I'm pretty sure that all model A I/O is interchangeable, at least from RJ3 through R30iB+
Posts by pdl
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When you say newer, what controller version.
I'm pretty sure this feature was introduced with the R-30iB. I agree that it's a really great feature, it makes it super easy to scroll through programs really quickly and find things.
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When set to true, the moments do not have to be converted from SI units. Most solid modeling software outputs in SI units, which is not what Fanuc defaults to.
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MENU > SYSTEM > MOTION
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I don't know of any standards, but I usually set it up at the furthest corner so that unit loads by default build towards the robot.
This usually, but not always helps with reach issues.
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If a motor is properly sized, it will be fine.
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Please check your spelling/sntax. Do you mean WAIT when you post WITA?
I"ve been working with Fanucs for quite some time and have never heard of the WITA instruction.
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You'll want to use Karel with socket messaging.
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It wont stop you from running, but you will get the alarm every time you power up.
To fix it, you need to call fanuc and get a LAC (license authorization code), this should be free from them.
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When's the last time you did a PM?
Do you do regular PM's?
How many hours are on the unit?
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What type of controller?
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I guess if it was me, I would ask the person that installed it.
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Your robot has password protection installed. You will need to get the password to be able to unlock it and make any changes.
From the look of your error table, nothing has been added, so the faults that you posted earlier are just warnings and will not stop the robot.
The next time the robot stops, press menu then 4 for alarms. Take a picture of the screen and post it back here.
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Karel is closed source, so you can't decompile from the p-code file. You will need to have the original karel source if you want to be able to debug line by line.
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So glad to hear you had an image. That saves a lot of frustration. Once you have everything back how you want it, please take the time to make a new image.
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Do you mean MOTN instead of the MOTH/MONT that you posted?
If you did mean MOTN, those are just warnings and should not stop the robot, unless the severity has been changed.
Check the error severity table (MENU > SETUP > ERROR TABLE)
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You'll have to get a re-burn from Fanuc, but they'll only sell you one if you are the original owner or have re-licensed the robot. If you don't own the license, it will be ~$10,000 to re-license it.
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Jog J5 positive or negative by 10 degrees, switch back to world and try again. When the robot is at all zero, it is in a j4 /j6 singularity.
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Jog out of the singularity in joint, then jog in world.
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You'll need a copy of the original system software then to get the robot up and running. Once running, you can restore the all of the above backup to get back to where you were before the battery died.