"HOME" position issue

    HELP!!!!

    Hello all, we are having a homing issue with our robot and need help.

    Long story short, we are a small manufactuering business on a tight budget. A few years back we installed a new product line that uses a Fanuc R-30iB robot with IrVision camera to locate parts in a hopper and sets them onto a conveyor. Since installing this robot, our electrical engineer has since moved on without giving anyone else any training. The robot was working fine then decided to fault out. Calling in a tech is really out of the budget, so myself (head of production) and our general electrician are tasked to get this equipment running again.

    The faults that we were able to recover are:

    APSH-155 home position on recorded

    APSH-156 specify home In reference position menu

    I have searched online and watched countless YouTube videos and we are still not sure what happend, why it happened, and how to fix this issue.

    If anyone is willing to give instructions on how to fix this problem it would be greatly appreciated. Thank You

    Those faults you listed are just warnings that would not stop the robot. They happen because a home reference position has never been recorded, which doesn't have to happen for the robot to run. When the robot actually does stop and fault. Press the menu button on the teach pendant, and the 4 for alarms. Please reply back with those alarms.

    You might want to set a HOME position if you care to use the UOP signals...

    You can record a HOME position in the reference position menu, which I believe if you press:

    MENUS --> SETUP --> (F1)TYPE --> Ref Position

    Record your HOME position as Ref Position 1, give it a tolerance for joint angles if you like, and configure I/O to turn ON/OFF when at the reference position.

    Not sure which alarms I am to be looking for but the only alarms I can find are under "application alarm" and they are the 2 alarm codes I have mentioned earlier.

    I'm also unsure if a home position has been set in reg. pos. What will it look like? I have attached a photo of one of the programs if that helps. Thanks for the replies

    Is there a reason the robot is currently in "STEP" mode? When in "STEP" mode your robot will not run in auto. And while in "teach" mode you will only execute one line at a time in the logic. Other than that i would assume if this was running fine and then just "decided to fault out" i'm not sure the lack of a Home Position is your issue. Unless someone deleted the Reference Position somehow by mistake.

    "I could tell that my parents hated me. My bath toys were a toaster and a radio."

    Also this is what your screen would essentially look like if you have a "Home" position recorded under the Reference Position menu. It's under MENU>SETUP>REF POSITION. If one is enabled then select F3 for "Details" to see if there is any recorded data.

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