Posts by pdl

Spindle motor noise?

How's your grounding and shielding setup?

You are seeing specular reflection.

If you have the process cycle time for another step, you can try to reduce the reflections with something like this. That is what the professionals use when making high accuracy scans on reflective surfaces.

If you don't mind using something a little less professional, this stuff works just as well. It smells good too

If you go to the digital input and then press F4 for "detail" you will see this screen:

From this screen, just highlight the polarity setting, then use F4/F5 to toggle between normal and inverse.

I don't believe it requires a power cycle, but if it doesn't immediately work, just cycle power.

I see where I misunderstood, what you posted now looks correct to me. Sorry for any confusion.

No, I just truncated his post. PR[X]=PR[Y] will copy everything, including the configuration.

Quote from HalbesYoyo

From here you copy the PR[64] to any other PR and just add the cartesian coordinates.

Code

PR[1] = PR[64]

I am not sure where you are trying to go with this, but PR[x]=PR[y] will copy the positional data AND the configuration. Your suggestion will not work.

Quote from SkyeFire

I'm not sure I'd go that far. I've had too many situations where I needed T2 in order to debug a system.

That said, T2 scares me, and the situations where I've needed it are a fairly small % of the total. Striking the balance is a thorny issue. I can't really disagree with the majority of end users who buy controllers with the T2 option eliminated.

I will say, the great majority of the hazardous incidents I've seen with T2 arose from people forgetting they were in T2 (usually jogging and touching-up points), and hitting "run" while expecting T1 speed. That's why I really like what KUKA did with T2 in KSS 8: Switching to T2 automatically reduces the override to 10%, creates a message that has to be manually acknowledged, and (most importantly) blocks jogging -- T2 can only perform program playback. This handily eliminates 90% of the risk I've seen in T2 over the years.

I don't think that many cells need it, but I'll be damned if I ever have to dry run a cell with a 45m RTU without T2.

That being said, I would prefer to have to use my T2 jumper instead of a key switch. Unfortunately, the connector for the key-switch can be a bear to get to when mounted in a remote box, so sometimes I need to install the switch.

T2 freaks me out and MUST be respected. Modern Fanuc robots will automatically drop the override to 3% when switching into T2 mode, or whenever the dead-man is released. This may not be quite as good as having to acknowledge something with an explicit key press, but it's almost as good when SHFT_OV_ENB is set to false.

I hate the idea of option number 2, it would force me to lock myself into a cell instead of operating with the gates open.

Since your controller is new enough to support it, have you considered trying Fanuc's slpine motion?

What version of robot and controller are you using?

Are you using any additional software packages such as dispense tool?

Are the turntable and its encoder plugged in?

Has the second servo amp been installed? If so, has it been properly configured? Is the FSSB fiber-optic cable installed?

Do you have any additional information, like a model number?

Sounds like mechanical wear. When was the air clutch last serviced?

Have you tried to get the manuals from Fanuc? The Total Connection Diagram is in the electrical manual.

$UALRM_SEV[n] Severity Values

Value -Action

0- No action

2- Pause program

3- Abort program with error

4- Stop program motion

6- Pause program and stop its motion

8- Cancel program motion

10- Pause program and cancel its motion

11- Abort program and cancel its motion

By default the value is 6.

+16 added to any value causes servomotors to be turned off.

+32 added to any value causes the action to apply to all programs and all motions.

+64 added to any value requires a Cold start to reset the controller.

For example,

• A value of 0 causes a warning message to be displayed.

• A value of 6 pauses the program and stops its motion.

• A value of 43 aborts all programs and cancels all motions (11 + 32)

Collision guard is never quick enough. If your payload can play inside the limits, I've had good success with these.

Fanuc has a TCP speed output option. If you have Karel, you could also brew your own.

It would also be possible in TP, but Karel would handle it better IMO.

As a quick kludge for troubleshooting, you could just simulate the abort signal on the robot side. Assuming they're using the CStop input, it should be easier than completely disabling the UOP's.

Can you post a pick of your EIP basic and advanced setup screens?

If I were in your shoes, I would do whatever you can to get a backup. The time saved will be well worth it, flying blind is never efficient.

Have you set the enable bit to "TRUE"?