Posts by MoEL

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

Hello everyone,

Is there a way to solve a 3 equations system with TP or karel program?

4x - 3y + z = - 10
2x + y + 3z = 0
- x + 2y - 5z = 17

Thank you

Quote from TitusLepic

You should be able to do this from three points. I haven't done it myself, but if I were to attempt it here's what I'd do:

1) PR[x]=UFRAME[x] - this sets the chosen PR to matrix representation

2) Set the 10th, 11th, and 12th positions of PR[x] to the XYZ of your origin.

3) Find the unit vector pointing from the origin to the "X" point. Set the 1st, 2nd, and 3rd positions of PR[x] to this unit vector

4) Find the vector pointing from the origin to the "Y" point. Take the cross product of this vector and the X direction vector. Scale it to be a unit vector. This is your Z direction unit vector, set the 7th, 8th, and 9th positions of PR[x] to this unit vector.

5) Take the cross product of the X and Z vectors. Scale it to be a unit vector. Set the 4th, 5th, and 6th positions of PR[x] to this value.

6) UFRAME[x] = PR[x]

Like HawkME said, it is completely doable if you can handle the math.

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Hello TitusLepic

I am trying to follow your methodology, but I am facing some difficulties.

1) PR[9]=UFRAME[9], even running this line, the PR[9] does not take matrix representation.

Can you help with that please?

Thank you

Quote from fmiroslav

After RFM and FRFM Method, try, change, try, change, try... , and finally solving,

Here is a full code, it is different from code in F Manuals, have extra lines and extra reactions .

At first You need to Mastering Part, for that You turn ON Master Flag for selected

Touch Schedule (in my case #4), at screenshot you can see parameters.

When You Mastering Part, remove Remark from line 14 and 23, when run program back Remark.

At line 15 and 24 get Error THSR-025 Nested search start, step up for one line (to line 14 and 23)

press RESET to remove error message, press SHIFT + FWD keep SHIFT pressed.

Program will be executed search and retract.

At line 29 Error THSR-013 Illegal number of search, Just ignore because You CAN, RESET.

Look up for PR[10] values, You will see something like

X -.153 mm W .000 deg

Y .514 mm P -.000 deg

Z .000 mm R -0.038 deg

Then teach positions.

When You finished Mastering Part, in DATA Touch Schedule for Master Flag set OFF.

RUN code, move part or turn around Z (R value) and RUN code again, look up for PR[10] values again

You will see something like

when you move

X 10.555 mm W .000 deg

Y 2.650 mm P .000 deg

Z .000 mm R 0.005 deg

move and rotate

X 8.234 mm W .000 deg

Y 1.876 mm P .000 deg

Z .000 mm R 5.354 deg

Code

1:  UFRAME_NUM=0 ;
2:  UTOOL_NUM=5 ;
3:   ;
4:  Touch Offset End ;
5:  PR[10:PR_10]=PR[100:ALL_ZERO]    ;
6:J P[1:          ] 10% FINE    ;
7:   ;
8:L P[2:          ] 25mm/sec FINE    ;
9:  DO[66:OFF:E1 Touch Sensing]=(ON) ;
10:  Search Start [4] PR[10] ;
11:L P[3:          ] 5mm/sec FINE Search[X]    ;
12:L P[4:          ] 25mm/sec FINE    ;
13:  !Unremark when mastering ;
14:  //Search Start [4] PR[10] ;
15:   ;
16:L P[5:          ] 25mm/sec FINE Search[X]    ;
17:L P[6:          ] 25mm/sec FINE    ;
18:L P[7:          ] 25mm/sec FINE    ;
19:L P[8:          ] 25mm/sec FINE    ;
20:L P[9:          ] 5mm/sec FINE Search[-Y]    ;
21:L P[10:          ] 25mm/sec FINE    ;
22:  !Unremark when mastering ;
23:  //Search Start [4] PR[10] ;
24:   ;
25:L P[11:          ] 25mm/sec FINE Search[-Y]    ;
26:L P[12:          ] 25mm/sec FINE    ;
27:   ;
28:  Search End ;
29:   ;
30:  DO[66:OFF:E1 Touch Sensing]=(OFF) ;
31:   ;
32:   ;
33:   ;
34:   ;
35:  Touch Offset PR[10] ;
36:L P[13:          ] 10mm/sec FINE    ;
37:   ;
38:L P[14:          ] 10mm/sec FINE    ;
39:L P[15:          ] 10mm/sec FINE    ;
40:L P[16:          ] 25mm/sec FINE    ;
41:  WAIT   2.00(sec) ;
42:  Touch Offset End ;
43:L P[1:          ] 50mm/sec FINE    ;

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Hello

I am trying to use your program to create mine, but I don't understund why you need to do this for mastering

2:  !Unremark when mastering ;
23:  //Search Start [4] PR[10] ;

When I unmark these lines, I got this error message:

THSR-025 Nested search start

Could you/someone help please?

Thank you

Quote from HawkME

I will give you the equations needed.

Slope: m = deltaY / deltaX

line: y=mx+b

slope of a perpendicular line:

m_2 = - 1 / m_1

Find intersection point by solving for the 2 line equations together. That gives you the final X and Y.

Final R = atan(m)

*Note, you must prevent any divide by 0 errors. Those will occur anytime you have a vertical or horizontal line for one of the slopes. So if that happens I just set the R angle directly to 0 or 90 and directly set X and Y to one of the raw values.

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I succeded to find the origin by touching 3 points with Renishaw proble for each plane.

The 3 equations of the 3 planes give me the xyz of the origine, but I don't know how to find the rotations wpr for the UFrame

If you don't mind, could you please give more details of your method?

Thanks again

Edit:

I managed to calculate the coordinates xyz of a point in the Uframe X axis,

So now I have the origin, and a point in the UFrame X axis,

How can I use these two data to create my UFrame automatically?

Thanks

Quote from HawkME

I have done it using the Math option and calculating the roll angle with trig. Not too bad if you are good with your math skills and have an accurate sensor.

Hello HawkME

Is it possible to share your code please,

I need to do the same, but I don't know how to start

Thank you

Quote from massula

Unfortunately, UTOOL, UFRAMES and PR need to be inserted manually inside Roboguide.

Is there any possiblity to do it with external soft, on API or Macro or something like that?

Thank you

Quote from dha

You can restore all from USB via boot menu. But it is not advisable to restore all from RG AOA backup.

Instead you load what you need.
For DCS: DCSPOS.SV (Pos/Speed check), DCSIOC.SV (Safe IO Connect),
For Numeric registers: NUMREG.VR
For Position registers: POSREG.VR
For Frames: SYSFRAME.SV
For DIDO: DIOCFGSV.IO
...

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Hello,

Once in Roboguide and connection established with the real robot,

Where to find those files and how to transfer them to real Robot?

Thank you very much

Quote from massula

Unfortunatelly, UTOOL, UFRAMES and PR need to be inserted mannually inside Roboguide.

And Process Simulate will detect singularities if you use FANUCn RCS module, that needs a separate license and configuration. If you are not using RCS, Process will use default motion llanner, and it isnt so accurate as RCS.

Roboguide, at other hand, has the RCS built inside, so it will perform more closely to a real robot.

Process Simulate 16 has a way to connect it to Roboguide, so You woudn't need FANUC RCS. But this link require additional FANUC software, so You need to figure what will be the easiest way.

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I have RCS, but I didn't activate it, now that is activated, it does, indeed, detect singularities.

Do you have more details about connecting Process Simulate to Roboguide? what additional software do I need? and how to set up the connection?

Thank you very much

Quote from EnergyAddict

I am not personally aware of a way to live mimic the robot, however, you can send individual programs straight to the robot from RG with the following:

In the Programs section of the treeview on the left hand side of your screen; right click the program you want to send. Select "Export", and then select "To Robot". In the window that pops up, click the robot neighborhood icon and select your robot from the neighborhood. Finally Click "Export" and follow any prompts they may come up.

If you need to add your robot to the robot neighborhood, Open the robot neighborhood from your start menu. And fill in the information for a new entry in your group.

I also describe how to copy a real robot to RG in this post, if that is something you need as well.

How to create a backup of real robot via RoboGuide

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Do I need to setup some network configuration before this?

Or all is done in the robot neighborhood environement?

Thanks

Edit: Network established, Thank you

Hello everyone,

I am working with Process Simulate and then transfer my program to Roboguide as .LS and then sent it to the real Fanuc Robot,

The thing is that I don't know how to send PR register, Utools adn UFrames from Process Simulate to Roboguide?

And another thing, sometimes, Process Simulate doesn't detect any singularity, but when the program is run by Roboguide it stucks in a singularity at some point, is there any way to check that in Process Simulate?

Thank you very much

Hello everyone

I need to connect my pc to a real robot to be able to send files from pc to robot controller and viceversa.

I have Roboguide installed in the pc and I want, if possible, to connect roboguide to the real robot to be able to send files too and mimic the real robot movement in roboguie in real time.

Is that possible?

Here is my setup:

Roboguide,

Robot controller R30iB with molex card, the first port is occupied to connect the controller to the plc (profinet)

Could someone please help me achieve this?

Thanks a lot

Quote from TitusLepic

Set the start type to PNS

Name your programs PNS0001, PNS0002, etc

Have the PLC set the UI[9-16] bit to select the PNS number you want

Pulse PNS strobe [UI17]

Pulse production start UI[18]

So, if I need to select PNS0001, I have to set UI[9],

for PNS0002 => set UI[10]

for PNS0003 => set UI[11]

and so on

Is this right?

Thanks again

Quote from DS186

There are many different ways to do that. I normally use the SELECT instruction within my main loop. See here for some ideas on how to do it. This guy creates awesome content on his website.

Thank you,

The approach with a Main program calling subprograms works fine, but I would like learn the approach where you select a program from plc and sent signal to run it in the robot.

Thanks again

Quote from DS186

In case of OTHER it will always start the main program set under $SHELL_WRK.$CUST_NAME. You can then create some kind of a job handler inside that main routine to call different programs. To select these subroutines you can e.g. send a number to a GI via the PLC.

Understood,

How can I create a generic Main Program,

I want to be able to add new programs without modifying the MAIN program

Let's say I have this Programs

MAIN, Prog1, Prog2, Prog3 and so on,

In MAIN Program I want something like this

If GI1 Call Prog1

If GI2 Call Prog2

If GI3 Call Prog3

...

And so on,

If in a add a Prog99 and GI 99 is true I want it to call Prog99

Thank you

Quote from DS186

Did you create your main program and also set it under the detail screen of OTHER or via system variable $SHELL_WRK.$CUST_NAME?

Is your start method under program selection method UOP or Other? If UOP you can start the program with UI6 or UI18. For Other you have to define it with $SHELL_WRK.$CUST_START.

I created a program an set it under detail screen of OTHER,

Start Method: UOP

And now I can start the robot from TIA Portal with UI6.

Now I would like to be able to choose which program run from the PLC, is that possible?

Thanks

Quote from DS186

What is your program selection method? In case of e.g. PNS you have to send the appropriate program number via the PNS1 - 8 UIs. You also have to create a main program, e.g. PNS0001 for program number 1.

Check if there are any errors on the robot side.

Also check the system config under Menu > System > Config. Send a screenshot if you are not sure with the configuration.

Thank you,

Program selection wasn't configured, now it is working with "OTHER".

Now I want to selection and start a program from plc? how to do that?

Thanks

Hello again,

Here's what I did for now:

- Mapped DI/DO and UI/UO => connection OK with TIA portal, when I force DI1 to True, UI becames True and so on.

- Robot Mode: Remote

- Enable UI Signals: True

With TIA portal, I set this signals to true:

IMSTP (UI1) = true

HOLD (UI2) = true

SFSPD (UI3) = true

ENBL (UI8) = true

I tyied with Start Signal((UI6) to true and then to false, but the robot doesnt do anything, the same with (UI18)

What am I doing wrong?

Thank you very much

I have already configured the Profinet Molex Card.

And mapped the signals on rack 102.

Remote is already set.

I'll set UI signals to true.

How to set the program selection?

Aside question: How to make pictures shown directly on topic and no as attachements?

Thanks