does that happen even when the joints are not at its exact zero position (joints are at its human erred positions)?
A rough explanation:
The pulse coders have an absolute (reference/ zero) point. With that it is possible to count back to the exact position WITHIN ONE pulse coder revolution. That means, for Quick Mastering you have to jog the robot to the Quick Master reference position with an accuracy of less than or equal of one revolution. This is not a Problem with the human eye.
Check this one. This should answer most of your questions.
What exactly do you mean with "system crashes"? RobotWare 7.8.0 is very old. At first, I would recommend to update the RobotWare version.
I’m currently developing a machine where a robot picks up a part using a gripper and places it into a U-shaped clamp inside the machine. This clamp is fixed in the robot’s world coordinate system. It consists of a fixed lower part and a movable upper part.
My goal is to allow Z-axis compensation for part geometry variations, ensuring that the movable upper clamp does not push against the robot. I want to prevent any unnecessary force exerted by the clamp on the robot while securing the part properly.
I already have the SoftFloat manual, but I’d like to confirm if this option is suitable for my application.
Yes. Soft Float is the right choice for such an application. However, setting up and tuning the parameters can be a bit tricky sometimes. You will find information about Soft Float in the Optional Function manual (e.g. B-83284EN-2/11).
Both robot controllers are controllers over the festo units using profinet.
Please check whether the Festo CPX supports the PROFINET Shared Device function. If not, then it is not possible to access an IO device with more than one IO controller.
BTW, you will find information about this option in the product specification of the IRB 6700 (for IRC5 and OmniCore).
The option number for the extended work range of J1 is 561-1 for IRC5 or 3324-1 for OmniCore. If you have this option you also need SafeMove or EPS. The option is not available for the inverted IRB 6700 version (IRB 6700 Inv). You should also make a risk analysis before removing the mechinal limit of J1.
PC Interface (616-1) is required for serial communication. Socket messaging is included in the PC Interface option.
Roland Keller is correct. The E2/E22 and E7 keys are used to bypass the fence (user safety) signals in order to move a VKRC in T1 or T2. These keys are only required if you have a VKRC/VSS system.
Be careful, Interference Check is a non-safe function and has nothing to do with DCS.
Yes you can use DCS with SCARA robots.
If you are connected to the KSI (port XF1 on the system board) you have to use DHCP on your PC or use an IP address between 172.17.255.128 and 172.17.255.254, subnet mask 255.255.255.0. The IP settings of the KSI are 172.17.255.1 / 255.255.255.0. Be careful, there is a DHCP server behind KSI.
I'm using cross connections for this. I was just wondering if there is a setting somewhere in the system for it.
I have no idea about PaintTool, sorry... It seems that the GO is controlled by a KAREL program. Is your IO configuration a default PaintTool setting or did you do this by your own?
Check the configuration (rack, slot, start, num) of the GO via MENU > I/O > Group > CONFIG. Post a picture of the mapping if you are not sure about it.
Bear in mind that installing V10 will void your existing licenses on your computer!
That is correct. You need at least an update license if you have previously used V9.
You could also ask your local FANUC sales rep. for a ROBOGUIDE V10 Trial license. I assume that these kind of problems are fixed with V10.
FANUC Europe recommend to install Rev. T first and after that, the latest revision. This is also due to some known issues with the installation of ROBOGUIDE.
This is the official workaround.
The PROFINET device model consists of slots, subslots, modules and submodules. If you want to learn more about this topic I would recommend to read the PROFINET system description. Check the below link for some information about the device model:
PROFINET - 4.1.3 Device Model of an IO Device
Does it mean that something is wrong with VTSA-CB?
Yes. Verify the configuration of your VTSA-CB device (and compare with the real hardware) in slot 4.
