WAITING FOR CYCLIC CONNECTION ERROR
You have DCS, so you can utilize this one. DCS position check, Target model collision
This looks at the robot Bubbles versus the tool model. BIG thing is don't let the tool bubbles overlap the robot bubble when you create your tool model. Works really well
due to the weight issue, I can not use this manipulator as a cobot right now I am using it as a robot
our part weight is 13.80 kg its Connecting Rod(CONROD)
its execute the auto pay load weight in motion and DCS
but whenever I am trying to run it in auto external mode (PLC Master and Robot Slave)
It shows the weight is over load error or force monitoring error
we also designed the gripper such as the CG of the part is in optimum position also cross-checked with Fanuc DATA SHEET excel. Fanuc also verified that this is the okay condition bus still we need to check whether the manipulator is in fault condition or not
that's why I am using the NSI(non-safety input) to avoid the force monitoring input so the robot could run in an auto external mode without giving an force monitoring input
I don't think you can use JPOS or UALM in BGLogic. But you could monitor the system variables for the current joint angles and if they are beyond some limit then drop out the UI Hold signal.
How can I write the program for this can you elaborate
Is this to stop the robot if in a forbidden area?
If yes, this can be even done in BG logic, but the reaction time may appear insufficient for fast moves.
Or, probably, maybe done by Interference Check, with fixture models modified programmatically on demand.
If, however, the axis limits are intended for MROT motion, they must be system settings and yes, require a power cycle after modification.
I WANT TO AVOID COLLISIONS ONLY DURING THE MANUAL JOGGING TO PREVENT THE GRIPPER FROM DAMAGE
What are you trying to do? Those variables look to be correct, but they require a power cycle.
DCS can dynamically limit an axis but would require a safety input to enable and disable.
I WANT TO AVOID COLLISIONS DURING MANUAL JOGGING TO PREVENT GRIPPER FROM DAMAGE
How I can give a soft limit to the for the specific axis using bg logic
The simplest solution for your code is to place an END statement or a JMP LBL between line 3 and 4 of your PICK_CONROD program.
My main issue is that it runs without any satisfied condition it's running the sub program
I HAVE DONE simple prog of PICK_CONROD but still runs the priority program
for example, even though the DI signal 22 (INFEED_1 is OFF ) still jumps to the LBL 101 and runs prog PICK_CR_1
and same thing happening for all the rest jump LBLs
It's okay on the monitor
So, the robot is working properly. The issue is the connection between the KRC and SmartPad.
Was this SmartPad working correctly before? Have you tried swapping SmartPads with another robot? Have you checked the SmartPad connector and cable for damage?
yes problem solved the I just replaced the cable with the new one
It's okay on the monitor
what are the possibilities behind it
I have 2000 iA with RJ3iB controller
for Palletization operation
the problem is whenever it reaches the approach point the robot does not move
it shows paused
I have made 4 TP programs
2. Variant 1
3. Pick 1
IF DI(21)=ON, CALL VARIANT1
I have assigned user levels in the Fanuc RJ3iB controller
now every time if I want to configure. any IO or similar parameters like that it asks for setup password or Install Password
and whenever I am going to make a program its asks for program Password
it's very annoying
but I don't know how to disable these all users and get back to initial condition
I tried to delete the users but it says can't delete
PlEASE HELP to Disable all users
Probably is not available on that older controller version.
Instead, you could use the internal mem port. Set a block of DO's to rack 0 slot 0. Then you will have DOs that act just like flags.
can I use group IO to act like as flags
Thank you for your replay
but the issue is resolved by myself
but I have one more question to ask
I can't find following variable in my TP
can you please help me
Check the following system variables. Set use flg to 1 or true, and set num flg to however many flags you want available.
Sorry but I could not these variables in my TP
is there any other way
I just downloaded roboguide simulator Version 9
but it's stucks every time I open it.
it's just not opening
I have a Fanuc R-J3iB controller and in the IO list I couldn't find the FLAGS option
please help to find this