Posts by ThePainter


    I'm quite new to ABB robots and having trouble to figure out where to connect the external estop. Feel kind of stupid at the moment but finding the circuit diagram of the Panelboard A21 a bit difficult to interpret. So far i have managed to figure out where to connect the "gate circuit" but there seems to be some options for an external estop.

    We will be running with a Safety PLC and safety relays. I need the terminals for connecting the external estop from the safety PLC and also the estop signals from the robot cabinet to the safety PLC.

    Some help would be appreciated! :merci:


    I am fairly new to Yaskawa robots and i am currently working on a robot cell with 4 Yaskawa robots. We are doing many hand shakes between the PLC and robot where i have to wait for a certain DI. This becomes a problem when i get a access request from the PLC for unlocking the doors for entrance. If i can use ladder logics like (Running=FALSE OR (Running=TRUE AND WAITING=TRUE)) could send "Access Granted" to the PLC.

    An output that says that the manipulator isn't moving could also work.

    Hope that i presented this problem clearly enough. Thanks in advance!


    Do someone know if it is possible to replace a faulty pulse coder on a motor or if you need to replace the entire motor? FANUC is telling me that the entire motor needs to be replaced, unfortunately i have trust issues with our local FANUC office. They have given me incorrect information too many times and it seem to be a bit odd that it is not possible to replace only the pulse coder.

    Axis 6 R2000iB, Motor part nr: A06B-0238-B605#S000

    Thanks in advance

    Im also interested in different options for TP cable reels. I found this after a quick google search.…for-Fanuc-Robotic-Systems .

    But i wonder what option i need to be able to connect it from outside of the controller cabinet. I have seen this grey connector before on paint robots. But quite recently i asked FANUC Sweden about this option and i was informed that they do not sell these type of connector.

    I believe that they do sell it, and that they just don't know anything about it yet. I have also seen pluggs that you could use to detach the pendant cable and keep the robot in operation without any pendant. Do someone have the partnumbers for all of this stuff?

    Have you tried to stop the PMC from the pendant? That should do the trick. I'll get back to you tomorrow if you need more specific instruktions. But i think it is under the io page "(F1)type --> PMC"

    I had the problem with the teach pendat locking up several times. This happened after inserting bad USB stick and trying to read it. But it has newer affected the robot operation, the robot keeps going. The only way to get the pendant working again was to power off the controller. Don't know if this information will help.

    Ok, thanks for your help.

    How did you know this part number, is there any catalog or manual where i could find stuff like this? When i asked our local FANUC office for the connectors they told me that they don't sell them and that they have no such part. I was told that i had to wait 8 weeks for a new cable to be manufactured in Japan for this robot. :mad:

    I even found them on ebay, delivery in 4 days!

    I have read/searched quite a bit here, but i will try a little bit more and see if it gets more clear with the mastering.

    Axis 5 and 6.

    The modell is a R2000-220U, made for upside down installation. FANUC told me that the encoder cable for this modell have an unique serial number, and they don't store it in Europe so we have to wait 8 weeks (unacceptable, we were promised 2 week for all spare parts..) for the cable to be manufactured in Japan. I highly doubt that this cable would be different from any other R2000 pulse coder cable, or what is your opinion?


    I have bin trying to understand a bit deeper how different mastering methods are working on FANUC robots. After reading the manual and some topics here on the forum, im still a bit confused.

    Right now my situation is, that we have a costumer with a damaged encoder cable. According to FANUC we need to change the pulse coder cable (for all motors) even though only 2 connectors are broken. This means that i will loose the encoder values for all motors while replacing the encoder cable. Is there some way of restoring the positions for axis 1-4 that are still functioning?

    I do not fully understand the benefits with Quick master, what is the accuracy with this method and how do you line the robot up to the reference position? Why is it quicker than a Zero position mastering?

    In this application we have a tool that is 2 meters long, this means that the accuracy of the mastering is very important for this appplication.

    I had a broken encoder cable on axis 5-6 and ther robot was standing in i really bad position for the rest of the production. I was told by FANUC that there was no possibility to move the robot without a new cable... But it also worked for axis 5-6. As you said Racermike axis five did fall, but that is no problem with my tool.

    If you have DCS in your robot, you will also have to deactivate all cartesian positions checks to be able to apply new DCS changes occurring when you change in axis order. Also remember that the axis limits are not active when you loose mastering.

    Thank you guys! :beerchug:

    Right now i can't think of any application where it would be necessary to use a cold start and not recover the programs pointer, but maybe there is. Glad i could help you out. :beerchug:

    OK, :no1:

    The brakes are not applied. Let me explain the phenomena a little bit more in detail. Let’s say I am in doing some fine tune teaching of some 200 points. If I want to touch up a point P[2] and start jogging from that original point (created in RG) but i accidentally push the wrong jogg axis or I may be in the wrong coord system. Happens a lot because the working environment is quite extreme.

    I want to go FWD to the same point P[2] in "step mode" and no matter if the TCP is 2 mm from that point or close to the pervious point P[1] in the program (let’s say 120 mm away). The time before the busy signal goes low after pushing FWD seems to take the same time as the move between P[1] --> P[2] regardless of the distance to from the TCP to P[2]. :hmmm: ???

    If I ramp up the override while the robot is standing still in step mode "BUSY" this wait it seems to go faster for it to "reach the point". This short distance reorientation may take 5-7 seconds and i have a couple of 100 points to fine tune so it is quite annoying.

    When I worked with some older paint robots (this one is a M-900), I never remember this slow response of the controller. And back then I was teaching and jogging through thousands of points in total.


    Is there any way of turning up the relative jogg speed on axis 6. The tool im working with is basically just a long rod and i don't need precision when rotating around axis 6. Right now i need to crank up the override to 100% otherwhise it takes ages to rotate the tool. If I forget that im on 100% after the slow process of rotating axis 6 and push another jogg key the robot is pretty fast and the risk of crashing into things with the tool are greater.

    It feels like the speed of axis 6 is not in relation the other joints when jogging at the same override..

    Another thing that is slowing down my work is when im moving just a smal distance from a teached point and push FWD with the pointer on the same point again. The controller is busy for a long time even though the robot only has to move 1 mm. Is it me picking up speed as a programmer or is this som new feature in the robot controller R30-iB?

    It seems like a FWD execution will take the same time regardless of the distance to the point before the controller is not "BUSY" anymore. I have an application where my tool is in contact with 900°C chemicals and want to keep the time of contact to a minimum when jogging and repositioning.

    Is it possible to deactivate this "wait time" somehow?

    You can also use something like this code in bakground logic if you want this trigger to count independently of the robot program.

    1: IF (F[100:Helpflag1]=OFF AND DI[47]=ON),R[30]=(R[30]+1) ;
    2: F[100:Helpflag1]=(DI[47]) ;

    Old topic brought to life. I want to do exactly the same thing and thinking that someone must have done this before and maybe have some example code or a working program.

    The reason for this is that i have an automatic collision recovery and when it's executed the information on which line the collision occured is lost. I want this information to be stored with a time stamp in a logfile. unfortunately i have very little knowledge of KAREL and little time to do this all by myself. :(

    Anyone have something to share? Thanks in advance.

    The easiet and fastest way is as Racermike describes it. I have recently encounterd a quite new robot that did not have the possibility to save ASCII. Maybe there is some variable for deactivating this function, but i guess that is not the case with your robot.

    If you have roboguide, you can also convert them there. The procedure is pretty simple. Just create a new cell with the .dt file in your 'all of above'. Right click on the programs you want to save as ASCII in the cell browser and press save. Select file format TPP listing files (*.ls) and hit save.

    Any reason for not using the Ethernet port for connecting to PMC? Should be pretty straight forward, just make sure that you have the correct IP set in communication/setting in the 'Use device' window.