Posts by NovaFlatline

@doctorc, I will look for that when I go in tonight. I'm not sure if my controller is compatible with that it is a 30i

alan, thank you for replying. I am trying to link the fault signal to a strobe. I have looked into using interlock routing, to no avail. Still a bit confused.

gpunkt, I know I can map the UOP to inputs, but can I map SOP faults to DO? Then how would I go about doing that. Have not found that pendant to face moment, but I am close.

Hello, Keep it up everyone.

I've been assigned an issue with a robot that has been giving me some difficulty. Random fault of (spot-063) scr short.

When fault reset is pressed the fault clears, and press start program runs. On the UOP. Is there any way that I may tie the SOP fault signal into a DO signal for a strobe or a PLC fault counter? So that once this fault comes across my strobe signals operators?

Much thanks.

They don't allow me near a pc, they let me off easy on a few things, but when I did a master/Cal and lost six weeks of progress, they pulled the leash in. I could hand write notes and reply back with that info. However they know how dangerous I am, as I am not afriad to make mistakes and take responsibility for them. No risk no reward. Easier to ask for forgiveness then permission.

Skooter, I may not be able to do that. Only because the superiors that be, don't allow me a pc. They say I am to dangerous. No risk, no reward is my motto.

Pdl, I will look into this option, and see if this is the best course. We should be done with the run in a couple days. Then they can allow me more time to fix the problem.

I will be leaving what I find out here on the forum. I am not done with this, and it may help someone down the road if we can get this nailed down.

My company recently purchased a used R30iA welding robot. However we do not use it for welding, instead we use it for material handling. Shortly after I had programed the points, I started getting SPOT-063 SCR SHORT. Needless to say, I had to recover a few crashes, rebuild fixturing, ECT. At first I thought because I was using DI0 as a input from a switch, it had thought that the weld controller (that had not been installed) has shorted. I have used the normal online means to look for a solution. Ie robotfaults.com, Google, ECT. To no avail. I moved a switch from DI0 to DI3 in hopes to help. Nothing. Sporadic timing of fault. I can not nail down a cause. I keep getting told that it is not the robot or controller. I have my doubts, and that brings me here.

So with that said, is there a way to bypass the fault entirely, or a way to "bluff" the controller in thinking the weld controller is not faulted out, ever.

I am self taught, and do not know much about the inner workings of the controller. I'm asking the kind and supporting community for help. This forum has helped me in the past.

I dont fully understand the condition handler, but if the logic states what im reading to be correct this is whats happening.

"Watch this input"

"While doing these programs"

Loop to beginning.

That would make sense.

Hawk i am confused on "category 1 stop" .
In order for me to stop my VFD i need to...
1, turn off my forward direction
2, reset VFD
3, turn on reverse direction (hold on for 2 seconds)
4, reset VFD again.

This will stop my spindle from 20,000 rpm to a dead stop. In two seconds. Regardless of any effect it has on the VFD or brake resistor. Im only driving 300 Hz at 7 amps. Not much, but enough.

In order for me to wire the VFD appropriately i would need three relays. One to handle forward and reverse, forward would be on a "NC" and reverse would be on "NO" with one relay handling the power to that relay coil to control which connection on the VFD is the input. And the third to reset the VFD. Im going tonhavr to think about this alot more now that i am looking at it. Kinda makes your head spin.

A permission to enter would be nice for a closed cell, but we run 3 min cycle times and need to enter the cell after each part. I would like to use some light screens and saftey sensors, but at this time there is not a place in the budget for these things.

Ok. At this shop human saftey has been pushed. The "saftey committee" tell me that if a moron opens the fence while the part is still being processed the spindle needs to stop along woth the robot.

I cant find the BG logic in my settings. Do i need to turn this on from my variables?

So if i can not use "if" statements how should i write this code. Confused.

Ok. I will look for that in my settings.
Let me get this right,

BG logic checks if conditions are made
Example

1: LBL[1]
2: IF DI[07] = ON, JMP LBL [2]
3: LBL [2]
4: DO[?] OFF (VFD)
5:JMP LBL[1]

Now i only care if RO[8] is on because that states that my spindle is at speed. If i dont check for this my spindle will run in reverse. As i am at a forward spin and i turn off forward spin and force reverse on to stop. If i do not do this i would have to wait 90 seconds for the spindle to stop from free spin. Mostly for cycle time.

So back to BG logic, this stop program that is above i would set as a BG Logic from inside my settings.
And this should work...

I have the fence wired to a "NO" interlock as the gate latch. So when the 24Vdc goes high it goes to a "on delay" timer. Timer is wired "NO" when that closes it triggers the coil on my fence relay wired "NC". While timer is counting the same wire going to the coil is going to a "DI [7]" which has a macro program waiting for the input. When the macro is triggered it will not alow it to run as there is another program running. Basically i need the spindle to stop apon opening the fence before it faults out, haulting any program running. Robot goes to a control stop, but the spindle is still running. Driven by the third party VFD.

Do i hold the current program, then start the new one?
Do i stop the current program, and run the next?
How do i program that?

I have
R-3iB controller.
I am also unfamiliar with BG logic. Still very new. Self taught.

It doesnt have to be there. I dont know how to stop one program then start another. Thats where the problem lies. When i dont have abort in there it gives a fault saying something about unable to run macro due to another program running. How do i stop the current program and call the next.

Ok, I am using a router tool, with a 5.5 HP spindle motor. When the fence opens the robot goes to a control stop. Ive wired in a timer (hardwire, not program based) to turn on my fence relay (again hardwired to trip both chanels of the fence circuit) ive got this wired in to delay the fence signal so that i may run a macro to stop the spindle (say 4 seconds) so the operator does not injure themselves. But my problem is that i cant seem to run a macro while another program is running. My macro looks like this.

1: abort
2: if Ro(8) = on , call Spinstp

Im using robot output as a registry bit. I have another program turning that on. Basicly to say if the bit is spinning. Im using an integrated VFD that needs at least 2 seconds to stop spinnig from full speed.

Is there a better way to program this, for example Cstop, or program control.

I dont know how to write that type of code. Forgive me i am self taught. Ive come a long way with all of your help thus far. Sorry ahead of time.

Thank you. Its moving in world. Now i sould be able to teach two points and move to them i trust.

I took everything to a "perch" lined up all tags to 0, remastered. I can jog in joint. Can not jog in world, as well as go to a point that i have taught. This is getting sticky.same "MOTN-023 in singularity"

Thanks. I ended up mastering, and calibrated and reset pulse coder.Thats where my problem started. I think i will take it to a true 0 point re master. And see whats moved. Maybe i could save it. But yea cant jog in world only joint.

Thank you. That helped me. Unfortunately i lost everything when i did that. Now it wont move in "world" "MOTN-023 in singularity" wont let me move, i have "joint" control. Nothing else. Im besides myself. Any help would be great. I also cant get it to move between two points with out that fault. Ive tried turning the controller on and off. Thinking the only thing left is to go factory reset.

For some reason or another its not there.
User level is "install"
Ive lost points in my program that could be frame related, after a tooling malfunction it seems to have lost its x,y,z,w,p,r.

Thank you. Works like a charm.

What are the steps to calibrate a R-J3iB controller with attached 165f 2000i?

It wont let me program a movement to a user key. Looks like another push botton needs to be installed.
Ive got this

PR[1] = UFRAME [0]
PR[2] = LPOS
PR[2,3]=500
L: PR[2] 500mm FINE
J: PR[1] 20% FINE
Am i missing something?
R3JB Controller