I've used a Mobile View HMI to control the EOAT separately from the robot. It's just like a teach pendant with a deadman switch, E-stop, reset, and programmable F keys. Then you can map the safeties from the mobile view to the EOAT to protect any unwanted motion like a robot.
Posts by Carbon Pro
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When talking EGD (Ethernet Global Data) you are specifically referring to Fanuc. When the data you're sending, such as handshakes between two robots or positional data, is process related and time critical, EGD should be the preferred method as there is no "middle man" that controls the connection. Communication protocols of any type that are handled by an external device for example, a PLC, are subject to scan time delays of that external device and could result in process delays or missed data. We have handshake I/O mapped in a PLC between two dispense robots and there's at least half a second delay if not more from the time the output on robot 1 is turned on and we see the input in robot 2 turn on.
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Owning a robot is like owning a reptile. It's not yours till it bites you, or in this case crash it.
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.5 degrees on all axis's. I did find a solution though. The reference position for home is also a PR. Someone went into the representation of all the PR's and changed the representations to cartesian. Apparently this forces the robot to move the TCP, wherever that has been defined, to the PR data if it represented in cartesian. I changed the representation to joint and now it moves the robot to the joint position I defined. All is well.
Thanks for the reply HawkME
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I installed TCP Shift on a adhesive dispensing robot. IT works great for maintaining the TCP and therefore the adhesive patterns on our parts. But every once in awhile I have to redefine my reference position for home to give the robot a production start. I can't find any information on a work around for this. I'm afraid to open the tolerance up too much for my joint positions for the Reference position for home.
Has any one else had this issue or a solution? Am i missing something?
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Auto Update will install any authorized and initiated software options with the proper PAC, but it takes FOREVER! So make sure you have time to install.
On versions 7.70 and below, you need to do a controlled start as Nation outlined above.
On 8.10 and above you can simply select MENU, 7 File, F1-Type, S/W Install, F4-Choice, select USB for the load media, F3-Done. Find your option, enter PAC, select F4 to authorize then F2 to install. Select F5 to initiate Auto Update. From there, follow the promts to finish the Auto Update. Like I said though it takes at least 30-45 minutes.
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I just had the same issue today. SRVO-157 CHGAL Gr1 axis 1 and 2 on an M20ia 12L robot. Checked the voltage at all the connectors as the manual suggested. Everything checked out okay. Replaced the servo amplifier, fortunately we have quite a few of these robot controllers in the facility so we swapped it out with a known good amplifier and still a no go. Swapped out the e-stop board and replaced the contactors behind it. We were able to get the robot to reset and move around in teach. Oddly though we didnt have to master the robot?!?! It ran in auto for about two seconds before shutting down for the same fault. We ended up calling a Fanuc Tech in to help troubleshoot the issue. The quote included new servo cabling for the robot. When I asked why they quoted that they said from past experience the cabling often needs replaced. They also quoted a new breaker and replacement servo motor in case one the axis needs it replaced. None of this was in the manual so I hope this helps anyone with the same issue. There are a few more options to try if following the manual doesn't offer a solution.
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I just had the same issue today. SRVO-157 CHGAL Gr1 axis 1 and 2 on an M20ia 12L robot. Checked the voltage at all the connectors as the manual suggested. Everything checked out okay. Replaced the servo amplifier, fortunately we have quite a few of these robot controllers in the facility so we swapped it out with a known good amplifier and still a no go. Swapped out the e-stop board and replaced the contactors behind it. We were able to get the robot to reset and move around in teach. Oddly though we didnt have to master the robot?!?! It ran in auto for about two seconds before shutting down for the same fault. We ended up calling a Fanuc Tech in to help troubleshoot the issue. The quote included new servo cabling for the robot. When I asked why they quoted that they said from past experience the cabling often needs replaced. They also quoted a new breaker and replacement servo motor in case one the axis needs it replaced. None of this was in the manual so I hope this helps anyone with the same issue. There are more options to try if following the manual doesn't offer a solution.