Posts by andreic

I recommend Weintek cMT3161X 15 inch HMI using SNPX on robot side.

If you are not using PNS, another option would be to make a KAREL program that runs in a loop, configure sys vars to auto-start it at boot time.
Check this thread: Run KAREL program at startup

Also maybe add a "hidden" directive.

$PRO_CFG.$INS_PWR is the value in kwh.

Rack 48 is CRMA-Honda connector for DI/DO found on Mate controllers.

Weintek for cheap and realiable HMI's with SNPX protocol. Their software called EasyBuilder is free.

Hello,
Yes you need to modify the UFRAME.

Hello,
Check your Application Frame and(or) Grid frame.

A google search returns: https://pdfslide.net/documents…-to-fanuc-industrial.html

Instead Kepware you just use your HMI.

What HMI model you have? If it's possible why not read the data directly into the HMI, without sending it to the PLC and then to the HMI?

Hi,

I would try to replace the servo amplifier...

Is this on real robot or Roboguide?
In both cases you need the option User Socket Msg (R648).

Another option is to do a restore backup from Controlled Start.

Check your CPU usage...

Can you post a picture with camera setup please?

It's a fixed camera.

What about booting in controlled start?

After replacing SRAM/FROM module did you restore the IMG backup?

Thank you all for your response, but after reading my post again and looking at the pictures I think my answer would be the same as yours: overexposure problems.
So let me add some more info:

- we are using infrared lighting, but the the problem appears even if the ringlight is turned off.
- in the "nok2_pic" image there is a "crop" (missing pixels) at the middle of the image. This black line can appear in other places of the image also (can be bigger or smaller), but it's always on horizontal direction.
- all the programs are aborted, the exposure time is Fixed in the vision process. Even if it's an Override instruction somewhere in the program, it cannot be executed because no program is running.
- the system works ok for days, then it starts to do this kind of problems, then it works ok again.
- the picture are taken from SNAP&FIND from IE, but it's the same with black lines in iRVision Runtime page.

I'm starting to think that there is something wrong with main board...

Hello,

Unfortunately we are having some problems with the iRVision system. We are having an R30iB Mate controller with a Sony XC56 camera. It seems the connection breaks between the controller and the camera. See the attached pictures. The system was running fine for around 1 year or so.
We have replaced the camera and the cable with no result. Sometimes it works normally, sometimes it works like in the attached pictures. All the adjustable dipswitches are set like is described in the manual. We have another 20 robots, same application, same version of software/hardware etc. working ok.
What we've done until now:

- replace camera.

- replace cable.

- measure camera temperature - 30 degrees C.

- idle_cpu is around 80.

- camera cable is shieldied in the controller.
- camera cable is no near frequency inverters, motors, industrial equipment with magnetic field.

Hello Axillus and welcome to the forum,

There are some things to consider:

1. I would replace WAIT FOR statement with a DELAY statement.
2. If you want to run in parallel with other programs, as dha stated, you would start it with RUN.
3. If you start it with RUN and you want to run it continously you will need another WHILE or REPEAT loop above WHILE (duration > clock_var) DO

This loop will provide means on controlling the running/abort status of the program. Just use some virtual outputs (DO's mapped to rack 0, slot 0).
If you want the program just to finish after logging the data at 20 sec interval you don't need this extra loop.
In other case, run the program non-stop the program would look like :

  REPEAT 
  - start recording
    WHILE  (duration > clock_var) DO
    ......
    ENDWHILE
    clock_var=0
    DELAY(50)
  UNTIL DOUT[..]=OFF 

And you make DOUT[...]=ON in the beginning of the program. If you want to cancel the program you just make DOUT[..]=OFF.

And also take out SET_PERIOD routine.

I've made some modifications to your code:

PROGRAM datarecorder
%COMMENT = 'LOG DATA RECORD'
%SYSTEM
%NOLOCKGROUP
%NOABORT=ERROR+COMMAND+TPENABLE
%NOPAUSE=ERROR+COMMAND+TPENABLE
%NOPAUSESHFT

VAR
    logFile    : FILE
    filename   : STRING[16]
    
    duration   : INTEGER -- recording duration in milliseconds
    clock_var  : INTEGER -- clock count in milliseconds
    period     : INTEGER -- recording period in milliseconds (8 ms to 127 ms)
    timeInt    : INTEGER -- actual time
    timeStr    : STRING[18] -- formated
    
    IntTQa1    : REAL -- internal joint torque on axis 1
    IntTQa1Str : STRING[4] -- formated
 
    entry      : INTEGER
    status     : INTEGER
    -- tests
    test       : INTEGER
    clocky     : INTEGER
-----------------------------------------------------------------------------------
-- routine to get internal torque measured on axis 1
ROUTINE GET_INT_TQ(active : BOOLEAN)
BEGIN
    IF active=TRUE THEN
        GET_VAR(entry, '*SYSTEM*', '$MOR_GRP[1].$CUR_TORQUE[1]', IntTQa1, status)
    ENDIF
END GET_INT_TQ
-----------------------------------------------------------------------------------
-----------------------------------------------------------------------------------
-- main routine
BEGIN -- execute the program
    clock_var = 0
    -- begin the clock time count
    CONNECT TIMER TO clock_var
    
    period = 150 -- ms

    duration = 10000 -- ms
    
    filename = 'UT1:'+'TEST'+'.dt'
    
    entry = 0
    status = 0
    
    -- tests
    test = 0
    clocky = 0
    
    -- get actual time and convert it into string
    GET_TIME(timeInt)
    CNV_TIME_STR(timeInt, timeStr)
    
    -- open the log file
    OPEN FILE logFile ('AP', filename)
    -- write actual time and make a carriage return
    WRITE logFile (timeStr, CR)
     -- start recording
    WHILE  (duration > clock_var) DO
        clocky = clock_var
        test = clocky+period
        GET_INT_TQ(TRUE) -- call internal torque routine
        CNV_REAL_STR(IntTQa1, 2, 2, IntTQa1Str)
        WRITE logFile(clock_var)
        --WRITE logFile(';')
        --WRITE logFile(IntTQa1Str, CR)
          DELAY(period)
    ENDWHILE
    -- stop recording, close log file
    CLOSE FILE logFile
-- end of program
END datarecorder

The first thing when you record images on a flash drive in a FANUC robot, please test the usb manually by doing an AoA on it, copy files manually etc.
After that if it's not working, then try to format it in your PC and again in the robot, then try it again. In my 8 years experience working with FANUC robots, I found that kingston dtse9 8 or 16 gb works the best with all the controllers that have usb port.

I have stocked around 50 kingston usb drives just for using with FANUC robots