Hello All,
I just found a strange issue on the robot program. when I run the program and set the DO[20] to on and wait for a while, it will be off by itself. Even I test it in the Manual and Step mode, the issue still happen, and in the step mode, i didn't run it to jump to other line, it's stay inLine 17, I have checked and there is no any BG logic running in the robot. I will attach the program and hope someone can give me suggestions. Thanks!
Fanuc Robot Program Issue
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Chris -
October 26, 2016 at 6:12 AM -
Thread is marked as Resolved.
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Check Menu-6-0-9 Err Recovery.
I had a similar problem - except it was DO26. I changed the index to a different IO and the problem went away - so far. -
Thanks for your reply, but the robot didn't have the error recovery function. any other suggestions?
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You don't tell us what turns DI[20] on and off. It is an input, so you can't directly turn it on/off in the program.
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Very Sorry for that. It's not DI[20], It's DO[20].
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Is the robot working with some HMI that has direct access to IOs?
Or maybe there is a PMC / BG-Logic program running in the background, switching the DO[20] to OFF? -
A DO may be:
- A part of GO.
- Subject to BG Logic.
- Subject to Interconnect.
- Assigned as an output of an optional function (e.g. Space function, Interference check, Collision Guard, etc).
- Assigned as an output in Cell I/O or System Configuration.
- Subject to Karel program execution. -
could you make a backup and send it to me? I would be willing to put it in my roboguide and poke around.
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Is the robot working with some HMI that has direct access to IOs?
Or maybe there is a PMC / BG-Logic program running in the background, switching the DO[20] to OFF?There is no PMC and BG logic running. The robot is directly communicate with the PLC via EIP
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The problem is in the UOP/DI-DO config:
- you have configured the UO signals as rack 89 / slot 1 / start 1 (and remember, that there are 20 UO signals)
- in the same time, the DOs starting from 11 are configured as rack 89 / slot 1 / start 11The easiest way to solve the problem now is just NOT to use the DO[1]-DO[20] in your programs and leave them for the UOP Signals.
In the future, just avoid assigning the signals in this way. It is better to start the DI/DO assignment at Start Point 21 for example.
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Thanks for your help. But its's very strange that the UO[20] was the reserved signal, it should not turn off by itself, correct?
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The controller does not reverse it. The UO20 is just marked as "Reserved" and always OFF. So the system software was always resetting this signal, right after you have set it to ON in your program.