Posts by Sevastopol1

    dha suggested IIC and that is something we are using on a number of dual robot cells with a common RTU. You probably don't need the RTU related option but here is what I found on the controllers for options:

    R759 - IIC
    R783 - IIC DSP Support
    R603 - ROS Ethernet Packets (data is exchanged over a direct Ethernet connection between the two controllers)
    R773 - IIC Railzone (probably not necessary for your application)

    You can't eliminate the requirements of the teach mode inputs. You can remove the teach mode keyswitch and substitute in dry relay contacts and relay logic that performs the same function. For example an HMI can have a robot teach mode button interfaced to a PLC that can energize a relay to replace the keyswitch. But you can't just get rid of the inputs.

    UI signals must have a physical connection, network, discrete or otherwise to be accessed by another device, PC switch etc. UO signals are outputs the value of which are determined by the robot controller.

    1. Yes, you will be able to stop/start/end program via UI once they are properly configured.
    2. UOP has to be mapped to some physical I/O, it will basically be digital I/O that has a specific function.
    3. Rack numbers specify the type of physical I/O device to be used. One of the moderators posted a list in a sticky.
    0 process I/O boards (also memory image)
    16 AB or Genius I/O
    32 Slave SLC2 I/O
    33 internal relay/register
    34 flag marker
    35 always on/off port Slot 0 = OFF Slot 1 = ON
    36 DCS port
    48 address mapped I/O for LR Mate Peripheral connectors
    64 ME-NET
    66 PROFIBUS DP master
    67 PROFIBUS DP slave

    4. Auto assignment fills in the slot and start number for your UOP configuration your chosen rack device. This may or may not work depending on what devices you are using and whether something is already configured in that area. Simple assignment truncates the UOP I/O I believe to UI1-8 and UO from 1-10, in the event you don't need the other signals. Enable UI signals does just what it saysd, it enables UI and that means if you have nothing tied to your UI 1 IMSTP, 2 Hold or 3 SFSPD those active low signals will be on and you won't be able to move your robot. If you want to work with the robot without the UI signals until your interface is complete set UI to disabled.

    The following equipment will be available on July 1st:

    Maker: Daihen OTC (NACHI)
    Arm: A2-B4
    Controller: AX21
    Application: Arc Weld
    Process Equipment: DP-400 Weld Power Supply

    1 to 8 units available
    Price: Negotiable

    If interested please reply.

    Anyone with Diagnostics Pro experience on R-30iA out there?

    I'm evaluating Diagnostics Pro for our company as a predictive maintenance tool. I've had good results on R-30iB robots writing a condition analysis program, running it multiple times and charting the results.

    On R-30iA and R-J3iB a different condition program is required, after my program is run I keep getting messages that there are no files recorded. There are files recorded but likely they are incorrect.

    If you've got an example of a condition analysis program that works on R-30iA I'd be grateful if you could share it.


    If you've got a good dimensional drawing use the direct entry method instead of 3 or 6 point. You'll never teach it as accurate as the drawing. Then input the w,p,r angles to set the orientation.

    When to use the goto on the PR screen I think it defaults to linear motion type. If you write a program using the PR in question and set motion type to joint I think you'll find it works. You're getting MOTN-063 most likely because an attempt is made to move the robot with J5 is crossing through 0 degrees with linear motion.


    If you are an authorized integrator and have an account on the CRC site, click on the tab Support/Downloads and E-DOC should appear. After agreeing to terms of use you will be presented with a directory tree that will lead you to all manner of manuals.

    One note about loading I/O files from another robot, there can be issues with the system variable settings that auto configure some I/O and of course when moving between different controllers generations or between a MATE type controller and a full size controller some issues may arise.

    This information wouldn't apply to an S420i arm, but with any arm that has FUT/NDB configuration potential, you can use a procedure that teaches points in different configurations, then interpolate and arrive at a more accurate mastering than zero mastering. Fanuc calls it "accuracy enhancement techniques" . It would give a less accurate mastering than the iR Vision calibration or the mastering fixture, but the only cost is a couple hours time.

    First experience trying to service a Panasonic. GII Controller. Do not receive a door stop/fence alarm when the DS terminals are opened in auto. However, in teach when the barrier is broken the servo goes off, without an alarm. Its tempting to repalce the safety board but it almost seems as though some aspect of he teach mode must be faulty? Anyone experienced similar symptoms? What was the resolution?


    It sounds as though you'll want to configure UOP (UI and UO) for your start signal. Start appears to be CRM-2A-pin 6. You'll also need to enable UOP signals by pressing MENU, 0 next page, SYSTEM, F1, CONFIG, go to item 7 Enable UI and set to true. As for the config page for i/o press MENU, I/O, F1, UOP, F2 config. I'm a little rusty on process I/O, but usually you set up about 18 inputs and 20 outputs dedicated to UOP. The rack# is usually 0, slot # is usually 1, start point 1.