Posts by HawkME

Fanuc Irvision can come with a black/white or a color camera, your choice. Often you can still distinguish color with the black/white camera, but depends how close the colors are to each other.

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Yes this a bug with Fanuc software when doing offline programming. The compiler that converts from 'ls' to 'tp' doesn't allow it. My suggestion is to change it to another UT that has not been taught so it will have the same coordinates as UT:0.

UT:0 only works if you are programming from the teach pendant so if you are doing a mix of online and offline programming, it is a best practice to not use UT:0 at all.

My preference is option 2. A machine may require many other devices and in my experience they integrate better with the PLC as a master. Modern PLCs are also much easier to structure data than using robot registers.

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I would check that the cables are connected securely and review the manual if you have it.

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T1 over speed is not just a warning, it will fault, and stop the robot. At that point I will bump the override down 5%, press reset and continue.

Try setting the IO auto configuration system variable to 1.

$IO_AUTO_CFG

Then power cycle the controller. You may need to clear out the DI/O config first for it to auto detect what is connected.

You may need to change the system variables $SCR.$RUNOVLIM and $SCR.$JOGOVLIM

Runovlimit is for running a program in Teach mode, Jogovlim is for jogging in teach mode

Default is 50%, you can change it to 100% but may get occasionally T1 speed faults. 90% is pretty reliable.

Try Rack 0, Slot 1 and 2

Some variables that are write protected need to be changed in a Controlled Start.

becncor21's option is also a good way to go that may be simpler than the System Monitor. You would create an AutoStart program with no motion or you could use the Run statement to start your RO fault program as soon as the main program starts.

T1 speed exceeds the safe speed for T1 mode.

Slow down your override % when in T1. Usually 90% is reliable to eliminate the speed spikes that trip this alarm.

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Check your wiring on the EE connector. Are you intentionally using the hand broken signal (hbkn) or is their a loose or wrong connected wire?

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I would check it with a voltmeter before I power off. Also, write down the current joint angles.

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Are you wanting to manually abort or automatically abort the program? It would help if you post your code.

I ran your updated programs through my tool and didn't find any issues.

Sure no problem.

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chris051873,

EJ_Front, line 19 is recursive.

EJCT_F_R calls EJ_Front, which can call EJCT_F_R on line 19.

In the 2012 version 15.06.

Section 5.12.3 discusses Safety-rated soft axis and space limiting.

I have a tool that can find recursion. If you send me a backup I could test it for you. Must be an "all of the above" backup.

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DCS is the Fanuc name. Each robot mfg will have a a different name for their safety software. Under the latest RIA I believe they call it Safety rated soft axis limits or something to that effect.

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Correct, my understanding is the 18" rule was changed to apply to T2 mode for a crushing distance.

For normal operation your distance should be the stopping distance of the robot plus the mesh fence reach though distance.