Thank you for responding. I've seen that type of a switch on some controllers, but this one does not have that switch. I keep search and I have not found a fix yet.
Posts by fwclaude
-
-
Trying to keep the robot in LOCAL mode.
After setting "Remote/Local setup:" in the System/Config screen to Local it will run from the SOP Cycle Start. However when the robot is power cycled it defaults back to Remote.
I've tried changing, $REMOTE, $REMOTE_CFG and $RMT_MASTER and those combinations do not alleviate the problem.
The robot works fine in LOCAL mode until power is cycled.
Probably something simple that I'm missing, but at this point I'm stumped.
Thank you in advance!
-
Yes, I'm pretty sure either one will work. I know for a fact the second one will.
Also the Circular Arc motion, A[1], will accept both frame and tool offsets at the same time.
**** Important note. You first and last point need to be FINE. All in between motions can be CNT100. Otherwise you will end up with a weird lopsided circle.
Thank you for your response. I think I can get to an open robot tomorrow and I'll try it out.
-
Is there a way of using offset with HandlingTool arc/circle motion instructions? I can't find it in my manual and I don't have a robot to try it out yet.
My goal is to program 10 or more circles equally spaced without teach every single point for each circle.
Will something like this work?
13:L P[2] 2000mm/sec CNT100 Offset, PR[2] ;
14:C P[3] Offset, PR[2]
: P[4] 100mm/sec CNT100 Offset, PR[2] ;
15:C P[5] Offset, PR[2]
: P[6] 100mm/sec CNT100 Offset, PR[2] ;
16:C P[7] Offset, PR[2]
: P[8] 100mm/sec CNT100 Offset, PR[2] ;
17:C P[9] Offset, PR[2]
: P[2] 100mm CNT100 Offset, PR[2] ;
OR13:L PR[2] 2000mm/sec CNT100 ;
14:C PR[3]
: PR[4] 100mm/sec CNT100 ;
15:C PR[5]
: PR[6] 100mm/sec CNT100 ;
16:C PR[7]
: PR[8] 100mm/sec ;
17:C PR[9]
: PR[2] 100mm CNT100 ;
Thank you for any input!
-
In such a case I always use $MISC[1].$HPD_TRQ[x] whare "x" is the axis number.
I use it together with SKIP CONDITION and it works, but as Fabian Munoz said, you have to tune is slowly and gently.
Thank you for your input! I greatly appreciate it. Now I just need to get some "play time" on the robot to figure out what I actually want to do.
-
Can you find the variable ? Can you see the number ?
Jog the robot (gently) again a table/wall and start pushing (crashing) (gently) the robot against it and look at the numbers changing on $SV_INFO[1].$Q_CURRENT[whatever]
Once again GENTLY . That will be fine, very fine motion
Once you see those numbers you can create a range of disturbance before it actually crashes. The problem is that in real life the robot has to move very slow
Thank you for your input! You are thinking along the lines as I am. I've monitored the axes currents in another application, but never actually use them. At this point I put it in the category of a hair-brain idea, but would like to pursue it. It would make this new application's hardware a lot less complicated.
-
My assumption is torque as I want to monitor the increase in current of J3 as the robot makes a slow approach and the EOAT makes contact with a pallet. It's just an idea at this point. Just trying to find a way get around using a series of photosensors to determine the actual pallet Z location in a pallet hopper. Bottom line, I don't know enough of disturbance to even ask a halfway intelligent question.
-
Thank you for the info.
-
I would like to transfer the electrical current (torque) value from an axis, such as $CUR_TORQUE[3] in to an R[n] register.
I've done a lot of basic programming in HandlingTool for many of applications.
But I cannot find out how to monitor an axis current in real time within a program.
Any help would be greatly appreciated! Thank you!