I have a rj30ib with 8.3 software and the robot changes 5 different tools physically.
The configuration of 3 are different so I have created different models.
I have a GO to the plc to identify when the tool changes and the model also changes.
The plc is sending safe input CSI and I have it mapped in the DCS verify IO in the tool model.
But when it changes tool and model I get DCS tool mismatch, but I can reset from the fault and the model/tool are correct. My question is what could be changed in the set up to eliminate the tool mismatch error?
I have tried changing -1 to 0 for tool change and I've tried setting tool to 0 for my verify IO and I tried to change to -1,-1,-1 as my 3 models in Cartesian position check. But I continue to receive the error?
DCS Mismatch error when changing tools and model
-
fanucrobot_Dr -
March 9, 2017 at 4:37 PM -
Thread is marked as Resolved.
-
-
tool select should be set to -1, to enable tool change
Now your verify I/O dynamically changes the tool frame selection with associated model.
Only one should be ON at all times, if two or more are ON or all OFF you'll get a tool mismatch condition -
I am having an issue determining what is causing the mismatch condition. I think it's timing between when the robot sends tool # bits to plc and the plc sends safety input back and what tool the robot sees.
I am considering bg logic to send the tool # to plc so I know exactly when it changes in the robot?
According to the manual I should have 1 sec before fault occurs. -
I'm sorry I can not give you many details
The only thing I remember is that I had a tool all the time. I had a ficticious tool, that I will use it between change "real" tools Between the sensor for tool present on the rack and the DCS zone around the rack I was able to cheat the system -
Ficticious tool
-
Changing TOOL in your program has nothing to do with DCS tool change
Is the verify I/O what actually changes the current DCS tool frame
In your Cartesian Position check use -2 to verify the Tool model of the selected tool frameEither you keep sending the verify I/O until a change is complete or use Fabian´s solution:
use another input for empty tool changer just to allow the transition between tools. -
HI
Like I said I dont remember details, but I remember there was a safety PLC involve, so, there was some "cheating" going on between the DCS zone and the safety PLC and we were able to fool the signal.
Nothing illegal really, because the only time that the robot didnt have the tool and this handshaking was going on it was over the tool rack and it was guarded