Posts by TitusLepic

    This ended up having Fanuc tech support scratching their heads too. We think we have it partially figured out; my company bought this robot (and later, the J567 option) from an integrator who apparently mated a M710iC arm (originally with an R30iB controller) to a R30iA controller (originally with an R2000iA arm). Somewhere in there, the integrator messed something up - the Fanuc rep said that R30iA requires a reburn for DCS so he doesn't even know how they generated a PAC code for it. Of course since we went through an integrator Fanuc can't help me directly, they have to deal with the integrator who isn't returning calls or emails right now. :wallbash:

    So in short, the PAC code didn't work because you can't install DCS options on an R30iA controller with a PAC code.

    My company bought a refurbished robot (M710iC/50 R30iA V7.70). We need DCS pos./speed check, so ordered option J567 through them. Got the PAC code, installed the option, got the following errors:

    SRVO-365 DCS FB_CMP alarm(G1,A6) 1,1

    SRVO-365 DCS FB_CMP alarm(G1,A4) 0,1

    SRVO-365 DCS FB_CMP alarm(G1,A3) 1,1

    SRVO-365 DCS FB_CMP alarm(G1,A2) 1,1

    SRVO-364 DCS PRMCRC alarm(G1) 1,1

    SYST-218 DCS Unavailable robot model G:1 Hex

    The one I'm concerned about is the Syst-2018 -

    SYST-218 DCS Unavailable robot model G:%x Hex

    Cause: "DCS Position/Speed Check Function" option is loaded, but this robot model is not supported. "i" is a hexadecimalvalue and each bit corresponds to a motion group.

    Remedy: Delete DCS Position/Speed Check option.This alarm can be cleared by setting $DCS_CFG.$SYS_PARAM to 1, but in this case, Position/Speed Check functioncannot be used.

    So if I'm understanding this right, Fanuc sold us an option that isn't supported by this robot? Has anybody ever dealt with this before? I'm waiting to hear back from them, but in the meantime if anybody else has any advice I'd be happy to hear it. I'm only on site for another day so I'm hoping to get a quick resolution to the issue.

    Both of you are correct, as usual. Roboguide fast_clock increments every 1ms, but the real robot (R30iA) increments every 2 ms. I did end up cutting out the registers, so my final code on the robot is F[30] = ($FAST_CLOCK MOD 1500 DIV 500)

    Thanks for helping me understand this.

    I'm trying to create a 2s ON 1s OFF signal that I can use for blinking some lights. I wrote the following code and am running in BGLogic.

       1:  IF ($FAST_CLOCK MOD (3000)<2900),F[30:2s ON 1s OFF]=PULSE,2.0sec ;
       2:  R[10]=$FAST_CLOCK ;
       3:  R[11]=R[10] MOD 3000    ;

    F[30] is only pulsing for about half of the time commanded. I.e, a 2.0sec pulse goes high for 1 second, but if I set it to 4.0sec, I get a 2 second pulse. Why? This is in roboguide, on a R30iA (v7.7).

    I added lines 2 and 3 to help debug and to make sure that $FAST_CLOCK works how I thought it did, and it does... in the virtual world.

    To check and see if the issue is just in Roboguide, I put the exact same program on an RJ3iB I have out in the plant. On that robot, the pulse is 2 seconds as expected, but R[11] takes 12 seconds to count to 3000.

    I have a working solution (changing the pulse to 4seconds), but I'd really like to understand what's going on with this code and why $FAST_CLOCK on the real robot is running so slow.

    As the subject says, the System/Config screen for my R30iA (HandlingTool V7.70) is missing the Program Select and Production Start options from the System/Config screen. Also, Remote/Local setup reverts to "OP panel key" after a cold start. I'm working in Roboguide with a backup of the actual robot, which is just over 1000 miles away right now. Is there some sort of system variable I need to enable?

    Sorry about posting a question that's already been answered several times on this forum, but I'm stupid and still don't understand.

    I have my moments calculated through the tool's CG. Units are in kg-cm^2. The robot wants kgfcms^2. Am I understanding correctly that this is my values divided by 98? So using the results below, my X, Y, and Z inertia would be 29.6, 26, and 4 respectively?


    I swapped the brake cables and unfortunately, the fault stayed on J6.

    - Ask operators if any actual collisions have taken place, if so at what position. - Nobody knows anything. Of course, I've personally watched them crash the robot before and they didn't know anything then either, so that isn't really saying a lot.

    - Any part of process that has been retaught, causing force applied to JT6 in operation. - Nothing different than what's typical

    - When was last maintenance performed regarding grease replenishment. - January 2021. We run about 2000 hours of production on it per year, and replace grease every 3 years.

    - Any possibility new bolts have been added to EOAT coupling that are too long. - No

    - Any noticeable increase in motor body temperature on JT6 during production. - I don't have a baseline to compare it to. When production starts back up on Monday, I'll check to see if that motor is running hotter than the others.

    - Is error produced at a specific location in terms of robot posture. - Yes, BUT - the error only occurs after the robot has been sitting for a while. The only place it does this is at the home position. So I'm not sure if the robot faults at that location because of the location, or because that's where it hangs out most of the time. I'll go move it to a different location and let it sit there to see if the error reoccurs.

    - When in error, can you manually jog it free, manual brake release it free. - Today, I reset the error and could jog it. Last time, I had to jog it away from that position (in joint mode, avoiding axis 6) before axis 6 would respond without alarming. I don't have a cable to manually brake release.

    - How much displacement occurs with JT6 when running in repeat mode - is JT6 completing full rotations. - Will go check

    - Have you thought of creating a standstill test program to just exercise JT6 around error location. - Can't. Home position is right next to the tool rack and cell wall.

    - Swapping motors between 5 and 6 may result in new mastering being required, but possible to try. - Will give it a try when I'm not the only person in the plant. With the motor removed, JT 5 and 6 will be free to move, right? Do I need any sort of blocking to prevent this? The manual doesn't mention blocking for J4,5, or 6 but just want to be sure.

    - Inspect JT6 motor coupling for damage (requires removal of motor to inspect). - Will have a look when I swap the J5 and J6 motors.

    I have an R2000iA-165F robot (RJ3iB controller, V6.31) that's started throwing a SRVO-050 Collision Detection error on J6 on the first move after power on. I just found out that this started last week; the operators have been "fixing" the problem by cycling power which apparently fixes the issue somehow... Anyway, it threw that error again today after it had been sitting idle for an hour over lunch. I tried jogging in joint; even with the override speed set to very fine it still threw the error when I tried jogging J6. I was able to jog J1, 2, 3, and 5 with no issues - J4 threw the alarm at 100% override but the axis disturbance on the status menu was still showing J6 as being the issue. Dropped J4 override to 50% and could job it. After jogging away from the home position, I was able to jog J6 with no problem and the robot ran fine for the rest of the day.

    Nothing changed as far as payload, acceleration, or any other configuration issues that I can find. As far as I can figure, that leaves the possibilities as:

    Bad reducer

    Bad motor

    Bad brake

    Bad cable

    Bad servo amp

    I don't want to start replacing parts without diagnosing what the problem is first, how would yall go about troubleshooting this?

    When I set up my robot, I mapped UI[1-3] & UI[8] to the same physical input point, and let the PLC control all 4 at once with a single output.

    As far as what each rack is, this is a list that somebody posted on this forum a few years ago:

    To make an Image Backup on an RJ3iB controller:

    • Press and hold F1 and F5 and cycle controller power. Continue holding F1 and F5 until the BMON MENU is displayed.
    • At the BMON MENU, select ‘Controller Backup/Restore’.
    • Select ‘Backup Controller as Images’.
    • Select the device you want (typically MC for Mem Card). Enter a 1 when ready.
    • You will be notified of the amount of free space needed. The card will not be formatted and the card’s contents will not be deleted.
    • The controller will be backed up to the selected device. If there is not enough room on the card you will be informed of this and will be able to remove the card, free up some space using a PC or another robot controller, and then resume the Image Backup.
    • When done press ENTER.
    • Press 0 to return to the Main Menu.
    • Select ‘Configuration Menu’.
    • Select ‘Cold start’.
    • When Controlled Start completes press FCTN and select ‘START (COLD)’.

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