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 Fanuc robot not working in Auto mode.

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January 24, 2018, 02:42:20 PM
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Atinder


Hello Experts,
I have a weird issue going on with a Fanuc S-430iL robot with RJ3 controller. I have a program to take a part out from the molding machine. When I turn the robot to auto mode and the clamp opens, at that time the robot should move in and take the part out whereas when it gets that signal of DI[7: Mold fully open]=ON and DO[129: Permit Clamp Close]=OFF it just keeps on waiting. Then I fault it out once and start cycle again and it starts moving. My program is-
LBL [1: Start]
Grip_Opn
DO [129: Permit Clamp Close] = ON
DO [131: Permit Ejector Ret] = ON
DO [132: Permit Ejector Ext] = OFF
WAIT DO [10: Home Position] = ON,TIMEOUT LBL [10]
JMP LBL [11]
LBL [10: Message]
MESSAGE [Robot Not Home]
MESSAGE [Move Robot to Home Position]
WAIT 2.00 (sec)
JMP LBL [1]
LBL [11: Home]
WAIT DI [13: Fully Auto] = ON
! Home Position;
J PR [4: Clear of IMM] 100% FINE
! Wait Till Mold Fully Open;
WAIT DI [7: Mold Fully Open] = ON
DO [129: Permit Clamp Close] = OFF
(L P [7] 1500mm/sec CNT70)
So it gets the above signal I monitor it and then at this step the very first move the robot should make, it doesn't even move.
Does anyone know why is it acting like this.
It doesn't move the first time in auto mode  but it moves the second time when I fault it out intentionally and start cycling again.

Today at 03:07:55 AM
Reply #1

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January 24, 2018, 06:25:23 PM
Reply #1
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HawkME

Global Moderator
Are there any errors? Look at the alarm history.

Is the Program busy light on?

Is the input simulated? Can you test the signal coming on and off manually?

Does the J PR[4] move before this wait move correctly?

January 24, 2018, 06:29:29 PM
Reply #2
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moln4r


How you exactly fault it out?

January 24, 2018, 06:34:32 PM
Reply #3
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Atinder


No, there are no errors, no faults. Alarm history just shows deadman defeated. The program busy light is on until it reaches to the step where it is supposed to jog in. I can monitor the digital input turning on when the mold opens fully and turning off when the mold begins to close. J PR[4] is basically the home position. Yes the robot is already at the said position because I use this even at the end of my program.


Hey moln4r,
By faulting it out means taking it out from auto mode by turning the keyswitch to T1 and back to auto.
« Last Edit: January 24, 2018, 06:37:06 PM by Atinder Singh »

January 24, 2018, 06:51:29 PM
Reply #4
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moln4r


So is this right? -->

1:
first cycle:
you start the IMM than the robot.
Mold opens, but the robot just hangs there waiting for the mold to open.

2:
Fault out the robot with the key switch....

3:
2nd cycle:
You reset the robot and sends it home, reset the IMM and restart the cycle than start the robot again and when the mold opens it moves into the mold.

Am I understand it right?
Write down what exatly happens.

January 24, 2018, 07:02:41 PM
Reply #5
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Atinder


Step 1- First cycle
I start the IMM in auto mode and then I put the robot in auto mode.
Step2- Mold opens the robot gets the DI signal which is mold fully open.
Step3- As soon as the robot gets the signal for the mold open, robot just keeps on waiting. At this point the robot is already at its home position from where the program starts.
Step4- I just fault out the robot, clear fault again and hit cycle start, the robot completes the cycle by moving into the molding machine and taking the parts out. In this step the IMM just waits there. It doesnt start the second cycle.
whereas the process should be like when the robot gets the digital input signal of mold fully open it should just move inside the machine and take the part out. What I need is not to fault it out to have the robot motion.

January 24, 2018, 07:24:30 PM
Reply #6
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moln4r


No idea....
Maybe you can try to modify the program like this:

! Wait Till Mold Fully Open;
WAITTMOUT=x(more than your imm cycle time in ms)
WAIT DI [7: Mold Fully Open] = ON, TIMEOUT LBL [10]

If you got the  [Robot Not Home] message, than no matter what you see on the tp, the robot doesn't got he signal...or may you need to check your waittimeout settings in the system menu.but just guessing.

Today at 03:07:55 AM
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January 24, 2018, 07:27:24 PM
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Atinder


Well I got it figured out thanks for your help guys.

January 24, 2018, 07:33:25 PM
Reply #8
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moln4r


AND!!?
What was the problem?

January 24, 2018, 07:45:09 PM
Reply #9
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Atinder


I just added my home position step which is J PR[4} 100% FINE after the mold fully open signal and boom it started working. I think that the robot was not somehow convinced on the mold fully open signal so I added that after the mold fully open and the robot is at home, it should move in the mold. As soon as I added that step in my program and it started working as I wanted it to work.
LBL [1: Start]
Grip_Opn
DO [129: Permit Clamp Close] = ON
DO [131: Permit Ejector Ret] = ON
DO [132: Permit Ejector Ext] = OFF
WAIT DO [10: Home Position] = ON,TIMEOUT LBL [10]
JMP LBL [11]
LBL [10: Message]
MESSAGE [Robot Not Home]
MESSAGE [Move Robot to Home Position]
WAIT 2.00 (sec)
JMP LBL [1]
LBL [11: Home]
WAIT DI [13: Fully Auto] = ON
! Home Position;
J PR [4: Clear of IMM] 100% FINE
! Wait Till Mold Fully Open;
WAIT DI [7: Mold Fully Open] = ON
DO [129: Permit Clamp Close] = OFF
J PR [4: Clear of IMM] 100% FINE
(L P [7] 1500mm/sec CNT70)

 2nd last line is the addition I did.

January 27, 2018, 02:50:45 AM
Reply #10
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Skooter


It seems you are fooling it by telling to go where it already is and that has gotten it to work but may not have fixed the underlying problem.  In the future, if someone sees the redundent motion instruction and deletes it, you may still have the problem.

 100% FINE
! Wait Till Mold Fully Open;
WAIT DI [7: Mold Fully Open] = ON
DO [129: Permit Clamp Close] = OFF
J PR [4: Clear of IMM] 100% FINE
(L P [7] 1500mm/sec CNT70)

Delete the second "J PR [4: Clear of IMM] 100% FINE" and instead of an accuracy of FINE, try CNT10 for the first "J PR [4: Clear of IMM] 100% FINE".  Doesn't need to be FINE accuracy if it's already at the 'HOME' location that PR[4] basically is.
I've also had similar instances where it gets fixed by deleting the entire instruction "L P [7] 1500mm/sec CNT70" and then recreating the instruction.  You may have to touchup P[7] after that.
If all else fails, you can always go back to the what you have now.

January 27, 2018, 05:22:33 PM
Reply #11
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DanN


Is the J [PR4] a reference position? if so maybe have to open the axis limits to this point.

January 29, 2018, 01:10:21 PM
Reply #12
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Atinder


Hello Skooter,
Yeah man I already tried the above remedy you said but even after a multiple attempts including change of code, positions touch ups, I didn't get very lucky. So just to make it running I had to fool the robot as you said. It might not be a good way but gotta get the production going. Hope you unerstand what I mean.
Thanks

And Dann,
Axis limits ain't a problem for me brother.
« Last Edit: January 29, 2018, 01:28:11 PM by Atinder Singh »

January 29, 2018, 03:46:18 PM
Reply #13
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pdl



I think he was talking about reference position axis limits.  They come set from the factory at +/-0.00.
They should be opened up to at least +/- .25 if you want to use them reliably.

Today at 03:07:55 AM
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January 29, 2018, 04:04:48 PM
Reply #14
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Atinder


Yeah man,
They are opened upto +/- 1.00 for all 6 axes.

June 12, 2019, 06:18:52 PM
Reply #15
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Ravi Ak


hello i am also facing some same issue with FANUC ROBOSHOT alpha IMM with WEMO robot as a pro-picker.
Now "ejector pin ''forward ''error .
how to reset it are what is the checkpoints for the above problem


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