RG Controller

[rider47]

Hi All,
I have a question for any gurus out there that might remember the older R-G controllers...currently I'm working with an S-420F (manuf.1988, that's right, 20 years old!) with the RG controller. The plant that is using this particular robot had a power outage late last week and upon powering back up, had an alarm, 7990 (Serial Port PCB RAM Parity). I guess they tried replacing both the RAM chips and the PCB to no avail, and by doing so, ended up deleting all parameters/programs/reference positions/etc. I'm pretty sure this was done by another tech after getting information to do so from Fanuc (hold "0" + "BS" + "START BUTTON" while powering up, then selecting CLEAR ALL). I wouldn't believe this is necessary when changing a serial PCB.

I've been trying to advise their maintenance team on getting the robot up and running and found out that they have been able to clear the alarm (by clearing the params, etc), but now have very minimal functionality. Like I mentioned, they've had to clear absolutely everything. So now it looks like this machine has to be reset from basically a new installation. Unfortunately, I'm having some difficulty finding this startup information.

I haven't yet set the reference for the robot, but have gone and tried to write a new program and am unable to access the LOGIC (S-CODES) feature; currently I can only have the standard POSITION line, with 4 or less LOGIC codes. I know that I used to be able to press "SHIFT+LOGIC (F3 on this controller)" in order to insert a line of S-codes as opposed to the position that I currently have. I am also unable to write positions, but I'm pretty sure this is attributed to the fact that I don't have my reference return set. Is it possible that I require the robot to be mastered before I can access the LOGIC codes?!

Also, I was wondering if anyone knows what bit settings are required in the N010 parameter. The original book we have states that the group should be set to 00000000, however another location states 00000001 (bit 0=1).

I would greatly appreciate any feedback that anyone can provide as we're in a bit of a jam. It's difficult enough getting information on these robots; it's pretty sad, I was 7 years old when this was built. I previously setup/installed/integrated and programmed this robot and it's been running well for a year or so. Unfortunately it only creates one glitch to cause a severe headache.

Any information would be greatly appreciated!
Thanks,
AC

[Vlad]

rider, if u have a parity error, it is necessary to replace the serial port pcm. doing this it is also necessary to re initialize the system, whit BS+0 procedure. That's the reason because normally it useful perform a backup... but anyway, performing the inizialization, all parameter are cleared, and each option is locked. So you need that someone re-unlock your options... because on the RG everything was optionally, even the S codes... unfortunately i can't help you with this issue

I don't remember, N010 is for mastering?

So just to be sure is it an RG or RG-2 controller?

bye,
vlad

[rider47]

Hey Vlad,
Thanks for your help! I had the other maintenance guys replace the serial port board and RAM chips during last week when I was on vacation. It turns out the original one was fine...just had a blip for some reason. I guess the power went out on the Sunday and the robot was powered down for about 2 hours; I have a good suspicion the batteries went low and so I ended up replacing them today as well.

I went in this morning (it was my first look at it) and I managed to get it working by the end of the day. Turns out, I installed the original serial port PCM and just had to master the robot. Once mastered, I got most of my options back. I'm not sure why it is, but the memory got wiped out when changing the serial PCM; if anyone has any ideas, let me know....I assumed the programs and parameters were on the main CPU and wouldn't be affected by the card swap. Anyway, I mastered the robot and adjusted some of the parameters (N022/23 output type) to match our requirements. Once mastered, I was able to use LOGIC, as well as teach all points. I had one issue with my program that hadn't come up before, but  to my customer's satisfaction, I now have the robot running.

I am going to backup the system information for next time this happens. I got the RG Utilities software (v3.8) from Fanuc the other day, so I will certainly be downloading the parameters and program listings from the robot. I haven't really looked at it yet, but I'm gathering it doesn't save the mastering positions, correct?

Anyway, that's about it. Thanks for all the help!

Oh, and this was an RG controller.
Andrew