Posts by Robo_Eng_13

  • Can we copy more than 1 tp program from controller to flash drive at a time?

    On mine i can copy as many or as few as i want, it is just a pain.


    I do the standard Menu>File>File then UTIL and Set Device to my TP USB port, then Backup, TP Programs, and then it prompts me for each individual file, do you want to save or not. Go through and hit no on the ones that you don't need and yes on the ones you do. I find taking a full backup and just picking out the ones i need later much faster and easier, but you can backup several individual files in one go if you are willing to let it prompt you for each and every TP program you have on the controller.


    Mine is R30iB, so it may be a newer feature. This is the only controller i have worked with, so someone else might be able to say whether it worked that way on older controllers.

  • No USER FRAME Jog mode RJ2

    I went out to one of our robots and worked out the system to get the number you want.


    JOINT = 1
    JGFRM = 2
    WORLD = 4
    TOOL = 8
    USER = 16
    3LDR = 32
    PATH = 64


    If you chose which frames you want to have available, and then add up the associated numbers and enter that in the $SCR_GRP[x].$COORD_MASK variable, then you will have those frames available. I hope this helps someone in the future. I don't know how this might change with coordinated motion and extended axes, our extended axes are just set up in separate groups with Joint only.

  • Prexe Variables

    From Manual :


    $RGSPD_PREXE


    Register Speed Pre Execution


    This variable controls the interpreter pre-execution when a register value is used for the speed parameter. The default value is FALSE which means to stop the pre-execution. If it is set to TRUE, the pre-planning is not stopped. In this case, if the user changes the register used for the speed immediately before executing the motion, the speed used will be the previous value of the register. If the register is not typically changed right before issuing the motion then it may be safe to allow the pre-execution to occur.


    Power Up : On_Cold_Start


    NOT From Manual :


    My interpretation would be that if these variables are set to true, your program will read the values of registers used as indirect values well before their actual execution, and if they are changed after that reading, the change will not take effect in locations where they are used as indirect values, such as the speed of a move. When set to false, the values will be read at the line they occur, allowing on the fly changes right before their use.

  • DCS

    I am looking for those same system variables now. I want to write a background logic code that will record the date and time if a DCS zone is deactivated. I have the framework of the code, i just need to know the system variable that indicates whether a given JPC is enabled or disabled. If no one has it on hand, i can figure it out through trial and error, but i don't want to redo work that someone else has already done.

  • M16-iB won't move in straight line

    Have you tried moving in joint mode? Move each axis back and forth at a moderate speed and see if they are moving smoothly and consistently? It might at least tell you if one of your reducers, motors, or brakes are problematic.

  • Feature Name

    Maybe...


    The thing that really stood out was that the operator didn't need a password, and that it allowed them to touch up points, but only by a small increment. I don't even know if the increment was set in stone or if it could be modified, but it would stop an operator from moving a point two feet off path and limit them to a touchup of only 1 mm or something small.

  • Feature Name

    I am trying to track down a feature that i encountered, but i had very limited exposure to Motoman. Almost all of my experience has been with Fanuc. The robot was either an NX100 or a DX100, and the feature allowed the engineer to password protect pendant such that most editing was disabled, but the operator could modify point positions within a small tolerance. I am having trouble getting a set of google search terms which will tell me what this feature is called. If anyone has seen or used this feature before and can give me some words that will guide me to more info, i would appreciate it!

  • Collision Detection and Disturbance Excess without Collision or Motion

    Thanks for all the suggestions!


    I have increased the tolerances a small amount. They had been -5.2 to 5.2, and the last monitor i saw said 5.4, so i only raised it to 6. If that fixes it, for a while and it comes back, then something is getting worse and we'll look into more in depth solutions. If it doesn't fix it, we will adjust the tolerance a little more, and then attempt the collision guard adjustment. I will update when i know for sure whether we have success or not!

  • Collision Detection and Disturbance Excess without Collision or Motion

    The part isn't touching Group 1 at all. It is on a completely separate external axis, Group 2. We're getting the disturbance excess on the wrist rotation of Group 1. All it has in the welding tip, which has not caused an issue before now, and still isn't causing an issue anywhere else. The robot is stationary, the part is moving under it. 5/8 inch stickout on the weld wire separating the J6 axis from the rotating part.

  • Collision Detection and Disturbance Excess without Collision or Motion

    One of our engineers brought a problem to me, and a quick search of the forum didn't turn up anything quite like this, so i thought i would ask before going on with suggestions for slightly different problems.


    We have an external axis which holds the part we are welding. The robot comes to a point in space, arc starts, and the external axis rotates the part beneath the stationary EOAT. After completing one circular move, at the start of a second, the robot is giving a SRVO-050 and a SRVO-053 alarm on G1:A6. These are pretty new robots, no recent greasing, and it always happens at the same point in the program, no collision, and in fact no movement of that axis at all.


    My first thought is that we may need to clean the insulating joint, as we have blown a circuit once before from a build up of conductive particles shorting the robot and weld together. I just don't understand why this would be happening at a single point in the program. I am going to try and observe this happening myself to see if i can get any additional insight that they might have missed.


    R-30iB controller, ArcMate 120iC robot.

  • Two light curtain fence for two work area... how make robot choose safely?

    I like it better from the standpoint of someone working on it, but we had an issue with someone deactivating the DCS to work on something and forgetting to re-enable it, which caused one of our techs some stress. A physical relay is more difficult to work around, but for safety reasons that can be a good thing. DCS DOES allow more flexibility without a complex electrical system though.

  • Model Difference

    We have an M-710iC/70, but we have the manual for M-710iC/70T and M-710iC/50T. I am unfamiliar with this model and its submodels, and i was hoping someone more familiar would be able to tell me if it would be accurate enough to use the Maintenance and Check procedures from the 70T on the 70, and what the exact difference between the models is. If it comes down to me having to get a copy of the correct manual from Fanuc, that won't be the end of the world, but i am hoping i can get by with what i have.

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