https://www.ebay.com/itm/FANUC-RJ3-…DIAAOSwpAhdC-qt
For software I could not find a RJ3, but if you can buy a handlingtool manual for RJ2 or RJ3iB it will help you on your way a lot.
https://www.ebay.com/itm/FANUC-RJ3-…DIAAOSwpAhdC-qt
For software I could not find a RJ3, but if you can buy a handlingtool manual for RJ2 or RJ3iB it will help you on your way a lot.
For RJ-3, bg-logic is an option.
Maybe your boss is willing to buy it...
Otherwise you can look into condition monitor.
I have never used it, so I don't know if it's usefull for your purpose.
It is a system error, your core-software was probably corrupted.
It can be a memory issue, or it can be a spike in the electricity.
Is the TC-online functioning after the reload ?
The variable is just a statusindicator just as the led on the teachpendant, and just as disabeling the led, changing the variable don't change the step-mode itself.
I use it in my start-program.
I look at the variable and when it is in step-mode, I abort the program, prompting the operator to disable the step-mode and start again.
Maybe it is the speed of the movement, 2500mm/sec is very fast.
Move fast to a position close to the desired position, and then move slowely to the position.
That should be possible.
I swapped a lot of robots, but always older models.
To be sure, compare the numbers of the motors and encoders, if they match I won't expect any problems.
Remastering is not nessesary, you will however have to update the contoller with the masterdata of the new robot.
When you avoid singularities, cycle times will be better too.
Auto singularity avoidance is an option you will have to buy.
But first, look if you can change the problematic linear moves into joint moves.
If that is not possible, change the orientation of the arm so that axis 4 is not in line with axis 6. (most of the time that's the problem.)
Or change the angle of the tool and the axis-6 flange.
If that don't help, look at the variable :
$PARAM_GROUP[1].$snglrty_stp make it FALSE and do a cold start
WARNING !! This way the robot will not stop at a singularity witch can lead to very unpredictable movements !!
When this all don't help, you will have to buy the option...
All I know that it is not supposed to work when it is jumpered.
It is a safety measure for detecting faults in your fence circuit, and so not wise to disable that.
I think that even if you restore the wiring to the other contacts, it is still not working as it is supposed to, considdering that jumpering works.
But remember, robots can kill you, and just like Arnie in Terminator, they seem to have little remorse in doing so.
Some robots need the very special reset methode :
1. Press E–stop button for correct emergency stop condition.
2. Press “MENU” on the teach pendant.
3. Press “0” on the teach pendant, [0 –– NEXT ––].
4. Press “6” on the teach pendant, [6 SYSTEM].
5. Press F1, [TYPE].
6. Select Config.
7. Search item 28.
8. Press F4, [TRUE].
The display of “28 Reset CHAIN FAILURE detection : ”
changes “TRUE” from “FALSE”.
And few seconds later the display changes “FALSE” from
“TRUE” again.
Then :
1. Press “MENU” on the teach pendant.
2. Press “4” on the teach pendant, [4 –– ALARM ––].
3. Press “F4” on the teach pendant, [F4 –– RES_1CH ––].
O dear.... I 'll try again..
(100) SRVO–266 FENCE1 status abnormal
SRVO–267 FENCE2 status abnormal
(Explanation) The fence circuit is abnormal.
(Action 1) Check the +24 V connection (between EAS11 and
EAS1) and 0 V connection (between EAS21 and
EAS2) for the fence.
(Action 2) Check the fence switch.
(Action 3) Replace the panel board.
NOTE
Eliminate the cause of the abnormal chain, then execute
“special reset operation” to release the alarm.
That should be better.
The advice stays the same, check wiring and switches.
Repair what is nessesary and do the special reset.
1. Press “MENU” on the teach pendant.
2. Press “4” on the teach pendant, [4 –– ALARM ––].
3. Press “F4” on the teach pendant, [F4 –– RES_1CH ––].
This sais the manual :
SRVO-276 SERVO Disable on T2 mode
Cause: The operator panel emergency stop push button is pressed and miswiring on SVEMG is
detected.
Remedy: Check the wiring of SVEMG. If the wiring of SVEMG is not connected, correct the
wiring of SVEMG. If the wiring has no problem, twist the operator panel emergency stop push
button clockwise to release. Press RESET. Refer to the maintenance manual for details.
It means that one of the fence circuits is wrong. (there are two)
So, check wiring and switches.
I am afraid that won't work.
The 120ib is a heavier robot and needs a bigger servodrive.
Also the variables will not match the other robot.
Better is to look if you can hook the external positioners on the controller of the 120ib.
We turned the whole frame with the rail upside down and mounted the robot while it was in the normal position, then we flipped the whole contraption with robot and all back.
Worked like a charm .
But, as Rumblefish said, don't forget the brown pants...
You can back-up all your TP programs with KFLOPPY and reload them in your new controller without issues.
As long the targetcontroller is newer than the scource, I had never any problems.
There is an exception for reading and writing variables, some of them have different names in different contollers or simply don't excist any more.
But that is a problem with ASCI as well...
Oh, that is too old... My oldest software is RJ
Has the robot the same F-number as the controller ?
All those different robotnumbers seems like a mess to me.
Did you, before you changed the software, made a back-up of the variables ? (If that is possible with that contoller)
If you have, you can try to put the variables back, because that is probably where the difference is located.