Print/save the program as a .ls, change the header so BUSY_LAMP_OFF = 1, reupload to the controller if you have ascii upload, or compile it in RoboGuide if you do not.
Posts by Nation
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First, rename the .txt files to .ls files. The robot won't accept .txt.
Second, make sure your robot has the ASCII program loader (or upload, on older controllers) option. If it doesn't have that, you will have to compile the programs in roboguide.
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Hi Mr.Hawkme
2nd option will fit me perfectly. Hope you read above chats. I have only one master , that is cc-last link. I configured UOP as per the manuals.Y robot is not responding?? please take a look on my attachments.You still have two masters... The robot's PMC, and your PLC. They are currently fighting a write war, with the PMC writing the UOP to a low, while your PLC is trying to write it to a high. As HawkME said, you can't have two masters.
If you want the PMC to be the master, you will have to unassign the UOPs, and then control the UOPs from the PMC.
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The PMC doesn't control if the UI signals are enabled or not, it just happens to be writing to them, along with the CC-Link. Since the PMC is internal to the robot, it is winning the write war.
First you need to determine if you need the robot's internal PMC, as right now it is fighting your commands from your external PLC.
You could just stop the PMC for now by going to PMC in the IO, and then hitting F3 for FUNC, and the stop it there. That's a short term solution though, as it will start again after a reboot. To stop it permanently you would have to go into the parameters and set the 'Stop PMC at startup' flag.
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They looked configured correctly, going by the image you posted.
Does this robot have the PMC option? That option can directly drive the UOPs, and may be interfering with the CC-link signals. To find out if it does, there should be a PMC option under the TYPE menu in the IO area.
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When you generate your path from you features, under the 'Pos Defaults' tab, click on the magnifying glass on position config, about halfway down, Once that expands, make sure T3 is a zero. That will tell the path generator to keep J6 between -180, and +180.
If that doesn't help, your tool may be very close to either -180 or +180 on J6 when running, thus causing the final joint config to flip between 0 and -1/1. To fix that you would have to rotate your tool to stay away from those numbers.
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You have your scanner set to the same IP address as the robot. Either that has to change, or the robot's IP has to change.
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Is the robot properly bolted down? Had this happen to me on a couple of occasions.
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I made a video about the joint config string:
https://www.youtube.com/watch?v=QVRqgc2ak4k
Linear points do not honor the wrist turn numbers. They just take the shortest path.
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I just setup the tag to look at the robot's own ftp server.
Here are the details under Host Comm
CodeTag Protocol Remote State 1 C1: FTP 127.0.0.1 [DEFINED ] 2 C2: ******** **********[UNDEFINED] 3 C3: ******** **********[UNDEFINED] 4 C4: ******** **********[UNDEFINED] 5 C5: ******** **********[UNDEFINED] 6 C6: ******** **********[UNDEFINED] 7 C7: ******** **********[UNDEFINED] 8 C8: ******** **********[UNDEFINED]
And the tag itself
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http://www.linuxsand.info/fanuc/code/SRVO-232
Cause: The NTED (non-teacher enabling device) was detected.
Remedy:
1. Press the NTED (non-teacher enabling device), and then press RESET.
2. If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information.The NTED is just a deadman on a cable, usually used to allow a programmer and a non-programmer to work in the cell together safely. With a robot that old, I am not sure if it would be a single channel or double channel connection. You will have to find where it lands, and then jump the connection(s) together.
Hopefully some else here can help out on the connection.
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What I think is, can i do it with BGlogic???
can i link RI[3] with UI[8] CSTOP1 somehow???This is possible. In order to do it you would have to map a block of outputs to the internal memory port of the Fanuc (done by setting the rack to 0, the slot to 0, and the start point to a 1), and then interconnect RI[3] to that block, then assign UI[3] to the same internal memory port that RI[3] is interconnected to.
Note that this is an extremely convoluted way of doing it. Just wiring the input to the handbreak signal, or setting up a conditional would be a far better solution.
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Im sure someone much smarter will post, but cant you just Hand Broken signal. Ive never used it, but I think it pretty much does what you are asking.This will work. It is not used very much anymore, because not too many robots come equipped with a mechanical clutch on J6, but it could be used on other signals.
Other methods would be to map the RI[3] to a digital output, and then use the PLC to send a CSTOPI UOP, or to use a system conditional to abort the program if that signal comes on.
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To get it to work in BG logic, you have to tell the controller to run it as a BG program. When it is running it will run the program every 8ms. Make sure that the program does not have a motion group enabled.
BG logic runs regardless of mode.
To set it, go to the setup menu, select type, select BG Logic, hit choice, select the program you wrote, and then hit run. If your program is fine, it should then change to 'running'.
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Here is how I do it, using BG logic:
Code/PROG BACKGROUND Macro /ATTR /MN 1: !Get override from the PLC. ; 2: IF (UO[8:TP enabled]=OFF AND R[6:Override Command]>=1 AND R[6:Override Command]<=100),$MCR.$GENOVERRIDE=(R[6:Override Command]) ; /POS /END
I have the TP enabled logic in there so you are not fighting the PLC when in teach.
Note that this only allows you to go from 1% to 100%, if you want to stop the robot, you have to send a hold signal on the UOPs, or code something up using BG logic.
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Looking around in the manual, it looks like there is the system variable $SYS_TIME.$HOUR that stores the current hour, however, I cannot find this variable in the currently simulated V8.20 handling pro controller I have running.
I know it exists in the older V7.70 software, as I have used it before.
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Would F11 (fullscreen) and Ctrl+'+' (Zoom in) work?
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