R30iB is the controller I have. And yes these are the alarms I am getting. I will try what you have suggested when this happens again, because it's kind of random. Appreciate your help USURP_RUR!
Posts by pdubey
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Hi,
While running the Main program the robot at times randomly stops and gives error Syst-011 and 010. No matter if you hit abort all or cycle power the robot, it doesn't help. It keeps giving the same error.
The only way out of it is if you run the program on TP mode for a few steps and once it gets going you can turn it back on auto and it would work. That's ofcourse not an ideal way to do it so I was curious to know if you guys might have a clue what else could be the issue? Also this started happening after we have ran the same setup almost for a month now. Not sure what happened all of a sudden to cause this issue?
Thanks in advance!
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Hello everyone,
I am not sure how the vision process works on the slave robot as it has to take offsets from the Master, though I have ran a vision process on the master successfully. Following are the programs, would appreciate if you guys can help, as to where I am going wrong here?
Slave Vision Process (ZM937511) (.VP file)
15: LBL[11]
16: DO[18:Get offset]=Pulse, 0.5sec
17: WAIT DI[18:Get offset]=ON TIMEOUT, LBL[11]
18: VISION GET_OFFSET
: 'Robot7.ZK937511' VR[1] JMPLBL[99]
19: PR[1]=VR[1].OFFSET
20: P[2]1200mm/sec FINE
: Tool_offset, PR[1]
21: LBL[14]
22: WAIT 0.10(sec)
24: !second picture process
26: PR[1]=PR[2]
27: LBL[13]
28: DO[18]=PULSE, 0.5sec
29: WAIT DI[18]=ON TIMEOUT,LBL[13]
30: VISION GET_OFFSET
: 'Robot7.ZK937511' VR[1]JMPLBL[99]
31: PR[1]=VR[1].OFFSET
32: LP[3]50mm/sec FINE
: Tool offset, PR[1]
33: JMP LBL[10]
34: LBL[99]
35: Prompt Box YN(1,30)
36: IF R[30]=0, JMPLBL[30]
37: LBL[10]
[End]at line 18 it gives me the error CVIS-160, Cause:Find has not been executed; Remedy:Execute the RUN_FIND command or press the find button in SETUP menu.
We have a GETOFSET macro program in the master robot which is as following and it has the RUN_FIND command for the slave vision program (ZM937511)
GETOFSET
1: !This macro takes the value of Master robot (Robot7) R[15] and jumps to label of same value to runvision for slave robot(Robot 8).
8: R[14:GETOFSET RUNNING]=1
9: SELECT R[15:Rbt 7 Vsn No.]=100, JMP LBL[100]
10: = 101, JMP LBL[101]
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=301, JMP LBL[301]
69: LBL[110]
70: Vision RUN_FIND ‘ZM937511’
71: DO[18:Get Offset]=PULSE,0.1sec
72: JMP LBL[1]
73: LBL[111]
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212: LBL[1: Main Jmp for all]
213:R[14: Getofset Running]=0
[End]
This program does work on the other Fanuc robots we have. I am not sure how the slave robot gets to this GETOFSET macro program in Master Robot, because we are not calling this program anywhere.However for the Vision Process for the Master Robot, the Vision RUN_FIND and GET_OFFSET commands are in the main program so that makes sense to me. I am not sure how it works in slave? Will look forward to your replies, and I hope this is not too confusing.
Thank you.
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I fixed it. It was the ALARM1 program which had the group mask issue. Thanks.
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Hello,
The master and the slave robot are sharing a camera and to avoid collision I am using a monitor conditional program. While running the monitor program on master, I am getting no error but on slave I am getting INTP-559. There is no group mask assigned as shown in attached picture. Can someone please guide me what am I supposed to do here?
INTP-559 Cannot use motion group in action program
Cause: Program that has motion group is used as action program.
Remedy: Clear motion group mask of action program in program detail screen.Monitor subprogram
;WHEN DI[17:Robot Clear]=OFF,
;Call ALARM1Alarm1 subprogram
;UALM[2]
;MONITOR MONITORThank you.
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Hello,
Happy New Year everyone!
I am trying to figure out if I need to make some special host communication settings for allowing the slave robot to get offsets from the master robot as the master robot has the camera attached to it and the iRvision calibration has been performed through the master robot. The camera is sitting between master and slave.Thank you.
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Found it! I am sorry about that.
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I am unable to locate the run command option in the insert command menu. Attached is the picture, can you guys please help.
Thank you.
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Thanks Bidzej,
Well I noticed that line 18 is Karel program because of that comment but the subprogram on line 9 I was not sure if that is Karel too or you can add registers through tp on the User page somehow. Appreciate your help, I will go ahead and buy everything required for Karel programming as we don't even have the controller support for the same
Thank you.
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I see, that's what I was guessing too. What indicates that it's done by Karel? I am just curious, how do you tell.
Also we have backed up files from old robots that are in .pc and .vr format. Is it possible to convert them back to .kl so that I can get a clue what those programs are doing by opening them with notepad?
Thank you Cobenson for your time. Appreciate it!
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Hi,
I am new to Fanuc programming and was curious to know how you add registers on the User page under Menu. We currently call a subprogram in the main program where the operators initiate certain registers every time a new order is run on that page. There is no option to add anything when I go to that page, so I am missing something here for sure.
Attached are few pictures from older robots (R30iA) that call this program and I am trying to do the same on the new ones (R30iB controller). We are calling a subprogram without call option as you'll see on line 9, not sure how that works?
Also I couldn't find where the AR[] arguments are saved in the TP? And where I can go and define them.Appreciate your time.
Thank you. -
Hello everyone,
We are trying to move our servo positioner by a certain degrees repeatedly in clockwise direction, trying to put an IF statement in the sub program for the same, saying IF the positioner is in the range say 358deg to 2deg move to position P[2]. What's the correct syntax to write such statement?
Does any of you have worked with servo positioners? Not sure what system variable is used to refer to current position in group 2 (servo positioner in our case) and how do we know the current position. Any direction in defining a certain position with servo positioner in a subprogram would help. Appreciate your time.Thank you,
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Hi,
I had to redo the vision master recovery for one of our Fanuc robots and even though the whole setup is same as before ( our camera is fixed, the lights are mounted at same angle, the distance is 400mm from the camera and the laser lights perfectly align with the x and y axis), I am getting the maximum measurement error in the range 0.9-13 in different iterations I have tried. Not sure what i am doing wrong here as the first time I did the vision master recovery everything went very smooth.
Attached are a few pictures.
Also I found out in the manual it says "If the max measurement error is considerably larger than 0.5mm, possible causes are that the lens or camera is not secured (in our case it's fixed), the lens is out of focus (it shouldn't be as it's giving me the right image on the tp) and that the calibration grid is not secured (it is perfectly secured).Does anyone have any other suggestions as to what else I can try? So far I have tried increasing/decreasing the 400mm distance (little by little), changing the exposure time, illumination, but nothing is helping. My evaluation index for reference is 4.2
Thank you.
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Hello everyone,
I am copying some programs for a common work piece from one controller (R30iA, master) to another controller which is R30iB (master) and the user frame numbers vary in both controllers. By just editing the UF Num in the copied program in R30iB isn't solving my problem and I am getting error INTP-252 User frame number mistake; cause: Uframe no. in the positional data is not the same as the currently selected user frame no. Is there a way I can tell it to use different UF in the copied program?
One more thing I am confused with is that R30iA has 3 user frames and in R30iB I have defined only 2 user frames and when I am running the copied program as it is in R30iB controller; it refers to UF 3 and moves in some random direction, but what amazes me is that i have not even defined a UF 3 in the new R30iB robots. What positional data is it referring to? When it is not even defined?
I hope my questions makes some sense.
PS: Members of this forum have been of great help, I am almost half way through in making these R30iB Fanuc robots run and wouldn't have been possible without all your help; I just want to say thank you, I am very grateful to the members of this forum.
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I am trying to define our weld schedules on our new robots (R30iB controller, fanuc 100iC) and I can’t even hover over feedback arc current and voltage under weld procedure>schedule, please see the attached picture, below point 7 I can’t change anything. I checked the procedure menu, they aren’t define in the procedure as well. For each weld schedule we have a different feedback arc voltage defined on our older robots (R30iA controller)
Can anyone please help? how can I do the same on R30iB?
Thank you!
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Hello everyone,
When I am trying to log in Vision setup, I am getting vision login unsuccessful error; cause: "an error occurred trying to access Vision Setup"; Remedy: "Please check the robot for posted errors, cycle power the robot. If it still exists contact fanuc"
I can access vision runtime and vision log successfully but for some reason I can't access vision setup. These robots have RJ3iC controller and there is no active error in the alarm log. It was initially showing an error PMON-001 failed to notify PC monitor; which was fixed by setting the system variable $SCR.$LPCOND_TIME to 40.
Help please
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I thought of posting the solution for this question, might be of some help to someone in the future.
You can connect it through ethernet but the welder has to go on port 2 and not on any other network switch or port, it won't work that way. Make sure the variables $VENDOR_ID, $DEV_TYPE and $PROD_CODE have a value equal to 0.Once set to 0, perform a controlled start and attempt to establish communication. The adapter configuration are set up automatically with the controlled start and one doesn't have to worry about assigning those like we would have done for any other device (VFD's, I/O's etc.)
If they are set to 0, and you are having trouble connecting you may need to go online with the power supply and set the IP address back to DHCP and attempt to establish communication through a controlled start.
Thank you
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Hello everyone,
I am curious to know how we make the robot (100 iC R30iB controller) recognize the IP address of the welder (in our case it's Lincoln powerwave 500), as in the case of VFD's and I/O's one knows the adapter configurations and how much data is being transferred, here we don't know these specifications for the welder. The welder has an IP address assigned to it which I have used for calibration but when I am trying to feed the wire through it, it keeps giving me an error that the welder is offline.
Need some guidance on what's the process for the same? Appreciate your time.
Thank you
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Hi,
I am working on vision master recovery of a 100ic R30iB Fanuc robot.
Robot grp>Work tool frame number>set robot axes to recover>create program>run for reference>check the measurement for reference> run for recovery. Under run for recovery procedure, the first step in the manual says to replace robot parts, set temporary mastering data to the axes, the mastering status of which are/is invalid by using single axis mastering etc. and perform calibration. After robot parts are replaced and temporary mastering data have been set select run for recovery (Step 7)I am not sure what they mean by replace robot parts? and calibrate? I have already performed zero position calibration. Can someone please guide me what am I supposed to do here? I am new to Fanuc robots.
Thank you.