Posts by flipflapflop

So, in the meantime I've found this thread: Program Start Method

This person also couldn't start his program with the UOP-signals. It was solved with a "Reburn":

I don't understand what a reburn is though.

Here is the list of all the software options that are installed:

1A05B-2600-H521 ! BASIC DICTIONARY (ENGLISH)
1A05B-2600-H930 ! DIGITAL SERVO FUNCTION
1A05B-2600-J508 ! CUSTOMER REGISTRATION
1A05B-2600-J556 ! DSC BASIC POSITIONCHECK
1A05B-2600-J871 ! vision UIF control
1A05B-2600-J901 ! iRVision 2D
1A05B-2600-R558 ! Internet Conn/Custo
1A05B-2600-R577 ! MENU UTILITY
1A05B-2600-R648 ! User Socket Msg
1A05B-2600-R651 ! FRL Params
1A05B-2600-R665 ! ALARM CAUSE/REMEDY
1A05B-2600-R765 ! IRDIAGNOSTICS
1A05B-2600-R834 ! PROFINET MOLEX DUAL CHANNEL
1A05B-2670-J766 ! MAINTENANCE REMINDER
1A05B-2680-H510#7DF1 ! BASIC SOFTWARE (SERIES 7DF1)
1A05B-2680-H551 ! LR HANDLINGTOOL
1A05B-2680-H746 ! ROBOT SOFTWARE SR-6IA
1A05B-2680-J765 ! COMPACT CONTROLLER SETTING
!Added option by SC on 04/05/2021
1A05B-2600-R697 ! iRVision GiGe Camera
1A05B-2600-R785 ! Ethernet/IP Scanner
!Option added by AW on 09/10/2024
1A05B-2600-S525 ! PLC Motion I/O Func 

If I understand correctly, there might be a packet in there that is conflicting with the UOP-signals

When I explained this problem to FANUC support, they told me to reset to factory settings without giving an explanation why. I kinda assumed they just didn't know how to help me and just wanted me to reset as a hail-Mary.
I might have time next week to try resetting to factory settings, I'll keep you updated when I do.

If somebody has any different theories, I'd gladly hear it

Quote from pdl

What happens if you abort your main program from the TP's FCTN menu, and then try to start it using UOP's?

It also doesn't work. Not with UI[6] or UI[18].

Quote from pdl

Can you post your main program?

Sure, it's a looping program that is waiting for the PLC to set a bit before calling a subroutine.

At this moment, I have no way of starting my MAIN-program automatically without AutoExec.

Once I have my program running I have tried using cycle_Stop 3 different ways:

• While the program is looping
• While the program is waiting for a digital input
• While the program is performing a movement

In none of these cases I'm able to stop or pause the program.

When I take away the "UI[2] Hold"-signal, it does stop the program.
Unfortunately I cannot continue or restart the program after this.

I don't think the 0.1s wait time is necessary, but I saw in another thread that it might help for looping programs.

Quote from Sergei Troizky

Post the screenshot of I/O>>UOP>>UI>>[F2]CONFIG.

Quote from Sergei Troizky

Try in the following order:
1. Ensure the Ignore Pause is OFF in the program Detail.
2. Enable UOP Auto Assignment in the system configuration.
"Full" is matching your assignment anyways.
3. Try removing the program from autoexec.
Set program selection method to "Other" and choose the program in Details. Since you want to start/pause/restart/abort by UI signals, autoexec makes no sense.

Ignore pause is off for the MAIN-function, I also checked all the subroutines that are called in MAIN.

In some of my previous attempts I had already tried setting "UOP Auto Assignment " to "Simple(JRM18)" because I was another thread recommending it.
I tried setting it to "Full" this time, but it doesn't seem to make a difference.

Is it necessary to clear all the I/O assignments? I'm assuming not since some of the UOP-signals do seem to be working correctly.

I was using the AutoExec because right now, I have no way of starting and testing my MAIN-program in AUTO-mode.

So, I tried removing it. Now, after I manually select my program in T1, and switching back to AUTO: my program is now pauzed and I cannot restart it.
Neither UI[6] or UI[18] can unpauze the program. (tried both, with positive and negative edge)

As I mentioned before, the PNS-methode also isn't working work for me.
I set the program select mode to PNS, I made a program names "PNS0001" which I use to call MAIN. I only set UI[9] of the binairy signals which should correspond with PNS0001.

I just don't see anything happening after I raise "STROBE".

So I took my UI-signals and I marked all the ones that work correctly right now green. The ones that don't seem to function right now are marked red:

I'm fairly certain that my UOP-signals are configured correctly, otherwise none of the signals should work.

Are there any other settings that may be stopping me from remotely starting or stopping my program?

Hello,

I am using a SR-6iA-robot with R-30iB Compact Plus controller to make a pick&place application.

We are using a S7-1500 PLC to control the robot with UOP-signals (through profinet I/O).

I have made a looping robotprogram (MAIN) with some IF-statements with digital inputs as conditions. From the PLC I am able to call different subroutines based on which boolean I set in the PLC.

I have set my Main program as the cold Start AutoExec program. Now when I power cycle, the looping program is called successfully everytime. After I reset the error, I can start calling my subroutines from the PLC.

So this program I made is working pretty well right now. The problem I have is that I cannot seem to start or stop my running program with the UOP-signals.

At this moment, I am just trying to pause my program with UI[4] (Cycle_Stop) and continue with UI[6] (Start/Restart). (“PNS”- methode or “Prod Start” is also not working for me right now but I’m assuming that Cycle_Stop is not working for the same reason.)

So this is what I see after I power cycle and reset the fault with UI[5]:

As you see, the program is running, and I am receiving statuses which I can read from the PLC:

Now, when I set UI[4], I would expect that the program would be stopped. Unfortunately, nothing happens (not on the positive or negative flank)

I think I have the UOP-communication running correctly. Otherwise, I shouldn’t get the correct statuses and my reset-signal wouldn’t work.

I have set the following settings (I marked the one I think are important):

I feel like “Cycle Stop” should be working for me right now.

Did I miss some setting or am I just completely miss-understanding how Cycle stop is supposed to work?

Thank you in advance.

Sorry for the late response, but thank you for your reactions.
It's nice to see multiple opinions.

Quote from Nation

Your mastering may be off for J3 if it doesn't align with the DCS model.

I think you're right, that makes a lot of sense.

Mastering J1 and 2 is easy, I just need to align the visible lines on the robot. There are no such lines on J3 that I can see. Do I just need to fully extend or retract it before mastering?
I tried googling this but I genuinely can't find anything.

Quote from Nation

Did you create a tool model? It doesn't look like you did.

...

With that said, you can use tool switching (DCS Manual, section 7.9.1) to change the currently active tool model, but you need to do it with a safe level input to maintain rating.

Thank you, I didn't know this was a possibility, I'll give it a shot.

Quote from hermann

Protecting equipment by DCS is kind of personal preferences. In my opinion it is overkill.

The robot will be picking products from a conveyer. Our client can produce thousands of different products. Eventually our client will be responsible for teaching the products to the vision-system and setting which tool needs to be used in order to pick up the product.
I'd sleep a lot better if i could guarantee the robot can never crash into the conveyor, even if the operator makes a mistake.

Hello,

I'm currently learning how to work with FANUC robots and I've come across problems while trying set the DCS-zones for the SR-6ia robot I'm testing with.

My main goal is is to prevent the robot from drilling into it's work surface (so i want to "Restrict" the Z-axis in my world-frame or Joint 3 in the joint-frame). I have tried 2 different methods to achieve this (Joint position check & Carthesian position check).

The main problem I have is I am using a special tool that can switch between a suction cup and a clamp with a valve. The suction cup is like 2 cm longer than the clamp.

When I use the suction cup to set the minimal value of axis 3, this coördinate will be incorrect when I switch to the clamp-tool.
How are situations like this normally handled?

Then I tried using the cartesian position check. Here I tried setting the working zone using diagonal points.
Here I noticed that the model in the 2D-view doesn't match reality. Here is a picture of my robot and the 2D-view:

It it impossible to set any meaningful limit in the Z-axis because apparently, I cannot move the flange lower than the base of the robot (according to the 3d-model). I was using user frame 0 to test this.

(I don't think using cartesian position check is going to fix the problem of the variable tool-length, I just wanted to mention it because it makes no sense to me and I'm hoping someone can explain)