Hey there, ive been using my teach pendant and in the cell with the robot watching it weld for a while so today I created a simple program and had tried to put the robot in AUTO to see it weld on its own without me holding the deadman for once...This is a fanuc Arcmate 100ic robot with a Lincoln R350 powerwave welder. The robot only has 1 welding cell and 1 loading cell so its hooked up by hydraulic to spin on a turntable. After loading the part to be welded, ensuring robot was in home position, closing safety gate/reseting faults & safety curtain, switching machine to AUTO, turning teach pendant OFF, doing an "Abort All' to clear edited program, turning STEP & WELD to green (so enabling them), have the program I am wanting to run on the teach pendant screen, & pushing my green "cycle start" button. Nothing happens. No fault. no nothing. Its like the button has no power to it. This happened several times....One occasion I ended up getting a fault and this is what the fault was...INTP-213 Robot Fault, & SYST-034 HOLD signal from SOP/UOP is lost, & INTP 252 Userframe # mismatch. Can anyone explain what these faults mean? also any suggestions on how I can get this machine to weld in AUTO mode would be greatly appreciated too. Thanks!
AUTO mode
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Tanisamara -
April 6, 2018 at 9:45 PM -
Thread is marked as Resolved.
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Can you post the program you are truing to run ?
Also what is your 43) Remote/Local Setup: local or remote ?
What is your production start method (Program Select Mode:) ?
Are you setting your UF and TF at the beginig of the program / when you are changing it ?From what you are describing it might be that you are not defining correct User Fame / Tool Frame while running your program, but than still robot should start and stop at first movement point (I'm talking about program pointer "@")
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Disable UOP's and set to local from MENU > SYSTEM > CONFIG
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turning STEP & WELD to green (so enabling them)
You said you enabled the STEP which means if you hit cycle start button then the robot will do one step in auto mode and you will have to keep pressing the cycle start button again and again to complete the cycle. To run the robot in auto mode you need to be out of this STEP mode first of all. So try disabling the STEP mode and then run it. -
make sure that in automatic mode you do not have the key activated in T1 or T2 and that the switch of the ipendant is off, the SOP/UOP signals are referring to communication with another controller or monitoring system for example a PLC, that is why when there is a problem with these signals and you do not have access to the controller, you deactivate them so that the robot does not take them into account.
It should not be a big problem, if I were in your place I would review simple things like basic errors like the ipendant key, cell security, the program, or if the programs you call with the start button can only be called by PNS or if you can direct as you want to do. And of course make sure that the STEP option be disable.
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My mistake on the STEP....I did not have that enabled when trying to run in AUTO. Just the weld was enabled. My key is forsure in AUTO, pendant is OFF, safety curtains are cleared, and program I am wanting to run is present on the pendant. I have the userframe first thing in the program. Is this not the correct way to use it? Because this is the only userframe Ive ever used on any program so Im confused why my error would read incorrect userframe number? Ill attach a snip of my screen.
Thanks!
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And my program pointer "@" was at the safehomelng.
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My mistake on the STEP....I did not have that enabled when trying to run in AUTO. Just the weld was enabled. My key is forsure in AUTO, pendant is OFF, safety curtains are cleared, and program I am wanting to run is present on the pendant. I have the userframe first thing in the program. Is this not the correct way to use it? Because this is the only userframe Ive ever used on any program so Im confused why my error would read incorrect userframe number? Ill attach a snip of my screen.Thanks!
Normally you will get the userframe error if you are trying to move to a point you taught with a different userframe. Is this possible?
Can you step through the program in teach mode successfully? Top To Bottom?
Kevin
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I can step thru the whole program no problem start to finish in manual mode yes. I haven't taught any programs using any other userframe number. Im not sure how to even use a different userframe number as I was only shown to use "0". How can I look to see if there is a mismatch in userframe numbers?
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I believe when you put your cursor over the position there is a button to view the position. detail maybe? It will show the xyz position and at the top it will have UF and UT numbers.
I think its possible you might need to use UF1
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In any other ordinary position, that "position" option is available although in a call program where there is no number to highlight or the UF or UT...there is no option for detail. Ive only got the "choice" you see in this picture.
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In any other ordinary position, that "position" option is available although in a call program where there is no number to highlight or the UF or UT...there is no option for detail. Ive only got the "choice" you see in this picture.Right I was talking about when you are highlighting a position. It should tell you the UF and UT number that the position was created with. However in teach stepping should be exactly the same as auto so that sort of rules it out. I am not sure why in auto mode you would be experiencing something different then teach mode. I am now very curious as to why this is happening.
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If I get any different results or find a solution Ill update this topic. Hoping to figure it out sooner rather than later. Thanks anyways though!
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Do you have any background logic or anything via ethernet that is executing differently while in auto?
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Not that I can see no. I do a FCTN>Abort all prior to running in Auto. So after I hit the Abort all I click into the program Im wanting to run so it is displayed on the teach pendant. Then I turn the pendant off, close safety gate/clear safety curtain, turn machine to AUTO, have STEP off and Weld ON & proceed to push Cycle Start from the main panel. Robot was also in its safe home position.
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Disable UOP's and set to local from MENU > SYSTEM > CONFIGAlso what is your 43) Remote/Local Setup: local or remote ?
What is your production start method (Program Select Mode:) ?Do you have this information
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Ive got a totally different alarm now when attempting AUTO mode again. SYST 034 HOLD Signal from SOP/UOP is lost?
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I looked up the code although still haven't a clue what the alarm means.
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Im assuming you have this robot connected to a PLC? If you are using the UOP and have them mapped, thats how you will hold/abort/start the robot. If you go to your digital inputs, from there you can see your UI's. You need to have UI1 Immidiate Stop, UI2 Hold, UI3 Safe Speed, UI8 Enable, All On for the robot to startup into auto
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Have you disabled uop's and set to local?
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