The fence circuit is only monitored in auto mode. If the robot is in T1 or T2 mode, you will still be able to move the robot, but only from the teach pendant. This is what you want, otherwise you'd have to lock someone into the enclosure to teach the robot. If you want something to stop the robot regardless of mode, you would wire into the e-stop circuit, not the fence circuit. Both circuits are on the same board right next to each other.
Posts by pdl
-
-
How are you starting the robot? Are you using a PLC or just the green SOP cycle start button?
If you are using a PLC, how is your program select mode setup? (PNS, RSR, Other...)
Under System > Config do you have "Return to Top of Program" set to true or false?
Are you familiar with the "Abort All" function on the teach pendant?
-
What version of controller? If they are older robots, you'll need the space check software option, on newer robots it's called interference check. There are two levels of interference check, basic and intelligent. Unless your robots are on an RTU, you will probably be okay with the basic version.
There are other ways to setup interlocks, such as using reference positions, dcs zones, and just basic I/O handshakes, but none of those is as fool-proof as space check. With space check all you need to do is setup the zones where the robots could collide with each other. That's it. With any other method you'll have to have absolutely bulletproof code that has been tested through all permutations of how an operator could try and start the system.
Space/interference check isn't cheap, but it saves hours of program setup and testing, plus, it just works.
-
You can also use Telnet! The fact that Fanuc still supports Telnet always makes me smile and chuckle.
Telnet was developed in 1969
-
What you are describing should work, I've done it before myself. Are you remembering to calibrate after doing the single axis master?
-
I was thinking DPM as well, but was it supported that long ago? Probably not even an option considering this is a donated training robot.
-
You could also use a linear move with a wjnt motion modifier at the end of the move. Just use the right arrow to highlight the blank at the end of the line, f1 for options, then select wjnt.
Be careful and test thoroughly, this can make for some interesting looking moves.
-
That's a very clean robot for being 23 years old. How many hours are on it?
-
Do you just have a pulse mismatch after you load the image? If so use the pulse coder alarm reset function from the mastering menu and cycle power.
-
Sorry, that was a joke. Fanuc pulled all copies of their system variable listings a few years ago. Even for integrators. The latest one I have goes back to version 7.7 (pasted-from-clipboard.png).
It's very frustrating and makes absolutely no sense to me. I can understand their copyright and distribution policies, I'll never understand why they don't want customers to be able to get the most out of their robots.
-
Just look it up in the system variable reference manual!
-
If you do go the Karel route, make sure to add a small delay at the beginning or end of your loop. If you don't do this you'll very quickly eat up your CPU. TP programs running continually with no motion groups always required a wait statement until a few versions ago (v7 or maybe earlier) else they would lockup the CPU as well.
-
Do you have a Karel program called PASHELL? Did you delete PASHELL.PC? When you delete a karel program, the .VR of the same name will still remain in memory. On older robots, there was no way to make karel .pc backup. This should be enabled by version 8.2, but maybe it was disabled by a system variable, also maybe this is paint tool specific. I've never used paint tool so I can't be of too much help there.
-
If you really want to show your appreciation, mind sharing how you solved the issue? That way others can learn from this in the future.
-
-
You should map it then and follow HawkME's instructions. What do you have mapped for UI's? A picture would really help here.
-
My mistake. Should be $SCR.$RUNOVLIM.
Yup, that's definitely the one. It defaults to 50 on a new software load or straight from the factory. It's usually one of the first things I change.
$SCR.$TPENBLEOVRD is what the override gets set to when you enable the teach pendant.
-
When teaching user frames with a pointer, it is critical to have an accurate TCP defined for the teaching pointer. As long as the pointer is properly defined, you will not need to adjust the Z value of the taught frame.
The tool frame of the teaching pointer should be it's own UTOOL, and I would touch it up with the 3-point method every time i remove and then reinstall it.
Once the user frame is taught, then you can remove the pointer and teach your points with the proper EOAT UTOOL.
-
What version of controller?
If it's new enough you should be able to use the group exchange utility. Get to this through MENU > UTILITIES > Group Exchg. If it is not there you'll have to edit the .ls of the file manually offline so that you can edit the group mask in the header and then delete the group 2 position information from the bottom of the program where all the point data is stored. Once you edit it, you'll have to recompile it with RoboGuide if you don't have the ASCII upload option.
-
Technically, Fanuc gives those files away for free when they let you install a trial version of RoboGuide...
You're RoboGuide license may expire, but the command line tools aren't controlled by the license. If you wanted the latest and greatest (which you don't need, but maybe someone else may at some point), you would just need to install the most recent version of RoboGuide.