Posts by HawkME

    The pictures look over exposed. If you had a broken connection there would be no picture.


    Check your exposure settings and make sure there isn't an exposure override changing that setting. Then make sure you have stable controlled lighting conditions.

    Spottool adds functionality for spot welding. Spottool+ has Spot welding and Sealant Dispensing functions. Anyway, you can still use them the same as handling tool, just ignore the other functions. The basic programming functionality is the same. However, I have noticed there are some software options that are not compatible with Spottool and it tends to be updated at a slower pace then handling tool.


    If I was buying a new robot and didn't need welding or Dispensing functions then I would stay with handling tool. For a used robot application it would be ok.

    To monitor current position:

    Set $SCR_GRP[1].$M_POS_ENB to true

    Then for current joint angles you can monitor

    $SCR_GRP[1].$MCH_ANG[0 to 6]

    And for current Cartesian position relative to active Frames you can monitor:

    $SCR_GRP[1].$MCH_POS_X (and y,z,w,p,r)


    To monitor current TCP speed:

    Set $SCR_GRP[1].$M_DST_ENB to true

    and monitor $SCR_GRP[1].$MCH_SPD



    To send position to the PLC you can create a BGlogic program to copy the current position values from the system variables into registers. Then in your PLC program create the logic to read those register values periodically.

    I recommend taking your various payload sizes and creating 10 schedules that cover the entire range. Then just select the closest one. In most situations this is an adequate solution, especially considering that many people get payload wrong altogether and still function :uglyhammer2:.

    You only want to change those settings in very special circumstances. Otherwise they will cause unexpected behavior of a program. They allow a program to ignore pause and abort signals. The busy lamp will cause the busy signal on the top left of the pendant to not turn on while the program is running.


    I have never had a reason to change those settings, but have see issues caused by people messing with them, such as a program that can never abort.


    I would be curious if anyone else has a situation where it made sense to use any of these settings.

    You need to purchase the Ethernet IP software option from Fanuc if you don't already have it. There are several different options but I recommend the Advanced EIP Adapter Package (option # RTL-R860). Then you can add the robot as a generic ethernet module in the PLC with the following settings:

    • Comm Formate: Data - INT
    • Input: Assembly Instance: 101 Size: "however many Inputs you want, 16 per size number"
    • Output: Assembly Instance: 151 Size: "however many outputs you want, 16 per size number"
    • Configuration: Assembly Instance: 100 Size 0

    For example if you want 64 DI's, you would set the size to 4


    Set the IP address of the robot and that is about it on the PLC Side, besides giving descriptions to the tags.


    On the robot side, you will go to IO>EthernetIP, Connection 1, set the Input and Output size to match the PLC settings. Then enable the connection. Then you can map any "digital" IO you want (UI/O, DI/O, GI/O) by configuring that IO to Rack 89, Slot 1.

    You can time in BG logic. There a couple methods, 1. Increment a counter, which will occur at the scan time (8ms default) or monitor the difference in the $FASTCLOCK system variable, which counts in 2ms increments.

    Press Function>Abort. Also check to see if this is running in BG logic, menu>setup>BG Logic. If it is running in BG logic then stop it, make your edit and press run again. You also will need to see if it is an Auto-execute program which is selected in menu>system>config. If so then you may have to deselect it, reboot, edit, reselect it, then reboot again.

    Hopefully you have all the other components needed. The controller must have an axis control card that can handle to total number of axis you have. For example if you have a 6 axis robot, it probably came with a 6 axis control card. In that case you would need to upgrade to a 12 axis control card. If your robot already has other external axis then you may be in luck. You also may be missing the fiber optic cables, backup battery compartment and cables, etc.


    Then you need to have software to control the axis, such as Extended Axis or Basic process axis.


    If this robot wasn't previously specified for an external axis and you didn't work with Fanuc to get the needed software and hardware then you are going to have a hard time.