I have an old Fanuc 120iL robot that is in a Gensis Versa 2g cell and powered by Lincoln Electric Welder. I had a program that was only on side A and about halfway through the program the table (group 2) would rotate so that the parts could be welded in a better position. I went to walk through that program today and when it started both tables started rotating right away (side A and B/ Group 2 and 3). And I dont see any weird lines in the programming and I am not sure what else to look at. This program has only ever been ran on Side A and hasnt been touched since last time I ran it, so Im very confused why the table is rotating for no reason let alone why Side B (group 3) is rotating at all. ( this is my first post in a forum, sorry if it is not detailed enough or if i am missing something please let me know
Group 2 and 3 (trunnion tables) Rotating When They Shouldnt
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Erika Stacey -
July 18, 2019 at 8:01 PM -
Thread is marked as Resolved.
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Dont Know if this is A new program or not. When writing A new program with A cell that has 3 groups, the group mask must be set up
Before you start programing. That way only the robot, group 1, and either group 2 or 3 will be recording points. The other group turning,
May be because side B was moved sometime during the programing and now it is in the program as A recorder point.
You may have to start all over again because this point will be recorded in your program from when ever the other table was moved. -
It is not a new program. It hadn't been used in months as the robot had safety sensor issues. So from the sound of it, starting over seems like my best bet right now. thank you for that info though because I did not know that! Have a good day
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What has changed on the controller over the past few months then? Are the rotations fired by a macro?
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Nothing that I know of. Im basically the only programmer. I did have the batteries get low but I changed them before I had anything telling me that it lost memory. No macros are called except the home program and safe side A, after that it starts to rotate. I tried creating a new program and have no problems. And I havent had this problem with any other programs so thats why i cant see the batteries having been the problem or I'd assume all of my programs would need to be adjusted but all others are fine.
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I can't tell you why it is rotating that third group without seeing the system or a backup; my only suggestion would be to make sure that the program is masked to the only motion groups that are needed in the program. The only other way I can see the third group moving is through a macro or a RUN command in an upper level program.