Hello everyone. I have a FANUC r2000iB robot with an R-30iA controller. It currently has a servo spot welder set up as a 7th axis in group 2. I want to add a second welder as an 8th axis. how would I go about that? From what I've read, I should be ok as far as the servo controller, since I already have a 7th axis. I'm thinking more along the lines of cabling and terminations and software configuration. Thanks in advance for any help you all can provide.
Posts by memiller1
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I know FANUC has pretty much locked down the manuals in the forums, but is there somewhere that I can find a SpotTool manual? I've reached out to FANUC to get access to the crc site, but I haven't gotten a response yet.
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Can anyone help me understand what this error means?
wm_set.c 240 Not possible set attribute for object: <ILLEGAL OBJECT> c=0
ABB irb6400 robot with s4c controller (material handling robot walks a part through a spot welder).
The robot is working as it should, but much slower than it normally runs. This error is always on the screen when I go to the teach pendant. I think it may be faulting out after each weld or movement, then auto-recovering, which would explain the slow down.
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I have used this technique many times with great results. Now I have something that is stumping me. I have a part that I need to laser cut circular holes on many different planes. Is there a way to do this based on the TCP? I was told in order to use this on many planes, I would need many user frames, but that seems more difficult than it needs to be. Any help would be appreciated. TIA
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So I checked through all of my manuals and documentation, and unfortunately, I do not have a programming manual. I knowFanuc has pretty much everything on lock down, but I'm in need. Is there any where I might be able to find a copy? Maybe in pdf format? thanks in advance.
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Awesome! Thanks for the help guys. I'll give it a whirl as soon as we get the new robot up & running. I'm not sure if I have programming manual. I'm not sure if the replacement came with one. Unfortunately, we get a lot of hand-me-downs from GM (without any documentation).
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Thanks for the reply. I'm still fairly new at programming, mostly self taught. How would I go about doing this offset?
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Hello everyone. I'm hoping you all can help me out. We're replacing our laser cutting robot with a newer model. It's an M16iB. On our old robot, we had a special trepanning head as our group 2, that we used for shape cutting. We had various size circles and rectangles programmed, and we'd teach the center point of the shape we wanted to cut, and cut the shape we wanted (circle 4, rectangle 3...etc). Our new robot doesn't have this head. What I'm wondering is, is there a way to set a temporary zero reference point, based on the current TCP, and call whatever shape we want to cut? Essentially teaching the center of the shape, set a temporary reference point, cut the shape, then move to the next hole, and repeat. I've been told that this can be done in the user frame, but that won't work for us, since we cut on so many different plains on the same part. Any help would be greatly appreciated. I'm really not looking forward to programming hundreds of 2mm circles.....
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Yes, I've calibrated after the master. It's the weirdest thing. Axis 7 (G2:A1) is trying to go to a position near 78 degrees, but there's a total of around 33 degrees of movement in the axis. With zero position in the center, it can only move around 16 degrees either direction.
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Thanks for the input. I should've added that I replaced the 4 D-cell batteries in the base before remastering. I checked the DMR_GRP variable, and it was true.
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Hello everyone. I have an old Fanuc s-12 with an RJ controller. The robot is for laser cutting, and has a trepan head as group 2 (J7 & J8). It was without power for 2 weeks, and the batteries were dead, so it lost its master. I brought it up, drove it to the zero marks, and did a zero position master, and calibrate on group 1, then on group 2, and did a cold start. Group 1 took the master without problems, but group 2 is still a mile off. Could there be something that I'm missing, or maybe something I should be looking for? Thanks in advance.
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Also, here is the error log, if that helps
All log messages
Date of saving: 19960104 11:27
3HAB2390-2/80 System Pack S4C 3.0 TP Language Irb 6400 FactoryWare Communication Ethernet Services Advanced FunctCommon log messages
1. 60007 Jogging not permitted! 0104 11:13.13
Jogging cannot be done in this mode.2. 20207 Backplane Enable open 0104 11:13.17
3. 10010 Motors off state 0104 11:13.17
4. 10012 Guard stop state 0104 11:13.25
Runchain opened by any safety guard
except the emergency stop.5. 10010 Motors off state 0104 11:13.25
6. 10011 Motors on state 0104 11:13.25
7. 10012 Guard stop state 0104 11:13.33
Runchain opened by any safety guard
except the emergency stop.8. 10010 Motors off state 0104 11:13.34
9. 10011 Motors on state 0104 11:13.34
10. 39217 Saturated Current Contr. 0104 11:13.37
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 383.80 (V)11. 20207 Backplane Enable open 0104 11:13.37
12. 10012 Guard stop state 0104 11:13.37
Runchain opened by any safety guard
except the emergency stop.13. 10010 Motors off state 0104 11:13.38
14. 20072 Not allowed command 0104 11:13.38
Not allowed in Motors Off state.15. 60007 Jogging not permitted! 0104 11:13.38
Jogging cannot be done in this mode.16. 10012 Guard stop state 0104 11:13.49
Runchain opened by any safety guard
except the emergency stop.17. 10010 Motors off state 0104 11:13.49
18. 10011 Motors on state 0104 11:13.50
19. 39217 Saturated Current Contr. 0104 11:13.51
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 384.78 (V)20. 39103 Mains missing 0104 11:13.52
Incoming voltage to DC-link too low,
drive system 1.21. 20207 Backplane Enable open 0104 11:13.52
22. 10012 Guard stop state 0104 11:13.52
Runchain opened by any safety guard
except the emergency stop.23. 20207 Backplane Enable open 0104 11:14.20
24. 10010 Motors off state 0104 11:14.20
25. 10012 Guard stop state 0104 11:14.23
Runchain opened by any safety guard
except the emergency stop.26. 10010 Motors off state 0104 11:14.24
27. 10011 Motors on state 0104 11:14.24
28. 39217 Saturated Current Contr. 0104 11:14.28
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 384.29 (V)29. 39103 Mains missing 0104 11:14.28
Incoming voltage to DC-link too low,
drive system 1.30. 20207 Backplane Enable open 0104 11:14.28
31. 10012 Guard stop state 0104 11:14.28
Runchain opened by any safety guard
except the emergency stop.32. 20207 Backplane Enable open 0104 11:14.32
33. 10010 Motors off state 0104 11:14.32
34. 10012 Guard stop state 0104 11:14.39
Runchain opened by any safety guard
except the emergency stop.35. 10010 Motors off state 0104 11:14.40
36. 10011 Motors on state 0104 11:14.40
37. 39217 Saturated Current Contr. 0104 11:14.43
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 384.78 (V)38. 39103 Mains missing 0104 11:14.43
Incoming voltage to DC-link too low,
drive system 1.39. 20207 Backplane Enable open 0104 11:14.43
40. 10012 Guard stop state 0104 11:14.43
Runchain opened by any safety guard
except the emergency stop.Operational log messages
1. 10011 Motors on state 0104 11:13.252. 10012 Guard stop state 0104 11:13.33
Runchain opened by any safety guard
except the emergency stop.3. 10010 Motors off state 0104 11:13.34
4. 10011 Motors on state 0104 11:13.34
5. 10012 Guard stop state 0104 11:13.37
Runchain opened by any safety guard
except the emergency stop.6. 10010 Motors off state 0104 11:13.38
7. 10012 Guard stop state 0104 11:13.49
Runchain opened by any safety guard
except the emergency stop.8. 10010 Motors off state 0104 11:13.49
9. 10011 Motors on state 0104 11:13.50
10. 10012 Guard stop state 0104 11:13.52
Runchain opened by any safety guard
except the emergency stop.11. 10010 Motors off state 0104 11:14.20
12. 10012 Guard stop state 0104 11:14.23
Runchain opened by any safety guard
except the emergency stop.13. 10010 Motors off state 0104 11:14.24
14. 10011 Motors on state 0104 11:14.24
15. 10012 Guard stop state 0104 11:14.28
Runchain opened by any safety guard
except the emergency stop.16. 10010 Motors off state 0104 11:14.32
17. 10012 Guard stop state 0104 11:14.39
Runchain opened by any safety guard
except the emergency stop.18. 10010 Motors off state 0104 11:14.40
19. 10011 Motors on state 0104 11:14.40
20. 10012 Guard stop state 0104 11:14.43
Runchain opened by any safety guard
except the emergency stop.System log messages
1. 20072 Not allowed command 0104 11:09.53
Not allowed in Motors Off state.2. 20207 Backplane Enable open 0104 11:10.53
3. 20207 Backplane Enable open 0104 11:10.59
4. 20074 Not allowed command 0104 11:10.59
Not allowed in Guard Stop state.5. 20207 Backplane Enable open 0104 11:10.59
6. 20207 Backplane Enable open 0104 11:11.6
7. 20207 Backplane Enable open 0104 11:11.16
8. 20207 Backplane Enable open 0104 11:11.20
9. 20207 Backplane Enable open 0104 11:12.22
10. 20207 Backplane Enable open 0104 11:13.3
11. 20074 Not allowed command 0104 11:13.13
Not allowed in Guard Stop state.12. 20207 Backplane Enable open 0104 11:13.13
13. 20207 Backplane Enable open 0104 11:13.17
14. 20207 Backplane Enable open 0104 11:13.37
15. 20072 Not allowed command 0104 11:13.38
Not allowed in Motors Off state.16. 20207 Backplane Enable open 0104 11:13.52
17. 20207 Backplane Enable open 0104 11:14.20
18. 20207 Backplane Enable open 0104 11:14.28
19. 20207 Backplane Enable open 0104 11:14.32
20. 20207 Backplane Enable open 0104 11:14.43
Hardware log messages
1. 39103 Mains missing 0104 08:44.23
Incoming voltage to DC-link too low,
drive system 1.2. 39217 Saturated Current Contr. 0104 08:44.45
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 383.80 (V)3. 39103 Mains missing 0104 08:44.46
Incoming voltage to DC-link too low,
drive system 1.4. 39217 Saturated Current Contr. 0104 08:44.57
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 381.85 (V)5. 39103 Mains missing 0104 08:44.57
Incoming voltage to DC-link too low,
drive system 1.6. 39217 Saturated Current Contr. 0104 11:10.53
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 384.29 (V)7. 39217 Saturated Current Contr. 0104 11:10.59
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 384.29 (V)8. 39103 Mains missing 0104 11:10.59
Incoming voltage to DC-link too low,
drive system 1.9. 39217 Saturated Current Contr. 0104 11:11.15
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 383.80 (V)10. 39103 Mains missing 0104 11:11.15
Incoming voltage to DC-link too low,
drive system 1.11. 39217 Saturated Current Contr. 0104 11:12.22
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 383.31 (V)12. 39217 Saturated Current Contr. 0104 11:13.3
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 382.34 (V)13. 39103 Mains missing 0104 11:13.3
Incoming voltage to DC-link too low,
drive system 1.14. 39217 Saturated Current Contr. 0104 11:13.37
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 383.80 (V)15. 39217 Saturated Current Contr. 0104 11:13.51
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 384.78 (V)16. 39103 Mains missing 0104 11:13.52
Incoming voltage to DC-link too low,
drive system 1.17. 39217 Saturated Current Contr. 0104 11:14.28
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 384.29 (V)18. 39103 Mains missing 0104 11:14.28
Incoming voltage to DC-link too low,
drive system 1.19. 39217 Saturated Current Contr. 0104 11:14.43
Drive Unit unable to supply ordered
current, due to low DC-voltage or
broken motor connections. Drive unit,
joint: irb_6.
Measured DC-bus voltage: 384.78 (V)20. 39103 Mains missing 0104 11:14.43
Incoming voltage to DC-link too low,
drive system 1.Motion log messages
1. 50021 Joint position error 0104 08:21.43
Actual position of joint irb_6
is too far away from the ordered
position2. 50056 Joint collision error 0104 08:32.44
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.3. 50056 Joint collision error 0104 08:32.59
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.4. 50056 Joint collision error 0104 08:33.11
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.5. 50056 Joint collision error 0104 08:33.23
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.6. 50056 Joint collision error 0104 08:33.39
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.7. 50056 Joint collision error 0104 08:34.40
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.8. 50056 Joint collision error 0104 08:36.41
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.9. 50037 MOTORS ON order ignored 0104 08:36.42
MOTORS ON order ignored since the
previous stop was not yet acknowledged.10. 50056 Joint collision error 0104 08:36.49
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.11. 50056 Joint collision error 0104 08:42.48
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.12. 50056 Joint collision error 0104 08:43.34
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.13. 50056 Joint collision error 0104 08:44.2
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.14. 50056 Joint collision error 0104 08:44.18
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.15. 50056 Joint collision error 0104 08:45.9
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.16. 50021 Joint position error 0104 11:08.33
Actual position of joint irb_6
is too far away from the ordered
position17. 50056 Joint collision error 0104 11:08.58
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.18. 50056 Joint collision error 0104 11:09.16
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.19. 50056 Joint collision error 0104 11:09.29
Actual torque on joint irb_6 is
higher than ordered while at low
or zero speed.20. 50021 Joint position error 0104 11:09.48
Actual position of joint irb_6
is too far away from the ordered
positionProgram log messages
No message to show!Operator log messages
1. 60007 Jogging not permitted! 0101 11:05.5
Jogging cannot be done in this mode.2. 60007 Jogging not permitted! 0101 11:06.19
Jogging cannot be done in this mode.3. 60007 Jogging not permitted! 0101 16:30.47
Jogging cannot be done in this mode.4. 60007 Jogging not permitted! 0104 08:34.31
Jogging cannot be done in this mode.5. 60007 Jogging not permitted! 0104 08:34.41
Jogging cannot be done in this mode.6. 60007 Jogging not permitted! 0104 08:34.48
Jogging cannot be done in this mode.7. 60007 Jogging not permitted! 0104 08:35.14
Jogging cannot be done in this mode.8. 60007 Jogging not permitted! 0104 08:35.29
Jogging cannot be done in this mode.9. 60007 Jogging not permitted! 0104 08:36.2
Jogging cannot be done in this mode.10. 60007 Jogging not permitted! 0104 08:36.20
Jogging cannot be done in this mode.11. 60007 Jogging not permitted! 0104 08:44.2
Jogging cannot be done in this mode.12. 60007 Jogging not permitted! 0104 08:44.23
Jogging cannot be done in this mode.13. 60007 Jogging not permitted! 0104 08:44.47
Jogging cannot be done in this mode.14. 60007 Jogging not permitted! 0104 11:08.39
Jogging cannot be done in this mode.15. 60007 Jogging not permitted! 0104 11:09.17
Jogging cannot be done in this mode.16. 60007 Jogging not permitted! 0104 11:09.34
Jogging cannot be done in this mode.17. 60007 Jogging not permitted! 0104 11:09.53
Jogging cannot be done in this mode.18. 60007 Jogging not permitted! 0104 11:10.59
Jogging cannot be done in this mode.19. 60007 Jogging not permitted! 0104 11:13.13
Jogging cannot be done in this mode.20. 60007 Jogging not permitted! 0104 11:13.38
Jogging cannot be done in this mode.IO & Communication log messages
No message to show!User log messages
1. 80002 Major Fault 163-1 0101 10:51.45
IRB not at Home2. 80002 Major Fault 163-1 0101 10:55.3
IRB not at HomeSpotweld log messages
No message to show!Internal log messages
No message to show! -
Hello all. I have an ABB irb6400 with s4c controller that is giving random errors. At first there were
39217 Saturated current contr. on joint irb_6
39214 Low DC-bus voltage
We replaced the rectifier, and all of the dc links (servo amplifiers), we replaced the cable for axis 5 & 6, as well as the middle cable. We replaced the end knuckle (axis 5 & 6) assembly, and still no help. We still get a random 39217 fault on joint 6, but we also get:
50021 Joint position error on irb_6
and sometimes :
50056 Joint collision error on irb_6
We've also changed out the brake contactor (K4 I believe)
The problem seems to fault out in the same place in the program every time, and when I turn axis 1 back toward the home position, I can move all the axis without faults. This leads me to think there is a problem with the cable in the base of the robot. Does this make sense?? or should I try something else?
Thanks in advance. -
Duh, sorry...it's still early, and I haven't had my caffeine yet. Thanks again
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Thanks for thehelp! What do you mean PRs?
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Hello everyone. My company is in the process of upgrading our laser robot. We're currently running an s-12 robot with an RJ controller. We're replacing that with an M-16iB robot with an RJ3iB controller. My question is this: can I pull the programs from the old RJ controller with kfloppy, and upload them to the new RJ3iB controller? I want this upgrade to go as smoothly as possible, so I'd appreciate any feedback or tips that you all see fit.
Thanks in advance. -
Hello everyone, Hopefully you can help me. I've got an ABB IRB 6400 that I'm having issues with updating the rev. counters. I can jog the it to align all of the calibration marks, and it lets me update, but when I jog it away from the calibration point, and back again, the marks are no longer aligned. All axis are about 1 hash mark off. I have tried a new SMB unit, and a new battery pack on the unit, as that's usually the issue we encounter, but it still does the same thing. I even tried aligning the marks offset, to accommodate for this, but then it goes to the exact point where I updated it, instead of offsetting it. Can any of you give me any tips as to what else could be going on? Thanks in advance.
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The resolver unit?? would that be the SMB?
I managed to get it up and running again, but only temporarily. I updated the rev counter for axis 6, and went into the program and drastically slowed down the velocity of the movements in the area where it was faulting out. We started back up, it ran great for about 15 cycles, then it faulted out again...in the same spot, with the fame faults. -
Please help!
I have an ABB robot that keeps faulting out mid-program. It trips the following errors:
38031 Resolver Error
39103 Mains Missing
10020 Execution error state
20202 Backplane Enable open
10014 System failure state
20012 Sys failure state active
10005 Program stoppedWhen this happens, I have to power cycle the robot in order to get it to do anything, and every time I do this, I have to update the rev counter for axis 6
Any help is appreciated, thank you in advance.