Fanuc Line Tracking Manual Pdf

[Zenia]

Ifyou are comfortable with UFRAMEs andUTOOLs, youshould catch on to line tracking quickly. A tracking frame is reallyjust a standard UFRAME that moves as an encoder signal changes. Themost common use is tracking a conveyor belt. You mount an encoder to oneof the axes or use a friction wheel to get feedback when the belt moves.You then sync up your tracking program with some external condition(maybe a part passes a photoeye), and the robot then moves along withthe conveyor relative to that trigger.

You jog the target to where the robot can reach it. (The target justhappens to be a 100mm cube right in the middle of the conveyor, and youalso taught the tracking frame in the middle of the conveyor.) If youteach a point at the center of the top cube face, what will thecomponents be?

What I'm trying to do is to make a box go forward above the robot. The robot should follow the box with the gripper and than pick it up and place it on a pallet.

What it does now is that the box just teleports to the not-following robot. I reckon that it's due to me just teaching points not telling him to follow and then pick-up/place.

I was given the task to simulate a slowly moving car above a stationary robot. When the car reaches the robot's work space

it should start puting parts into the car's undercarriage while the car is still moving. I managed to make the car move, however the parts just

teleport into the undercarriage. I guess it's because I just recorded the points with ''simulation program'' and did not define any tracking or anything whatsoever.

I might add that the car is moving due to machine1 link1 motion tab not due to conveyor toolbar since I cannot find it anywhere even though I did

the step by step line tracking set up described in the HELP tab.

Your question "So my cry for help is: How do I make the robot's gripper to follow the box and then pick/place the box? " does not have a simple one line answer.

You basically are asking somebody to write a manual for you as an answer

Specifically, use the seach, and look for "Line Tracking", once you find that, select the "General procedure for setting up a line tracking workcell" option. It goes over it in detail, and is how I learned to do it.

So, I did everything as descibed in help tab under "General procedure for setting up a line tracking workcell". I got to the point where I have to write the

TP program. When I record a couple of points and then hit start simulation I get the '' TRACK-001 track jnt move no allowed'' error message.

Whenever you make a simulation program via the navigation tree, a copy of it is loaded into the controller. When called from a .tp program, it will run what is in your sim program. Sim only commands will appear as remarks.

I typically do this when I need to do pick and place animations, or change the viewpoint. I'll create small sim programs, such as pick from fixture part 1 with gripper 1, and call them from tp programs where appropriate..

Thanks.

I managed to make a test sim program. I assigned it a tracking schedule through the TP. When I use the conveyor quickbar and move the conveyor forward or backward the thought points and traces move with the conveyor. However when I hit play simulation the part on the conveyor jumps forward by alot and the robot does not move at all. There is no TRAK error message.

I guess there is a detect problem? I filled in the detect distance and the upstream and downstream border fields.

Edit: I just found out that I can add more than the ''point'' and ''touchup'' stuff.

So here is what's happening. I created the conveyor tracking cell as described in the help tab. I made a sim program then I created TP tracking program that has those two lines you

gave me. After that the TP program calls the sim program. I saved, cold started, hit play and the robot just does its normal thing, completely ignoring the moving car above. No tracking not even remotely close to it.

Edit 2 :I asked fanuc for line tracking manual, it's not for roboguide but for the real robot. There is a chapter on programming. They suggest writing a non-tracking ''JOB'' that calls the tracking program. I did what they asked and I get the TRAK error message. So I flipped the roles - JOB is a tracking program that calls a non-tracking program with thought points. Now I don't get the error but there is no tracking, it just goes through the non-tracking program. I reckon the problem is with the detect switch.

IM HAVING A LOT OF PROBLEMS IN LINE TRACKING. THIS HAS TURNED OUT TO BE THE BANE OF MY EXISTANCE. THERE IS NOT A LOT OF MATERIAL AVAILABLE OUT THERE AND THE WHOLE THING HAS TURNED OUT TO BE A GIANT PAIN.

I am working on a project that has me stumped. I need to set up line tracking and I cannot, I have the FANUC manual on LT, however, the conveyor counts are negative and increasing in that direction. When attempting to re-sync the trigger/part tracking I get errors for conveyor direction as well as the part sensor not being valid.

1) Do I need the conveyor to count in a positive direction?

2) What should I be looking for as a trigger and part sensor to configure the Line Tracking?

3) Does the part present need to be direct to robot or can it be mapped as DI from PLC?

I set the Track frame from a UFRAME I created and direct-keyed the coord data. The X+ is in the direction of material flow, so I don't believe my issue lies therein. Regarding the sensor I have realized that and it is now resolved with the trigger coming from PLC and PP direct to robot.

When used in combination with iRVision, iRPickTool can do visual tracking, conduct quality control checks, read barcodes and, depending on how many cameras are used, manage different conveyor widths.

iRPickTool supports everything from the very simplest line setup to multiple, circular and highly sophisticated layouts. Nevertheless, changing setups is easy thanks to remote modelling using FANUC ROBOGUIDE's iRPickPRO tool and ready-to-use program recipes.

To start, all line tracking needs an encoder. The encoder lets the robot know the speed of the line and the location of the part on the line at the time it is triggered by a sensor or vision. The robot uses this information to gauge when to pick the product. Without knowing the location of the part and the speed of the line, you cannot accurately track a part. At times, lines will need to run at different speeds based on daily throughput changes. So, this is a need for all systems. This is just the first step to starting with line tracking. The two types discussed in this article are the basic next steps and in a later article we will dive into 3D tracking.

Traditional line tracking uses a sensor trigger without using robot vision. Traditional line tracking cannot figure out the rotation of the part and the robot will not adjust to pick it. In the video above you see traditional tracking is done using fixtures and conveyors to properly line up and space product so the robot can predictably pick the product. The robot is triggered by the sensor when the product passes. The robot will only know the X location (direction of travel of the conveyor). Other sensors can be added to figure out the Y position as well if that is needed.

For times when fixturing and/or structured part gapping may be too expensive or when you need the flexibility to run multiple products with varied location on the line, robot vision can easily be implemented. FANUC has iRPickTool software that is very easy to setup and get working, usually in less than a day. The addition of vison does not really add much to the total cost of the system, so it can be a good option to keep your choices open.

In the video you can see the 2D line tracking example where products coming down the line are rotated. But in this specific case, they also were running multiple products on this line. Vision can determine which program to run based on the vision process that finds the part.

When I post the file using "Generic FANUC" the code has MO6 for the tool change which sends the machine to the tool-change position but the machine does not pause to allow a manual remove and replace of the tool. I have to edit the code for MOO after every MO6.

If you're on a PC, on the post dialog click Open config and the postprocessor will open in your editor after editing you need to save to a different directory. One option is to save to Documents then follow my instructions in the thread to load the post to your cloud folder. One thing to note make sure you use a zero and not a letter O like you have in your post.

Thanks for the help. I have found the file and renamed it, changing what I can but I do not know the correct syntax to add the COMMAND_STOP as suggested by Atomkinder67. If you wouldnt mind could you advise the line if code I need to add and should it go directly underneath the (6). I have searched DrGoogle and youtube for help on syntax but could not find anything able to steer me in the right direction.

Enabling Optional stop in the post processor dialog may give you what you need anyway. By default if you hve the optional stop button active on your control, it will stop the machine right before the tool change.... it will just do it for every tool change.

A Remtec designed robotic system using two FANUC SR-6iA SCARA robots and a custom feeding system has been successfully improving loading and unloading efficiency for tubes of pet flea drops. The robots provide visual line tracking to randomly pick and place one, two, or three tubes depending on the needs of retail product package configuration.

3a8082e126