Please can you post your configuration in robot side in order to discard bad configuration?
Posts by urdemiul
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Try to use RUN instruction in BG, check program is running to avoid calling a program in use. This should help you.
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High speed skip limits speed and CNT to a very low value so even if you try to increase it movement will be perform at this max values. If precision it is not a requirement use skip function as HawkME said and do some test in more simplified program. In order to not see a stop movement as it was a FINE try to use an intermediate movement to change speed between the joint and linear movement.
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My post it was not made by any intention of stealing from Fanuc, clearly there are always misunderstandings. Anyway, when Fanuc has made any upgrade of software it seems that F numbers disappear and it's shown as F00000, I have check this several times in many robots so no serial is included at least in RJ3iB, RJ3iC and R30iA.
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Possibly not the same issue, but in the past I have updated software version and options to several robots by means of and old image backup of another robot, that's why you need to backup sysmast of the robot you are updating and to take care what software version you are loading (v7.xx can't not be loaded in v6.xx neither the opposite, and v7.xx can't not be loaded to v8.xx neither the opposite).
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It's possible to load previous image without the need of contacting Fanuc (even software options not included in the robot) but there's a need to check version before doing it and it must be same type of robot.
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What version did you have previously and what version do you have now? It's possible to load an image of the previous ipendant to update your current version (it depends on version). You will also need your current file sysmast.sv to avoid "pulse mismatch."
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Try to use BG for that purpose, you can make your own FIFO for handling each trigger. Take a look at line tracking manual and use variables to register encoder position on each trigger. Hope it helps.
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In case you want to use Profinet I have used these two options:
1: Anybus bridge for Ethernet/IP (Fanuc as scanner) - Profinet (Siemens as a scanner). Software option EIP Scanner must be installed, it depends on the Anybus choice (it is possible to configure Anybus as an adapter for Fanuc side and scanner for PLC side.
2: Siemens CP1604 module of communications prepared for Fanuc purposes (supplied by Fanuc). It is available from RJ3iC/R-30iA controller versions. Software option Profinet (it can operate as a controller or device or both depending on your application). In case you need to operate as device and controller you must configure it as "migration".Hope this helps!
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Try using RUN instruction. It will work. In BG it will run parallel when an event starts but don't forget to check that it's finished before using RUN again.
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Use "high speed skip condition", this command gives you the chance to record the position you want in PR more accurately rather than "skip condition".
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Thanks for the info
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Does anyone know where I can find system vars to modify comments of user frame?
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Check upstream boundary and downstream boundary for the work area that you previously defined. You will find these on the webserver "Line/tray pattern Setup" or in MENU (6) - SETUP (Tracking) on the TP. You will also find information about the line tracking frame and the sensor position.
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Thanks for your reply. He finally managed to do it, the problem came from PLC side. Configuration for TIA Portal changes a bit and we created two different projects for controller and device option (we wanted both at the end). First, we could communicate as a controller downloading the project as controller to the CP1604 to control a Festo fieldbus. On the other side, we downloaded the device project to the PLC (network master). There should be another option instead of using two different projects but we are still trying to figure it out.
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Yes, I changed it to READ IN mode and basically what I'm getting is PRIO-621 (PNIO(D) device is not running) all the time. I have tried to modify DAP but I keep getting PRIO-621.
Right now I think that network configuration in TIA PORTAL wasn't set properly but it's only my guess... -
Hello guys,
I am really having some troubles trying to configure a CP1604 board. The PLC guy has configured the network and has downloaded into the CP by means of TIA PORTAL. In my side, we got in contact with FANUC and we got nothing but more questions.
They have provided GSDML files to configure the board but there are some parameters that are not very clear yet. The firmware version is v2.6.0.3 but in the GSDML includes only the board number 6GK1160-4AA00 which is not the same as our board (6GK1160-4AA01). Checking GSDML files from SIEMENS (CD-ROM included with the CP1604), it is possible to find our board number. At this point I do not know if the DAP provided by FANUC is correct or not due to the number board (DAP number in SIEMENS GSDML is completely different from FANUC, 0x00000821 ->DAP 21).Configuration is only device just for now in order to communicate with PLC. So far, configuration is like this:
ProfiNet PCB: CP1604.
Firmware version: '2.6.0.3'.Setup\PROFINET\I/O\\\\\\\\\\\\\\ 0
General 1/4
1\Max.\digital\port\number\\\\\: 2048
2 Start mode : [SUSPEND ]
3 I/O Controller : Disable
4 I/O Device : Enable
[ TYPE ] [Other ] >Setup\PROFINET\I/O\\\\\\\\\\\\\\ 0
I/O Device 2/6
1 Error one shot : Disable
2 Modules :
3 Number of digital input : 256
4 Number of digital output : 256
5 Number of analog input : 0
6 Number of analog output : 0
[ TYPE ] [Other ] >Setup\PROFINET\I/O\\\\\\\\\\\\\\ 0
I/O Device : Modules 1/17
No Slot Sub Comment
1 1 1 [DAP ]
2 2 1 [DO ]
3 3 1 [DI ]
4 0 0 [ ]
5 0 0 [ ]
...
17 0 0 [ ]
[ TYPE ] detail [Other ] >Setup\PROFINET\I/O\\\\\\\\\\\\\\ 0
I/O Device : Module 1 1/7
1 Slot : 1
2 Subslot : 1
Comment :
3 [DAP ]
4 ModId(hex) : 0x0000001C CP1604; No Migration; (If board number is related to DAP I assume that could be the problem)
5 SubslotId(hex) : 0x00010001
Module I/O type : NONE
6 Data size :[0 Bytes ]
7 Data type : [Digital]
[ TYPE ] list prev nextSetup\PROFINET\I/O\\\\\\\\\\\\\\ 0
I/O Device : Module 2 1/7
1 Slot : 2
2 Subslot : 1
Comment :
3 [ DO PLC ]
4 ModId(hex) : 0x00000036
5 SubslotId(hex) : 0x00000001
Module I/O type : DI
6 Data size :[32 Bytes]
7 Data type : [Digital]
[ TYPE ] list prev nextSetup\PROFINET\I/O\\\\\\\\\\\\\\ 0
I/O Device : Module 3 1/7
1 Slot : 3
2 Subslot : 1
Comment :
3 [ DI PLC ]
4 ModId(hex) : 0x00000037
5 SubslotId(hex) : 0x00000001
Module I/O type : DO
6 Data size :[32 Bytes]
7 Data type : [Digital]
[ TYPE ] list prev nextAny solution?
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Hi rupy,
best way to do it is with one example. My *.txt file is reading an integer and two strings as you can see:
1002 'Description' 'Comment'
1003 'Description' 'Comment'So the statement READ in the program looks like this:
REPEAT
READ Readfile (Num,Descrip::0::2,Coment::0::2)
....
UNTIL STATUS<>0Using the loop allows to read the next line until a new end of line is found. As you can see there are no tabs only spaces and remember to do the formatting of the data you want to read in order to extract the content from the *.txt file.
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Thanks guys, I thought that was an integer instead of a real so when I was using an integer i got a STATUS error which I couldn't find.
SET_VAR works perfectly and it seems not possible to use the variable directly (karel does not recognise it).
Again