Posts by leopard

If you are asking where to key in the gear ratio, it is in controlled start, menu => maintenance => select the group where the rail motor is and press manual soft key. You can change all the setup for the motor over there.
If your gear ratio is not right, you can measure the difference between the requested and actually moved then calculate the right ratio. Or if you know the gear box ratio, you can count how many teeth on the driving gear and the teeth pitch of the rail and calculate the one motor turn to millimeter ratio.
All worked for me in ArcTool. Yours should be similar.

Probably you can auto run a program at cold start that writes ridiculous numbers into the working user frame so all the points in the program are not reachable. This will force the operator to clear and re-teach that frame.

Yes. Local controller will be disabled by pendant e-stop and the remote controller by external e-stop.

File backup the controller in Roboguide then load DCSPOS.SV and DCSIOC.SV to the real controller.
You may need more files if you have other DCS related options. Details in DCS manual.

You can load the LADDER.PMC in the previous backup into the controller to verify.

Jaysphus,
I did not notice you are working on a R30iA instead R30iB. Sorry. Otherwise I would have replied you earlier.
Try these:
1. Backup system so you are safe.
2. Insert a formatted Memory card into the controller.
3. Menu => IO => PMC => F3 (Function) => Save STDLDR => F4 (Yes)
4. You will see "STDLDR.PMC is saved to MC:\." on pendant display.
5. Use a PC to rename the file on memory card STDLDR.PMC to LADDER.PMC.
6. Menu => FILE. Load the LADDER.PMC to controller. (Controlled start or E-Stop pressed in cold start).
7. Cold restart. Menu => IO => PMC display. You will see your PMC level one handle the standard UIO and level two is empty. No other ladder programs. This should make your regular UIO works just as those without PMC option installed.
I did it in WeldPro. Please try it on your controller and let me know if it works.

If you do not have other e-stop conditions, you can wire them like this:
Robot 1 Robot 2
e-stop board e-stop board
ESPB1 ---- EES1
ESPB11 ---- EES11
ESPB2 ---- EES2
ESPB21 ---- EES2
EES1 ---- ESPB1
EES11 ---- ESPB11
EES2 ---- ESPB2
EES21 ---- ESPB22
Remove the jumpers on these pins first.

If they are R30iB controllers, an optional kit is available from Fanuc to let you do it.

Look for this variable: $AWSCFG.$NUM_ARC_SCH.
If you have it, you can increase the number of welding schedules up to 200.
(Change it in control start mode).
If you do not have it, you may have to update your software.
I saw this in V7.50. Not sure about the earlier version.

You can delete all the digital IO setup, turn $IO_AUTO_CFG to true, cycle power.
All the available IOs will be mapped to your digital IO then you can check the rack and slot.

That robot is not setup properly. You can call the integrator asking.
If you have iPendant, you may go through the ladder logic in PMC display.
It may get very hard depending how it was written.

Slewis,
I have been doing this for years. You can use DI(s) to trigger a macro program which will move group 2/3 while the other group is running for production. Stop moving when the DI is off. Here is an example, I use DI 9/10 to jog one group in two directions. Just make sure you mask out the right group(s) in you tp program header for both production and group jogging.

1: OVERRIDE=100% ;
2: IF DI[9:Tooling A Jog Out]=ON,JMP LBL[1] ;
3: IF DI[10:Tooling A Jog In]=ON,JMP LBL[2] ;
4: JMP LBL[3] ;
5: ;
6: LBL[1] ;
7: SKIP CONDITION DI[9:Tooling A Jog Out]=OFF ;
8:J P[1:PLUS MAX POSITIN] 25% FINE Skip,LBL[3] ;
9: ;
10: LBL[2] ;
11: SKIP CONDITION DI[10:Tooling A Jog In]=OFF ;
12:J P[2:MINUS MAX POSITN] 25% FINE Skip,LBL[3] ;
13: ;
14: LBL[3] ;

Quote from bgarrison

This is what I ended up with as the solution. Was hoping to save the motor and local stop as spare parts.

What you are doing is easy but you can use only one amplifier in a dual channel by setting variables.
I did it years ago but forgot the exact settings.
I thought they were $SCR.$ATR and $SCR.$ATTRIB. You may try Racermike123's procedure first.
Then you can disable the Local Stop by setting $LS_IOPORT [x]$MO_GRP_NUM to zero. May be you do not even need to do it because you do not have group 3 any more.

SNPX is good. Need to buy option from Fanuc though.

Your group 2 and 3 may be sharing one dual channel amplifier.
The easy solution is to keep the group 3 motor hooked and put it at a safe place.

Check these variables:
$LS_IOPORT [1/2/3]$MO_GRP_NUM.
Set all three to zero then you should be fine.

Eric,
You are probably looking for this: $MOR_GRP[X].$CUR_DIS_TRQ[X]

You are welcome.
Actually, those testing numbers were in my notebook taken years ago when I was curious how the voltage was read. You can find the related article in wikipedia. Look for "Signed number representations" and this ADC board use "Two's complement". Because in the board manual, it is said: "D11-n corresponds to the sign bit in the complementary representation of 2".

Quote from DuhbCakes

Monitor the safety variable. You can use the Group Output to run the bitwise operation for you, and map the result to a flag. Or external digital outputs.

If you have a recent enough controller, then you should have access to flags. Flags are internal Boolean logic, they function like I/O, but no field devices access them. $MIX_LOGIC.$use_flg must be set to TRUE for the flags to be displayed. Flags are mapped like any other I/O in logic.

Flags are on Rack 34 Slot 1. If you want to push it to a output, you can just map an output either to the flag itself, or you can use I/O Interconnect, or write a BG program to set them equal to each other.

BG Logic EX.
: DO[Fence]=F[4:Fence] ;

Map to DO[i].
Range [i] - [i+10] Rack 34 Slot 1 Start 1

see attatched picture.
Category: Variables
This variable can be set to a register in logic and have bitwise operations performed to determine the cause of safety faults.
1 = E-stop on controller.
2 = E-stop on Teach pendent
3 = Deadman Trigger on Teach pendent
4 = Fence circuit
5 = Robot Overtravel
6 = Hand Broken
7 = External E-stop
8 = Pressure Abnormal
9 = Belt Broken
10 = Teach Pendent Enabled
11 = Fault Alarm

$MOR.$safety_stat
Minimum: Not available Maximum: Not available Default: Not available KCL/Data: Not available Program: RO UIF: Not available CRTL: Not available Data Type: INTEGER_SK Memory: Not available

Name: Safety signals status

Description: $MOR.$safety_stat is bit parameter of safety signals. The bit assignments are as follows. * Bit position for $safety_stat MFS_EMGOP 1 MFS_EMGTP 2 MFS_DEADMAN 4 MFS_FENCE 8 MFS_ROT 16 MFS_HBK 32 MFS_EMGEX 64 MFS_PPABN 128 MFS_BELTBREAK 256 MFS_ENABLE 512 MFS_FALM 1024 When FLTR task detects the above alarms, FLTR set the bit which corresponds to the alarm.

Power Up: At a cold start, this variable is reset to its default.

Display More

The setup in the screen shot is very smart. I will keep it and use is in the future.

cja,
That board is 12bit ADC. The MSB (D11) is the sign bit. (check the next page in your manual).
This is what I found by testing:
V=0v, AI=0.
V=10.24V, AI=2047.
V=-0.01V, AI=4095.
V=-10.24, AI=2048.
Linear in between.
So the actual input can be -10.24v to 10.24v.
You need to write something like background program to convert the input reading 0, 4095 to -2048, +2048 in a register for an example.
When AI<=2047, R=AI
When AI>2047, R=AI-4096
I did not try the program though.
I only read positive voltage, so this was not problem for me.