Posts by Andi_33

  • ELIAS

    Hi,

    In line "255: WAIT DI[11]=ON," the robot is waiting for Digital Input [11] to receive the value TRUE. I assume that the inputs value is changed by the PLC. The issue is likely that the PLC isn't setting this value to TRUE because certain conditions aren't met, or a sensor connected to the PLC isn't providing the correct value.

    I just noticed line 254: "! WARTE FREIGABE SENKEN." Your robot is waiting for the release signal to move down. This means that the signal DI[11] is likely set by the PLC, and the PLC is waiting for a sensor to release the robot. So this sensor might be the problem.

  • Unit of $MOR_GRP[1].$CUR_TORQUE and $MOR_GRP[1].$CUR_DIS_TRQ

    Hello,

    I am trying to monitor the actual motor torque for all FANUC axis in our systems. From several threads I found on the forum, I believe that "$MOR_GRP[x].$CUR_DIS_TRQ" is the system variable I'm looking for. So far, so good.

    However, I’m having trouble understanding the unit in which this value is represented, as the values seem unusually high. Initially, I thought the unit of was [kgf*cm], but this doesn't seem to be correct. Does anyone have an idea how to convert this value into [Nm] or which unit "$MOR_GRP[1].$CUR_DIS_TRQ" is represented in?

    Additionally, if anyone knows the difference between "$MOR_GRP[1].$CUR_TORQUE" and "$MOR_GRP[1].$CUR_DIS_TRQ", please let me know.

    Thanks!

  • Configure Group I/Os with .cm file

    Hello everyone,

    currently i am trying to create a .cm file to auto configure my Group I/Os. I think i have a pretty good idea on how to do it but i am missing 1 essential information. I would like to use the "KCL SET VAR" command to set the SYS vars of the Group I/Os RACK, SLOT, START PT and NUM PTS but i dont know where to find them. Has anyone an idea how these sys vars are called. Or mabye there is a better way to perform this configuration in a .cm file, like a specific command or something.

    Thanks for help

  • Test external Brake with Brake Check Function

    Hello everyone,

    i have a question about the fanuc software option "Brake Check Function (A05B-2600-J951)". We have a Fanuc motor with normal brake and a additional external (non Fanuc) brake attached to it (for safety reasons). Is it possible to test the additional external brake with Brake Check Function if i open the motorbrake of the fanuc motor using SYSvar

    „$MCR.$BRK_OUT_ENB“ and „$MCR.$MRK_OUTPUT“. I dont want to test it on the system because the affected motor is the Z-Axis of a portal and i am scared to break something if it fails.

    Thanks for help

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