Posts by ikalus1988

system version

Aro & fanuc

Pressure meter

pics uploaded

Hi, everyone

I work for an automotive company which recently purchased fanuc robots with Aro welding guns. Meanwhile, we bought gun motors also from Aro which lead to unsolved situation nowdays.

robot-forum.com/attachment/37555/

I found that welding gun takes less than 0.1s get 85% preset pressure and then take around 1.5s reached accurate value when we doing welding gun pressure test.

robot-forum.com/attachment/37556/

robot-forum.com/attachment/37557/

This situation is unacceptable for welding process which requires gun behave quick and accurate.

Then we tested all aro guns in factory and found all X guns and part of C guns got this problem. We tried many ways like check zero pos, test in T2, change gun max velocity & acceleration, robot initialization, re-Autotune, re-calibration of pressure. All with nothing changed.

robot-forum.com/attachment/37554/

Then I both reached Fanuc and Aro france for help. And they replied like these:

Aro:

robot-forum.com/attachment/37558/

Fanuc:

robot-forum.com/attachment/37560/

Anyone who could help me give a clue, whose fault, actuator or controller ?

Thanks for everything.

Hi, everyone

I wonder if there are any introductions of fanuc cm file grammar. I tried to find them in E-doc unfortunately with nothing.

Is there anyone who ever knew or studied how to creat and edit CM file ?? Mercy !!

I wonder if run command and Timer function will do this job.

menu->next->status->Version ID, press F5 next, then "Order FI" , you'll get list of options.

Maybe u need to delete UOP logic in Level 1 or 2 by FANUC ladder Ⅲ, and save, compile, export the memory file and upload to you robot in control start mode.

Quote from Lemster68

I can't tell you a whole lot about it except to confirm that they have Fanucs out there. I was there 4-5 years ago on some new lines and they were Fanuc. I have only one document I will send to you.

Morning, Lemster68 !!

Frankly speaking, I'm studying Tesla(US) FANUC programming standard recently. They use R822 Ethernet/IP EDA to communicate datas with PLC instead of bus IOs only. But I only have backup of them, could u send document to me pls , thanks a lot.

@tiomasclet I could share backup with u and exchange ideas of Tesla standard of course.

Email me: [email protected]

call or run it

Hi, Janusz
First, Open your backup file and find orderfil.dat, then u can see a bunch of (1A05B-2600-Rxxx....), google the Rxxx or search it in Summary.DG one by one then u know all your options.
Second, u could search this forum about socket message examples, like:

PROGRAM test_server
%STACKSIZE = 4000
%NOLOCKGROUP
%NOPAUSE=ERROR+COMMAND+TPENABLE
%ENVIRONMENT uif
%ENVIRONMENT sysdef
%ENVIRONMENT memo
%ENVIRONMENT kclop
%ENVIRONMENT bynam
%ENVIRONMENT fdev
%ENVIRONMENT flbt
%INCLUDE klevccdf
%INCLUDE klevkeys
%INCLUDE klevkmsk
-------------------------------------------------------------------------------
VAR
file_var : FILE
tmp_int : INTEGER
tmp_int1 : INTEGER
tmp_str : STRING[128]
tmp_str1 : STRING[128]
STATUS : INTEGER
entry : INTEGER
-------------------------------------------------------------------------------
BEGIN
SET_FILE_ATR(file_var, ATR_IA)
-- set the server port before doing a connect
SET_VAR(entry, '*SYSTEM*','$HOSTS_CFG[3].$SERVER_PORT',59002,STATUS)
WRITE('Connecting..',CR)
MSG_CONNECT('S3:',STATUS)
WRITE(' CONNECT STATUS = ',STATUS,CR)
IF STATUS = 0 THEN
-- Open S3:
   WRITE ('Opening',CR)
--   FOR tmp_int1 = 1 TO 20 DO
      OPEN FILE file_var ('rw','S3:')
      STATUS = IO_STATUS(file_var)
      WRITE (STATUS,CR)
      IF STATUS = 0 THEN
-- write an integer
             WRITE('Reading',CR)
-- Read 10 bytes
              BYTES_AHEAD(file_var, entry, STATUS)
              READ file_var (tmp_str::10)
              WRITE('receive:',tmp_str,CR )
              WRITE('send:')
              WRITE  file_var ('hello world')

       CLOSE FILE file_var
ENDIF
--ENDFOR
WRITE('Disconnecting..',CR)
MSG_DISCO('S3:',STATUS)
WRITE('Done.',CR)
ENDIF
END test_server

PROGRAM test_client
%STACKSIZE = 4000
%NOLOCKGROUP
%NOPAUSE=ERROR+COMMAND+TPENABLE
%ENVIRONMENT uif
%ENVIRONMENT sysdef
%ENVIRONMENT memo
%ENVIRONMENT kclop
%ENVIRONMENT bynam
%ENVIRONMENT fdev
%ENVIRONMENT flbt
%INCLUDE klevccdf
%INCLUDE klevkeys
%INCLUDE klevkmsk
-------------------------------------------------------------------------------
VAR
file_var : FILE
tmp_int : INTEGER
tmp_str : STRING[128]
STATUS : INTEGER
entry : INTEGER
loop1 : BOOLEAN
--------------------------------------------------------
BEGIN
SET_FILE_ATR(file_var, ATR_IA)
SET_VAR(entry, '*SYSTEM*','$HOSTC_CFG[1].$SERVER_PORT',59002,STATUS)
-- Connect the tag
WRITE('Connecting..',CR)
MSG_CONNECT('C1:',STATUS)
WRITE(' CONNECT STATUS = ',STATUS,CR)
loop1 = TRUE
IF STATUS = 0 THEN
WHILE loop1 = TRUE DO
WRITE('Opening FILE..',CR)
OPEN FILE file_var('rw','C1:')
STATUS = IO_STATUS(file_var)
IF STATUS = 0 THEN
        tmp_str = 'hello world'
       WRITE file_var(tmp_str::10)
       WRITE('send:',CR)
       READ file_var(tmp_str::12)
     WRITE('receive:',tmp_str,CR)  
     WRITE('Closed FILE',CR)
     CLOSE FILE file_var
ELSE
      WRITE('ERROR Opening FILE',CR)
      loop1 = FALSE
ENDIF
ENDWHILE
WRITE('Disconnecting..',CR)
MSG_DISCO('C1:',STATUS)
WRITE('Done.',CR)
ENDIF
END test_client

Hi, bmello
I like your code, but when I tried to program on Roboguide I found I couldn't add UI signal statement. Like the pic shows.

Quote from bmello

You can write a background logic program to capture the input, and then perform something.

BACKGROUND LOGIC PROGRAM DI_CAPTUREPOSITION_ABORT (scan rate at 8MS)

WHEN DI[1]=(1), UI[2: HOLD]=PULSE, 0.2SEC Hold program with UOP
PR[1]=LPOS Write current cartesian point to position register
R[1]=1 Set register to indicate program was paused (will be used in TP program)
UI[4: CSTOPI]=PULSE,0.2SEC Abort program UOP
UI[5: RESET]=PULSE,0.2SEC Fault reset UOP
WAIT 1.0 SEC
UI[18: PRODUCTION START]=PULSE,0.2SEC Production start UOP

PROGRAM MAIN_MOTION

LBL[1: START]
IF R[1]=1 JMP LBL[2] If last program was aborted
IF R[1]=0 JMP LBL[3] If last program was not aborted

LBL[2: RETRACT TO HOME AND WAIT]
L P[1: POUNCE] 250mm/s CNT50
SET R[1]=0
L P[2: HOME] 250mm/s FINE
WAIT DI[2]
JMP LBL[1]

LBL[3: RUN PROCESS]
L P[1: POUNCE] 250mm/s CNT50
L PR[1: PROC_START] 250mm/s FINE Using the PR that was saved when the program paused
L P[2: PROC_END] 100mm/s FINE
L P[1: POUNCE] 250mm/s CNT50
L P[1: HOME] 250mm/s CNT50

For this to work you need to configure abort and production start signals properly per HAWKMEs post:

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Hi, everyone
I'm a integrator working in Jaguar welding plant. Our project have a bunch of fanuc R-2000ic/165F & 210F robots, now I just met Quick connect & reconnect problem in Ethernet IP configuration for AB1732 module(used on grippers).
The problem is fanuc doesn't report any alarms when Ethernet is crashed suddenly(or cable is unplugged manually) with Quick connect or reconnect function activated. This situation is not safe at all but I got no clue about this. So anyone could PLZ

Maybe Lazarus ?

Try Windows 8,8.1 or 10 instead of windows 7.

Awesome ~

Bravo, it settled my problem perfectly.
By the way, I found that Karel is very similar to Delphi language , and I'm wondering if there is any better way to programming Karel except in Roboguide file editor which has poor & terrible programming environment. Maybe Lazarus, Anyone know about it ?

source offset TP program

Hi, everyone
I'm new to FANUC karel programming and it attract my interest last week. I tried to transform a roller hemming offset TP program to karel form last Friday. I used GET_TPE_PRM to read AR value(real number type), however, when I input integer it can't recognize and output to zero. How could I read AR in both REAL and integer type ?
Any reply will be appreciated.

PROGRAM offset


%COMMENT = 'Version 1.0'
%NOBUSYLAMP
%NOLOCKGROUP
%NOABORT = ERROR + TPENABLE + COMMAND
%NOPAUSE = ERROR + TPENABLE + COMMAND


%INCLUDE kliotyps


VAR


STATUS:INTEGER
XYZ:XYZWPR
intParam:INTEGER
realParam,offset_x,offset_z,offset_p,offset_r,offset_zdry:REAL
strParamy:STRING[12]


BEGIN


XYZ = GET_POS_REG(221,STATUS,1)


GET_TPE_PRM(1,2,intParam,offset_x,strParamy,STATUS)
GET_TPE_PRM(2,2,intParam,offset_z,strParamy,STATUS)
GET_TPE_PRM(3,2,intParam,offset_p,strParamy,STATUS)
GET_TPE_PRM(4,2,intParam,offset_r,strParamy,STATUS)
GET_TPE_PRM(5,2,intParam,offset_zdry,strParamy,STATUS)


XYZ.x = offset_x
XYZ.z = offset_z
XYZ.p = offset_p
XYZ.r = offset_r


IF DIN[12] = ON   THEN XYZ.z = offset_zdry

ENDIF 


SET_POS_REG(221,XYZ,STATUS,1)	


END offset