Posts by cther
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You could jump the emergency stop contacts inside the RJ3 controller or in the control panel of the robotic cell if you have the electrical plans. This is not a good practice, be extremely cautious and never let the robot out of T1 with the jump cables in place. You should find the information about which contacts to jump in the RJ3 maintenance manual.
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There is $ALM_IF.CURR_LINE which updates according to the program line the robot is on. If P[17] with FINE instruction is on line 56, then if $ALM_IF.CURR_LINE > 56 and $ALM_IF.CURR_PROG = "Your program name of interest", you know the robot reached P[17] successfully.
If your program is quite simple with a lot of positions and no change in speed or CNT instructions, you could also do something like this:
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You could set up an FTP server on the robot and make the PLC send the command 'get errall.ls' which would get you the file which stores the last 100 errors and alarms. There probably is a better way.
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You have a shoulder singularity where J4 tries to move faster than the collaborative speed limit and even under the negative 180 degrees limit. One solution could be to place the robot further away (in the X axis) from the pink fixture in your images. Look for "shoulder singularity" on this forum and elsewhere. I strongly suggest you attach your user frame (UF) used for your program to the pink fixture. To do so, double click on the user frame in the workcell tree. Then, in the "Attached" property combo box, select your pink fixture. Apply the changes. Now, if you move the robot or the fixture, the positions in your program will move according to the new fixture/robot relative position. This will make trial and error easier and faster.
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$MCR_GRP[1].$PRGOVERRIDE in the system variables will scale the max speed, but the robot will still show 100%. If the value is not 100.0, it will affect your robot max speed. The other possibility I see is that there is a DCS Joint Speed Check that slows the robot.
Just to be sure, you were in AUTO mode when you noticed the slow speed, right? When in T1 mode (manual mode where you jog the robot or test programs), speed is slowed automatically, even at 100%.
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I found a variable named $COLLECT_CFG.$MULTI_PROG but it doesn't seem to set the parameter in system/config despite the name
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Good morning fellow fanuc programmers! I designed a robot application with a (very) deported payload. I did some calculations to get there, and the payload is close to 90%-95% of max. capacity (as calculated). I want to hide/disable the warning because the Teach Pendant is used as a HMI and it is distracting in my opinion to get this warning every time the robot picks a part. Is it possible?
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Right now, I think I will restore TP programs and manually transfer karel files, frames and toolings (without system files). My best guess is that the problem is caused by CRX DCS somehow.
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Is there any BG Logic running?
No BG logic, no karel running in background at the moment. Tried an "all of the above" backup and restore on a new simulated robot, the Test Cycle problem transferred to the new robot sadly. -
The function keys on the teach pendant. F4 to disable, F5 to enable.
I uploaded a small video to explain what I mean by "stuck/forced on DISABLE"
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Could you be more specific please? There are no key on the TP that enables TEST CYCLE to my knowledge. Just did a CTRL-F in the handling tool manual with no luck.
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Good afternoon fellow FANUC robot programmers,
I opened a handling pro project today and to my surprise, I noticed that I was unable to jog/move the robot with the virtual TP or with a program line execution. It is potentially related to the test cycle feature; the icon on the virtual TP is yellow and the "Group motion" parameter is stuck/forced on "DISABLE" (see screenshot). I never used Test Cycle before.
Any help would be appreciated!
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Could you share your LS program to see what could be improved?
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You should delegate this to a mechanical engineer who can compute the forces and moments the piedestal should resist in all dimensions, calculate the needed rigidity and design the pedestal with those constraints. He will also select the appropriate bolts and anchors (or the amount of concrete) to withstand the load. Then, he will make the 2D drawings and send it for assembly/manufacturing. The requiered data to start with should be in the robot's mechanical manual.
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Any developpement on this?
Here's a list on the Fanuc website, some of your options in the txt file are explained there:
Industrial Robot Software | Over 250+ Software Functions | FANUC America
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Got the same problem, KenGrant did you get an answer?
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Think it's the scaling in the display settings. Set it to 100%.
FIXED! It was at 125% in the Windows display settings (default recommended value).
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I still have the issue, I will try submitting the problem to Fanuc support directly. I probably missed something very obvious as 15 inches laptops are very common...