Posts by fanucfun

• Hi, dear fanuc experts.

  I hope you're doing well.

  I'm reaching out because I'm currently struggling with setting up Profibus DP communication between a Fanuc SR-6iA robot (controlled by an R-30iB Compact Plus controller) and a Siemens PLC 1512SP F-1 PN. Despite my efforts, I have not been able to establish cyclic communication properly, and I would greatly appreciate your expertise.

  Here are the key technical details of the setup:

  • PLC: Siemens S7-1500 series, CPU 1512SP F-1 PN
  • Profibus Interface: Siemens IM 154-5 HF (6ES7545-5DA00-0AB0) acting as Profibus DP Master
  • Robot: Fanuc SR-6iA with R-30iB Compact Plus Controller
  • Profibus Board Installed in Robot: A20B-8101-0100/07A
  • Cabling: Siemens Profibus cable (6ES7 972-0BA52-0XA0) with proper termination now installed
  • Profibus Addresses:
    • PLC Master address: 3
    • Robot Slave address: 4
  • Data Exchange Configuration:
    • 64 bytes Input / 64 bytes Output on both sides
    • PLC expects inputs starting at address 6000.0

  Behavior so far:

  • If I disconnect the Profibus cable, both the PLC and robot immediately detect the disconnection (PLC shows "Profibus DP not found" and robot shows "slave disconnected"), which suggests that hardware, cabling, and basic network setup are correct.
  • However, despite the network being recognized, I can't seem to get real cyclic data exchange.
  • I’m not sure if the robot's digital outputs (DOs) are correctly mapped to the Profibus I/O space, or if there’s a deeper address/mapping configuration issue.

  Could you please help me review this setup, or suggest where I should dig deeper?
  Even a quick review of the Fanuc I/O mapping for Rack 67 and Profibus configuration would help a lot.

  Thank you so much in advance for your support!

  Best regards,
  One robot developer in desperate need.

Hi everyone,

I’m running into a peculiar issue with our FANUC robot (R-30iB controller). We recently had a persistent “Fence Open” alarm. Based on advice found in several threads and from some colleagues, we jumped the fence cables to bypass the fence safety circuit—this successfully got rid of the Fence Open error.

However, now we’re facing a new problem: our robot program keeps aborting mid-cycle, and it doesn’t throw any error messages at all. The Teach Pendant just shows that the program is no longer running, but no alarm codes are displayed. It’s as if someone just hit the “Abort” button, but nobody did.

Here’s what we’ve checked so far:

1. Connections: We confirmed our jumpers and all relevant safety connections are secured. Everything appears correct and stable.
2. System Variables: We looked at some of the system variables to ensure nothing was inadvertently changed that could cause an automatic abort (like motion group configurations or skip signals). No red flags.
3. IO Signals: We verified if any I/O signals might inadvertently be sending an abort request (e.g., external E-stop, user alarms, or safety signals). Nothing stands out.
4. Program Logic: We stepped through the program logic, but didn’t see any instructions that might cause an unprompted abort.

At this point, we’re somewhat stuck. Has anyone seen a FANUC program abort without logging an error? Are there any hidden logs or diagnostic menus we should investigate further? Could bypassing the fence circuit in this manner be triggering some safety logic we’re overlooking?

Any insight, suggestions, or experiences with a similar situation would be much appreciated. Thanks in advance!

Robot/Controller Info

• Robot Model: FANUC SR-6iA
• Controller: R-30iB

Symptoms

• Program aborts suddenly without any error displayed
• Fence Open issue was resolved by jumping cables as recommended

Troubleshooting Steps Taken

• Checked safety circuits and jumpers
• Verified system variables
• Inspected I/O assignments
• Reviewed program logic for hidden abort commands

Looking forward to any advice or solutions you may have. Thank you!

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