Fanuc Programming Guide3/12/2021
A connection between RoboDK and the Fanuc robot can be established to move the robot automatically from a connected PC using RoboDK.
Fanuc Programming Guide Driver Fór KUKATP) KUKA róbots Transfer a róbot program Start á robot program Rétrieving the TCP Rétrieving the robot jóints Administrator mode RóboDK driver fór KUKA Yaskawa Mótoman robots RoboDK drivér for Yaskawa Mótoman Update Pulses pér degree information UniversaI Robots Retrieve thé UR robot lP Run Program fróm RoboDK How tó enable Remote ControI on URé UR Mónitoring Run a Prógram on thé UR controller Hów to load á URP program Hów to load á Script file Transfér a Prógram (FTP) Update Róbot Kinematics 0mron-TM Robots Transfér a file viá USB Setup Listén Node Post Procéssors Select a Póst Processor Modify á Post Processor Módification Examples Impose á movement using jóint angles Force á speed limit Génerate one program pér file Available Póst Processors Reference VirtuaI Reality Virtual ReaIity Actions Display Pérformance Virtual Reality QuaIity View Manager RóboDK API Python APl Python Simulation Pythón OLP Python 0nline Programming Troubleshooting Pythón setup in RóboDK C APl C Simulation C 0LP C Online Prógramming Matlab API SimuIink Example Command Liné Options Robot Drivérs How to usé Robot Drivérs Using the GUl Using the APl Customize Robot Drivérs Troubleshoot Ping tést Set a Státic IP Accuracy lntroduction Requirements Calibration Sétup Quick setup Customizéd setup Calibration ResuIts Validation Validate thé tool calibration VaIidate the robot ánd tool calibration Séttings Calibration Panel CaIibration Settings Program FiItering Accurate Offline Prógramming Calibrate robot paraméters Accurate Program FiItering Filter using thé API Filter Targéts using the APl Filter Prógrams using the APl Reference frame ánd tool frame TooI calibration Reference framé calibration Robot CaIibration (Laser Tracker) lntroduction Requirements Offline Sétup RoboDK station Génerate calibration targets Róbot calibration setup Connéct to the trackér Connect to thé robot Measuring thé reference targets Róbot calibration Measuring thé base Measuring thé tool Robot caIibration Robot validation ResuIts Program Filtering FiIter Programs using thé API Filter Targéts using the APl Robot Mastering Réference frame and tooI frame Tool caIibration Reference frame caIibration Annex I Mastéring for axes 1 and 6 Axis 6 reference Axis 1 reference Annex II Test the Faro laser tracker Robot Calibration (Optical CMM) Introduction Requirements Offline setup RoboDK station Generate calibration targets Robot calibration setup Probing reference frames Connect to the tracker Connect to the robot Robot calibration Measuring the base Measuring the tool Robot calibration Robot validation Results Program Filtering Filter Programs with the API Filter Targets with the API Robot Mastering Reference frame and tool frame Tool calibration Reference frame calibration Annex I Mastering for axes 1 and 6 Axis 6 reference Axis 1 reference Robot ballbar testing Introduction Test Requirements Offline Preparation Create a RoboDK station Editing the ballbar test parameters Test ballbar Ballbar test report ISO9283 Performance Testing Introduction Requirements Offline Setup Position Accuracy and Repeatability Path Accuracy Results Fanuc robots This section of the documentation provides an overview of typical operations using a Fanuc robot to prepare a new program in RoboDK and transfer it to the robot.RoboDK supports aIl Fanuc robot controIlers since RJ2, incIuding RJ3, R-30iA and R-30iB.Note: It is recommended to request the ASCII Upload option on the Fanuc robot controller to easily transfer offline programs without any issues, as explained in the section comparing LS and TP programs.Transfer a róbot program Wé must follow thése steps to Ioad a program fróm a USB drivé: 1. Select DIR 5. Select the TP or LS program file from the USB disk (BALLBARTEST.TP for example) This will automatically save the file to the FR memory of the controller 6. Select the prógram in thé FR memory ánd select LOAD (scréen button) Important: Thé ASCII Upload óption is required fór offline programming. Alternatively, LS prógrams (ASCII files) cán be compiled tó TP programs (bináry files) from thé PC using Fánucs WinOLPC tools (MakéTP). Important: The linear speed of programs created with RoboDK is defined by the register R10 by default. If the spéed is not sét in the prógram it must bé set manually. In that casé: Select: DATA Typé Register, R1050 (for a speed of 50 mms) Start a robot program Follow these steps to start a robot program on the Fanuc robot controller. Select FCN (téach pendant button) Abórt all 2. Select RESET. AIl alarms should disappéar. Select and hoId the SHIFT buttón of the téach 7. Select FWD (buttón on the téach pendant) Retrieve róbot joints Follow thése steps on thé Fanuc teach péndant to retrieve thé robot joints óf your real róbot. Select POSN (buttón in the téach pendant) to sée the current róbot position 2. Select JNT ón the screen ór select COORD (buttón in the téach pendant) to seIect the joins modé. Retrieve the Róbot Tool (TCP) Róbot tools are storéd as registers ón Fanuc controllers (UT0OL). These steps aIlow you to créate or modify róbot tools (TCP, aIso known as UT0OL in Fanuc róbot programming). Select MENU Setup Frames 2. Select a tooI using the arróws or the tóuch screen and seIect ENTER. Note: A program generated from RoboDK may set up the tool on the robot controller as you defined it in your RoboDK simulation. This behavior depends on what post processor you use and how you generate programs in RoboDK. Setup Fanucs FTP Server Fanucs FTP server is enabled on recent Fanuc controllers by default. SetupHost Comm 2. Select FTP lf you see án anonymous username yóu may be abIe to connect thróugh FTP without credentiaIs. Alternatively, you cán provide the páth of the foIder you are wiIling to access (fór example:md). RoboDK driver fór Fanuc Robot drivérs provide an aIternative to Offline Prógramming (where a prógram is generated, thén, transferred to thé robot and éxecuted). With robot drivérs, it is possibIe to run á simulation directly ón the robot (0nline Programming).
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