Fanuc Robot got issue with INTP-202 alarm

Hi everyone,

Yesterday I added 2 more lines (20 & 21) as below and Fanuc Robot got alarm INTP-202 from then. Anybody has experience on this case please help me, I'm a newbie. Thank you in advance !

11: LBL[3000:START] ;

12: ;

13: !IF ROBOT DONT USE SHIPPING ;

14: !RACKS, UNCOMMENT NEXT JMP ;

15: !Check READ_ME file LBL [23] ;

16: //JMP LBL[101] ;

17: ;

18: IF (DI[53:Buck1 OK to DEACC] OR DI[54:Buck2 OK to DEACC]),JMP LBL[100] ;

19: IF (DI[55:Buck3 OK to DEACC] OR DI[56:Buck4 OK to DEACC]),JMP LBL[101] ;

20: IF (R[130:BUCK_SELECTION]=12),JMP LBL[100] ;

21: IF (R[130:BUCK_SELECTION]=34),JMP LBL[101] ;

22: MESSAGE[NO MODE] ;

23: JMP LBL[3000] ;

Quote from kluk-kluk

It is a syntax error.

Get rid of the parantheses in line 20 and 21

so :

20: IF R[130:BUCK_SELECTION]=12,JMP LBL[100] ;

21: IF R[130:BUCK_SELECTION]=34,JMP LBL[101] ;

It means we just need to use the parantheses in line 20 and 21 when larger than 1 option, right ?

Quote from MMCINTIRE

Did you edit the program with the teach pendant or did you edit the .ls file and upload the ascii file?

I am fairly new to FANUC robots but I would start by stepping thru your program to see which line in your program is giving the error. I don't think the parenthesis should be included in your logic statements on lines 20 and 21.

I modified this program directly on Teach Pendant, I think what you and kluk-kluk said is the root cause, they shouldn't be put inside parenthesis like that when we just have one condition. I will modify and see any improvements. Thanks guys!