Posts by Tony R.

  • Startup problem

    Quote from Okami

    Did this appear when you powered up the robot or did any message showed before that?

    And did the robot boot after it? Looks like the start-up went fine, no errors are on display.

    This is the first and only screen the TP displays when I power up the robot. Nothing before or after, let alone any errors. 😥

  • Startup problem

    Hi all,

    Me again! I have gotten my hands on an M16-i (System R-J2) version v4.30 P/19.

    It was sitting unmoved for about 6 months or so and the battery (controller end) ran out of power. Naturally, the mastering has disappeared.

    However, I was met with a strange startup screen today and need enlightenment. Is this because of the battery? Or have I entered a different startup mode?

    Thanks in advance,

    Tony

  • Light simulation in roboguide?

    Quote from TomFoolious

    No...no way to change the light unfortunately. I was trying to get cheeky and use the lights as stack lights/Operator push button lights once. Didn't work out. Though I wonder if we could slap a fairly transparent colored cylinder around a light and have the light shine from under the cylinder, lighting it up in color? Probably won't work since the simulator only simulates robots.

    In case anyone's curious, I did simulated blinking lights in Roboguide by creating a machine "OP BOX". Then I had 2 cylinders for each button, one darker colored (OFF) and the other a lighter color (ON). I made the ON cylinder a slightly larger diameter than the OFF Cylinder. When output turned on to "turn on the light" I had roboguide move the ON cylinder out from underneath the gray OP box and slightly past the OFF cylinder (this way the ON cylinder completely covers up the OFF cylinder). Voila, you can now have blinky lights for whatever reason haha.

    Thanks! Disappointing news, but the motion command does seem to work wonders for everything else.

  • DCS fences in T2 mode?

    Hi all,

    I‘ve been playing around with Dual Check Safety and someone wanted the robot to stop moving when the safety fence opens, unless In T1 mode. However, it seems to me that DCS is more connected to the teach pendant switch being on rather than a door signal itself. So for now, we‘re using BG logic to control this.

    Is DCS a safer way to approach this problem? Or am I fine using BG logic?

    Thanks in advance,

    Tony

  • Custom TX_SCREEN path from a register

    Hi all,

    I've been playing around with custom HMIs using Sharepoint 2007 from the $TX_SCREEN variable. I have set my robot to begin any given task based on the received numerical register and made simple HMIs for each. However, It seems stupid to have to press "Task 6" to see Task 6's progress when the robot already knows what task to do. Pressing the wrong task number may also prove problematic.

    Is there a way to set one single "Current Task" path that changes with a register? The robot won't let me override the $TX_SCREEN variable directly using TP code. I am open to Karel solutions but would prefer to have this done on TP code.

    Thanks in advance,

    ~ Tony

  • Random Part Variation?

    Quote from EnergyAddict

    I do not believe you can change the color of a part in Roboguide dynamically (Or, at least I haven't found a way).

    When Dealing with multiple parts, I sometimes set up simulation programs that "Pick" & "Drop" parts From/To fixtures with "No Part". Allowing me to make certain parts 'visible' or 'hidden'. Unfortunately a good looking simulation video can be a bit tedious sometimes.

    I see. So it may be possible to pick the desired part depending on a numerical register, perhaps some sort of IF/SELECT pick simulation?

    This is perfect information, Thanks man.

  • Random Part Variation?

    Hi all,

    I need to do a vision sort for a simple pick-place HandlingPRO. For the sake of simplicity, let‘s say there are two identical parts, one red cylindrical part one blue. The robot analyzes the part and places it into one of two boxes. Everything works.

    However, it seems that when using Roboguide I must create two separate parts. The pick-place simulation then begins to get complicated, since the vision sort I need gets a little complex.

    Is there any way to create one part with random (or simply an SR[ ] seeded) color variation? If not, how do I go about handling this, especially if I have 4 or 5 variations that need local and shared processes?

    Thanks in advance,

    ~Tony

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  • Target on hand: Part Z height?

    Hi all,

    I've started calibrating my fixed KOWA 130B/W using an on-hand target and it works perfectly. In the irVision setup, part heights are spot on, as long as I add an offset of (usually negative) usually around -200–300mm.

    Where is this Z height being calculated from and how do I go about finding it?

    Thanks in advance,

    Tony

  • Abnormal movement when offset

    Hi all,

    I've been using a 4kg robot recently (ER-4iA, brand new) and tested its movement with a simple program. All was normal.

    Upon further inquiry, however, I discovered that if offsets are added to end of a MOVETO line (e.g. OFFSET, PR[…] ; TOOL_OFFSET, PR […] ) the robot moves very strangely. It jerks unevenly as though the mount angle has been set to 180 or the oil is running low.

    Sometimes this also seems to affect FINE/CNT movement, causing the robot's path to have only slightly rounded corners (CNT10?), slowing down without stopping regardless of what I write.

    Any ideas?

    Thanks in advance,

    ~Tony

  • iRVision rotation

    Quote from Fabian Munoz

    ADJ_OFS does what any good common sense robot programmer does .

    When a point is hard to teach "because it moves" , well, you teach the average (Known as "happy point" or "sweet spot") where the robot can reach it

    What I do , I teach it normally and put the coordinates on an excel sheet, Then after few run you see the robot crashing and you teach again. After few teach, look at your excel sheet, find the average of the coord and punch them in. That's all you can do as a robot guy. The rest it's up to tool design, part moving, etc

    I see. So basically you're taking the average number for each angle and finding the best fit curve. Cool!

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