My RJ-2 robots run on a Motorola MC68020 processor helped by a MC68881 FPU from the early eighties.
With the rate of innovation Fanuc is showing, I am pretty sure it is the same processor they are using today, or else (I hope) a successor.
I am not aware of a windows version running on this processor, most of the time it is based on Unix.
First configure the user in- and outputs.
I strongly suggest that you follow a course in Fanuc robotics.
I did not do it, so I can tell you, with first hand experience, that it is not smart !
That is right, every safetything that is done can be undone.
The trick is to make it as hard as possible to do that and I think that a password in combination with disabled usbports makes it hard for most people.
Most of the time it is not nessesary, a lot of people use there brains.
But stupid people must be protected from themselves, I don’t know why, it is certainly not an endangered spiecies…
But if you have the ultimate solution, I would really want you to share it.
Look at the offset register, is it still the same as it used to be ?
When there is no offset applied, this is almost always a hardware problem and you should not try to fix this in software.
Analyse the offset, when it grows with distance it is rotated, look at the bolts at the base of the robot.
When the robot comes to a sudden stop there is a lot of force.
When the offset rotates with the tooling, the problem is there. Maybe a colission ?
When colission is not preventable, there is an option that can check and adjust your toolframe.
When the offset is the same everywhere, the workpiece is shifted.
You will have to make the fixture more sturdy and tell your collegues to be more carefull.
I totaly agree with Kwakisaki.
Give Your employer the choice between installing a password or the fact that illegal access is no longer prevented.
Do whatever they want and if you don’t like the answer, start looking for a better employer
They hired you to do a job and you have to have the authority to make such changes.
If you don’t have the authority, you cannot do your job and you are not responsible for what goes wrong.
The one that dicides has the responsebility.
Is there a wire connected to the input ?
You can rotate the worldframe.
Just rotate the base of the robot, the worldframe will rotate with it.
You are missing a part.
IF PR[5,1]>155 AND PR[5,1]<175 , JMP LBL(22)
This wont work with RJ and earlier.
(the mixed logic solution of Hermann will work fine too.)
You have the robot in joint mode ?
Linear modes are not possible when the robot is not mastered.
You will get this alarm when you try to start when there is a fault.
Check your alarmhistory, there is an alarm before this and you will have to solve that before you can start.
Also, when the encoders were without batteries, you will have to move each axis about 30 degrees to let the encoders know where the zero is.
In my experience it can be any brand, as long as you format it in the robot.
What is the controllertype you are using ?
Did you ever make a backup of the controller ?
Maybe just buy a new battery box.
I agree, that is the best, and may be the only solution.
Do you mean the four big batteries in the base of the robot ?
If so, look for corrosion of the batterybox and take it out and look at the outside as well. (The part that is normaly inside the robot.
It has to be really clean.
If the robot is still mastered, first write down the encodervalues because it is easier to work on this while the robot is powered down.
The message sais : TP disabled in T1/T2 mode.
And that is what is the matter.
So, turn off T1/T2, or turn on the TP. (and press reset)
If that don't work, you have the wrong pendant for the robot.
For the digital IO I would recomend the model A modules.
That is a backplate A03B-0807-C002 (5 slot) or A03B-0807-C001 (10 slot).
An interface module A03B-0807-C011.
And the IO modules A03B-0807-C154 (16 output), A03B-0807-C104 (16 input), A03B-0807-C101 (32 input) and A03B-0807-C156 (32 output)
There are other modules as well as analog IO.
For the other things, I have no information for these.
You can try IRSA, they helped me several times with this sort of things.
It is an axis 4 and 6 aligment, and it happens when axis 5 is near zero.
I think The axis are binary numbered in the errormessage, so the numbering is 1 2 4 8 enz.
So that would be axis 4.
That is so you can tell a problem between axis 2 and 3, it will give the number 6.
You will get a limit error when the next position is not reachable, when it is a linear move, all of the intermediate positions must be reachable too.
I can confirm there are RJ3-ib robots with a single channel e-stop.
But anyway, when you have a robot with dual channel, you will have to use a dual channel pendant. ( and the right cable )
The single channel pendants will not work.
If the problem persists, mount your end of armtool at an angle, so that axix 5 is between 30 and 45 degrees.
