Posts by JeffBO

Hi,

EthernetIP extended error codification is a standard, not Fanuc-specific. Here is the error description from an Hilsher documentation :

0x126 | This extended status code is returned when the target device determines that the data
segment provided in the Connection_Path parameter did not contain an acceptable number
of 16-bit words for the configuration application path requested.

I had similar experience with a Balluff device that needed extra configuration information to work. It's a list of bytes you should find either in the device's eds file, either in its documentation (you may have to mix both...).

Fanuc EthernetIP menus can't handle this extra configuration bytes, so once you get the byte list, change the following system variables :

$EIP_SC[x].$CONFIG_SZ = number of bytes in your list

$EIP_SC[x].$CONFIG = byte values from the list

where x is your device number from the Fanuc EthernetIP menu.

Hi,

You have such a feature in the DCS collaborative menu:

Hope this helps.

Quote from cmcraeslo

I do switch user frames between rows - could this be the reason this is happening?

Maybe. When possible, you should avoid move instructions and computation on frames or PR instructions mixed together. It increases the CPU load and thus may reduce the robot cycletime (infos from Fanuc guys).

Quote from bokodimate

I tried using CNT, but then the cuts are not precise

CNT0 will produce the same motion as FINE. The difference wiil be :

FINE-> Robot stops at the target point

CNT0->Robot pass through the target point. It should fix your problem.

Quote from cat91345

if I want to do something as simple as change the speed, I have to take robot out of production

You can also use indirect values for motion speed, thus use registers to change the speed without stopping your production.

Hi,

You can try :

Tools > Options > General > CAD Import > Object quality

Move the cursor a few steps toward "Best performance".

Import your IGS again.

In my case, it solved a couple of IGS import issues.

Regards,

Hi,

Depending on your HMI's capabilities, you may have several solutions:

- If your HMI has an Ethernet connection and support SNPX protocol, it can read/write your robot's DI, DO and registers like on a PLC. First, you'll need and ethernet connection beetween both and appropriate TCP/IP settings. Then, gather MARUIBHMI03031E manual (provided with handling tool manual) where you'll find SNPX setup, config and operation manual.

- If your HMI doesn't support SNPX or doesn't have Ethernet capabilities, you can use fieldbus (modbus, profinet, etc.) and map your DI/DO accordingly from both sides.

Hi Daneel,

Fanuc says one port should be used for multi-purpose (remote i-pendant, etc.) and the the other should be dedicated to fieldbus communication. Using the other ethernet port on the controller could improve response time.

Moreover, you could check system variables $ENETMODE.$SPEED :

0 = 10 Mbps

1 = 100 Mbps

2 = auto speed -> preferred setting

Hope this helps

Quote from foffulaRob

The only problem is that if i need more than one variable, for just that i have to burn a "Register" variable every time, and i have just 200.

Hi,

You can increase the limit of 200 registers :

Controlled start > Menu > Program Setup > Numeric registers

I set up the limit to 1000 on all my robots.

Hope this helps.

Jeff

Hi Venti,

Type "val 3 reference manual" in google, you should easily find the programming manual.

Hi,

A solution from Fanuc to guarantee the type of offset you apply (Joint or cartesian), regardless how your positions has been taught:

1 : Initialize a PR with the following code :

PR[xx] = LPOS //--> Cartesian offset

or

PR[xx] = JPOS //--> Joint offset

2 : set all PR data to 0

PR[xx] = PR[xx]-PR[xx]

3 : Setup your offset values

PR[xx,3] = 100 //--> Depending on your1st line of code, apply +100mm in Z axis or +100° in J3 joint

4 : Use OFFSET PR[xx] or TOOL_OFFSET PR[xx] in your move instructions

Hi Rahul,

In a few words :

TaskCreate : Task is executed "continuously" depending on the given priority level.

TaskCreateSync : Task is executed every x.xx second. Priority level is 3000 (factory setting, can't be modified).

Example :

TaskCreate "MyTask",50,ExecuteATask()

--> Function ExecuteATask() is executed once, with a priority of 50. You can have an infinite loop in your function.

TaskCreateSync "MyTaskSync",0.5,bOverrun,ExecuteASyncTask()

--> Function ExecuteASyncTask() is executed every 0.5 second.

bOverrun=true : function is executed to the end, even if it takes more than 0.5s

bOverrun=false : function is killed if not completed after 0.5s

NEVER use infinite loop in such a function, otherwise your CPU will run out of resource.

Hope this helps,

Jeff