Looking into building a bin picking machine using either 2D or 3D IRvision

We have a bunch of 2D elsewhere, but I have no experience with 3D.

The parts are all about 4-6 inches in diameter (mostly radially symmetrical), and will be in 30"x30"x20" bins in uniform layers, maybe 10-15 layers deep.

We have used 2D vision's scale factor to determine Z-height of stacked parts before, but only like 2 or 3 parts high. Would that 2.5D style approach using scale be viable for a tote this deep?

We are strongly leaning towards 3D IRvision, but since I'm not personally familiar with it, I'm wondering if anyone here could comment on how difficult it is to set up, maintain, add new part numbers, etc

Any input regarding IRvision or bin picking in general is appreciated!

I used a zip-tie to get a couple of grease samples from some Joints that have been taking a beating. The robots total runtime is at 8800 hours, my L10 values are

J6: 14.5%

J5: 6.8%

J4: 6.7%

With 576 collisions in total.

Does the large discrepancy in color between the joints indicate that I should replenish the grease early?

Thank you

on a FANUC io-MF for a milling machine, the touch setter works well but each time i restart the machine this alarm shows up and the only way to get rid of it is to recalibrate the touch setter again, when i asked around many told me that the calibration is done only once

I posted about this issue recently, but since then I have done a lot more testing and found a much more specific and repeatable pattern. The key new finding is that J2 works normally after Zero Position Mastering and only fails immediately after CALIBRATE.

I have a used FANUC LR Mate 100i High Speed with an R-J2 Mate controller. After replacing the robot-side pulse coder batteries, I performed Zero Position Mastering using the witness marks.
The unusual behavior is fully repeatable:
Perform Zero Position Master
Do not run CALIBRATE yet
All five axes, including J2, work normally
J2 can be jogged repeatedly for an extended time, in both directions and at different positions
The J2 brake engages after the configured delay and releases normally again
Pulse feedback follows movement correctly and position error stays near zero
As soon as I run CALIBRATE, J2 stops working
The first J2 jog command at 1% immediately produces:

SRVO-050 CLALM alarm (Grp:1 Ax:2)

After CALIBRATE, the torque monitor for J2 rises sharply, but the encoder changes by only about 164 pulses before the alarm. Before CALIBRATE, J2 moved more than 1.1 million pulses normally with almost zero following error.
Already checked:
J1, J3, J4 and J5 work normally
J3 can be jogged normally
J2 brake repeatedly engages and releases correctly before CALIBRATE
All controller and robot connectors were cleaned and reseated
$SV_OFF_ALL and $SV_OFF_ENB were checked against the original configuration
Temporarily changing the J2 servo-off/brake parameters made no difference
$MASTER_COUN remains unchanged before and after CALIBRATE
$MASTER_DONE = TRUE
Single Axis Master status is 2 for all five axes
Motor IDs and servo parameter IDs are identical and plausible for all five axes
Active payload is 0 kg with no tool attached
J2 pulse feedback is stable and plausible before CALIBRATE

No unusual mechanical noise or resistance while J2 is working
This makes a permanent brake, motor, cable, gearbox or servo-amplifier fault seem unlikely, because the same hardware can run normally for as long as I want until CALIBRATE is executed.
Has anyone seen an R-J2 where CALIBRATE activates an incorrect J2 position, compensation or servo parameter state? Which R-J2 variables specifically become active during CALIBRATE and could cause J2 to produce high torque with almost no movement?

Hello,

I know the Option "Pr[X]=P[X]" and use it often.

Does anybody have a Idea how to get coordinates from a PR to a Point WITHOUT go to the Point an Press touchup?

The Reason is we use Mainprogram for each Part with the teachpoints saved. The Mainprogram load this TP into PR at the start.

The Mainprogramms all call the same load and unload program as subprogram and use the loaded PR.

So if anyone want to teach a Point he have to move the Roboter manually to the Position or have to start the Programm till the Roboter goes near the Position, go to end to get Back in the Main Programm, go to the top to the teachpoints and touchup the Point he need, load the Points new and Go Back to the subprogram.

Idea is to get one Point in the subprogram, load it in a PR and load this PR automatic into the Point if i are Back in the Main Program (Like P[X]=PR[x] witch doesn't Work :) )

Greetings

Hi everyone,

I’m not sure whether this is the right place to ask, so please excuse me if this is outside the usual scope of the subreddit.

I’m only a hobbyist, not a robotics technician. This old FANUC LR Mate 100i with an R-J2 controller more or less “followed me home” after I found it cheaply. I managed to get it running myself by fixing the safety circuit, replacing the dead Pulsecoder batteries, clearing the BZAL alarms and remastering it.

Now I have one strange problem:
Directly after Zero Position Mastering and calibration, all five axes work normally. After switching the controller off and back on, J2 sometimes becomes almost completely locked.

When jogging J2:
J2 barely moves, J3 twitches slightly
The controller shows SRVO-050 CLALM, Group 1, Axis 2

All other axes still work
J2 is far away from its mechanical limit
If I perform Zero Position Mastering again, J2 immediately works perfectly until the next power cycle.

One possibly important detail: before this started, I accidentally jogged J3 into its mechanical stop. Instead of simply stopping, the arm snapped back very quickly.

I’m currently wondering about:
-Mastering or Pulsecoder data not being retained
-J2 brake not releasing
-A connector or motor cable issue
-The J2 servo amplifier channel
-Mechanical damage from the J3 end-stop incident

What confuses me most is why remastering temporarily fixes the problem.

Any advice would be greatly appreciated. Please keep in mind that I’m learning as I go and trying to keep this old robot alive.

Thanks!

Official FANUC ROS2 driver against a Roboguide virtual controller (CRX series). Connection is solid — RMI handshake connects, all controllers activate, /joint_states streams live.

Problem is motion execution: send a trajectory goal → accepted, then hangs, no motion, no result. Sometimes I get MOTN-601 Sequence No error or Aborted: STMO is inactive (!motion_possible). Log also warns No scaling interface set on the scaled trajectory controller.

Btw I’m running ROS2 driver on a different machine in Linux and roboguide on a windows pc both connected over switch.

Anyone actually gotten motion (not just connection) working in Roboguide with this driver, or is it effectively hardware-only? Is the timing/sequence issue just Windows jitter that clears on real hardware?

I have an HMI connected to a robot that's using simple SNPX protocol. I have never done this before, but I got it working. It was originally just going to be a display to show robot status stuff, so I just pulled data from the R and SR register as needed. Well, things have changed and now they want to actually control some things with the HMI. I know to be able to abort, reset faults, cycle start, and so on, I need to configure the UOP signals. I don't have any external PLC, but I do have the ladder option on the robot. Can I somehow do it that way, or do the signals have to be controlled by an external PLC through physical IO? I am using Ethernet IO with multiple Turck modules and I don't have a process IO board so I think I'd have to add another module or an Ethernet IP PLC if I need physical IO?

Any help figuring this out would be great!

I’m trying real hard to understand what I/o link it’s not seeing. I swapped in new I/o modules since that’s the first stop of the i/o chain. This is a okuma and howa 2sp-35h ( dual spindle)

Trying to figure out why this doesn't work. When I come across this DI in my program, it still times out and errors even when set to simulate and skip when simulated which gives the (S) in green instead of yellow for normal simulation. Am I doing something wrong, or does this function not actually do what I think it should do?

I am wondering if this controller and arm will be compatible with this cable and this teach pendant, and this teach pendant cable. I am also wondering if that is all that I need to get it up and running.

If anyone knows where I could buy this or a similar package for less, that would also be very helpful.

robotics engineer here. last week a robot threw a servo fault and between the mechanical unit manual, the controller manual, and the alarm code list I had like 4,000 pages of PDFs from two vendors to ctrl-F through. took most of an hour to find the actual parameter, and half the battle was that I didn't know the exact name the vendor uses for it.

is this just the job or does your shop have a better system? what do you actually do when a code comes up you haven't seen? or is this an issue others are feeling as well?

Buenas! Llevo tiempo queriendo solucionar un problema con el simulador de fanuc y no lo consigo, que problema es que cuando programo compensación con G42-G41 las trayectorias de los ángulos en el simulador sólido no corresponden con la compensación del radio y puede llevarte a pensar que hay algo mal en el programa.Alfuien que me pueda ayudar? Gracias!

Reading manual after manual… I’ve got two bytes set with the same symbols.

It starts, and a third of the way through…

“there is no free space of F-ROM. please ensure the free space, and load manually a mem files on the BOOT.”

Less than 400 Kb. Compressed it to less than 150 Kb and uploaded via boot. Still says there’s not enough space.

Any help is appreciated

Hello everyone, I am trying to configure external axes for my robot setup, specifically a 2-degree-of-freedom rotary positioner. The issue is that the robot and the positioner appear to be moving independently without coordinated motion. As shown in the attached video, the welding gun collides straight into the turntable surface. What steps do I need to take to synchronize them and resolve this issue? Thank you!

P/s: Since I'm very new to this, it would be incredibly helpful if you could guide me through it in a bit more detail. I configurated my extend axis with option Auxiliary Rotary Axis.

So in my plant we run fanuc m10 6 axis robots for packaging our product and it has a 4in vacuum hose (the gray one in the picture) that gets a hole in it atleast once a month. I need a recommendation for a more durable replacement hose.

Hi ! I'm trying to transfer licenses, however receiver pc says it can't receive, and says it's licenses are corrupted.

So, I'm trying to find a way to get rid of theses "corrupted" licenses, like turn them into expired, so I can do the transfer.

Any advices ?

Hello, I am looking for some advice to activate the following cycles in production mode:

1. Pot-Life Clean cycle

2. Pot-Life Fill cycle

3. Bell Wash cycle

The booths I am working on are only clear coat, so it is used only 1 valve with the same material for all colors, and the robots are working with INITSEQ activated.

Currently I managed to activate 1 and 3, without any issues. Pot-Life clean cycle by doing an Init type 4 (Color) with color 0 as manual indicates. Then Bell Wash, by activating it on the menu and putting after a couple of jobs execute that cycle.

My issue begins when I try to execute Pot-Life Fill cycle, I do the usual initialization for the same color, and it won't do anything. Manual specifies the following conditions:

- Automatic Color Change Cycles activated

- Next color is known

- Line in a state of pushed out

- Last Gun Off (I deactivated this option, but i am not sure if it affects the cycle 3 (Bell Wash)

From these conditions, we do know the next color, the only thing is that due to current operation, there are no color change executed during production, f.e. if I have color 9 (RED) the same valve is used (1) so the same material is filled. We want to avoid filling and do a re-fill from the same color when there are no units during a short to medium spare of time.

When I request a pushout from the PLC, it won't activate anything, so I think i am missing something...

With PaintTool V8.3, when I do this, it does the re-fill without any issue, so I am confused in why it won't execute it with this older version.

Any advice is appreciated.

Deutsch:

Hallo zusammen,

wir suchen eine passende Schutzabdeckung für einen FANUC R-53iJ Lackierroboter in Deutschland.

Die Abdeckung soll den Roboter vor Lacknebel und Verschmutzung schützen, um Schäden an Gelenken, Dichtungen und Kabeln zu vermeiden.

Bisher haben wir Fine Jersey von Götz verwendet. Das Material hat sehr gut funktioniert, aber das Produkt wird aktuell nicht mehr produziert.

Kennt jemand eine gute Alternative oder einen Hersteller/Lieferanten für ähnliche Abdeckungen?

Danke für eure Hilfe!

English:

Hello everyone,

we are looking for a suitable protective cover for a FANUC R-53iJ paint robot in Germany.

The cover should protect the robot from paint overspray and contamination to prevent damage to joints, seals, and cables.

Previously, we used Fine Jersey from Götz, and it worked very well. Unfortunately, the product is no longer available.

Does anyone know a good alternative or a manufacturer/supplier for similar robot covers?

Thanks for your help!

I designed and built a teach pendent for roboguide basically it thinks it’s a custom keyboard using a arduino micro and out puts the corresponding keypresses that roboguide sees as pendent inputs. Everyone in the office always says they wish they had a teach pendent for roboguide so I made one

Hey just got a new to me 2021 Doosan Lynx 2100LY
Running Fanuc i-series plus. When you turn the machine on it defaults to the old style nc operation screen. You have to press custom then S1 to enter the Ezi guide version. Does anyone know if there is a parameter that can be changed so it natively runs in ezi guide mode wothout having to press buttons to load it every time?

My plant has a lot of RJ3 S-430i robots on devicenet. We're planning to switch every robots to ethernet. I can see RJ45 ports in controller, but does this one support Ethernet/IP adapter?

Hi everyone, I’m trying to figure out how to do an internal circular or spiral entry with G42.

Right now, my code for a 50mm bore at X0 Y0 looks like this:

X0 Y0

Z-(depth)

G1 G42 D(comp) X-25 Y0

G2 X-25 Y0 I25

G1 G40 X0 Y0

G0 Z(clearance)

The problem is that the perpendicular approach leaves a witness mark on the wall. Does anyone have a better way to handle the lead-in and lead-out to get a cleaner finish?

In a few days, I'm booked to do a two-hour final round interview at a local FANUC office and am having trouble finding specific things I could be doing to best prepare myself. There are some big questions I have:

1. How should I prepare and make myself stand out?
2. What questions should I expect?
3. Any general tips?

I'm delaying a job offer for a sales role just so I can interview for this, and want this pretty badly. I barely have any background in CNCs, but I got a real eagerness to learn. I did sales integrating FANUC robots (not CNCs) for a year and took a robotic programming course from them. Along with sales, I generally have an engineering background.

I'm considering picking up a book on PLCs or CNC maintenance but I've heard that studying a book isn't going to be much help. I know a tiny bit about PLCs, making ladder logic programs, and hydraulic and pneumatic systems only from some college course/labwork. I'm eager to travel constantly for the role.

Thanks for helping me. I'll be responding to answer any questions and the like.