Posts by aishpd

If you are using timers to measure the cycle time, you can pass on the value of the same to a register and can read the register either by Ethernet/ other communication protocols via GO.

Perhaps because you have enabled the use of UI/UO without configuring them. As you said UI/UO are shown OFFLINE i.e. they have not been configured over any rack/range.

Hope this helps.

Although, i never tried but i think you can make one separate program to calculate offset using softfloat instruction and only one (or two at most) PR. You can use the same offset for shifting the tool frame and thus all TPP points.

There can be several ways this program can be triggered only once in the beginning of everyday.

Just to add
SRVO-248 Deadman switch status abnormal
Cause: The status of two DIs of DEADMAN switch do not match.
Remedy:
1. Release both deadman switches at once. If SRVO-236 Chain failure is repaired occurred, there is no hardware problem. This alarm could occur when deadman switch is pressed halfway.
2. When SRVO-236 does not occur, please replace hardware in following order. – Teach pendant – Cable between teach pendant and panel board – Panel board – Cable between panel board and main board
3. After measures, the release operation of chain abnormal state is necessary.

The emergency stop button on the teach pendant or operator panel is pressed once, and released.
F4 ‘RES_1CH’ is pressed on the Alarm Active screen.
The reset button is pressed.

There is one relay on the Panel Board (behind the controller door) which actuates when you press the deadman switch. You can check if the same is working ok.

Changing the teach pendant may be helpful.

Quote from scotty

chrissiapla

You can't run karel program in BGL. You can run karel program parallel. Also you can use Karel options for running karel program automatically with start your robot controller.

Regards,
Scotty

How to trigger a KAREL in parallel?

Have you connected the daughter DNET board of your robot to it's master?

**If yes and link is ok on both sides, this warning usually appears when there is no data exchange between the Master DNET station and slave (your robot) takes place.

Let us know if you find out something more specific.

We had a problem on R30iA controller. Things took place in the following order

1. Pulse mismatch occurred on G-1, A-2.
2. Alarm was reset and made the master done variable TRUE (under $DMR).
3. Tried to move the robot by executing program position; Attempt to move W/O calibration fault appeared.
4. Again checked robot by moving in Joint mode. OVC alarm occurred on Axis-2.
5. Cycle power to reset OVC alarm. After power up no LED was glowing on the servo amp
6. Checked the incoming supply of the incoming breaker. found ok.
7. Changed the servo amp. Situation was still the same.
8. Changed the E-stop unit as it was suspected for fault. Problem was still the same.
9. Now removed the pulse coder cable for (j1-j6) from six axis servo amp. All LEDs started glowing.
10. Connected the pulse coder cable at servo amp and disconnected from robot base. All LEDs still ok
11. All LEDs stopped glowing as soon as the pulse coder cable connected in the base.
12. Apparently, internal wiring harness has some problem. Changed the same. Robot run ok.

Now, since we know the problem, it is quite clear that few steps could have been avoided but when it was not known, what better approach could have been taken so as to minimize the downtime?

Is there a way we can decide that something is wrong with the encoders or its cables. Any program or any hardware by which we can bifurcate the area of trouble.

Any help would be highly appreciable.

Thanks.

If it is BG logic program, you may find that in your program list. [SELECT]. You can view it like you do normal tp program.

KAREL can not be viewed either way i.e. online or offline.

I need to increase the memory of the controller from 220 KB to 10MB (at least).

Is this possible on the RJ3iB fanuc controller? Up to what maximum limit we can achieve in increasing the memory.
We are using MC to upload the program. Is it possible to run the program directly from MC.

Actually, the programs that i want to run on the robot usually size more than 5MB. As per my knowledge, controller has only 220KB of TP programs . Wondering if we can use FTP sort of thing to execute the programs.

Any help in this regard will be helpful.

It works almost same as JMP LBL does in a TP program.

Program structure in KAREL might look like this

.......
.......
GOTO LBL1
.......
.......
........
LBL1::
..........
..........

I hope this clarifies.

The intended goal for such hiding is that no one can even see it.

I was reading some older posts with the same subject. Could not find a satisfactory answer.

I want to hide a TP program completely. Apparently Karel is the only way to do so. If so, what all i would be needing to translate a TP program to a Karel? Given that i have never worked on Karel programming.

Please list all the tools (software, manuals, robot add on options or whatever it requires).

Thanks!!

Thanks for your reply scotty & bidzej.

OK, it might be the case that either of the port can not be configured as router or switch (don't know which one is appropriate ). But the next question is why every controller has two ports? Why Fanuc, who is quite cost conscious, would give an additional Ethernet port??

Every RJ3ib or above series Fanuc controllers have two Ethernet (RJ45) port.

Can one port be used as a terminal and the other one can be used as switch? If yes, please share the TCP/IP configuration of both the ports.

All i want to do is that i want to access two controllers with one PC without using any other switch. See the picture in the attachment.

Wondering if it is even feasible.

I wonder if industrial robots, currently in the market, are fully closed loop. They are closed loop as far as the controller, motors and their connections with each other are concerned but what about the mechanical unit? Fanuc robot controller works fine even if its motors are detached from the mechanical unit. I have tried this: all motors removed from the mechanical unit but connected to the controller. It did not flag any alarm. I know what i did was extreme. But my point was that if there occurs some problem in the mechanical unit because of which robot deviates from its taught position, would it be possible to trace? Is there any method from which after some production cycles robot itself can measure offset or at least tell that it is deviating from the exact taught position? Can it be done through sensors or any vision camera?

Btw, $TX.$blnk_enable is not working for me.

Which variable controls the backlight off time, in case of the idle pendant ?

does this help in saving any power?

Wondering if anyone out there is using (or has used) or knows about any condition monitoring solution of robots. We have large population of Fanuc robots at our plant to maintain. Please share some best practice(s) we can follow to keep our robot's uptime as large as possible.

Thanks!