Posts by Dan Compton

Alrighty, I traced the area scanner to its termination. Looks like the cable is split out. Some wires, including the OSSD1 and OSSD2 land on a Minotuar MSR127TP safety monitoring relay. The other wires seem to land on the "SHIELD" termination on the DIN rail. Now here's the funny part. I traced all this out, took pictures, buttoned up the controller, powered up and then went to run the program again to capture any codes, and the darn thing started working as I backed away 5 feet. It is just sitting there happily moving blocks around the board. The safety interrupt is working correctly, and the green light is illuminated until you breech the 5' safety zone at which time the red light turns on and the robot stops movement. I wish I knew what I did, but it "seems" to be working for now. I plan on switching up programs and seeing if those will run in AUTO as well.

I deeply appreciate everyone on this thread and your willingness to help out a frustrated teacher. Teaching on this cart is just so different than a real world cell.

The scanner is a Keyence SZ-01S mounted inverted under the cart table. I am sure it has something to do with DCS and the scanner. Normally, you switch over to AUTO and the red light on the cart illuminates. Then you press the START button on the controller panel and nothing happens until you move about 5-6 feet away from the cart. Then the red light goes off and the robot proceeds to execute the program. Now, the red light just stays illuminated and the program says paused as previously shown. This all worked until we did the vision mastering lab yesterday.

Quote from DS186

Regarding the SRVO-300 alarm please check the Hand broken setup in the System/Config menu.

Handbroken > GROUP1 > is DISABL

Upon a little more investigating I noticed that even thought the cart never throws an alarm while sitting paused in AUTO, that in the motion logs, I am seeing a SRVO-004 Fence Open alarm in the log as well as a SRVO-300 Handbroken/HBK alarm. This confirms to me that something is up with the DCS and area scanner that was changed during the mastering apply to DCS. time to call the helpline again.

here is the section from the student manual

Okay, so that idea didn't work. I definitely believe that the mastering process during the student lab has FUBAR'd the DCS and Scanner somehow. Here is the section from the student manual, and photos of the TP and bot while trying to run in AUTO.

The "Vision Mastering" was performed because that is the Student Lab that FANUC wants the students to perform in the course. We did no more than follow the step by step procedure that FANUC has in the student manual. I am going to try removing the AUTO_RUN program from the back-end KAREL monitoring program and re-add it. Maybe the DCS getting updated during the Vision Master has somehow affected that data. Will post more photos in a few minutes.

Nothing will run in auto now. The vision mastering procedure is manual. But you have to update dcs with the master at the end. This is the part I fear messed everything up.

The cart did not come with any manuals. I got one copy each of the student manuals for handling tool and operations course, iRvision, and Roboguide. No manual for the cart explaining anything about the logic architecture or how it is programmed. It did have a two page paper on how to add a program you want to run in AUTO to the KAREL monitoring program.

On your other thoughts, nothing has changed at all except for completing the vision mastering today.

It’s so frustrating because FANUC has all these CYA back channel safety things running on this cart with no explanation to the instructor on how it all works. And then when you call in, the techs are like “oh those cert carts are whole other animals” and they don’t know how to fix the issues either.

We have FCTN+Aborted everything and even rebooted the bot several times. There is only the red light on the cart. It lights when the controller is put into AUTO. It is supposed to go out once everyone moves back to the safety distance and the auto button should start the program. So here is the way this cart is set up and has worked for the past year.

There is a background KAREL program called "fenceless_utils" that has a data register in it. In this register there are 5 or 6 slots for named programs. As a safety feature, only the named programs in this data register are allowed to run in auto. This was a giant pain in the rear so we came up with a work around. We created a program called AUTO_RUN. This program calls a second program called SELECT_PROGRAM. Then that program calls the one we want to run in AUTO. It had to be this way because if you change ANY parameter in the listed program, in this case AUTO_RUN, it will no longer work in AUTO. so, AUTO_RUN always calls SELECT_PROGRAM and therefore never changes. SELECT_PROGRAM then calls whatever we want to run in AUTO. It has worked great for the past year. But sadly, during the vision mastering process something is now FUBAR. I have this cert cart. I wish I just had normal cells that worked as they were supposed to.

So this damn cert. cart will be the death of me. Student was able to complete vision mastering, but now NOTHING ELSE will run in AUTO. We can SHIFT+FWD/BWD through different programs, but now anything in AUTO will just sit at paused. No DCS alarms, just sits there paused. It is of note that the RED light remains lit on the carts light bar. It seems that by mastering the vision, and updating the DCS per the student manual instructions, we have killed some other form of FANUC cert cart safety hell. OMG I want to push this thing down an elevator shaft.

Quote from DS186

Thanks for clarification. Perform a restart and try again. If it won't work you should also consider to contact FANUC directly.

You sir are my freaking hero. That worked. So since this is a fenceless ed cart, should I knock the

param_group.speedlim back down to where it was and just make sure that $CGFS_CFG[1].$speed is set lower that that???

Did not cycle the controller after changing variables.

There is no code/program. This is part of the vision mastering process

All other functions/programs work as intended.

This is what I have set and it still throws the alarm and doesn't move

$CGFS_CFG[1].$speed was at 500. param_group.speedlim was at 250. I changed $CGFS_CFG[1].$speed to match the 250, but the alarm still throws while trying to execute the "measure camera position" line.

I just cannot figure the damn thing out.

TP is in teach.

Everything is running as it should

SHIFT+F4 (EXEC) hold shift after pressing...just like stepping a program in teach.

I have adjusted $SPDLIMIT as high as 500 and even with the TP override set to 1% it still throws the error. My sneeking suspicion is that since it is a fenceless cart with a prox scanner, that they have some backend DCS stuff happening to keep students safe with an uncaged bot. My next move is to disable DCS and see if that works. I hate to do it though because of the optics it gives to students..."oh it doesn't work because of a safety system??? Just turn that off."

Thanks for trying to help.

This is just the standard 27 position hula dance that is the "MEASURE CAMERA POSITION" in the UTILITIES>iRcalibration menu.

The robot never moves when we hit f4 for execute. It sits about 3 seconds and then throws the motion alarm.

The robot is not running a program. This is the student lab where they initialize and set up the iRvision system on the certification cart

Override was adjusted anywhere between 10-30%

We had $SPEEDLIM set to 30 as that is what the manual says to do.

I do not know where to find SAFESPD UI to see if it is or isn't active.

We are using the iRvision setup menu on the TP to initialize the system.

I am not sure how we would "touch off the grid" to calibrate the camera system.

Helllo all.

So I have searched and found a couple of threads from the past where people are having issues getting their education certification setup to calibrate the camera. I am having the same problem with our 2D iRvision system on our certification cart. We are trying to get our 2D iRvision system up and running and my students were getting pretty frustrated as during setup it kept throwing the

MOTN-074 (G:1) alarm when trying to calibrate the camera's position. I tried ideas from the other threads but nothing worked. Can anyone lend some assistance with ideas that I can have students try this afternoon? Any help would be greatly appreciated!

Thanks

Dan