SETTING UP A DCS - CARTESIAN POSITION CHECK

This video tutorial shows how to set up a DCS - Cartesian position check using a Teach Pendant from a FANUC robot.

You have to determine the “The zone” for which you want to set a cartesian position check. Let’s say, for example, you want to set up a cartesian position check for the electrical panel of the cell. The purpose of the cartesian position check is to protect the electrical panel from the robot.

(You will find a downloadable  mceclip3.png PDF version at the end mceclip5.png of this page .)

 

 DURATION

+/- 60 minutes

  RECOMMENDATION  

You can use the 4D graphic or the Roboguide to see the DCS in real-time.

  WARNING!  

A reboot of the robot controller is necessary.

  DANGER  

Changing the DCS configuration could affect the security borders and lead to collisions with things that were previously secure by the DCS.

 

VIDEO TUTORIAL

 

STEP BY STEP 

      1. PRESS --> [ MENU ]
      2. SELECT --> [ 0 ] 0 NEXT
      3. SELECT --> [ 6 ] 6 SYSTEM
      4. SELECT --> [ 7 ] 7 DCS (see screenshot mceclip1.png)
      5. Using arrow --> Scroll down to line 3 : Cart. Position check
      6. PRESS --> [ NEXT ] Press [NEXT] until you see F3 key as DETAIL
      7. PRESS --> [ F3 ] DETAIL
      8. Using Arrow --> Scroll down to an empty Cartesian position check that is not defined Let’s say line 4. (see screenshot mceclip1.png
      9. PRESS --> [ F3 ] DETAIL
      10. At line 2, PRESS --> [ ENTER ]
      11. ENTER --> A comment like : Panel (see screenshot mceclip1.png
      12. At line 3, PRESS --> [ F4 ] [ CHOICE ]
      13. SELECT --> [ 2 ] 2  Restricted zone (Diagonal). (this will set a rectangular prism where the robot will not have access.)
      14. At line 8, ENTER -->(to set the rectangular zone reference to the World frame.)
      15. At line 9, 10 and 11, ENTER --> The coordinates of the two points of the diagonal, which reference is the world frame according to which the rectangular prism et located in space. (Enter these numbers -> See screenshot mceclip1.png)
      16. At line 12, PRESS --> [ F4 ] [ CHOICE ]
      17. SELECT --> [ 1 ] 1 Stop Category 0 (This will set the robot to stop its motors immediately.)
      18. At line 2, PRESS --> [ ENTER ]
      19. If the question “Do you want to change the settings?” is asked, PRESS --> [ F4 ] YES
      20. PRESS --> [ F4 ] [ CHOICE ]
      21. PRESS --> [ 2 ] 2 ENABLE
      22. PRESS --> [ PREV ]
      23. PRESS --> [ PREV ]
      24. PRESS --> [ F2 ] APPLY 
      25. ENTER --> Code number (master): xxxx (Refer to Robot cell integrator for code.)
      26. PRESS --> [ F4 ] OK  (see screenshot mceclip1.png)
      27. PRESS --> [ FCTN ]
      28. SELECT --> [ 0 ] 0 NEXT
      29. SELECT --> [ 8 ] 8 CYCLE POWER  (see screenshot mceclip1.png)
      30. PRESS --> [ YES ]
      31. The DCS set up will be added to the one already in function. (see screenshot mceclip1.png)

 

PDF_3.png

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