IMSTP error

You lost the UOP signal: *IMSTP, you can try put always on that signal.

Is *IMSTP, not ISTP. The UI[1] signal.

How do you have the robot startup configured?

Check this: https://www.onerobotics.com/posts/2016/sta…robots-in-auto/

MENU > I/O > TYPE (F1) > UOP > Press In/Out (F3) until the UIs are shown. The IMSTP input is UI[1].

well i am new to the fanuc programming, now i have setup all the I/O from External PLC for an arc welding application, however if there is any problem in communication with PLC, the robot goes in fault mode even in T1 or T2 mode.

It ask for IMSTP, HOLD, ENBLE to be True.

is there any method that during T1 or T2 mode, it shouldnot ask for these signals from PLC .

No, there is not a builtin way around this. If UOP's are enabled, they are always enabled regardless of the mode switch. You could come up with some clever programming to get around this, but it is MUCH easier just to set it up properly in the first place.

Are you stating that your communications are dropping out, or are you having issues establishing communication in the first place?

Set $OPWORK.$UOP_DISABLE to TRUE and try again. You can also use it in a BG logic task to automatically enable or disable the UOP signals, e.g. set it to TRUE when the TP switch is ON and back to FALSE when OFF.

pdl: I am able to establish the communication between PLC & Robot, the problem occurs only when the PLC is unable to communicate.. its once in a blue moon case.

pdl  DS : well thank you for your help. I understood that a BG logic has to be made to get rid of this problem.

Still finding few peculiar problems

BG logic:

IF (TP is enabled) THEN

$OPWORK.$UOP_DISABLE=1

else

$OPWORK.$UOP_DISABLE=0

ENDIF

1. In communication between Robot Conroller & Delta PLC (AS228). As soon as the PLC goes into STOP mode, we get PRIO-230 Ethernet/IP Adpter error even if robot is in manual mode (T1/T2).

I think this should not happen untill communication breaks...

request for your suggestions.

Quote from KD21

.. As soon as the PLC goes into STOP mode, we get PRIO-230 Ethernet/IP Adpter error even if robot is in manual mode (T1/T2).

I think this should not happen untill communication breaks...

This is normal behavior, when PLC goes to STOP communication breaks. Why does PLC go to STOP? This only should happen during commissioning, if this happens during normal operation, you have massive problems in PLC, change PLC configuration and program until it's correct.