Posts by aishpd

Hi!

If you have DNET options installed, you should see some KAREL programs such as DV_ONLN/DV_OFFLN. Find the details in the annexures of the DNET manual on how to use them. Use them when you drop/pick tools. This shall solve your problem.

Hello!

I looked up and found this post and a couple of others on this topic. I am facing exact same problem. My IT has given me some static IPs for robots and as soon as the number of connected robots goes beyond 10-12, one or two robots start giving PRIO-096 error. While remedies in the manual suggest checking the hub-robot connection, I am facing issues even with the robots which are directly connected to DB switches without any hub in between.

I also tried tweaking the following parameters but nothing helped so far. Any help would be highly appreciated. Thanks in advance

$SNPX_PARAM.$NUM_ASG
$SNPX_PARAM.$NUM_CIMP
$SNPX_PARAM.$TIMEOUT

99 times out of 100, its motor encoder.

Answering for SRVO-105 DOOR OPEN or E-STOP only

There may be several reasons behind this alarm in addition to what you find in the maintenance manual.
1. Safety software/hardware mismatch (ruled out in your case since you mentioned its been running of months.)
2. Wrong mention of alarm variable values. $ER_NO_ALM (not sure which particular variable under this you should check. Refer manual)
3. External safety signal related wiring issues.
4. Safety signal state change timings overshoot. Usually, it is 30 msec

Perhaps you can elaborate your question a bit. I am assuming you are asking about compatibility of area sensor with Fanuc Robot having DCS option.

Ideally, you can go for area sensor of any make. Doesn't make a difference for the robot to use them because at the end all you need from that area sensor is an input (24/0V through NO/NC).

Do you have appropriate software option for using DNET? Moreover, did you check the power supply for DNET circuit? 24VDC has to be supplied to the card (both mother/daughter) from outside.

Is there a particular axis you are getting this alarm on? This alarm may come even if you have new batteries installed. The reason for this is bad pulsecoder cable or battery connection.

Hi!

Can anyone share the current global market share of different make of robots e.g. fanuc, Kuka, ABB etc?

Also, given an application, how can one decide which brand to choose, keeping the cost as a secondary parameter to decide.

I have used soft float in 210F robots. Know a little about this option.

Hello!

Wondering if anyone in this community has used or using Fanuc Zero Down Time system on their shop floor. Is it worth investing? especially when you have a large population of robots and you are inclined towards monitoring the health of robot mechanical unit.

Share your experiences/ insights.

Thank you.

I have an experience of integrating of Leoni Advintec with Fanuc R30ia.

Few points
Advintec has two major components :a controller and a laser enabled measuring clamp like device.
Controller basically reads the values of sensors and enables communication with robot whereas clamp measures position of the TCP as TCP is moved within this clamp for measurement.
You need a large number of consecutive registers available on robot to be able to send or receive data from Leoni's controlller.(No matter what protocol you choose)
Advintec, basically runs few Karel programs on robot, which moves the robot within the clamp and calculate deviation in the tool center point (TCP) upto +_10 mm (depends on the size of Advintec clamp) and adjust the same in tool frame. (Only Center point of the measuring clamp is taught to the robot).
TCP must be clean of any deposition on it (glue, sealer etc) as the same may lead to false readings.
May be a good instruments to adjust tool frames to a single digit milimeters, thus compensating offset if any.
Be wary of robot manipulator's tolerances when you adjust the tool frame.

Hope this helps!

Sorry, I could not quite understand the application. Why would you have slow move towards object when you want to stop and retract the robot when or even before it touches . You certainly don't want to pick up the object. Do you?

Anyway, to answer your queries:

$HSCDMNGRP[1].$stnd_cd is the variable to set the sensitivity of collision. Range 0-100. (You should have that collision detection option in your software package in order to use this variable)
You can also use instruction COL DETECT ON/OFF in you programs to enable and disable collision detection.
I don't think you can have just "Indication" of collision without an error and stopping the robot.

In my opinion use of proximity sensor (with larger range) seems the best idea to sense the presence of the object and trigger an input to make your robot do whatever you want.

Not sure if it will certainly work with RJ3iB but can be given a try.

Go to controlled start--> menu--> Maintenance---> Select your tool and scroll through Display/Modify additional axes options. Maximum speed can be defined there.

(Assuming that your 7th axis is controlled by the same controller)

As per my understanding

Gun sag: an offset to compensate for fixed shank deformation
Pushing depth: After moving shank touches the fixed shank and achieves set pressure, it further tries to push down. Maximum pushing depth can only be as much as your stroke limit is (usually 20mm).

Hope this helps.

Referring to the Digital I/O--->Config (F3) may be helpful.

Make sure that slot number for the respective rack is same as mac id given to that board. Also, look at the range and starting point with reference to bytes you have defined for respective rack boards.

Share screenshots of board setup and digital I/O screen in case above does not work out.

I think that is not possible. Since you have only one option in each robot, even image back up would not be helpful. Adding image of another robot will erase the prior option on robot and you would have both the robots with exact option.

If you have setup files (usually come with all options available), edit the order file according to the options you need and load it to the controller.

Hope this helps.

Not exact answer to your question still, might be useful.

Fanuc has this option of autobackup at an interval of Minutes/Hour/Days. Also you can set time as well. I hope one of the three interval would certainly fulfill your requirement.

To configure, you can go to FILE-->TYPE [F1]--> Autobackup.

Since the robot has only one option to communicate: DeviceNet (hopefully daughter board i.e. Rack 81), one way to communicate i see is using DNET master unit at you 'Click PLC'.

To configure Fanuc controller as salve over a DNET n/w, you would have to configure the following (in details of salve board)

Mac Id
Baud Rate
Error Severity
Number of I/O

After config above details, you can simply configure DI/DO (start/end) for this network. (Based on the inputs given in details of the board, newer series robots configure on its own starting from DI/DO [1].)

Cycle controller power after completing configuration to bring the changes to effect.

Hope this helps!

Few reasons for this
1. Problem in pulse coder/power cable/ connector at the robot base (I have had this issue with new robot: reason was pin bend while connecting the cable to manipulator base)
2. Noise in the feedback
3. Damage on the mechanical unit parts (motors/brake)

Hope this helps!

Two more possibilities to work on

1. Check input voltage at Power supply input or single phase output of the transformer.
2. Change the power supply unit.