Posts by asdf

Fanuc does allow up to 8 BG logic programs, there is more info in the HandlingTool manual or the help button on the pendant.

Also you can use the "run" instruction from BG logic instead of the "call" instruction. The link below has some good info on how that works.

How to RUN FANUC Programs Concurrently with the RUN statement - ONE Robotics Company

In the past I have used something along the lines of this to monitor the status of a gripper while holding a part. The F[enableGripCheck] would need to be turned on after you pick up the part and turned off before you place the part.

*psuedocode
*running in BG logic

IF (F[enableGripCheck] AND (DI[GripNotOK]) THEN
F[enableGripCheck=(OFF)
!handle dropped part however you want
ENDIF

You say the program is faulting on line 26 but that alarm code shows that it is faulting on line 17 (?). What is on line 17?

My guess is that there is some "wrong" with whatever IO is being waited on. Are you sure the IO is configured correctly?

There should be an additional alarm code along with this fault on the alarm log screen. Please post that.

Some good info here on how to start Fanuc robots in auto from a PLC.

Starting FANUC Robots in AUTO - ONE Robotics Company

You can't directly write a string literal to an SR. You can pass a string literal as an argument to a subprogram, then write that argument to a string register

write a tp program named something like SET_STRING with just this line:
1:  SR[AR[2]]=AR[1]


Then call like so:
1st argument is the string literal 
2nd argument is String Register to write to

Call SET_STRING('myString',1)

Are you using the "RUN" command to call a large num of programs?

Can you post the program you are trying to step through?

last one was 0.065mm, haven't seen one over .1mm.

I have a system where a robot picks a part, then moves to a position ~100mm above the pick surface and relocates the part in the gripper and generates a tool offset to use when placing to correct any errors with the initial pick. This second scan uses its own camera calibration at the height where the robot holds the part. Pretty standard 2D vision system. The trouble I am getting is that the part place will occasionally fail due to an "inaccurate" grip correct offset. The generated tool offset tends to have a small Z value with I would expect to be 0. This leads me to believe there is a problem with how I am generating the tool offset? or maybe something else?

See below for the program the program that generates the grip correction offset (PR[55]). This program uses the matrix math functions put together by Nation.

Thanks!

LR Mate 200iD with R-30iB Mate Plus controller.

  17:  !load necessary data into regists ;
  18:  PR[50:TripMasterCoords]=LPOS-LPOS    ;
  19:  PR[50,1:TripMasterCoords]=AR[1]    ;
  20:  PR[50,2:TripMasterCoords]=AR[2]    ;
  21:  //PR[50,6:TripMasterCoords]=AR[3]    ;
  22:   ;
  23:  PR[48:TripFoundCoords]=LPOS-LPOS    ;
  24:  PR[48,1:TripFoundCoords]=PR[60,1:Flexivision_Posi]    ;
  25:  PR[48,2:TripFoundCoords]=PR[60,2:Flexivision_Posi]    ;
  26:  //PR[48,6:TripFoundCoords]=PR[60,6:Flexivision_Posi]    ;
  27:   ;
  28:  PR[51:W_CamCalibFrame]=LPOS-LPOS    ;
  29:  PR[51:W_CamCalibFrame]=UFRAME[3:elevatedCamCalib] ;
  30:   ;
  31:  --eg:Get master part coords in tool frame ;
  32:  --eg:W_Part = W_CamCalibFrame : TripMasterCoords ;
  33:  --eg:T_MasterPart = INV(W_TCP@Rescan) : W_Part ;
  34:  CALL MMULT(51,50,52) ;
  35:  CALL MINV(49,53) ;
  36:  CALL MMULT(53,52,57) ;
  37:   ;
  38:  --eg:Get found part coords in tool frame ;
  39:  --eg:W_Part = W_CamCalibFrame : TripFoundCoords ;
  40:  --eg:T_FoundPart = INV(W_TCP@Rescan) : W_Part ;
  41:  PR[52:W_Part]=LPOS-LPOS    ;
  42:  CALL MMULT(51,48,52) ;
  43:  CALL MMULT(53,52,54) ;
  44:   ;
  45:   ;
  46:  !calculate offset ;
  47:  PR[55:TripRescanOffset]=PR[57:T_MasterPart]-PR[54:T_FoundPart]    ;

post your bg program

It looks like the mappdk_server.kl karel program on the fanucpy github doens't have a NOABORT directive. Aborting would cause this program to stop executing, presumably killing your socket. If you have the ability to compile karel, I would try adding the NOABORT directive to this program and maybe other karel programs in the fanucpy package.

Can you share more context about how the STOP_ROBOT routine gets called?

Assuming the socket messaging is being handled by a Karel program running on the robot?

It sounds like the karel execution is getting paused or aborted when the robot is held. You can control this behavior using the %NOPAUSE and %NOABORT headers in the karel program.

Is your computer on the same subnet as the robot?

I tried the BackupTool from One Robotics . Didn't show any error messages, the file structure of the generated backup looks correct but there are no actual files from the robots.

Any one using this tool have a similar issue?

Here is what was printed in terminal after the backup:

2024/05/14 19:08:41 Backing up project...
2024/05/14 19:08:41 Backing up Stn_7 at 192.168.1.17
2024/05/14 19:08:41 Backing up Stn_2 at 192.168.1.12
2024/05/14 19:08:41 Backing up Stn_5 at 192.168.1.15
2024/05/14 19:08:41 Backing up Stn_3 at 192.168.1.13
2024/05/14 19:08:41 Backing up Stn_6 at 192.168.1.16
2024/05/14 19:08:41 Backing up Stn_1 at 192.168.1.11
2024/05/14 19:08:42 Finished backing up Stn_6 in 989.4589ms
2024/05/14 19:08:43 Finished backing up Stn_2 in 1.1966157s
2024/05/14 19:08:43 Finished backing up Stn_5 in 1.2025263s
2024/05/14 19:08:43 Finished backing up Stn_1 in 1.2135842s
2024/05/14 19:08:43 Finished backing up Stn_3 in 1.4684226s
2024/05/14 19:08:44 Finished backing up Stn_7 in 2.2063012s
2024/05/14 19:08:44 Backed up all robots in 2.2114668s

Thanks!

Sounds like you want to take the HandlingTool Operation and Programming course. It covers most of everything you listed.

Something important to realize about fanuc's online training is that they have both instructor led online classes, which are basically the same as the in person class, and a non instructor led class which is basically an interactive slideshow.

I took the instructor led online class which uses Fanuc's simulation software RoboGuide, which they provide temporary access for the course. You can learn everything you need from the online class but of course you don't get the experience of working with a physical robot.

I wrote a simple batch file to take backups of a multi robot cell thru FTP, inspired by https://www.onerobotics.com/posts/2013/usi…e-productivity/

It works great however it takes about 30min to pull a backup from all 6 robots in this cell. Is there any simple way to speed this up or things to look for that could be slowing it down?

Batch File goes like this, repeated for each robot:

open #IPAddr
anon
prompt
bin
lcd U:\_RobBackups\Station_1
mget *.*
quit

Thanks!

$WAITTMOUT

The ability to use string registers in mixed logic IF statements instead of being forced to use the old IF.... JMP LBL[] to check a string reg.

The fastest way to get a TP program out of roboguide (to my knowledge) is to save the cell, then go to tools -> "your workcell" folder. Then within the popup window navigate to the savepoints folder->most recent save. This is a backup of all the files on your virtual robot, from here you can pick out the TP program you want.

There are other ways to do this aswell like exporting to the loadset or FTP.

Perform a Controlled start then: Menu -> Next -> Program Setup

Here you can change the number of available PR's aswell as other items such as UFRAMEs.

When finished with your changes: FCTN->Cold Start