Thanks, Fanuc support did mention that J5 crossing 0 degrees, which didn't end up being the problem. It appears Cobenson was correct for my issue, thanks man . That was days of frustration . The Fault code seems to only point to the configuration string which I didn't see a problem, but I was going between saving points in world coordinates and 2 points I just wanted to rotate the base so I switched to joint. Keeping the robot coordinates in world at all times while I move and record position registers seems to have fixed the problem. Now I'll enjoy the beers later today that much more. Cheers.
Posts by bdonney
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I've worked a little bit with a few Fanuc Robots, feel free to treat me like a noob. We have two identical machines using the 200iD 4SH(small 5 axis robots). One was eventually setup and running product. I attempted to copy over everything to the next machine and I keep getting fault's usually MOTN-063 when moving between position registers. The configuration strings are all the same, the movements are simple and not usually far apart. I did a zero master and calibration, it seems like everything will work for a short time If I re-set the position registers and then it will randomly start faulting constantly again.
Even though the first machine was running, calibration was off and I could see issues down the road. So I did another zero master and calibration, re-set the same positions and sure enough I'm getting the MOTN-063 fault on the machine that had been working. I read you really shouldn't do zero mastering, accuracy isn't really a problem right now though. The fault comes up when I'm in the Position Register page, After I record the positions I do little dry runs hitting the "Go To" button to various positions. Even when there's very little motion between two points and the calibration string's are identical, it throws up MOTN-063. I'm guessing I'm doing something wrong calibration wise but could use some help. Any ideas or help is greatly appreciated.