Issues with Initial Setup / Jogging

Hello, my company (cybersecurity company) is working on integrating with a FANUC SR-3ia robot. We are very excited and got a robot in our office! Any help in how I can get to operate/jog the robot would be much appreciated. We believed to have followed the wiring instructions correctly from the Startup Guide

We just powered it on following the Startup Guide instructions but are unable to perform the "Jog your Robot" steps. We are able to successfully login to iRProgrammer, but we are getting error codes (shown below). If it helps here are a few other data points:

-Under Robot Operation --> Jog, when I click an operation I get a "Please enable the TP enable key"

-The top-right of the interface show "Auto"

-Clicking Reset does not reset the faults

-I also get a "Turn the Teach Pendant Enable switch to [ON]" message when trying to jog

Note: I don't have a teach pendant.

Here are the error codes:

SYST-164 Teach Pendant communication error
SRVO-001 Operator panel E-stop
SRVO-038 Pulse mismatch (G:1 A:3)
SYST-351 Mode select function mismatch
SYST-212 Need to apply to DCS param
SRVO-266 FENCE1 status abnormal
SRVO-004 Fence open

Thank you for the help! I was missing the jumper connector for JRT3 so I added that. It also looked like I didn't update my software. The Software Update steps in the Startup Guide said to do this via iRProgrammer, but after talking to FANUC Support, updating the software from the factory version doesn't work that way. Anyway, I used personality 1 on the delivered USB stick and the S/W Serial No. now matches the software delivery sheet.

While that worked, I no longer have an option for iRProgrammer in the HMI Pendant screen on the Robot Homepage. I think I took a step forward in getting the connector configuration correctly and updating the software, but have taken a step back in functionality by not having iRProgrammer.

Any ideas on how I can get iRProgrammer back?

Quote from DS186

Was it possible to use the iRProgrammer before the update? Can you see any other functions in the HMI iPendant screen?

The iRProgrammer is a separate option (J767). Can you connect to the controller without using iRProgrammer, e.g. by using a TP or Remote iPendant? If yes, you should check if the option is still installed on your controller.

Hello,

Thank you for the replies and patience with my responses. I was able to use IRProgrammer before the update. I can still connect to the Robot Homepage. Right now, here are the options I have under HMI iPendant:

- Monitor iPendant (JECHO)

- Navigate iPendant (JCGTP)

- Jogging iPendant (JITP)

My Software Delivery sheet has a feature for J765 and the software version reads V9.30P/29. I don't see an option for J767 on the delivery sheet.

How can I verify J767 is installed from the Robot Homepage? FANUC support recommended I update to 9.30p/31, but I'm unsure if that will provide iRProgrammer.

Thank you for all the help!

Quote from DS186

Open your Navigate iPendant and select MENU > STATUS > Version ID. You can also create an AoA backup (from the Navigate iPendant) and open the SUMMARY.DG or ORDERFIL.DAT file with a text editor and check the installed options.

I would recommend to check the options in the SUMMARY.DG file because the order file and the delivery sheet often shows option bundles and it is not always clear what is behind them in detail.

Thank you for the response. I clicked Menu in the Navigate iPendant screen but I did not have a STATUS option. Below is a the top portion of the Summary Configuration / Status from the Current Robot Status tab in the Robot Homepage.

F Number: <REDACTED>

VERSION : LR HandlingTool

$VERSION: V9.30241 4/5/2023

DATE: 25-SEP-23 14:03

VERSION INFORMATION::

SOFTWARE: ID:

LR HandlingTool 7DF3/29

S/W Serial No. : <REDACTED>

Controller ID : <REDACTED>

Robot No. : <REDACTED>

Manufacturing ID :

SR-3iA, LR HandlingTool

SR-3iA V9.30P/29

Servo Code : 1234567890

Cart. Mot. Parameter: V3.00

JNT. Mot. Parameter : V3.00

DCS : V0.0

Stop pattern :

Software Edition No.: V9.30P/29

Update Version : None

Customization Ver. : None

Root Version : V9.30241

Boot MONITOR : V9.40P/32

Teach Pendant : 7D0A/01P

Browser Plugins : H]”:f¬:f¨V9.30241

TP Core Firmware :

TP Operating System :

HTML5 Browser : N/A

FPGA Version : 15

Media from FRA 04/10/2023

CONFIG::

FEATURE: ORD NO:

LR HandlingTool H551

English Dictionary H521

4D Standard R782

Analog I/O H550

Angle Shift J614

Auto Software Update ATUP

Automatic Backup J545

Background Editing J616

Camera I/F VCAM

Common calib UIF CUIF

Condition Monitor J628

Control Reliable CNRE

DHCP R526

Data Acquisition R631

Diagnostic log RSCH

Displaying License LICE

Document Viewer DOCV

Dual Check Safety UIF DCSU

Enhanced UIF R869

Enhanced User Frame J604

Ext. DIO Config EIOC

Extended Error Log R542

Extended User Frames R696

External DI BWD ESET

FCTN Menu Save J516

FTP Interface J716

GigE Interface R681

Group Mask Exchange MASK

HTTP Proxy Svr PRXY

High-Speed Skip J627

Host Communications HOCO

Hour Meter J513

I/O Interconnect 2 J542

Incr Instruction J510

Incremental Jog J637

KAREL Cmd. Language J650

KAREL Run-Time Env J539

Kernel + Basic S/W H510

License Checker LCHK

LogBook(System) OPLG

MACROs, Skip/Offset J503

MH Core MHCR

MMR Motion log PSLG

Mate controller MATE

MechStop Protection MCSP

Mirror Shift J506

Mixed logic J554

Mode Switch MDSW

Motion Diag. Core MDCO

Motion Optm. Core OPCO

Motion Profiler MPRO

Motion logger R637

Multi-Tasking J600

PCM function PCMF

Palletizing J500

Position Registers J514

Print Function J507

Prog Num Selection J515

Program Adjust J517

Program Shift J505

Program Status PRST

Program Viewer J697

RDM Robot Discovery FRDM

Realtime Freq Anlys FREQ

Remote Conn Standard RMCN

Robot Servo Code H930

SNPX basic SNBA

SNTP Client R610

Shift Library SHLB

Shift and Mirror Lib SMLB

Socket Messaging R636

TCP Auto Set J520

TCP/IP Interface HTCP

TMILIB Interface TMIL

TP Firmware R789

TP Menu Accounting TPAC

TPTX TPTX

Telnet Interface TELN

Tool Offset J509

Torque Simulator I/F J882

Touch Panel R781

Trouble Diag. & Prev. J958

Tutorial TUTO

USR EVNT UEVT

Unexcepted motn Check UECK

User Frame UFRM

VCalibration Common VCCM

Vision Core VCOR

Vision Library VIPL

Vision SP CSCX CSCX

Vision SP CSGE CSGE

Vision SP CSUI CSUI

Web Plus WEBP

Web Server HTTP

Web Svr Enhancements R626

ZDT Application R882

ZDT EOAT Setup ATUI

iPendant CGTP

iPendant Grid Display IGUI

iPendant Setup IPGS

iRCalib. Standard IRCL

iRDiag Core DGCO

SR-3iA H745

Alarm Cause/Remedy R665

Collision Guard R534

Collision Guard Pack J684

Compact Controller J765

Constant Path R663

Cycle Time Priority J523

DCS Joint Pos check DCSJ

FRA Params R650

HMI Device (SNPX) R553

Jog in Auto Mode R694

NRTL J547

Online Help R664

PC Remote iPendant R850

Password Protection J541

Persistent Strg NVDT

ROS Ethernet Packets R603

Remote iPendant R843

Smooth Stop Upgrade J548

iRProgrammer J767

64MB DRAM D064

64MB FROM F064

Cell I/O CLIO

Common shell R645

Common shell core CMSC

Common softpanel CMSP

Common style select STYL

Cycle time Opt. CTOP

DCS Pos./speed common DCSC

Demo Control R769

Email Client JNN7

Enhanced Rob Serv Req ORSR

Enhanced T1 Mode R680

Include Remote TP JCGT

Linear Distance R633

MR Standard MRST

No memory card NOMC

OPC-UA OPCU

Robot Library Setup RLCM

Robot Service Request SRSR

SCARA Robot SCRA

SSPC error text ETSS

Smooth Stop common SMSC

Space Check J609

I'll also add that if I click the Note tab on the Robot Homepage it reads iPendant Controls not detected. Not sure if this is related, but wanted to share.

I downloaded iPendant Controls V9.30 B and ran the setup.exe file on the PC that I'm opening up the Robot Homepage Web Browser from.

Quote from DS186

STATUS is on the second MENU page. For this, click MENU > 0 - NEXT > STATUS.

Thanks for providing the summary file. The iRProgrammer is still on your system.

I clicked NEXT as well but didn't see STATUS. Oh well, since I think the other information I provided helped.

Quote

I'm not aware of any variable or procedure to hide the iRProgrammer (icon). What Browser do you use to access the robot web server? Google Chrome (from V31) and Internet Explorer 11 are recommend and supported.

Did you already try to update the software as suggested by FANUC?

I accessed the Robot Homepage from Google Chrome and ran into the same issue.

FANUC requested I take a backup and send them the information. Once I get a procedure from them, I'll go ahead and send them a backup. Otherwise, I'm not sure what other next steps I can do at this point.

I have not done an incremental software update from v29 to v31. Unsure if that will resolve the issue since the first software update didn't.

Quote from DS186

I guess that would be best in this case. It would be nice if you can share any update regarding this topic.

I plan to update as I progress!

The fix was simple. It was in a controlled start and it needed to be switched to a cold start.

I was able to job but now I'm getting an MOTN-049 Attempt to move w/o calibrated. Any idea how this could happen?

Hi all, I called support and we got this resolved. We set the MASTER_COUN variables to what it says in the inspection sheet. Great to see the robot moving (again)!