Posts by saberlars

  • Grayed out menu on Program - Comment window

    Quote from Turtle

    That operation level is at 2 which for all i know is the max and the Auxiliary function is incorrect input.

    But when i open the aux function window it shows nothing but system and then Change operation level. So i think something is locked away for some reason. Any Idea why? And how to unlock it?

    In Manual mode, if the basic AUX function menu appears grayed out, it is most likely due to user level restrictions as previously explained. All functions become available with Level 3 access. Since the method to obtain Level 3 access is not publicly available, please contact your local dealer network for technical support...

  • Sending coordinates from PC to robot

    For devices like the E_Controller, there is a command called USB_LOAD (Load from memory stick). This allows you to load pre-written *.as or *.pg files. However, if a routine (Program) name is duplicated, an error will occur, so you need to delete it first using the 'DELETE /P' command before loading.

    If you're using a D_Controller, it's also possible to load data from a PCMCIA (CF card). Alternatively, regardless of the controller type, if a PC is connected, you can control it using terminal software like KCWin32 with commands such as LOAD and SAVE.

    If you only want to update coordinate values in real time, you can run a program in the background—either using the PCEXECUTE command or by registering it in AUTOSTART.PC—and have it receive data from the PC and apply it to the TRANS coordinates. Data communication is open by default via RS232C, so you can implement it according to the ASCII protocol. Alternatively, you can use the TCP/IP (Socket) method as well

    Check out "AS Language" manual.

  • Parallel Program Run on Fanuc Robots

    Main (RSR or PNS or STYLE)
        CALL SubProg1
            CALL SubProg2
                CALL SubProg3

    Main
        CALL Sub1
            CALL Sub2
                CALL Sub1 -> Logic Error


    If a called TASK is called again with the CALL command before it ends with the END instruction, an error message will appear. The program needs to be reviewed.

  • Programming with teachpad

    .TRANS
    cyl_ref[1] -489.942078 2070.860352 -29.955811 -178.842010 180.000000 0.000000
    cyl_ref[2] -489.942078 2070.860352 -29.955811 -178.842010 180.000000 0.000000
    cyl_ref[3] -489.942078 2070.860352 -29.955811 -178.842010 180.000000 0.000000
    cyl_ref[4] -489.942078 2070.860352 -29.955811 -178.842010 180.000000 0.000000
    cyl_ref[5] -489.942078 2070.860352 -29.955811 -178.842010 180.000000 0.000000
    .END

    .PROGRAM sample()
    .layer_z = INT(.quantity/4); Define layer
    .height_z = 200; Layer to Layer
    .ofs_z = .height_z * .layer_z; Final Offset
    .index = (.quantity MOD 4)+1; Calc index (1~4)

    POINT part = SHIFT(cyl_ref[.index] BY 0,0,.ofs_z)
    LMOVE SHIFT(part BY 0,0,50)
    LMOVE part
    CALL grip_unclamp
    .quantity = .quantity+1
    .END

    Don't forget define trans position with [ ] symbol.

  • Internal Error

    Quote from DS186

    What are you doing when the errors occur? Directly after booting the controller or when you run a program? Is your DSQC1030 unit running again? Did you try an I-Start?

    This alarm has occurred either when executing the routine to return to the home position (even when the robot was already at the home position) or while waiting during the automatic cycle because a certain signal condition was not met. It seems to be related to an error or a judgment being made based on position data, but it's hard to pin down exactly what's going on.


    Quote from Lemster68

    I would ask for a replacement under warranty.

    I contacted the robot service team in Korea, and they responded that downgrading to RW6.11.02 would be the least troublesome option. I plan to proceed with the work as soon as I get on-site tomorrow.


    Quote from Skooter

    It may be a computer unit issue; seen odd software issues related to computer. Agree with Lemster68 on contacting ABB. Did find this note in manual regarding RW6.15:

    I also believe it's a computer-related issue. I'm hoping that the [Internal Error] won't occur after the downgrade

  • Internal Error


    The robot was initially running on RW6.15 at the time of delivery. After a reboot, a message repeatedly appeared indicating that the DSQC1030 unit was deactivated. As a result, we updated to RW6.16. However, due to multiple occurrences of internal errors after the update, we have currently downgraded to RW6.14.

    We are still experiencing intermittent internal errors and are looking for a solution.
    This robot is a brand-new unit, recently installed for a new project.
    It is an IRC5 Single controller.

    The most frustrating part is that it’s unclear whether downgrading to RW6.14 is actually a viable solution. Ideally, newer RW versions should offer greater stability… I sincerely hope that the lack of reliability is just my personal impression.

  • Position register

    Quote from ashley

    thank you robcad sim for these information but i'm confused :

    Indeed My first PR is register as "Joint" but my program allow to use Tool_offset,PR on this.

    7: UFRAME_NUM=1 ;
    8: UTOOL_NUM=1 ;
    9: PAYLOAD[1] ;
    10: !Approach N-2 ;
    11:J PR[1:take_conv] 100% CNT100 Tool_Offset,PR[99:Offset_Z-100mm]

    7 Offset,PR[]
    3 Tool_Offset,PR[]
    This swith parameter only allow "Cartesian (XYZWPR)" position data


    UFRAME_NUM = 1

    UTOOL_NUM = 1

    PR[60] = JPOS

    PR[70] = LPOS

    PR[70,1] = 0

    PR[70,2] = 0

    PR[70,3] = -100

    PR[70,4] = 0

    PR[70,5] = 0

    PR[70,6] = 0

    L PR[60] 100mm/sec FINE

    L PR[60] 100mm/sec FINE Tool_Offset, PR[70]

    Even if the reference position value is recorded in Degree format, the additional parameter options must always refer to Cartesian values. When moving to a position that contains Degree data, pressing the POSN button on the Teaching Pendant and switching between JNT, USER, and WORLD modes will show that the robot is always calculating all three frame data. This is why it is possible to apply a Cartesian offset to a Degree value.

  • 10021:Execution error reset

        nIndex := 0;
        MoveJ p10{nIndex}, v1000, z50, tool0;

    Alarm number 10021 is often triggered when alarm 10020 has been activated and then cleared. Please check the full event log.

    To simply trigger alarm 10020, if the "nIndex" value is 0, the system cannot reference the array, resulting in an "Execution Error" state. This returns alarm 10020. If this state is then reset by receiving a System Input assigned to the "Reset Execution Error Signal" parameter, alarm 10021 is returned, indicating that the error state has been cleared.

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