Thank you for your answers, You were right...I had to bring the PSU back to FANUC to reinstall the software. And I have lost all my programs...
Fatal default !
Kukart
Posts by kukart
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Hi,
I met a problem to start RJ2 420i Fanuc robot. The message is : Check sum 29A5E6E4 and it appears immediatly at the start.
This robot has been transported and it not been started since 6 months but it worked correctly before...I don't understand...
Kukart
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Happy to know that I'm not the only one !
Now I think I have understand how to create and use tool frame ! -
Thank you ESEILI for you explantions. I have add UFRAME=X and UTOOL=X at the biginning of my programs and I had to rudo all my TPE programs !
After 4 hours of programmation, it´s OK !
Morality : Never touch frame tool when we are beginner !
Thanks
Kukart -
Thank you dha but the problem stay...
Now, it's not possible to move robot in WORLD frame !!! (singularity fault...)
I have decided to supress the new tool frame but fault stay.
I don't understand why it's not possible to move robot in WORD frame ??
My TPE program don't work (position not reachable erreor)
Now, I think that I must to re make all my program !?
Thank you very much for your help.
Kukart
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Hi,
I have problem with all my tpe program since i have create a new tool frame...
It´s the first time for me that i created a new tool frame, i had only one user frame before.
Now when i start program, i have error : position not reachable or singulary error
In fanuc documentation it is indicated that when we create a new tool or user frame we have to reinit program. That mean i need to remake alls my tpe programs !!
Its my firsts steps in fanuc,
Thank you very much for your experience...
Kukart -
Jonson,
By your advice, I have call local Fanuc robotic and a technician has send me the GSD file.
Now i have to check it.
Thank you very much for your reply.
Kukart -
Hi all,
I looking for the GSD file to recognized a RJ2 Fanuc Robot (as slave) with a CPU315 Siemens (as master)
The Fanuc Profibus card reference install in RJ2 rack is A16B-3200-0220/04A900579.
Thank you very much for your help.
Kukart
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EUREKA. It's OK. The ET200L SC is finally recognized by RJ2 robot Master !It was necessary to put all Bytes indicated in GSD file so for the ET200L 32DI without Smart Connect module it was still config all Slot.
The configuration for CONFIG DATA was :
0x04 0x00 0x00 0xAD 0xC4
0x04 0x00 0x00 0x9B 0x40
0x04 0x00 0x00 0x8F 0xC0
0x43 0x00 0x00 0x9F 0x41
0x43 0x00 0x00 0x9F 0x41
0x43 0x00 0x00 0x9F 0x41
0x43 0x00 0x00 0x9F 0x41In decimal :
4 0 0 173 196
4 0 0 155 64
4 0 0 143 192
67 0 0 159 65
67 0 0 159 65
67 0 0 159 65
67 0 0 159 65So CONFIG DATA LENGHT was 35
And the USER PARAM DATA was 3 with in Detail : 0x40, 0x20, 0x00 ---> In decimal : 64, 32, 0
Thank you very much andreic for your support.
Kukart
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In Siemens ET200L SC documentation I have read that telegram configuration for ET200L 32DI without Smart Connect was :
04 00 00 AD C4
04 00 00 9B 40
04 00 00 8F C0
43 00 00 9F 41So lenght 20 Octets.
I have config this parameters in Slave Setup detail but Bus Fault stay...(In ET 200L SC I have LED BF blinking and LED SF RED stay ON fix)
In Alarm historic when I start RJ2 I have 2 warning :
- PROF-018 Exist specific diag (3)
- PROF-010 Config Fault (3)I search, I search but....I don't find problem
Thanks
Kukart
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Really, I'not sure to understand good parameters...
The ET 200L that I use is a 32DI (6ES7131-1BL12-0XB0) that mean that I need to configure INPUT BYTE : 4 and OUTPUT BYTE : 0 ??
When you said that Byte In / Byte Out need the same both side mean same thing in SLAVE DETAIL PARAMETER and MASTER Setup ?
Now, I have advanced in my diagnostic...The adress config in ET200L was not good...It was 30 instead of 3...I have correct it and now the SF RED LED in ET200L is ON fix. (BF RED LED stay blinking)
I am not sure to understand good parameters in GSD file, so I have doubt with USER PARAM DATA. In GSD file it is write :
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FixPresetModules=1
Module="Config for Slot1" 0x04,0x00,0x00,0xAD,0xC4
Preset=1
EndModule
Module="Config for Slot2" 0x04,0x00,0x00,0x9B,0x40
Preset=1
EndModule
Module="Config for Slot3" 0x04,0x00,0x00,0x8F,0xC0
Preset=1
EndModule
Module="Config for Slot4" 0x43,0x00,0x00,0x9F,0x41
Preset=1
EndModule
Module="Config for Slot5" 0x43,0x00,0x00,0x9F,0x41
Preset=1
EndModule
Module="Config for Slot6" 0x43,0x00,0x00,0x9F,0x41
Preset=1
EndModule
Module="Config for Slot7" 0x43,0x00,0x00,0x9F,0x41
Preset=1
EndModule
------------------------------------------------What parameter I need use, slot 1 ? slot 2... For the moment I used "Config for slot 1" (0x04,0x00,0x00,0x9B,0x40 ---> 4,0,0,155,64)
In Siemens site I found 2 differents file (one GSF and one GSD), I don't know which one to choose for User Param Data...?
These files are in attachment.
Thanks very much andreic for your help.
Kukart
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I had a doubt. There is 2 connectors Profibus in A16B card, one "Master" and the second one "Slave". I thank that the Master connector was use to connect a master (for example PLC)... You have right this was wrong.
In my case I want the robot to be Master so I have change connector. Now my Profibus cable is connected in master connector.
However, the bus fault stay but now the LED BF (Bus Fault) is blinking (before it was ON fix)....
I have check electrical connections and all seems OK...
Maybe parameters config is wrong in RJ2 ? What do you think ?
Thanks
Kukart
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Hi Andreic and thank for your help,
* I've try to put ON termination resistor in RJ2 side but the Profibus default stay
* The Fanuc Profibus Card that I use is the reference A16B-3200-0220/04A900579. I think it's possible to use this card in Master and Slave because I've 2 connectors in face, one for slave and one for Master. (In my case I've put my link in Slave connector, it's right ?)
* I have read in the forum that when we use Robot in Master it is rack 66. It was in discussion between Terminator and Joker. I paste extract below :
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Re: external module configuration ( profibus )
« Reply #17 on: January 22, 2010, 11:35:00 AM »
QuoteThank You
Hi,for master circuit (robot is slave) You should use rack 67 slot 1, and for slave robot devices rack 66 slot 1
If do not use any PLC controller for example then do not use any configuration with rack 67.
For slave You should use:
example: DO 70 - 77 RACK 66/SLOT 1/START PT 1
DO 78 - 85 66/1/9
DO 86 - 93 66/1/17and etc.....
---------------------------------------------------------
* What do you think of parameters ? you think it is correct according GSD file ? I'm not sure to understand good method...
Thanks
Kukart
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Hi all,
I would like to configure a simple Profibus link between a RJ2 Fanuc robot and a ET200L 32DI Siemens block.
The 32DI station is composed with :
- Terminal block : 6ES7193-1CL00-0XA0
- Electronics block : 6ES7131-1BL12-0XB0I don't use PLC therfore I would like declare RJ2 as Master and Siemens ET200L as slave.
I have configured a new profibus slave station in MENU / SETUP menu in RJ2. I have chosen adress 3 for ET200 slave station.
With GSD file (that I have download in Siemens site) I have reported "User Parameter data" and "Configuration data" as described below :
USER PARAMETER DATA LENGHT = 3 (according number of line in parameter data detail)
USER PARAMETER DATA = 0 0 0 (according 0x00, 0x00, 0x00 in GSD file)CONFIGURATION DATA LENGHT = 5 (according number of line in configuration data detail)
CONFIGURATION DATA = 100 0 0 173 196 (according 0X04, 0x00, 0x00, 0xAD, 0XC4 in GSD file)And for the ident_number in have written 32809 (according 0X8029 in GSD file)
Also, I have configure the 32DI in MENU / IO menu in RJ2 as :
DI[105-112] RACK 66, SLOT 1 START PT 1
DI[113-120] RACK 66, SLOT 1 START PT 9
DI[121-128] RACK 66, SLOT 1 START PT 17
DI[129-136] RACK 66, SLOT 1 START PT 25Despite of this config, the link seems in Default status (BF Led in ET200L stay red fix…)
I don't know very well fanuc configuration (it's my first steps) so …… I need help ….
I have put some file in link below (screen captures, pictures, GSD file) I hope that there will be help for your diagnostic
In advance, thanks for your help !
Kukart
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Thank you very much for your replies.
Kukart -
Hello trunkcnc,
No problem with this new mothercard.
Kukart -
Hello,
I looking for the size of S420i F Fanuc robot in transport position (minimal height)
Thanks
Kukart -
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Hi,
I met a problem with a kuka kr150 with krc1 controller.
When i try to move robot in manual mode, i have already error "torque exeeded default axis2" even if i try to move otherr axis !
Finally, neither movement is possible now.When i try to move axis 1 -> its axis 2 who try to move and i have immediatly error n°1133 "torque exceeded default axis 2"
Same thing with all axis !One time i have seen default n°1104 with axis 2.
Also i have try to put axis 2 in simulation mode in $machine file but the problem stay !
I precise that is a vkrc1 robot (volkwagen standard)
Thanks for your precious help ?
Kukart