Posts by USURP_RUR

Be careful here.

I have seen this done to good effect for one (and only one that I have known so far) reason. And it was implemented before any programming occurred. And I am not talking about P- series Paint robots.

The plant was a power train type plant. Many of its robot installations had 2 Fanuc robots sharing the same linear rail. Each used the subgroup of G1 (for example G1S JOINT to jog the robot back and forth on the rail) for the 7th axis. The rail was elevated about 2 meters above the factory floor. The rails were often very very long.

Due to the base cable management requirements (cat tracks) of these 2 Fanuc robots on very long rails, some of these robots would face each other when run to 0 degrees on all axes, as initially mounted.

But all of the machines that the robots tended were only on one side of the rail.

So they performed Single Axis Master on both robots while all witness marks were accurately aligned. But in the “Master Pos” column of J1 within the Single Axis Master window, they entered a 90 for one of the robots and a -90 for the other.

This worked because the direction of J1 mathematical axis coincided with the direction of WORLD Z for both robots. This had the effect of “twisting” both robots’ World frames so that their +X directions both pointed toward the milling machines they were tending. It left the origin point of the World frame right where it belongs (in this particular case at a certain point on the linear rail that was agreed upon), but twisted the World frame’s orientations about/around the Z direction.

All of this was done before any servomotion programs were taught.

They also taught all local positions in all programs from UserFrame[1], an exact duplicate of the “twisted” World frame, full of zeroes, and as part of their local Engineering Standards. A very interesting solution.

I think it is unlikely that Fanuc has documented this anywhere, and it just comes from certain Engineers’ deep understanding of what mastering actually does. I was very surprised when I first discovered it, but I am grateful to those smart Techs and Engineers.

I do not see any problem yet. Do you know how to create a UserFrame using the "Four Point" method?

The Z direction will automatically become 90 degrees normal to the X-Y plane and accordint to the Right Hand Rule.

System R-03iB with ZDT (Zero Down Time) software installed. Manipulator R-2000/ 210 F with Material Handler end effector. About 5 years old and used for training only.

Messages issued from ZDT program:

BRCH-019 OVC limit (G:1, A:2)

BRCH-019 OVC limit (G:1, A:3) and

BRCH-001 All brake are normal

(all of these are posted at the same second in the Alarm History window)

Not sure if the robot is trying to tell me something important or not. SHIFT + Diagnostic does not give any information regarding these Alarm Messages.

Thank you.

I wonder… are you also having a Collision Detect? A collision detection on any axis in the Group will put the robot into freefall for a very short time. The Move Motion Excess could be an attendant alarm resulting from a collision detect. If it happens again, go to the Alarm window and see if there is a collision.

Your Position Config Change error occurred on a move line that utilizes an L move (or possibly a C move). Could a J move right there do the job instead?

Position Config String cannot change on the way into a cartesian move.

Does anyone know what RV stands for in Fanuc Electrical Prints (for the R-30iA and R-30iB).

It appears within a rectangle on the DC Power Circuit print. I cannot find a "legend" for the symbols and abbreviations used in these prints.

The cool thing about PRs is that just about anything can feed (modify) them, and from any program within the same robot system.

The scary thing about PRs is that ....

😂

System: R-30iB paint robot with integrated brake release.

Manipulator: P-700

Symptom: Upon attempting brake release, the following error is posted SRVO-280 SVOFF input

This robot is utilized for training purposes, and boards are removed sometimes for training. Any help is greatly appreciated.

More robust utility of the USB port on the door {UD1:} would be nice. The port seems very sensitive to the capacity of the USB drive and even its brand name. Sandisk is good, but so are many other brands, and drives with a capacity of only 2 GB are getting hard to find.

Thank you, I tried giving it a little wiggle, but that did not seem to help.

Normal Hot or Cold re-start seems to do the trick, but adds frustration and time. Just wondering when Fanuc is going to jump on those USB issues. I guess I could use the trusty old PCMCIA slot on the Main Board, I have never had any trouble with that.

$SEMIPWFDO=

set to a digital port number will cause that bit to come on at completion of the hot start. I cannot find a separate variable for cold start.

Hello. I am working with some brand new Fanuc robots, all of them are SYSTEM R-30iB PLUS controllers.

'UD not detected' is the notification within the FILE Menu.

I am having a lot of difficulty getting the robot to recognize any USB drive at the door port (UD1:), and regardless of the size of the drives from 2 MB all the way up to 8 MB. This problem does not seem to occur at the TP port, (UT1:), but I cannot always assume availability of UT1

JRS 16 is properly seated into the Main Board.

I have tried using the robot itself to format the USB drives, no success. Format... yes. Improvement... no.

The software is HandlingTool V9.30 P/12 7DF3/12 ARC Mate 100iD

The manipulator (not that it should matter) is M-10iD/12

Doing a re-start helps, but what a pain

Thank you in advance.

Pulse Mismatch = I, the Fanuc robot controller, woke up ... and found that the position(s) of one or more axes (as reported by the encoders upon startup) did not agree with what I had remembered.

Pulse Mismatch does not necessarily mean that Zero position has been lost.

Very helpful, Roman Commander. Thank you

Does “OR” appear between elements of the IF instruction where OR is desired, or is it just a space?

Heroes abound. I thank you all for your quick responses.

Can anyone provide, without violating copyright, some information on Fanuc’s new IF instruction (regular TPP code, not Karel.)

There appears to be something beyond the traditional compact IF (where the only “then” is to CALL prog or JMP LBL) and the SELECT [R]

Now i can use IF and ENDIF, but I cannot find out from my documentation exactly how it works in normal T.P. Program code.

Thank you.

Another trick, if you are pretty good with Microsoft Word... and cannot use the web browser.

Perform an ASCII backup of your robot. This will give you all the robot’s programs in .LS extension, which can be opened with a text editor like Word. Then use Word to combine (merge) all the files together into a single Word document.

Then use Word find/search PR[2]

or maybe PR[1

as previously suggested.

Hot start is one of 2 normal Production starts. If Menu - System - Config, Use Hot Start is set to TRUE, then the robot can resume its task when power comes back on. The robot will “remember” what was happening 8 milliseconds before the power was lost. If the physical robot body’s position is within its “resume tolerance,” which is likely, the robot will move slowly to re-acquire its interpolated program path, and then speed up to the override speed set in Menu - Setup - Cell, resume speed.

Cold start is the other of the 2 normal Production starts.

If Menu - System - Config, Use Hot Start is set to FALSE, then the robot will power up on a Cold start when power returns. Think of a Cold start as a Hot start with a FCTN - Abort thrown in there. The robot will have forgotten its program stack upon power up, and so the task it was doing when power was lost cannot be easily resumed (unless you understand very well how to rebuild the program stack.)

A Cold start is also the only way to exit a Controlled Start, and must be done, in that case, using the FCTN key (or wrench key), Fctn - Start (COLD)

Controlled Starts and Boot Monitor (BMON) starts are ways to... shall we say... fool around with the robot’s memory ( change memory settings or add software or prepare the robot’s memory to restore a backup.)

All 5 available JogFrames (JGFRM) are fixed Cartesian frames and are relative to World. JogFrames are not relative to any UT, but only to UF[0], which is World by definition.

Jog Frames do not affect the recording of positions and no offsets can be done relative to a Jog Frame. It is only a method of jogging that most people do not use. That means it can be your little secret, and there will be no harm in setting up a Jog Frame even on a robot that is already in production.

Make a fresh "All of the Above" Backup of your robot, and to a uniquely named directory. Put the Backup in a safe place. This step is important, so get help if you do not know how.

Go to MENU- Setup- Frames, then press F [OTHER] to select Jog Frames. Make SURE you are modifying a Jog Frame, NOT a User Frame or UTOOL. There a 5 Jog Frames available. Choose one of them and fill it with zero's (it probable already is), except for the yaW value.

Make the yaw value 180 (or even minus 180 if you prefer) and leave everything else as 0.00

When it is time to do straight-line jogging on your Bat-Robot (your upside-down robot), choose JGFRM with the COORD key instead of WORLD. Now use SHIFT + COORD to make a particular Jog Frame active, whichever one you chose to modify. Your +Z major will now move the faceplate "UP" instead of down.