Posts by droth

This is a picture of J3 of an M-16i robot. Can anyone verify which of these (if any) is the drain port for J3?

J2 replacement was a success. Unfortunately, J3 sounds as bad, if not worse, than J2 did! So now I am trying to verify a part number for the J3 reducer (and any other essential components) on my old M-16i robot. I was told the correct number is A97L-0218-0230, but that seems incomplete to me. Should there be a #xxx at the end of that?

I emailed Fanuc with the same question. I was a bit dumbfounded when I got a reply today...

"Can you please provide images of where this is located?"

If I wasn't in a hurry I would send her some lovely photos of Kewanna, IN or the work cell this robot sits in. Seriously? Fanuc support does not know where the J3 axis on an M-16 is?

I appreciate the help, guys, as always...

Thank you very much Skooter and svr. These are exactly what I was looking for.

Not sure how to mark a post as "resolved," but this one is...

I started with zero experience in robotics when I took the basic HandlingTool course online several years ago. It was more than enough to get me comfortable with the TP and do some basic programming. The course I took does not touch on electrical troubleshooting or maintenance, but they have courses for that stuff too.

There were a few concepts I did not really understand at first until I was able to put them into practice. As with anything, coursework will only get you so far. If your employer will foot the bill to send you in person, I imagine you would probably get more out of it, but if not, I think the online course should get the ball rolling for you.

And I did not realize they had instructor-led online courses until asdf posted. Mine was the slide show variety, learn on your own and at your own pace kind of course...

Greetings,

I am getting ready to replace the J2 reducer on an older M-16i. Does anyone have a document for this procedure? Or something very similar? This will be the first time I've peeled one of these guys apart and I'd rather not run into any major surprises. Thanks in advance.

They are short-arm, 10S's. My payload is minimal. Collision sensor and a small gripper. I'll have to check that variable when I go back there Monday. Thanks.

I have a pair of M-10iA robots in the work cell we are building. One of them has an R-30iA and the other has an R-30iB. They are wall-mounted opposite of each other and doing identical tasks. All is well except for linear motion on the R-30iA. All of the linear moves are painstakingly slow with this robot, regardless of programmed speed or override. It almost appears to me as if the acceleration and deceleration rates are set extremely low for linear moves, also, if that is even possible. You can plainly see the robot ramping up to speed and then sort of coasting to a stop when making linear moves. It does this in AUTO as well as when I step through the program in T2.

I'm not doing anything fancy with acceleration or any other motion modifiers. All 4 of the linear moves in my programs are set to 2400mm/sec with FINE termination. I attempted to adjust the override speed to 100% just before my linear moves and then back down to 50% for the joint moves but this has very little effect. The linear moves are still WAY slower than they should be and much slower than the robot on the other side of the cell.

These robots were bought refurbished from a trusted vendor. These controllers would have been wiped clean when we bought them. There are no background tasks running or anything like that. Is anyone aware of a variable or configuration item that might cause this? I'm stumped.

Seems to me that the whole issue is due to the EOAT/hardware being used.

Unless I misunderstand, it sounds like you have 2 boxes gripped and you want to drop box 1 but you cannot do so without also dropping box 2; in other words, G2 only works if G1 is ON or gripping. Is that accurate? If not different hardware, it seems like there should be an electrical or plumbing solution to your problem.

If my understanding is correct, I do not see how software/programming can possibly resolve things, but I was wrong once before, so I'm going to keep an eye on this thread. Maybe I'll learn something new!

Greetings fellow robotters. I am getting ready to start a project that includes a pair of M-10iA/10S arms that are to be wall mounted (perpendicular to the floor). This will be a first for me personally, so I am wondering if there are any initial setup or configuration items that I need to pay particular attention to. Any other pro tips and/or advice is most welcome and much appreciated...

Have not used one of these in a long time, but this ought to be what you are looking for...

Sounds to me like the mastering is not quite right. Try re-mastering.

Hey Hawk, I have a short-arm M-10 and R-30iA here and I am trying out Circular motion for the first time. I do not have the Circular Arc motion type available to me. Basically, I am trying to teach this thing to play cornhole for my company's big anniversary party this summer.

I am happy with the path I've taught, but the arm moves through the C points SOOOOO slowly. I have several speed modifiers available to me, including mm/sec, MAX_SPEED, etc.

Oddly, I have found that entering an extremely small MSEC value gives me much faster circular motion than MAX_SPEED does, however it is still not nearly as quick as I want it to be and nowhere NEAR the speed of every other move in my program.

Is there something I'm missing here? Would posture and/or orientation be limiting my speed (and if so, how?)? Do you have any tips for achieving super fast circular motion or am I better off teaching a bunch of short linear segments with CNT100 termination?

*IMSTP, *HOLD, and *SFSPD are all normally OFF signals that must be held ON. Your PLC needs to hold these 3 UOP input signals ON to run in AUTO.

See User Operator Panel (UOP) I/O Setup in HandlingTool manual for more details.

Yeah, just add a line to your program that increments a data register after every time you fire that output. It doesn't even have to run in the background, necessarily, unless you prefer it to.

DO[X] = ON

R[x] = R[x] + 1

You can zero it out at the end of the program or do so manually whenever...

Not sure why you got the snarky replies. This is not new technology that is only available on certain models. Can do this with pretty much any Fanuc robot from R-J2 on...

I may have an old manual here somewhere, but it is a hard copy. We had/have a couple of GMF S-10s, and believe it or not, one of them is still alive and kicking and is critical to one of our most productive work cells.

Let me do some digging to see if I can find it...

Oooh, yeah, sorry, I can't help you there. Not familiar with those.

What do you mean by "schedules?" Kind of sounds like a programming thing more than a system variable. In that case, code would be helpful...

We used to have an old R-J and an old RH here. Seems like I had to hold the USER1 and USER2 buttons on the controller while it boots to get a controlled start on one of them. Cannot remember which...

Looks like you have dead batteries. Replace the 4 batteries in the robot base, under power, reset pulse coder alarms, and remaster. You can search the forum for more detailed instructions if you need them.

Check out User I/O or UOP in the HandlingTool manual. Or search this forum. I am sure there is an existing thread that can give you a pretty thorough explanation.