Posts by 05032MendicantBias

I got an FTP link download from FANUC a couple of weeks ago
I have yet to install it as I want to make sure the licence is ok

Quote from pdl

DPM should be able to update at the ITP scan time, which for the R30iB+ is now 4ms, on older robots it was 8ms.

I have an R30iB+ and I only get 8ms ITP. I only get 2ms on special things like the high speed input for line tracking option.

I see an MC not detected alarm which is worrying
Check the memory card

I have the same problem where I would need hundreds of payload entries.
For me it work with PLST system variables.
The PLC launches a special program to update the payload, then it executes the regular cycle, all in automatic mode.

7: --eg:payload 2 - Empty Claw ;
8: $PLST_GRP1[2].$PAYLOAD=(R[110:P2 mass]) ;
9: $PLST_GRP1[2].$PAYLOAD_X=(R[111:P2 cmx]) ;
10: $PLST_GRP1[2].$PAYLOAD_Y=(R[112:P2 cmy]) ;
11: $PLST_GRP1[2].$PAYLOAD_Z=(R[113:P2 cmz]) ;
12: $PLST_GRP1[2].$PAYLOAD_IX=(R[114:P2 ix]) ;
13: $PLST_GRP1[2].$PAYLOAD_IY=(R[115:P2 iy]) ;
14: $PLST_GRP1[2].$PAYLOAD_IZ=(R[116:P2 iz]) ;

Short motions (1mm) can take a long time to complete (seconds).
PTH option is meant to improve acceleration during such movements.
Never use the PTH on larger motions.

In practice I used PTH it in an application where I had to correct the robot position depending on the part position on a conveyor shortly before line tracking.

I have an update on this issue I'd like to share.

The handbroken happened again in one of our machines while I was there, so I was able to properly debug the issue. It happened while I was configuring the machine and loading the backup.

The BG logic program solved the problem but not the root cause.
The issue persisted after cycling power.
The issue solved itself by doing a few cycles of reset, deadman and jog movements.

My best guess is it's an undocumented issue of the robot software that happens rarely when configurations are changed.

Just had the same issue with my R30iB + controller.
I used the workaround suggested by HawkME and it solved the problem.

Does anyone know what triggers the Karel programs to set the HAND BROKEN parameter?