Posts by DS186
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In my opinion ABBs SafeMove is unbeatable at the moment compared to SafeOperation and DCS.
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Orientation Check is part of the Cartesian Position Check function. It should be available when option J567 (DCS Pos/Speed Check) is installed on your controller.
I am from Europe and there is no Advanced DCS Package available*. However, I guess J567 is more or less the same as the Advanced Package and should therefore include the Orientation Check.
*EDIT: It is available but the name of the option is DCS Pos/Speed Check and not Advanced DCS Package.
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Try to enter the DETAIL screen (F3) when the robot is not running, e.g. abort program and set the controller to T1.
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If you want to do this with DCS then check the DCS manual for Joint Position Check and Orientation Check. One of these functions might be helpful.
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If the purpose is only to protect the robot from hitting the wall, you can also use non-safe workspaces.
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Monitoring the complete mechanical unit is not possible with SafeOperation. Instead you could set up axis specific safe zones to realize the functionality you want.
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Additional note: I tried adding my WZDO signals to the new "retain last value" Safe Level. Didn't work. The IRC5 didn't give me any faults, but a reboot test showed that even with this setting, the WZDO did not retain its True value during reboot, even with the robot located physically inside the WZ before, during, and after the reboot process.
Adding another Signal Safe Level to a WZDO signal will not work. To update a WZDO signal to its correct state requires motors on state.
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Did you already check the release notes for RS 2022.3.2? Maybe there is an issue which is already known.
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This is the message box from the "At home check". You could either disable the function or reconfigure it if required. You will find the settings under MENU > SETUP > TYPE > Prog Select.
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I want to leave this update as I may have found a fix but will update tomorrow on if it works.
ThreadUnable to Change Program Select Mode
I am having some issues trying to change our Fanuc LR Mate 200iD's program select mode. It came to us in the PNS select mode, and I would like to use the OTHER mode to simplify things.
However, when I try to change the mode and cycle power by shutting the main power off and then on, it simply resets back to the PNS mode of program selection.
Can any one help me out with this one?
Thanks!ACalverley2March 7, 2021 at 4:00 PM That is a good hint. I remember that I had one robot in the past configured with Other and UOP. The only way to get this one to work was to clear the IO assignments for the PNS1-8 signals. With that system I have only used UI 1-8 and UO 1-10.
I have no idea why it didn't work with the UOP signals completely mapped because I had many other systems that worked with that setup.
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Are there any errors or messages displayed when trying to start the program?
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How do you control the UOP signals? Discrete wiring or via PLC and a fieldbus protocol? Did you already check if the mapping of your UOP signals is correct?
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Also check if the system variable $RMT_MASTER is set to 0. Also verify the points suggested by neighbour1. Are there any errors or messages displayed when trying to start the program?
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Check if Remote/Local setup under MENU > System > Config is set to Remote.
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To complete the answer from hermann, you can map your IOs to Flags using Rack 34, Slot 1, Start 1 to 1024, Rack 35, Slot 1 is Always ON.
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Exactly this. Maybe replacing the original cover by something else would be okay in my opinion. Just removing the cover is definitely a no-go.
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does anyone know what that bolt head is for? And if it's possible to replace it with something lower-profile? Or maybe some kind of rounded cover to place over it?
These "bolt heads" are the installation locations for the calibration tools for the Axis Calibration method. Check the IRB 7600 product manual (3HAC022033-001) for more detailed information.
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No problem. There are also some online calculators that can calculate to kgf cm s². I did a quick search and found e.g. this one.
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The conversion is 1 kg cm² = 0.0010197 kgf cm s². The FANUC Payload Checker tool can convert inertias to kgf cm s². You can get the latest version of the Payload Checker from your local FANUC rep.