MOTN-063 Help

  • Testing a program on the M20i-A we just got at work, we were given a basic program to toy with that I've been running and adjusting. The parts we're running come with a basic outline of optimal settings to get the desired coat which require mm/sec movements on my P[3] through P[5]. I've got my program and points running smoothly in joint in percentages, but anytime I try to switch from Joint movement to linear or circle arc and switch to mm/sec I'm getting the MOTN-063 alarm. I've changed my home and light position to Linear also thinking maybe if they're all running the same motions it'd fix it but no such luck. Any ideas on what I need to change or re-teach to get rid of this issue? Thanks in advance.

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  • looks like your best solution is reteaching the points - not all motions which are possible in JOINT, are easily doable (or possible at all) using linear interpolation. In your case, the configuration string of the position does not fit, so the controller posts an error. It should be possible to edit the config string as far as I remember, but I guess you're a newbie to Fanuc and it won't be easy, nor safe :icon_wink:


  • looks like your best solution is reteaching the points - not all motions which are possible in JOINT, are easily doable (or possible at all) using linear interpolation. In your case, the configuration string of the position does not fit, so the controller posts an error. It should be possible to edit the config string as far as I remember, but I guess you're a newbie to Fanuc and it won't be easy, nor safe :icon_wink:

    Sometimes teaching a mid point help on that too


    Sent from my SM-G925T using Tapatalk

  • Yeah I'm definitely a newbie. We got one at work and nobody knows how to run it, I got a three day crash course from the guy that installed it and was thrown to the wolves. I've caught on to quite a bit but there's also a ton that I don't know. I figured out the issue though, not sure if it's a band aid fix or not but it worked. I have my home and light position at joint, then when it moves to P[3] it's still in joint at 15%, then P[4] and P[5] I switched to Linear at 3 mm/sec like I needed and it runs through the program fine now. But now I'm having a problem with my feeder controller showing remote alarm 1 randomly and fails to ignite, the tech I called said it's a loose wire in the controller so I guess I'll trace that down

  • Looks like you are changing the position of your end of arm tool too much while you are trying to reach your whatever position you wanna reach to. I have had this kind of problem a lot of times. I would recommend you to change the positioning of your end of arm slowly and record a point there and then again move your robot a little record another point and keep on going until you reach your desired position. After you have done what you want to run dry cycles and delete whatever extra points you don't want in there. It usually doesn't matter if you are using J or L in between your program.

  • Change the configuration of your point from NUT to FUT, or play around with the letters until it works. Most likely only N and F. This is only for points that the configuration is cartesian (XYZWPR).


    To access these, highlight the point number P[2:Home]
    Press the F5 for Position.
    A new screen with the position of that point comes up
    Press the Config key to access the turn numbers and the configuration letters.


    The turn numbers. If an axis is at 10 degrees or 370 degrees, its actually at the same location. This is what the turn numbers are.
    1st number is J1, For when you pass 180 degrees.
    2nd is for J4
    3rd is for J6


    The configuration letters are how the arm gets to that position.
    NUT - FDB
    1st letter. Wrist motion. N=Not Flipped. F=Flipped. Example. N = J5 at 20 degrees and J4 at 0 degrees. F = J5 at -20 degrees J4 at 180 degrees.
    2nd letter.


    Nevermind...it's all listed out here:


    https://www.robot-forum.com/ro…w-updown-elbow-frontback/

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