We have an arc mate 100ic robot that will not operate. It was working we've had the mainboard replaced with a refurbished one and now even when the robot is green across the board the robot gives an MCTL-013 "Enable input is off" and an MCTL-003 "System in error status" whenever the operator attempts to jog the robot. I did find that one of the 3.2A fuses had blown and replaced it, I checked the Config for ENABLE UI Signals which was set at TRUE. I think that the main cable and or the mainboard may be the issue because the guys were also telling me about an FSSB fault that relates to a communications error from the mainboard to the robot. Any ideas, pointers, or guidance would be greatly appreciated.
Posts by BubbaSr77
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That makes sense, thanks for the article and the assistance
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What do you mean "void your safety rating"? is this an internal controller thing or more like ratings received following an inspection? I've never used an input over safety protocol, so is this other software or option or is it terminology for the way something is done using existing inputs and such? Thanks for all your assistance it is very much appreciated.
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Is it possible to enable and disable DCS zones (CPCs) within the robot program and do so with the program logic? I've never tried to do this before, and honestly never seen it done or controlled with anything other than PLC. Basic concept is to set up the DCS to turn off or on a CPC area at the instruction of the robot. I know that if I manipulate a CPC by changing anything, enable or disable, then I have to apply changes and cycle power. Thanks for any assistance or ideas.
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Thank you for the advise and insight Kwakisaki, I greatly appreciate it.
HawkMe - The colors I put in there just to differentiate between the different sections of the program.
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So the way that I intended this to work is that there are multiple recovery points throughout the cell ,not just for certain A.O.s, which are set to a value in R[807:LOCATION]. The program, if not at HOME already, would then JMP LBL to the appropriate location. Once there the logic would then set the location for the program to go to, for example: line 23: REGRIP A.O., if starting out R[820]=25 it'll jump to the error or fault logic portion of the program, the program sets R[820]=21. once the program runs the logic at that label if the conditions aren't met then it will set the correct information for the next lable area of the Regrip recovery area and then JMP LBL[3]. Then jumps to the next LBL, thinking this out and explaining it by typing I can see how some of the logic is unnecessary complication. Thanks for the help and advise, and please continue to let me know what you think of the logic below. I will never get better than I am now if I don't get outside perspective.
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Here is a bit of the code:
OVERRIDE=35% ;
8: COL DETECT ON ;
9: COL GUARD ADJUST 125 ;
10: ;
11: LBL[1:LOCATE] ;
12: !************************ ;
13: IF (R[807:LOCATION]<>10) THEN ;
14: JMP LBL[R[807]] ;
15: ELSE ;
16: LBL[2:HOME] ;
17: IF (DO[107:OFF:AT HOME]=ON) THEN ;
18: JMP LBL[9999] ;
19: ENDIF ;
20: ENDIF ;
21: ;
22: ;
23: !REGRIP A.O. ;
24: LBL[20] ;
25: IF (R[820:RGRP RCVR LBL]=25) THEN ;
26: JMP LBL[899] ;
27: ELSE ;
28: R[820:RGRP RCVR LBL]=21 ;
29: R[821:NEXT UFRAME]=2 ;
30: R[822:NEXT UTOOL]=1 ;
31: ;
32: LBL[3] ;
33: JMP LBL[R[820]] ;
34: ENDIF ;
35: ;
36: !************************** ;
37: LBL[21] ;
38: UFRAME_NUM=R[821:NEXT UFRAME] ;
39: UTOOL_NUM=R[822:NEXT UTOOL] ;
40: ;
41: PR[8:RECOVERY POS]=JPOS ;
42: PR[99:RECOVERY]=LPOS ;
43: ;
44: IF (PR[99,1:RECOVERY]>=(-580) AND PR[99,3:RECOVERY]>=1000) THEN ;
45:J PR[96:AT REGRIP] 50% FINE ;
46: JMP LBL[999] ;
47: ENDIF ;
48: ;
49: R[820:RGRP RCVR LBL]=22 ;
50: R[821:NEXT UFRAME]=2 ;
51: R[822:NEXT UTOOL]=3 ;
52: JMP LBL[3] ;
53: ;
54: !**************************** ;
55: LBL[22:MOVING TO DROP] ;
56: UFRAME_NUM=R[821:NEXT UFRAME] ;
57: UTOOL_NUM=R[822:NEXT UTOOL] ;
58: ;
59: PR[8:RECOVERY POS]=JPOS ;
60: PR[99:RECOVERY]=LPOS ;
61: ;
62: IF (PR[99,1:RECOVERY]<=(-1000) AND PR[99,3:RECOVERY]<=(-400)) THEN ;
63: PR[4:OFFSET]=PR[3:NULL] ;
64: PR[4,3:OFFSET]=300 ;
65: ;
66:J PR[99:RECOVERY] 50% FINE Offset,PR[4:OFFSET] ;
67:J PR[96:AT REGRIP] 50% FINE ;
68: JMP LBL[999] ;
69: ENDIF ;
70: ;
71: R[820:RGRP RCVR LBL]=3 ;
72: R[821:NEXT UFRAME]=2 ;
73: R[822:NEXT UTOOL]=3 ;
74: JMP LBL[3] ;
75: ;
76: !************************** ;
77: LBL[23] ;
78: UFRAME_NUM=R[821:NEXT UFRAME] ;
79: UTOOL_NUM=R[822:NEXT UTOOL] ;
80: ;
81: PR[8:RECOVERY POS]=JPOS ;
82: PR[99:RECOVERY]=LPOS ;
83: ;
84: IF (PR[99,1:RECOVERY]>=1100 AND PR[99,3:RECOVERY]>=750) THEN ;
85:J PR[96:AT REGRIP] 50% FINE ;
86: JMP LBL[999] ;
87: ENDIF ;
88: ;
89: R[820:RGRP RCVR LBL]=24 ;
90: R[821:NEXT UFRAME]=1 ;
91: R[822:NEXT UTOOL]=3 ;
92: JMP LBL[3] ;
93: ;
94: !*************************** ;
95: LBL[24:APRCH PK/PICK] ;
96: UFRAME_NUM=R[821:NEXT UFRAME] ;
97: UTOOL_NUM=R[822:NEXT UTOOL] ;
98: ;
99: PR[8:RECOVERY POS]=JPOS ;
100: PR[99:RECOVERY]=LPOS ;
101: ;
102: IF (PR[99,1:RECOVERY]>=950 AND PR[99,3:RECOVERY]>=800) THEN ;
103:J PR[96:AT REGRIP] 50% FINE ;
104: JMP LBL[999] ;
105: ELSE ;
106: IF (PR[99,1:RECOVERY]>=1400 AND PR[99,2:RECOVERY]<(-350)) THEN ;
107: IF (RI[7:OFF:GRIP 3 OPENED ]=OFF AND RI[8:OFF:GRIP 3 CLOSED ]=OFF),DO[88:OFF:TOOL 3 OPEN]=(ON) ;
108: PR[4:OFFSET]=PR[3:NULL] ;
109: PR[4,2:OFFSET]=50 ;
110:L PR[99:RECOVERY] 250mm/sec FINE Offset,PR[4:OFFSET] ;
111: JMP LBL[999] ;
112: ENDIF ;
113: ENDIF ;
114: ;
115: R[820:RGRP RCVR LBL]=25 ;
116: R[821:NEXT UFRAME]=1 ;
117: R[822:NEXT UTOOL]=2 ;
118: JMP LBL[3] ;
119: ;
120: !************************** ;
121: LBL[25:NEST5_RCVR] ;
122: UFRAME_NUM=R[821:NEXT UFRAME] ;
123: UTOOL_NUM=R[822:NEXT UTOOL] ;
124: ;
125: PR[8:RECOVERY POS]=JPOS ;
126: PR[99:RECOVERY]=LPOS ;
127: ;
128: IF (PR[99,1:RECOVERY]>700 AND PR[99,1:RECOVERY]<1000 AND PR[99,2:RECOVERY]<(-1100) AND PR[99,2:RECOVERY]>(-800) AND PR[99,3:RECOVERY]<750 AND PR[99,3:RECOVERY]>425 AND PR[99,6:RECOVERY]>0 AND PR[99,6:RECOVERY]<180) THEN ;
129: PR[4:OFFSET]=PR[3:NULL] ;
130: PR[4,3:OFFSET]=300 ;
131:J P[1:MOVE BACK TO FRT] 50% FINE ;
132:J P[1:MOVE BACK TO FRT] 50% FINE Offset,PR[4:OFFSET] ;
133:J PR[96:AT REGRIP] 50% FINE ;
134: ELSE ;
135: ;
136: IF (PR[99,1:RECOVERY]>1500 AND PR[99,1:RECOVERY]<1550 AND PR[99,3:RECOVERY]<(-60) AND PR[99,3:RECOVERY]>(-100)) THEN ;
137: ;
138: IF (PR[99,4:RECOVERY]>60 AND PR[99,4:RECOVERY]<95 AND PR[99,5:RECOVERY]>0 AND PR[99,5:RECOVERY]<95 AND PR[99,6:RECOVERY]<180 AND PR[99,6:RECOVERY]>147) THEN ;
139:J P[3:IN REGRIP Y] 20% FINE ;
140:J P[4:DOWN Z] 20% FINE ;
141:J P[5:FWD X] 20% FINE ;
142:J P[6:ROTATE] 25% FINE ;
143:J P[2:MOVE TO FRONT] 20% FINE ;
144:J PR[96:AT REGRIP] 20% FINE ;
145: JMP LBL[999] ;
146: ENDIF ;
147: ENDIF ;
148: ENDIF ;
149: R[820:RGRP RCVR LBL]=25 ;
150: R[821:NEXT UFRAME]=1 ;
151: R[822:NEXT UTOOL]=2 ;
152: ;
153: ;
154: ;
155: LBL[30] ;
156: !RECOVER FROM OKUMA ;
157: IF (R[820:RGRP RCVR LBL]=34) THEN ;
158: JMP LBL[899] ;
159: ELSE ;
160: R[820:RGRP RCVR LBL]=31 ;
161: JMP LBL[R[820]] ;
162: ENDIF ;
163: ;
164: LBL[4] ;
165: JMP LBL[R[820]] ;
166: ;
167: ;
168: !*************************** ;
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Correct, however, I'm not using any FOR statements or ENDFORs and all the IF_THEN statements have ENDIFs. So I got to be missing something.
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I am writing a program with multiple IF_THEN statements nested within one and the necessary ENDIFs at the end, however, when I try to step through the program I keep getting this alarm,
INTP-693 ( %*&^) Need ENDFOR. The error codes list says Cause: FOR is more than ENDFOR, Remedy: Teach ENDFOR after the line number displayed. This is not very helpful because when I insert the ENDFOR I then get an error saying needs an ENDIF, then when I put in the ENDIF it still says Needs ENDIF. What am I missing?
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Thank you all for the help and advice I greatly appreciate it.
I do have another vision question I could use some help with. For the last few months we have been running this robot cell without issue. It places the parts in the tote on the outbound conveyor, in two rows of 3. The part has 3 openings (if set as if in the tote), top and bottom and center (protruding from face of the part). Row 2 is placed facing row 1 with the center opening. Now, out of nowhere the vision system is offsetting the robot out of place for the drop and causing the robot to either collision detect or orient the part incorrectly. I have tried reteaching the drop point and the reference point and have gotten nowhere with it. Please help! Thank y'all again.
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Morning All,
I need help PLEASE! I have a robot with a robot mounted 2D camera, I have been working with this vision system on this robot for about 4 months now. The processes have all been setup and working for at least 3 months, now suddenly the vision process is taking an extended amount of time to process a snap and find that it times out. Now I am utilizing/setting up the vision process from an HMI, however, we haven't had any issues until now. Any ideas as to what might be the issue?
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This is true, there were no other recovery options. However, the communications are working like they should. Unless there are to many communications going on, as we have the email option set up and the FTP is used regularly. In saying that the issue has always come about when neither of the above mentioned where be utilized by the robot. So maybe it's an internal controller issue?
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I have an M-20iB machine tending robot. We have installed the email PAC code that will send out emails to specific folks when there is an alarm. That was several months ago, now over the last week we have had an issue with this robot stopping in the middle of production to request the operator to cycle power. The alarm log shows no alarm resulting from any fault prior to this request. I do have this robot logging vision errors and am in the process of testing to see if the USB drive for the vision logging being full is the culprit or not. In the event that it is not the issue what else would be causing this? Is this something that would require Fanuc tech support attention? Thanks
v/r
Jeremy
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I am trying to upload some cad files (.igs) to roboguide. I'm not quite sure if something is missing from the files or if I'm neglecting to do something in order to make use of these .igs files. Can someone help me out with this? I would be greatly appreciative.
JD
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Hello, and thanks in advance for any help y'all can provide!
I am in the process of setting up an FTP protocol on our servers, with IT help, and I have the vision logs set up to be logged to UD1:/ which I can then transfer those vision logs to the FTP server from all 9 cells. My question is, is it possible to write a TP program that will periodically delete any vision logs that are older than a specified number of days? Thanks again for any help y'all can throw my way.Jeremy
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I am trying to set up an automated backup process for multiple machine tending robots, utilizing an FTP software. I have already setup an FTP server and have ensured that the robots have the IP addresses on the TCP/IP menu of the HostComm menu. I can connect from my computer on the internal network to the robots with the Filezila software and perform a backup of the MD:/, however, I'm trying to automate this process so that it will either go through my computer and then directly to the server or directly from the robots to the server itself. Anyone that can provide any assistance or information on how to accomplish this I would be greatly appreciate it. Thanks and y'all take care!BubbaSr
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I have a machine tending robot with robot mounted 2D iRVision. Is it possible to set up the vision process so that if the image shows the part backwards, it'll cause the robot to reorient the EOAT in order to pick the part correctly? Thanks
Jeremy
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I am working on several Fanuc robots with servo gun for a re-spot process. As of right now the Weld controllers aren't hooked up, however, the necessary cables are connected and functional. Some of the robots I can jog the gun (G:2 A:1) and some can't. Some if I disconnect the cables to the servo motor after turning off power to the controller, reconnect the cables and turn the controller back on I can jog the robot. Then there's a couple that started out with capability to jog and then stopped and now nothing. Anybody got any ideas?