So that is where the collision dect went. This would actually be very handy on my last application where part stack up veried from part to part. Yet again very cool video
Hi, great & useful video as always. "Touch skip" functionality is possible even without option J921: 1) in BGLOGIC, read disturbance torque into a register, e.g. R[90:Torque J1]=($MOR_GRP[1].$CUR_DIS_TRQ[1]) 2) in motion program, set skip condition on that register, e.g. SKIP CONDITION R[90:Torque J1]>350 3) in following motion, use "Skip" motion option in usual way, e.g. L P[15:push] 20mm/sec CNT0 Skip,LBL[11],PR[4:Touch point]=LPOS You cannot use $MOR_GRP[1].$CUR_DIS_TRQ[1] in SKIP CONDITION directly - TP allows you to write that, but it does not work. The threshold needs some trial-error tweaking (the value is in weird units, not Amperes). The response time is limited by scan rate of BGLOGIC, but "touch skip" in 2000 mm/s is not a good idea anyway... Very useful e.g. for pushing the workpiece with some force, regardless of dimensions of the workpiece.
Hello, in my opinion your videos are the best, very well explained and very professional :-) I have a request if you have time and can make a small video with (LPOS, JPOS). Best regards
Hi Adam, thank you for another great video! Will you please consider making a video going through general motion optimization and the use of Motion Pro? I'm trying to understand when its use would be necessary.
Dear Adam, again great video. I wish to thank you so much! A year ago, I was attached to a project with FANUC robot. It was very complicated project with two types of grippers, which must be changed automatically, depalletization and palletization. In addition, the boxes where the parts are placed of course are two types, but one of them was places differently. Thanks to your videos, now (the project is almost finished) I consider myself very confident with FANUC robot - and this is mostly because of you. You were the one who introduced me to offsets and relative motion and the different behavior of motion commands. Thank you so so so much. I hope that you don't mind to suggest two ideas for videos: - I was great doubts, how to orient the TCP frame. According some videos in RUclips, Z axis points out of the J6, some other vloggers suggest Z axis to point into Z6. In my palletization/depalletization problem, I consider it was more convenient, Z axis of tool frame to be colinear as Z axis of user frame. So what is your opinion end recommendations? - Another great problem, I stuck was with configuration of a point - this is FLIP/NO FLIP, LEFT/RIGHT, UP/DOWN, FRONT/BACK and turn numbers. It turns out, that the flange of J6, when connected to to fast-changer, is rotated 105 degrees. So at one position further, turning number of the point becomes from 0 to 1, and I suffer from - the point can not be reached error. Thanks to a friend, who explains me the issue, I successfully resolve the issue. But at the beginning it was very, very frustrated - robot can reach the point but in automatic mode - refuses to went there. So some advises for pitfalls of such configuration issues and the methods to resolve the problem will be great for all of us. So the post become quite long! Respect Sir - and thank you again very very much! Svetozar Yolov
I absolutely LOVE this comment, thank you so much! Stories like this keep me motivated to make new videos :) 1) Z axis for TCP; it all comes down to user preference if you would rather have Z face downward, upward, or some angle in between. Since the "default" is that world Z goes UP and TCP Z goes DOWN, I sort of have it memorized that way. But that is very confusing for many people, so making Z always go DOWN can greatly help. 2) You have given me a great idea for a video... robot Configurations... Stay tuned, you will see that coming soon! Thanks for watching and for commenting!
Adam, this is a great video, but there is a mistake in the explanation of skip conditions. When the robot is moving to Line 12, P[3] and the skip condition is satisfied before reaching the taught position, the robot would continue to line 13. If the robot reaches the taught position of P[3] and the skip condition isn't satisfied, it would then skip to LBL[8].
Hi Adam! Great video. Have you made a video going into what programming it takes to get two different robots to pick/place/move in the same area safely? We have several applications at my job like that, and I’ve been wondering how it works. Thanks for all you do!
Oooooh that's a good one.... best solved using INTELLIGENT INTERFERENCE CHECK option. You have to own that option obviously, but that'd make a great video. Coming soon..... ;)
Pretty cool stuff! Also appreciate you keeping the tp blown up im still watching on my phone 😁 im a little confused because im not seeing where the skip LBL is getting its input from, how does it know the skip condition got satisfied? Unless its happening inside all those canned programs but even then how would you differentiate between other skip LBL. Thanks again!
Thanks! Glad the blown up TP on screen helps :) Also you are 100% correct, all the black box magic for satisfying the SKIP happens in the background. As soon as you CALL those two lines, it let's the robot know to start looking for that touch, and that will trigger the skip out of the move. Thanks!
Hello Adam, It is a great explanation. Moreover, I am new to the FANUC programming. How to use touch skip or touch sensing technique to detect a work piece and how to make the robot stop and move to the next action using FANUC CRX Cobot?
Hello, Nice videos. They help out ALOT. Can i make a request? could you do one on line tracking and explain how to setup? how would it convert to real robot?
Great video once again Adam! But does this method have the same problems than "torque sensing", when picking pieces from a pallet, multible rows and colums,when all of your axis are in a VERY different positions? Like, if a pallet is 800mm X 1200mm and you have several layers, for example 20-100 layers of pieces, the torque do not always work before years of "trial and error"... Just done one pick-from-a-pallet set up with just Skip Cond(RI:Vacuum=ON), with a END-point that is -20-30mm IN a piece that i am looking for. This Skip-(I/O)-method has been very good always. Does this Touch-Skip method have some advantages against Skip Cond, or a Torque Sensing?
This is a great point to make, so thank you for commenting. I always advise that people use "skip cond" by using sensors such as a vacuum sensor because then you are not relying on physical contact. Obviously, physical contact can potentially damage parts if you're not careful, and yes the "fine tuning" takes some time. However, in many cases the touch skip is the only tool left that works, so hey - we have it!
hi, i tried to reach you before I will install 2dvision, the camera calibration is good, there is no problem in x and y positions, but when I angle it, the position is deviated, what can I do? can you help me?
Super common problem! If X and Y work well, but R throws everything off, it is an Application Frame vs Calibration problem. First thing you need to do is use the 4-POINT method when teaching that vision UFrame. Don't use 3-point. You HAVE to have the "orient origin" and "system origin". Check out my 2D iRVision video to learn more about that. Then after that, it's important to note where the top of the part is relative to the frame you taught. basically, how thick is the part? Lastly, I always recommend if using "Perspective" on the calibration setup that you physically measure from your Uframe plane to the adjusting screw on your focal lens and manually tweak the values until the Z-Height matches reality. Do all that, and should be sweet.
Hi Adam, great topic. Can I ask you about the Data position reg, This program is done by somebody, and I don’t know how to figure out the drop positions is a little bit off. If retouching position it took the point but started to auto it back to a different point kid of overriding by autostart. If you can give me an email I will send to picture. Please and thank you so much 🙏🙏🙏
Ah yessir - that's common. Previous programmer must be writing data to those PR's in a separate program, macro, or BG Logic. You'll have to do some hunting, but I guarantee you'll find a PR[x] = xxxxxx line somewhere. Or perhaps even a PR[i , j] = xxxxxx someplace. My guess is they are pulling data from JPOS, LPOS, external, or maybe just writing a Constant to it to "initialize" the data. But that will explain it!
You made two big mistakes, next time try it on a real robot before making a video. 1. Touch skip works with high speed skip only (Skip,LBL,PR instruction, not just Skip,LBL) 2. It jumps to LBL if touch did not happen, if touch happened it continues right after the motion instruction with Skip
Наука
So that is where the collision dect went.
This would actually be very handy on my last application where part stack up veried from part to part.
Yet again very cool video
Hi, great & useful video as always. "Touch skip" functionality is possible even without option J921:
1) in BGLOGIC, read disturbance torque into a register, e.g. R[90:Torque J1]=($MOR_GRP[1].$CUR_DIS_TRQ[1])
2) in motion program, set skip condition on that register, e.g. SKIP CONDITION R[90:Torque J1]>350
3) in following motion, use "Skip" motion option in usual way, e.g. L P[15:push] 20mm/sec CNT0 Skip,LBL[11],PR[4:Touch point]=LPOS
You cannot use $MOR_GRP[1].$CUR_DIS_TRQ[1] in SKIP CONDITION directly - TP allows you to write that, but it does not work. The threshold needs some trial-error tweaking (the value is in weird units, not Amperes). The response time is limited by scan rate of BGLOGIC, but "touch skip" in 2000 mm/s is not a good idea anyway...
Very useful e.g. for pushing the workpiece with some force, regardless of dimensions of the workpiece.
AWESOME tip and FANUC "Life Hack" :) I love it, thanks!
Hello, in my opinion your videos are the best, very well explained and very professional :-)
I have a request if you have time and can make a small video with (LPOS, JPOS).
Best regards
Hi Adam, thank you for another great video! Will you please consider making a video going through general motion optimization and the use of Motion Pro? I'm trying to understand when its use would be necessary.
Dear Adam, again great video.
I wish to thank you so much! A year ago, I was attached to a project with FANUC robot. It was very complicated project with two types of grippers, which must be changed automatically, depalletization and palletization. In addition, the boxes where the parts are placed of course are two types, but one of them was places differently.
Thanks to your videos, now (the project is almost finished) I consider myself very confident with FANUC robot - and this is mostly because of you. You were the one who introduced me to offsets and relative motion and the different behavior of motion commands. Thank you so so so much.
I hope that you don't mind to suggest two ideas for videos:
- I was great doubts, how to orient the TCP frame. According some videos in RUclips, Z axis points out of the J6, some other vloggers suggest Z axis to point into Z6. In my palletization/depalletization problem, I consider it was more convenient, Z axis of tool frame to be colinear as Z axis of user frame. So what is your opinion end recommendations?
- Another great problem, I stuck was with configuration of a point - this is FLIP/NO FLIP, LEFT/RIGHT, UP/DOWN, FRONT/BACK and turn numbers. It turns out, that the flange of J6, when connected to to fast-changer, is rotated 105 degrees. So at one position further, turning number of the point becomes from 0 to 1, and I suffer from - the point can not be reached error. Thanks to a friend, who explains me the issue, I successfully resolve the issue. But at the beginning it was very, very frustrated - robot can reach the point but in automatic mode - refuses to went there. So some advises for pitfalls of such configuration issues and the methods to resolve the problem will be great for all of us.
So the post become quite long!
Respect Sir - and thank you again very very much!
Svetozar Yolov
I absolutely LOVE this comment, thank you so much! Stories like this keep me motivated to make new videos :)
1) Z axis for TCP; it all comes down to user preference if you would rather have Z face downward, upward, or some angle in between. Since the "default" is that world Z goes UP and TCP Z goes DOWN, I sort of have it memorized that way. But that is very confusing for many people, so making Z always go DOWN can greatly help.
2) You have given me a great idea for a video... robot Configurations... Stay tuned, you will see that coming soon!
Thanks for watching and for commenting!
Many thanks for your comment and response. Take care! Cheers!
Adam, this is a great video, but there is a mistake in the explanation of skip conditions. When the robot is moving to Line 12, P[3] and the skip condition is satisfied before reaching the taught position, the robot would continue to line 13. If the robot reaches the taught position of P[3] and the skip condition isn't satisfied, it would then skip to LBL[8].
Hi Adam! Great video. Have you made a video going into what programming it takes to get two different robots to pick/place/move in the same area safely? We have several applications at my job like that, and I’ve been wondering how it works. Thanks for all you do!
Oooooh that's a good one.... best solved using INTELLIGENT INTERFERENCE CHECK option. You have to own that option obviously, but that'd make a great video. Coming soon..... ;)
@@AdamWilleaAwesome! Thank you!!
Pretty cool stuff! Also appreciate you keeping the tp blown up im still watching on my phone 😁 im a little confused because im not seeing where the skip LBL is getting its input from, how does it know the skip condition got satisfied? Unless its happening inside all those canned programs but even then how would you differentiate between other skip LBL. Thanks again!
Thanks! Glad the blown up TP on screen helps :) Also you are 100% correct, all the black box magic for satisfying the SKIP happens in the background. As soon as you CALL those two lines, it let's the robot know to start looking for that touch, and that will trigger the skip out of the move. Thanks!
Hi Adam, great Video as always, can you make a video about Qr-Code scanning in Vision?
Thank you! And thanks for the request, that'd be a great topic! I can certainly do that :)
Hello Adam, It is a great explanation. Moreover, I am new to the FANUC programming. How to use touch skip or touch sensing technique to detect a work piece and how to make the robot stop and move to the next action using FANUC CRX Cobot?
Hello, Nice videos. They help out ALOT. Can i make a request? could you do one on line tracking and explain how to setup? how would it convert to real robot?
Great video once again Adam! But does this method have the same problems than "torque sensing", when picking pieces from a pallet, multible rows and colums,when all of your axis are in a VERY different positions? Like, if a pallet is 800mm X 1200mm and you have several layers, for example 20-100 layers of pieces, the torque do not always work before years of "trial and error"... Just done one pick-from-a-pallet set up with just Skip Cond(RI:Vacuum=ON), with a END-point that is -20-30mm IN a piece that i am looking for. This Skip-(I/O)-method has been very good always. Does this Touch-Skip method have some advantages against Skip Cond, or a Torque Sensing?
This is a great point to make, so thank you for commenting. I always advise that people use "skip cond" by using sensors such as a vacuum sensor because then you are not relying on physical contact. Obviously, physical contact can potentially damage parts if you're not careful, and yes the "fine tuning" takes some time. However, in many cases the touch skip is the only tool left that works, so hey - we have it!
Hi Adam can you add program for Arguments, Path segment, Ok to proceed , etc. Thank you
its there a way to tie the value for tip wear on a spot weld gun into a register so it can be monitored on a hmi ?
Hi Adam, can you tell how to get the manuals from Fanuc?
Skip explanation seems opposite of your previous Fanuc Skip Function video. Is it somehow different for Touch Skip?
hi, i tried to reach you before
I will install 2dvision, the camera calibration is good, there is no problem in x and y positions, but when I angle it, the position is deviated, what can I do? can you help me?
Super common problem! If X and Y work well, but R throws everything off, it is an Application Frame vs Calibration problem. First thing you need to do is use the 4-POINT method when teaching that vision UFrame. Don't use 3-point. You HAVE to have the "orient origin" and "system origin". Check out my 2D iRVision video to learn more about that.
Then after that, it's important to note where the top of the part is relative to the frame you taught. basically, how thick is the part?
Lastly, I always recommend if using "Perspective" on the calibration setup that you physically measure from your Uframe plane to the adjusting screw on your focal lens and manually tweak the values until the Z-Height matches reality.
Do all that, and should be sweet.
thank you sir @@AdamWillea
Hi Adam, great topic. Can I ask you about the Data position reg, This program is done by somebody, and I don’t know how to figure out the drop positions is a little bit off. If retouching position it took the point but started to auto it back to a different point kid of overriding by autostart. If you can give me an email I will send to picture. Please and thank you so much 🙏🙏🙏
Ah yessir - that's common. Previous programmer must be writing data to those PR's in a separate program, macro, or BG Logic. You'll have to do some hunting, but I guarantee you'll find a PR[x] = xxxxxx line somewhere. Or perhaps even a PR[i , j] = xxxxxx someplace. My guess is they are pulling data from JPOS, LPOS, external, or maybe just writing a Constant to it to "initialize" the data. But that will explain it!
Thank you, Adam; I appreciate your help
You made two big mistakes, next time try it on a real robot before making a video.
1. Touch skip works with high speed skip only (Skip,LBL,PR instruction, not just Skip,LBL)
2. It jumps to LBL if touch did not happen, if touch happened it continues right after the motion instruction with Skip