You can use this variable instead
$system_time[1].pwr_tot
it will give you the number of minutes that the controller has been powered on, it its lifetime.
Simple set a register = to this value then wait for 60 minutes to elapse.
You can use this variable instead
$system_time[1].pwr_tot
it will give you the number of minutes that the controller has been powered on, it its lifetime.
Simple set a register = to this value then wait for 60 minutes to elapse.
Hans, it seems that your question is different, so please start a new thread.
No, you can't replace cards with power on.
You should replace batteries with power on but not cards.
If you need to replace both SRAM and DRAM cards:
For DRAM only you shouldn't need to restore the image as long as your controller battery is good. But always take an image backup as a precaution.
SRAM is battery backed. If you remove the controller battery with power off or remove the SRAM card itself, it is wiped. A simple image restore will get you going again.
If FROM goes bad I believe an image restore is all that's needed.
DRAM is volatile so doesn't matter. If it goes bad just swap it out and you are good.
The manual you are looking for is called "Fanuc Robotics System R-30iA Controller Software Reference Manual"
That is the last good version of it that I have seen and it isn't that good. It hasn't been updated in a while and is missing many variables, but still better than nothing.
That is probably the only free way to read the values with a PC. Any other method would require purchasing a communication protocol option, such as karel and socket messaging, or PCDK.
What do you mean by variable comments? There is manual that gives descriptions of system variables but it is incomplete. Is there a certain variable you are looking for?
If you want to read UO[2] you can read the content from the webserver. Just replace the IP address below "127.0.0.1" with the actual IP address of your robot. This pulls in the state of all IO so your program would then need to find just UO[2] and then read the state.
Please search the forum. This has been discussed many times before.
What programming language are you using?
It is possible via http request. You would have to poll the status in your program.
Are you just wanting to check these variables manually by navigating the webserver or are you trying to pull this information into another program?
The same webserver is available on the real robot, you have to give it an IP address under menu>host comm>tcp/ip. Then plug your pc into the same network and browse to that address.
Are you just needing to look it up on the webserver or what are you wanting to do with that signal? On the webserver you would need to refresh to see a state change.
I agree. If this is a program completion signal use DO in program. If this is a position confirmation use RefPos or other method Sergei mentioned. Less chance error that way if the DO is accidentally changed.
Well now you tell me it's for a PC
How fast do you consider real time? What's your purpose for this? Are you willing to spend money?
There are different methods for communicating robot to PC so after you answer I can make a recommendation.
That is called a skip. It will move until the input comes on, then stop and record the robots current position.
Skip DI=ON (set skip condition to if that DI is on)
LP[1] 60mm/sec skip,LBL[200] (move towards P[1]. If skip condition is met stop and skip to the next line of code. If not met, complete move then jump to label 200)
PR[12]=LPOS (record current position into PR[12]
Yes UO[3] is probably the easiest.
It doesn't mean motor is on, it means program running, which may be good enough for you. Usually the motors are on when program is running, except if at a wait for longer than the brake timer. Also this wouldn't tell you if the robot is being jogged.
There is a system variable that shows the brake status. $MOR.$brk_status
You could use BG Logic to set a DO equal to this. DO[x] = ($MOR.$brk_status). True = brakes released, motors are powered. False = Brakes engaged.
Another option would be to use the UO[3] Program busy output. Though if the program is at a wait the motors might time out and engage their brakes, but this output will still be on.
The vision support tools option includes functions for Matrix and Inverse matrix that can be used in TP. Otherwise I believe Nation had a standard TP method.
In the shortcut settings you can set to run as admin.