Thanks.
Another thing I needed to do was set SYSTEM, Config, and set UOP Auto Assignment = NONE. (Or $IO_UOP_AUTO = FALSE.) Maybe that was the only thing I needed to do.
Now I can map UIO to EtherNet/IP for control from my PLC.
Thanks.
Another thing I needed to do was set SYSTEM, Config, and set UOP Auto Assignment = NONE. (Or $IO_UOP_AUTO = FALSE.) Maybe that was the only thing I needed to do.
Now I can map UIO to EtherNet/IP for control from my PLC.
BTW, I did find my old copy of FAPT Ladder III, and installed it, but it fails to connect, timing out. On the robot, I get a PRIO-98 PMC error, but it's not listed in the Fanuc error manual. I'm now on day 7 of no call back or email from Fanuc after contacting them twice on the issue. It could certainly be that my old copy is too old versus HT 7.70P/46, but you'd think they could mention that pretty quickly.
You got my hopes up, but there is no "Internal" selection in HT 7.70P/46.
It's not running, but the problem is that you can't setup UOP UIO when they are linked to the PMC. So the file needs to be blanked out, and it's a bit silly that you need a $1800 program to do that.
Any tricky way to remove PMC program quickly so that it is not taking over UIO, or is FAPT Ladder III (on HT v7.70 ) absolutely required to blank out the PMC program? I own a copy, and I'm sure it's somewhere, but it's likely out of date version-wise (very old) and Fanuc doesn't appear to have a way to download updates.
Restored this functionality by setting the var $Group[1].$CNSTNT_PATH to FALSE and COLD starting.
I found that this is related to Constant Path being turned on, and wanted to update here. The documentation for Handling Tool r7.70p implies that the speed override can be changed on the fly, but it has warnings to not do this when the program is running. The reason is due to unsafe affects on the motion profile generated by Constant Path if the speed override changes in the middle of moving or after some motion profile generation has been performed.
Thus I believe that this option may actually disable any changes of the speed override while running, but I can't find any documentation that supports this theory. I think I need CP for my project, but it appears that lots of things related to the speed override is affected when you turn it on. One of which is being able to override below 5%, which is stupid, Fanuc. I need to set the speed low to teach positions. So to do this, I'll have to disable CP, cold-start, and the teach positions.
I verified this by turning off $Group[1].$CNSTNT_PATH to FALSE and Cold starting. Override changes below 5% works, and changes to the override during manual moving or while running a program from the TP also works, etc.
However, my Override Select functionality still doesn't work, even though it is enabled.
(Nothing about these effects are in the manual section on CP. Thanks for NOT documenting any of this in the Constant Path section (it doesn't even state how to enable CP, so no surprise), or in the system variable manual, either, Fanuc. )
Restored this functionality by setting the var $Group[1].$CNSTNT_PATH to FALSE and COLD starting.
I verified this by turning off $Group[1].$CNSTNT_PATH to FALSE and Cold starting.
Override changes below 5% are now possible again, and changes to the override during manual moving also works, etc. The increment returned to the setting in the system var that controls this, which is 5% (default, un-shifted).
Thanks for NOT documenting any of this in the Constant Path section, or in the system variable manual, either, Fanuc. (I can't even find anywhere that tells you where to enable/disable CP)
Note: ALSO found $CPCFG.$CP_ENABLE in the robot, but not documented in the system variable manual. Some $CPCFG items are documented, but not $CP_ENABLE. I don't know that CP stands for Constant Path, but there are a few other documented Constant Path variables in the $CPCFG group, so.... maybe? Plus most ambiguous uses of CP appear to all refer to Constant Path.
With $Group[1].$CNSTNT_PATH set to false, setting $CPCFG.$CP_ENABLE to false did not have any obvious effect. Setting it back to TRUE didn't change the $Group[1].$CNSTNT_PATH var, either. It's still false. One may be a lower-level switch, and the other a higher-level enable.
TRIED to restored this functionality by setting the var $Group[1].$CNSTNT_PATH to FALSE and COLD starting.
However, Override Select functionality still doesn't work, even though it is enabled. (Nothing about this in the manual section on CP.)
I think some or all of this is related to turning on Constant Path, but I can't find any documentation to support this. I need CP, but I have to turn off CP to do fine adjustments? And it requires a Cold Start? Primitive, Fanuc.
This is a R-30iA with Handling Tool v7.70p.
I think that it may be because I have CONSTANT PATH option turned on. There is no documentation I can find that states this (such as in the System Variables list), but I did see that turning on $Group[1].$CNSTNTPTHJT will have affects on the speed override (although it did not say that one of the affects is being unable to change the override while running).
However, looking at the Constant Path documentation in general, it is clear that it is recommended to not change the speed override while running. The way they word it, it suggests that changing the speed override is still possible. But it would make sense that they would disable the possibility and that you would not want to do it, due to producing unsafe results when Constant Path is enabled.
$param_group[1].$cp_cutoffov (default is 5) and only active if constant path hjt is on.
Well, that certainly looks like it would be the cause, but after setting $Group[1].$CNSTNTPTHJT to FALSE and Cold starting, there was no change.
I also changed $Param_group[1].$cp_cutoffov to lower numbers, and it also did not affect it.
I've got a robot that doesn't permit any overrides below 5%. It won't go to 1% or Fine or v.Fine. I'm trying to find what $var has been changed that has caused this.
A: It's a Fanuc feature that with Constant Path enabled, the minimum override is 5%
This is likely due to the fact that Constant Path doesn't work well at very low overrides, To switch back and forth, you have to change $Group[1].$CNSTNT_PATH to True/False and do a Cold Start. There is a separate var, $PARAM_GROUP[1].$CP_CUTOFFOV (default = 5) that is only active when Constant Path is enabled. Despite the ability to change this to less than 5, 5 seems to be a hard minimum. It can be changed to 10, for example, but not less than 5%.
NEW EDIT:
When need to use Constant Path, and the jog override is limited to 5% or higher, how does one teach accurate positions? I normally need to jog at 1% or 2% to teach a position accurately.
Q: Is there a workaround for jogging slower with Constant Path enabled?
So it appears that if I need to teach positions, I'll have to disable constant path, Cold start, teach, enable Constant Path, Cold start, and then be able to run with Constant Path for dispensing purposes.
I was hoping there was some trick to make this work better,
No, when shifted, it goes 5% -> 50% -> 100%.
I also noticed it doesn't go below 5% either, which is really bad. I need to make fine position adjustments.
I'm an 'official' integrator of Fanuc robots with full CRC access. I have the pathetic and incomplete System Variable manual from Fanuc open on my computer permanently. I search it using a real PDF viewer all the time. I also searched this forum top to bottom. I did this before I posted anything on here.
I am now asking if anyone knows of a var because all searches I've run have not shown me this var (or its description is misleading, perhaps).
I recently ordered RTL-R540-HT, the EtherNet/IP Scanner option for R-30iA R2000iB with HandlingTool 7.70P for just over $2K, so you are in the ball-park. We may have gotten some kind of integrator discount in our case. But I've heard even integrators don't get discounts when buying from Spare Parts, so I don't know. Sometimes, the adding of an option can require the update to a later version of HandlingTool, for example, and that could be extra too.
That would be one place to do it!
Unfortunately, there must be another $var that also affects this.
I have two robots. Both have $OVRD_RATE = 5, but one increments by 5 and one jumps from 50 to 100%.
But thanks for the answer.
I've got Override Select enabled and set to specific DI with various speeds set, however it is never affecting the General Override in any modes, including full auto. It seems like a related Var is set that is preventing it from being effective. Any ideas what this var could be?
My robot has some non-standard setting. It disallows changing the override while moving to PR or running a program in T1 with TP. Anyone know the Var for this?
I've got a robot that's been edited to have non-shifted increments move from 100->50->25->10, etc, and I want to have finer increments restored. Anyone know the Var for setting this?