I guess it's going to be a call to Fanuc. This is what I have:
I guess it's going to be a call to Fanuc. This is what I have:
It's version V9.30P/25. Not the absolute newest - it's been sitting in our shop for several months - but never commissioned.
Would it be in a different place than SETUP > PROG SLECT? I can't find it.
I have 2 brand new robots with PalletTool installed but decided to not use the built-in functionality. Probably because of the PalletTool option, there are some things missing from the menus. Most obvious are the Program Select setup and Cell Interface menu.
Does anyone know how to get these back?
You are correct. That is the thing. Thank you very much
Finishing Cell #8 of 8 identical cells. I have been recording UFRAME[2] into a Position Register on the other 7 cells. For some reason, on this robot the PR[135]=UFRAME[2] records 12 values - the first page of Position is "NX" through "oz" and the second page is "AX" through "Lz". There is more information in the user frame than I expect. Is there a setting I have missed?
Thanks for the replies.
Just to test it (because, hey, what could possibly go wrong?) I imaged and backed up a robot, then loaded sysvar.sv from the one that is being developed. Figured I could always go back with an image.
The robot seems fine. Mastering, as Neighbour1 said, is fine. Seems like none of the other settings were corrupted. Only caveat is that I don't have this robot in a condition that I can run it and make sure things like servo settings aren't screwed.
So I wouldn't say that I've totally tested and confirmed it as being ok. I think for the minimal effort that it takes to edit the config menu, I'll manually enter it - just in case.
Maybe sysvar.sv? I believe all the settings in the config menu are actually setting system variables. I'm just worried that if I load sysvars it will set things I don't want - like mastering data for instance...
Setting up 8 identical cells and want to transfer files from the first cell once it's all set up. I would prefer to be "surgical" in my approach rather than doing an image backup and restoring to each robot.
I have the files for cell and Profinet I/O, frames and DCS settings. I think the only thing I am missing is the file that contains the System>Config settings... if it's actually in one file.
Anyone know what it might be called?
Thanks in advance.
I know this is an old post, but I just realized I didn't follow up.
The cable inside the arm was bad. Finally convinced Fanuc, they replaced it (warranty) and everything is good.
Interesting note: the cable is 4-pair but they only terminate 4 conductors and chop off the remaining. And they don't use matched pairs - (2) of the wires are the white pair, but the others are (1) orange and (1) green. Weird. Of course this means that unfortunately PoE isn't an option so power to the camera needs to be cobbled together. They provided a wall wart to power the *robot-mounted* camera... not sure what the thinking was there. But it works now.
R30iB Plus, Basler acA1300-GM30, iRvision installed on robot. Currently using the power supply provided by Basler to test. Ethernet cables (from Fanuc) connected from camera, to arm, through to base. to controller's 3rd RJ45 port.
I can't get the camera to show up in Vision Devices. Maybe plugged into the wrong port. Asked Fanuc tech support for a diagram - they couldn't find one... Probably the first step it so somehow find out where to plug the thing in for sure.
Does anyone have a diagram or know how it gets wired?
Does anyone know how far Fanuc's program pointer reads ahead of motion? I know that Kuka has a setting of 1-5 lines of code, and that Staubli cranks as far out as you let it. I'm wondering if Fanuc has a fixed number of lines of look-ahead or if it depends on something else?
You can plug a monitor and mouse directly into the usb ports. That will prove pendant or not.
Thank you , Mister Mode. If I might just check my understanding...
Interrupts are by default enabled when activated. To defer an interrupt Program while still trapping the declared Condition, I would first activate with ON, then Disable prior to the interrupt Condition, and then use Enable at the time that I want to potentially execute the interrupt Program.
My head hurts. How'd I do?
Yeah, I read that. To ask my question a little differently:
What is the difference between Enabling an Interrupt and Activating an Interrupt.
I have what is hopefully a simple question:
KRC4, 8.3
What is the difference between INTERRUPT OFF and INTERRUPT DISABLE?
Ditto INTERRUPT ON and INTERRUPT ENABLE?
I've already searched through MANY Kuka manuals and looked on the interwebs but found no answer.
Thanks in advance.
Actually, I taught my PR's relative to UF:9 because the robot is at an angle to the system. UF:9 is 0,0,0,0,0,-60
A sample of my code:
Place the boxes...
1: UFRAME_NUM=4 ;
2: UFRAME_NUM=9 ;
3: ;
4: R[2:TOTE NMBR]=GI[2:TOTE NUMBER] ;
5: SELECT R[2:TOTE NMBR]=1,JMP LBL[10] ;
6: =2,JMP LBL[20] ;
7: =3,JMP LBL[30] ;
8: =4,JMP LBL[40] ;
9: ;
10: LBL[10] ;
11:J PR[9:PLC CONV1] 100% FINE Offset,PR[65:TOTE OFST] ;
12:L PR[9:PLC CONV1] 500mm/sec FINE ;
13: DO[11:TURN ON VAC]=OFF ;
14:L PR[9:PLC CONV1] 1000mm/sec FINE Offset,PR[65:TOTE OFST] ;
15:J P[1] 100% CNT100 ;
LBL[20] places at PR[10:PLC CONV2]
LBL[30] places at PR[11:PLC CONV3]
LBL[40] places at PR[12:PLC CONV4]
First place position in box 1...
18: UFRAME[2]=PR[9:PLC CONV1] ;
19: UFRAME_NUM=2 ;
20:L PR[70:REEL PLC1] 4000mm/sec FINE Offset,PR[66:PLACE OFST] ;
21:L PR[70:REEL PLC1] 500mm/sec FINE ;
22: CALL _GPR3_RLS ;
23:L PR[70:REEL PLC1] 2000mm/sec FINE Offset,PR[66:PLACE OFST] ;
First place position in box 2...
29: UFRAME[3]=PR[10:PLC CONV2] ;
30: UFRAME_NUM=3 ;
31:L PR[70:REEL PLC1] 4000mm/sec FINE Offset,PR[66:PLACE OFST] ;
32:L PR[70:REEL PLC1] 500mm/sec FINE ;
33: CALL _GPR3_RLS ;
34:L PR[70:REEL PLC1] 2000mm/sec FINE Offset,PR[66:PLACE OFST] ;
I am placing 4 boxes with a robot using 4 PR's. I want to make a user frame for each box so that the program to pack the first box will work in the other boxes. I would like to reference the Position Register for the UFRAME so that if I touchup the PR's, the UF's follow.
I tried UFRAME[i]=PR[x], but the results are not what I expect. The error is "Position not reachable" when I change to the next UF. Apparently I don't understand how to use this command.
I can't be the first person to do this. Has anyone else done it that can point me in the right direction?
Solution: it turns out that this particular SI module (EX260) requires that the Target To Originator Transport Type be MULTICAST. When you change this value it (apparently) doesn't take effect until the controller is restarted. All other data remains as published.
I love "standards"...
SMC documentation says to use 8-bit byte. I have changed to 16 bit word (and divided input/output sizes by 2), but no success.
I reversed the assembly instances (input/output) and now I don't get any errors, but the device is still offline. Not sure if that's progress...