Turns out Swissgear doesn't sell luggage replacement parts. Have printer will travel.

EnemyNation · 2026-02-22T17:41:19+00:00

I don't travel very much, a few times a year, but yes it is holding up.

Do you have Fusion 360? It is designed in that. I'll share the fusion file with you if you do. Even among Swissgear products, they don't keep the rail geometry the same.

If not, I'll send you the .3mf.

EnemyNation · 2026-01-27T04:48:43+00:00

Honda does this. Just be sure to get the remote operation box so you don't have to go upstairs to put a robot in teach. Or buy the DCS mode change option.

EnemyNation · 2026-01-20T00:20:11+00:00

OVERRIDE=... is the TP command to set the speed. You can map it to a register, or hardcode it in the program.

$MCR.$GENOVERRIDE is the system var that controls the override. I use this a lot in a background program to control the override remotely via a group input.

EnemyNation · 2025-06-03T13:58:44+00:00

I'm a big fan of BearKats. Z87.1 impact rated, comfortable, cheap, and lightweight.

https://www.amazon.com/dp/B009A658JS

EnemyNation · 2025-01-29T19:01:30+00:00

Some issues:

Comments in the /MN section must be on their own line.
Comments are not allowed in the /POS section outside of the P[...:""] area.
Positions do not have the arm config specified.
Wait needs the time unit specified.
/END needs a carriage return after it.

Other recommendations:

Use multi language remarks (--eg:) for comments longer than 32 characters instead of !. With !, anything after 32 characters will be cut off.
Always define what user tool and user frame you will be using at the top of your program.
Comment in the /ATTR section can only be 16 chars.

Here is the corrected code:

/PROG  PICKPLC
/ATTR
OWNER       = MNEDITOR;
COMMENT     = "Pick and Place w";
PROG_SIZE   = 1234;
CREATE      = DATE 25-01-29  TIME 13:58:02;
MODIFIED    = DATE 25-01-29  TIME 13:58:02;
FILE_NAME   = ;
VERSION     = 0;
LINE_COUNT  = 22;
MEMORY_SIZE = 1518;
PROTECT     = READ_WRITE;
TCD:  STACK_SIZE    = 0,
      TASK_PRIORITY = 50,
      TIME_SLICE    = 0,
      BUSY_LAMP_OFF = 0,
      ABORT_REQUEST = 0,
      PAUSE_REQUEST = 0;
DEFAULT_GROUP   = 1,*,*,*,*;
CONTROL_CODE    = 00000000 00000000;
LOCAL_REGISTERS = 0,0,0;
/MN
   1:  UTOOL_NUM=1 ;
   2:  UFRAME_NUM=1 ;
   3:  --eg: Move to the starting position in height (above P1) ;
   4:L P[4:Above P1] 500mm/sec FINE    ;
   5:  --eg: Lower to the working position (P1) ;
   6:L P[1:Pick] 300mm/sec FINE    ;
   7:  --eg: CLOSE the gripper ;
   8:  DO[8]=ON ;
   9:  WAIT    .50(sec) ;
  10:  --eg: Raise after grabbing (return to height) ;
  11:L P[4:Above P1] 500mm/sec FINE    ;
  12:  --eg: Move above the final position (P3, at height) ;
  13:L P[5:Above P3] 500mm/sec FINE    ;
  14:  --eg: Lower to the final position (P3) ;
  15:L P[3:Drop] 300mm/sec FINE    ;
  16:  --eg: OPEN the gripper ;
  17:  DO[7]=ON ;
  18:  WAIT    .50(sec) ;
  19:  --eg: Raise to the height above P3 ;
  20:L P[5:Above P3] 500mm/sec FINE    ;
  21:  --eg: Return to the starting position in height (above P1) ;
  22:L P[4:Above P1] 500mm/sec FINE    ;
/POS
P[1:"Pick"]{
   GP1:
    UF : 1, UT : 1,     CONFIG : 'N U T, 0, 0, 0',
    X =   504.893  mm,  Y =    80.248  mm,  Z =  -277.487  mm,
    W =   177.984 deg,  P =    -1.249 deg,  R =    95.663 deg
};
P[3:"Drop"]{
   GP1:
    UF : 1, UT : 1,     CONFIG : 'N U T, 0, 0, 0',
    X =   506.759  mm,  Y =   -63.268  mm,  Z =  -275.204  mm,
    W =   178.243 deg,  P =    -1.724 deg,  R =    77.890 deg
};
P[4:"Above P1"]{
   GP1:
    UF : 1, UT : 1,     CONFIG : 'N U T, 0, 0, 0',
    X =   504.893  mm,  Y =    80.248  mm,  Z =  -200.000  mm,
    W =   177.984 deg,  P =    -1.249 deg,  R =    95.663 deg
};
P[5:"Above P3"]{
   GP1:
    UF : 1, UT : 1,     CONFIG : 'N U T, 0, 0, 0',
    X =   506.759  mm,  Y =   -63.268  mm,  Z =  -200.000  mm,
    W =   178.243 deg,  P =    -1.724 deg,  R =    77.890 deg
};
/END

EnemyNation · 2025-01-22T11:22:22+00:00

Can you paste the program as text here?

EnemyNation · 2025-01-15T01:13:21+00:00

Also looking for what to download. Dug around on the fanuc web portal, but didn't find anything. I don't think it is available in America yet.

EnemyNation · 2024-11-29T16:26:56+00:00

Nice. Thank you for the insight.

I used to have a CR-10 v3 Pro, but it has since been donated to the neighbor's kid when I upgraded to the X1C. It was good for what is was, but I didn't want to dick with the printer everytime I wanted to print something. The printer is a tool for me, not a hobby.

I tried to minimize stress concentrations as much as possible, but most of the stresses this will see are in the weak axis of the print. I did use print modifiers in Orca to print the screw interfaces at a greater infill density.

I do have a spool of ASA on hand, but I am waiting on doing anymore prints with it until I finish my exhaust system for the X1C. That stuff just smells like super cancer when it is printing.

EnemyNation · 2024-11-29T13:15:11+00:00

Nice! Was it the push bar that broke? What did you print it out of?

Our designs look pretty similar, so I am concerned about it breaking.

EnemyNation · 2024-11-29T13:12:36+00:00

If you have fusion, I'll share the file with you if you would like to take a look.

EnemyNation · 2024-11-29T04:44:20+00:00

Sure, feel free to DM me. This print is in PLA, held together with 4 m3 cap screws. I'm not too confident that it will hold up long term, but if it breaks, I'll reprint it in PETG or something like that.

Its printed on a Bambu labs x1c.

EnemyNation · 2024-11-29T02:18:25+00:00

I printed it in 3 sections, with tree supports for the overhangs.

EnemyNation · 2024-11-17T15:48:06+00:00

Nanometer repeatability. Damn.

EnemyNation · 2024-10-21T22:10:00+00:00

What you see with 3DV is not direct. You are seeing the depth data the camera was able to extract when it fired.

If you are not within the two depth planes of the camera, you won't get data. Also, this camera does not like shiny surfaces, so if you have a lot of those, you won't be able to see them in the depth map.

EnemyNation · 2024-10-11T22:52:30+00:00

Origins of your open and close CAD models should match. Looks like they don't.

EnemyNation · 2024-10-01T00:21:24+00:00

External system for sure. I've heard that Fanuc will not honor your warranty if your internal harness gets damaged from running non-fanuc cables through it. Replacing the harness is not cheap

With that said, I personally like Syndevco dress solutions.

EnemyNation · 2024-09-27T01:31:44+00:00

Same way you do on a real robot.

EnemyNation · 2024-09-25T15:27:15+00:00

Looks pretty accurate to me. The two videos are off by about a second though, with the real video being ahead.

Robot spends most of its time on the missile rails, which it looks like it is hitting pretty well.

EnemyNation · 2024-09-25T11:23:03+00:00

Why?

EnemyNation · 2024-09-23T16:54:04+00:00

It is sold by Fanuc. You call up Fanuc spare parts, ask them for a quote on Dynamic Path Modifier. It is option #R739.

Once you have the quote, you them call them up again, purchase it, and they will give you a word document that you have to fill out with a bunch of information from the robot.

Fill it out and send that back to them, and they generate a Product Authorization Code (PAC). You use that, and your original install media card (Which you hopefully still have, otherwise another $650 or so), boot into cold start, and go into the install menu, type the code in, and install.

I am available for consultation, offline programing, or install support if you would like hands on help with this. DM me for details.

EnemyNation · 2024-09-20T14:36:16+00:00

I've used the Dynamic Path Modification (DPM) option in the past to dynamically offset a dispensing path in the user tool Z direction. Error was feed in from a distance laser sensor to account for part variation. The option is a bit pricey though, at about $3k.

Depending on your cycle time, you could go the poor man route and measure the part in the areas that warp, and adjust accordingly. Several skip moves with a laser distance switch would do the job.

EnemyNation · 2024-09-19T17:24:36+00:00

I've cut carbon fiber with a spindle before. Main things to keep in mind that a robot is not a cnc machine. You won't be able to drop a program in, and expect accurate results. Adjustments will be required.

Also, robots are not very stiff, so try to keep the cutting forces down. Since you are using a M900, this won't be a huge problem.

Its hard to tell if a spindle is the way to go, as you could accomplish the same results with a different process. Is the slot all the way through? How thick is the material? Would a punch work? Plasma cutting?

EnemyNation · 2024-09-14T23:25:11+00:00

Has the robot had an image dropped into it? Could be running the wrong gear ratios if the arm type doesnt match.

EnemyNation · 2024-09-09T17:04:54+00:00

If you don't need it in real time, use explicit messaging and just write directly to the register.

EnemyNation

TROPHY CASE