Hi. I have an issue with a Fanuc r200ib controller and sca sealer system, due to a devicenet issue with the p-code 'dispense complete' macro (compares volume ok inputs etc from sca unit to drive faults related to the dispense) the robot has always been using since installation, I have been playing around with implementing what I guess to be a near-replica 'dispense complete ' macro that uses a flag to resolve a polling time issue, this has all seemed to work well, except when I leave my existing sealing program, upon running the 'end' line I'm given a bunch of sealer errors, I guess my question is not specifically what is causing these errors, but how an error can be driven without being written in the program or the background logic? I had always assumed all application faulting would be driven from the unit via DI etc, itself or a programmed alarm? And if the fault is being driven from the SCA unit itself, how is it it can see the sealer process program has been ended without perform any kind of output?
Fanuc sealing application error
- Jazsta123
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Could you give more details ?
Like what standard are you working on ? Or post the macro itself -
Sorry I am fairly self taught on these robots, and am not sure which standard this would be referring to (global 2 perhaps?) I have since learned that the robot will call a sealer handshake in the background at the end of any sealer process routines regardless of dispense complete macro called which is what I was confused about, but as the original macro is p-code I'm fairly sure there is no way I can find out what it consisted of myself to determine which i/o states are necessary when leaving the process routine, I am in touch with one of the line builders and will hopefully find out soon, thanks anyways
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The original issue, in case of interest, was the DO for sealer inprocess going off and volumeOK coming on not being seen at the same time during comparison very intermittently, leading me to believe there is a polling issue as volumeOK needs to be seen on the same scan as inprocess goes off and I can physically see the volumeOK output drive high from the SCA unit
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What do you mean by p code? Like a "black box" macro that you cannot see the code? I dealt with a GM line that ABB had programmed and they wanted to add an option to skip sealing. When we did that, all kinds of alarms started going off. I found a boolean something like bNoApp or bNoDispense, made it TRUE before skipping the dispense, and got around ABB's encrypted junk.
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Sorry I am fairly self taught on these robots, and am not sure which standard this would be referring to (global 2 perhaps?) I have since learned that the robot will call a sealer handshake in the background at the end of any sealer process routines regardless of dispense complete macro called which is what I was confused about, but as the original macro is p-code I'm fairly sure there is no way I can find out what it consisted of myself to determine which i/o states are necessary when leaving the process routine, I am in touch with one of the line builders and will hopefully find out soon, thanks anyways
I’ve always found you needed to have a few extra robot moves in your process job before you exit out into your main routine. This gives time for the disp comp to finish. I’m assuming you’re calling from you main routine in to your JOB which calls your PROCESS which is where the actual dispense takes place?
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