Like you said,Safety Plug could be the issue
Posts by bsrr
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In Playback when Motors ON is pressed ,using Fixed Input Monitor check whether CONFIRM MAGNET is on and for Fixed Output whether MOTORS is ON & MAGNET SW is ON
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Motors need to be ON before START of program.
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Could be Tool Setting issue or Interference issue.Check concerned axis movement in Teach if it is OK.
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User task can be used to read the PLC Input Output for vision offset value , which can be converted real variables for robot shift .
Example for this is given in user task manual -
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Can you attach the pose files
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Recently DELCAM and MASTERCAM also Support Nachi Robot
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In Case of Mini I/O Relay Output with Built in Solenoid Valve
1) A12,A11,A9(Loop)Mini I/O Relay
2)A10,B12(Loop)Mini I/O Relay <----->A11 (Bulit in Solenoid valve common)
3)A1(O 97)<-------> A12(Built in Solenoid -SOL 1A)
4)A5 (0 98)<------->A13(Built in Solenoid-SOL 1B) -
Common for Outputs is Pin A9
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Contact local service support
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It could be System CF Card issue
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Socket Function has to be created in Robot Language and then complied eg To create a socket SOCKCREATE 1,0 etc
Socket function eg FN570 cannot be used directly from Teach Pendant -
I am not sure of Fanuc,but in Nachi "Pose Variable"hold robot poses
eg P1=(1800,0,2000,0,-90,-180) in X,Y,Z,roll,pitch,yaw -
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You need to carry out Encoder Correction to fix this problem
Procedure for Encoder Reset and Encoder Correction
1. At first Insert the Zeroing Pins for each axis and carryout encoder reset
2.Power off and then On
3.Constant-Machine Constant -Encoder Correction-Record pos--Enter Key and then Complete Key -
check attached
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Backup signals ie Export Signal Assignment to USB using CONSTANT-->SIGNAL--->SIGNAL SETTING--->EXPORT and then IMPORT to new controller
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Maybe Floppy is Write Protected
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Programmed couple of Robots recently,Very Nice Robot for Handling applications with options such as Vision and force sensors available