Posts by MoEL

  • DCS Tool Mismatch: Is it possible to disable tool safety dcs when T1 is enabled?

    Quote from jstolaruk

    If a tool is used in a dcs definition and its value changes, dcs complains and has to be re-applied and confirmed. But I'm trying to imagine how that is connected to the AUTO/T1 switch. Can you provide more details?

    Lets imagin that the robot have 2 tools defined in dcs, so if there is any change or missing tool, the robot do not receive the right CSI and goes fault. this is ok for me so far. but now, I need to test a third tool that is not yet defined in dcs, I need to test it only on T1 mode before validating it and adding it in dcs tools definition. is this possible? or do I need to add it, apply dcs, test it and if test is not successful, remove it from dcs tool definion and so on...?

    Thank you very much

  • Disable J931 Profinet Safety option

    Quote from SkyeFire

    What I usually do (and most programmers whose work I have dealt with) is to have the Safety Gate input tied to Network Safety Gate Input OR Network Safety Bypassed. This allows the robot to be jogged if the PLC fails or communication is lost, but blocks Auto mode operation. My best guess is that your DCS configuration has something similar.

    Hello SkyeFire,

    Could you please give more details about this for a newbie in Fanuc.

    I need to do this in the robot I am working with to be able to jog it on T1 if PLC is off for any reason.

    Thank you very much

  • support with external mode selector fanuc robot

    Quote from DS186

    That is correct. However, the option you are talking about is "TP mode select". alfrdob has the "External mode select" option. With External mode select safe input signals (e.g. from a F-PLC) are required to switch the mode.

    There is a "hacky" workaround with NSIs but I would only recommend this while commissioning, e.g. when the safety signals are not yet available.

    Hello,

    Can you please share the "hacky" workaround, I stuggle everytime during the first tests and commisionning


    Thank you very much

  • Execute (run) a code even robot on error

    Hi,
    I need to modify some variables in many robots to be able to jog them, these robots are on error mode because the PLC is not connected.

    So I wanted to modify thes variables:
      1:  ! Set Enable UI Signals to False ;
      2:  $OPWORKS.$UOP_DISABLE=1 ;
      5:  ! Set specified variables to 0 ;
      6:  $PNSF_SET.$BY_PWFAIL=0 ;
      7:  $PNSF_SET.$BY_PLCCON=0 ;
      8:  $PNSF_SET.$BY_PLCRUN=0 ;
      9:  $PNSF_SET.$BY_T1ONLY=0 ;
      3:  ! DCS Profinet Bypass(2) Enable(1) ;
      4:  $PNSF_SET.$MODE=2 ;


    I created a program but I can't run it because of the robots on error, is there a way to modify this variable by some program or script?

    Thank you very much

  • Disable J931 Profinet Safety option

    Quote from gpunkt

    Bypassing Profisafe in the DCS menu requires an "Apply" to the DCS and a power cycle.

    Edit: Found it:
    $PNSF_SET.$MODE=2 ;

    Hi,
    Is possible to do this by some variables? I need this because I have to jog many robots that are in transport mode but already configured with safety plc, dcs ...
    I don't want to lose the current configuration, only disable it, jog the robot and enable it back.

    I have this code so far:
    1:  ! Set Enable UI Signals to False ;
    2:  $OPWORKS.$UOP_DISABLE=1 ;
    3:  ! Set DCS Profinet to Bypass ;
    4:  $DCS_CFG.$SYS_PARAM = 1 ;
    5:  ! Set specified variables to 0 ;
    6:  $PNSF_SET.$BY_PWFAIL=0 ;
    7:  $PNSF_SET.$BY_PLCCON=0 ;
    8:  $PNSF_SET.$BY_PLCRUN=0 ;
    9:  $PNSF_SET.$BY_T1ONLY=0 ;


    Thank you very much

  • Roboguide Installation Issues

    Quote from chris.rhoades

    Turns out the installation process wasn't writing any data to the frvirtual.exe config file. Had to copy over a coworkers file and it fixed the issue. Hopefully if anyone has the same issue in the future they know someone else with roboguide because that seemed to be Fanuc's last suggestion.

    Could you please share that file, I don't have a coworker with Roboguide and I am facing the same issue.
    Thanks

    Lintan

  • Offest of a UF along itself axis

    Thank you, but I think my question was not clear enough, I need to move the UF 100mm along itself axis, so the new origin in world coordinates will not be current coordinate + 100mm because of the rotations wpr.

  • Offest of a UF along itself axis

    Quote from Sergei Troizky

    Not clear whether you want to do it manually or programatically.

    If programatically, will you allow robot movement for that, and is the frame origin physically reachable?

    Hi,
    I need to do it programmatically.

    And I understand your point, by moving the robot at needed point in the UF, and then get its world position with LPOS, this should work but is it passible without moving the robot, with some calculations?
    and yes, the UF origin is physically reachable.

  • Offest of a UF along itself axis

    Hi,

    I have a UF, lets say at X: 1000, Y: 1000, Z: 1000, w: 15deg, p: -27 deg, r: 128

    I want to offest 100mm this UF along itself axis, so I need to find the new coordinates XYZ that will be the result of this Offset, wpr will stay the same.

    Any idea of how to do that easily?

    Thank you very much.

  • Offset with PR along the axis of the UF of the current point

    This is a master class explanation,
    Thank you all

  • 3D Touch Sense with Roboguide

    Quote from gpunkt

    Yes,
    Easiest is to enable collision detection and have it set a DI or RI whenever an EOAT CAD-model (or the robot itself) touches something. Then use this DI or RI as the monitored signal for the Touch Sense.

    Hello,

    Thank you for you answer,

    Could you please tell me how to enable "Collision detection" and the DI event of the collision?

    Thanks again

  • Touch sensing: Auto Return

    Hello,

    I am creating a touch sensing routine and in the Schedule I set "Auto return = ON" but it does not do the auto return to the previous point as expected. it goes to the next point in the program instead of going back to prevous point.

    What could be the reason?

    Thanks

  • Using robot to automatically adjust frame

    Quote from ROBOT_G

    I did waterjet cutting for 10 years. Your solution is positive location of the tool or fixture. I've worked on rotating walls too. Mostly working with soft parts or door panels which is another issue in itself. Fanuc does have software that will find your fixture and adjust the program. It involves touch sensing. It's different than the welding as it doesn't use a 24v circuit. It uses the feedback created on the motors. This tech was rock solid 20 years ago. We would run the touch sense program on a tool change and that would get us very close usually some minor touchups. The software is called cell finder. The cell finder software also included tcp which uses a plate with a hole. The program would touch the plate in several different ways to generate a TCP . You could also use this software to master the robot. All these things are important to maintain high accuracy cutting. In the end, it's all of maintenance and setup. Thing have to be done correctly or it's all a waste of time.

    Hello ROBOT_G

    I am interested in the Cell Finder software but I couldn't find any info about it in the net.

    Do you have a link where I can get some info?

    Thanks

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