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

  • 95devils

    Approved the thread.
  • Let's start with one thing at a time. Have you installed all necessary jumpers/connections, at least the jumper connections for the TP and JRT3? If you are not using the JRM18 jumper connection, have you already checked if the wiring of the external emergency stop and fence to JRM18 is correct?


    If you don't have the optional switch box and also no (hardware) remote mode switch connected to JRT3 you need to use the jumper connector for JRT3.


    Which mode selection option is installed on your controller? If you don't have one of the above hardware options for the mode selection there must be another option, e.g. TP Mode Select or External Mode Select.


    To make it easier: Could you please provide some pictures of the front of your controller and from the iRProgrammer (once you are connected to the controller).

  • 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?

  • 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.

  • 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!

  • 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.

  • 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.

    Edited once, last by ekumar ().

  • I clicked Menu in the Navigate iPendant screen but I did not have a STATUS option.

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

    iRProgrammer J767

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


    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?

  • 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.

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

  • 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?

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

    Oh wow, the most obvious and simplest solution... Never thought about that in this case. Although, performing a cold start should always be the starting point of a "good" troubleshooting :grinning_face_with_smiling_eyes:

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

    Being in controlled start mode also explains this.

    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?

    Do you only have the MOTN-049 alarm? Did you check the alarm log for any other alarms (e.g. SRVO-038, SRVO-075, etc.)?


    If there is only MOTN-049 then set the system variable $MASTER_ENB to 1 and also check if $DMR_GRP[1].$MASTER_DONE is TRUE. Select MENU > 0 - NEXT > SYSTEM > Master/Cal. Select CALIBRATE > Yes and finally click DONE. Jog the robot to its zero position (all witness marks should be aligned). Open the position window and verify if the values of all axes is 0.

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