Posts by MoEL

I leave a message to follow this interesting thread.

There is a Fanuc sub-forum,

I think you may have better chance if you ask there

Fanuc Robot Forum

So any news about this issue (continue motion when calling different programs)? nothing have changed since then?

In your pictures, your robot is in Remote control, so you will need to have 4 UIs to have to robot without errors.

MENU2

• SYSTEM 1
  • Config
    • 7 Enable UI signals: TRUE
    • 42 Remote/local setup: Remote

So you have 2 option,

Disable:

Enable UI signals: TRUE put it in False

Remote/local setup: Remote put it in Local

or

Make sure that you plc or external device send the 4 signals like in the picture.

Quote from flatcurve

I've got a KAREL program I wrote a while ago to use a touch probe to find the center of the top surface of a small locating block on a large work piece. The block is machined tool steel with a poke-yoke dowel pin pattern on the bottom. Three of them get placed on the work piece to teach a user frame. The reason they're removable is because they'd be in the way otherwise, and there's no room to machine any other type of locating feature. There are a few dozen different work pieces that get put into this system which range in size from 400mm x 400mm up to 2100mm x 1525mm and are only located in the center, which means the yaw/pitch/roll values are different each time. To run the routine all you do is give the robot the approximate position of the block, and it runs through a 9 point routine to determine the precise location of it. Once you've found three blocks, you've got your frame. We tried vision and lasers to do the locating, but at the end of the day the most repeatable process was the touch probe. I'd like to develop a standard probe and routine for all of the jobs requiring user frames but I just haven't had time to design it.

Hello,

How did you interface the probe to Robot or PLC input?

Thank you

Je n'ai pas très bien compris, mais si c'est pour faire exactement la même DB, pourquoi tu ne copie/colle et renomme celle que tu as déjà?

If your IGUS robot has Profinet protocole, I think it is the best protocole to use with Siemens PLC,

Why don't you contact Siemens or Panasonic to get the cojt component?

Quote from EngineeringJuice

Hello,

I recently built a mobile, military robot optimized for use in desert environments which can be controlled remotely or autonomously and can collect/ stream video to a VR headset via its front mounted camera. The method of movement is a continuous track, created using steel roller chain connected by fasteners with 3D printed links. These loops sit on a custom designed drive sprocket and idler sprocket with 4 shock absorber loaded roller pins that act as the suspension system.

See the video here: https://youtu.be/5bgXjKqfwAk

Thank you!

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That's great!

Is it possible to share your 3D cad?

I would like to give it a try when possible

Quote from SkyeFire

That still leaves the question of converting from XYZWPR to the matrix, and then back again.

I know the formulae for doing that for KUKA, but KUKAs rotate Z-Y'-Z", where Fanucs rotate X-Y'-Z", so the Euler portions of the matrix have to be calculated differently.

Also, doing the math for the conversion requires having trigonometry functions, and those are a paid option on Fanuc controllers. So the OP would need to check if their Fanuc has those available.

Converting UFrame from XYZWPR is easy,

   1:  $PR_CARTREP=0 ;
   2:  PR[100]=UFRAME[9:UFrame9] ;

This makes PR[100] take the matrix transformation of UF9.

And to calculate the Inverse Matrix I gave a web site with the step by step, where you don't need any trigonometry or complex math function.

I had to calculate any Uframe given 9 points (3 points per plane) and I did all the calculus on TPE language, exepte to convert vector to unit vector, I had to do it on karel. but in this case he does not need to calculate any unit vector.

For this case, I did the calculus on excel, and the steps are as follows:

- Convert Uframe to Matrix format. (Matrix with 16 parameters)

- Find the Inverse Matrix. (Matrix with 16 parameters)

- Multiply this inverse Matrix with the the matrix of your known PR (Matrix of 4 parameters)

Parameter = X coordinate, Parameter = Y coordinate, Parameter = Z coordinate, Parameter = 1)

This will give you your XYZ of you PR on the UF1

You don't need any payed option such as maths or karel fonction to do this

I would place a UFrame in the center of the circle, and the use HawkME method,

So there is no problem even is the plan changes

Quote from Dzonzi

I skipped those logic lines always XD

How do you do?

I think to find the PR[1] coordinates on UF1, it should be:

PR[1]OnUF1=InverseMatrixUF2*PR[1]OnUF2

But I don't know if you can calculate the InverseMatrix with only TPE language

Edit:

Verified right now with excel, the formula is right,

and you can do it with TPE language, but it will be pretty challenging

Here you can see the step-by-step to calculate de Inverse Matrix

https://matrix.reshish.com/inverse.php

Convert your UF2 to Matrix format, and put it in the web I gave and follow the step by step calculus doing it on excel, one you understand all the steps you do it in Fanuc TPE.

Quote from retobor

Sometimes I get this error if I keep RG opened for a few days; a restart usually fixes it for me..

As a temporary (and probably better solution), could you use the 'Logic Simulation Assistant'? I/O simulation is more flexible and saves per program. Under 'Test-Run' tab.

Hello,

Is it possible for you to explain how does the "Logic Simulation Assistant" work? thank you very much

Thanks again

Hello again,

I found a solution by myself, but I don't know if it is optimized,

You write your 3 vector on Registers 1, 2 and 3

You call the program form TPE program giving the 3 parameters

   1:  CALL UNITVECTOR(1,2,3)

Here is my Karel code

it overwrites the same registers

PROGRAM UNITVECTOR
---------------------------------------------------------------------
%COMMENT='UNIT VECTOR'
%NOLOCKGROUP

----------------------------------------------------------------
VAR
---------------------------------------------------------------------      

data_type, status                    :INTEGER
int_value1, int_value2, int_value3    :INTEGER
i_RValue1, i_RValue2, i_RValue3        :INTEGER
r_RValue1, r_RValue2, r_RValue3        : REAL
Data1, Data2, Data3, Data4 : REAL
Data_A, Data_B, Data_C : REAL
real_value : REAL  
real_flag1, real_flag2, real_flag3 : BOOLEAN
str_value :STRING[10]

---------------------------------------------------------------------
BEGIN
---------------------------------------------------------------------


--- Numéro de param 1
GET_TPE_PRM(1,data_type, int_value1, real_value, str_value, STATUS)

--- Numéro de param 2
GET_TPE_PRM(2,data_type, int_value2, real_value, str_value, STATUS)

--- Numéro de param 3
GET_TPE_PRM(3,data_type, int_value3, real_value, str_value, STATUS)

-- Récupération de la donnée dans le registre R[int_value1]
GET_REG(int_value1, real_flag1, i_RValue1, r_RValue1, status)

-- Récupération de la donnée dans le registre R[int_value2]
GET_REG(int_value2, real_flag2, i_RValue2, r_RValue2, status)

-- Récupération de la donnée dans le registre R[int_value3]
GET_REG(int_value3, real_flag3, i_RValue3, r_RValue3, status)

-- test si Param1 est entier ou reel 
IF real_flag1 = FALSE THEN
    Data1  = i_RValue1*i_RValue1
    Data_A = i_RValue1
else 
    Data1  = r_RValue1*r_RValue1
    Data_A = r_RValue1
ENDIF 

-- test si Param2 est entier ou reel 
IF real_flag2 = FALSE THEN
    Data2  = i_RValue2*i_RValue2
    Data_B = i_RValue2
else 
    Data2  = r_RValue2*r_RValue2
    Data_B = r_RValue2
ENDIF

-- test si Param3 est entier ou reel 
IF real_flag3 = FALSE THEN
    Data3  = i_RValue3*i_RValue3
    Data_C = i_RValue3
else 
    Data3  = r_RValue3*r_RValue3
    Data_C = r_RValue3
ENDIF

Data4  = SQRT (Data1+Data2+Data3)

-- Vecteur unitaire 
Data_A = Data_A / Data4
Data_B = Data_B / Data4
Data_C = Data_C / Data4

SET_REAL_REG(int_value1, Data_A, status)
SET_REAL_REG(int_value2, Data_B, status)
SET_REAL_REG(int_value3, Data_C, status)

END UNITVECTOR   

Hello everyone,

Could you please help to convert a vector to unit vector with Karel Please?

I know how to do it methematically but I don't know the karel synthax.

Let's say I have this vector:

Vector1 (a, b, c)

To find the unit vector of Vector1, the formula is:

UnitVector1(a',b',c') where:

a' = a / (sqrt(a^2 + b^2 + c^2))

b'= b / (sqrt(a^2 + b^2 + c^2))

c' = c / (sqrt(a^2 + b^2 + c^2))

I am looking for somthing that I feed with a,b,c and returns a',b' and c'

Thank you

Quote from HawkME

You can do it the same way you would manually. Just replace your x,y,z values and coefficients with Registers.

Work out the algorithm manually by hand keeping everything in terms of registers. And by the time you are done you will basically have a TP program. You may need to split up some of the operations to work with TP syntax. Also you must handle any possible divide by zero errors.

Or just Google an example done in another programming language and then convert the syntax.

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Thank you very much

Finally I used Cramer's rule, and it works fine,

Thanks again

Quote from MoEL

I want to calculate automatically the Uframe,

So I touch 3 points on each plan,

3 points define a plan equation,

So I have 3 equations,

Then I solve the 3 equation system to find the origin point of the UFrame.

After that I calculate the unit vectors for X , Y and Z directions,

With the origin point and the 3 vectors, I have the Transformation Matrix of my Uframe,

I then convert it to Euler Angles to find the xrzwrp.

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We don't want to use the Fanuc built in functions such as Touch Sensing ... because we have other robot brands (Kuka, Abb...) and we hope to find a way that can be adapted for the different brands

Quote from neighbour1

Nice case, never thought about that

What's your intention for it?

I want to calculate automatically the Uframe,

So I touch 3 points on each plan,

3 points define a plan equation,

So I have 3 equations,

Then I solve the 3 equation system to find the origin point of the UFrame.

After that I calculate the unit vectors for X , Y and Z directions,

With the origin point and the 3 vectors, I have the Transformation Matrix of my Uframe,

I then convert it to Euler Angles to find the xrzwrp.

Quote from HawkME

Solve by substitution. Basic algebra.

Hello,

I know how to do it manualy, but how would be the synthax on fanuc tp or karel.

thanks