Posts by M_Benton


    I am working on a project with PalletTool. I am able to do the normal process (pick and drop) when I control everything from the TP, but when I try to make it work with communication with the PLC it gets stuck waiting on a line with "Semaphore [1]" on the GETPAR program. As far as I understand, this Semaphore is waiting for the Karel program to finish the Cycle Start Data (get all the parameters info) and send the signal, but it stays forever like that, and I don't get any alarm or any clue on what am I missing.

    I have had that problem with a Robot before.

    Are you not getting any other alarm before the TP freezes up?

    Since the Robot is still working and the TP is the only one freezing, it's probably a Mainboard Card issue.

    If you have the technical experience, you could try swapping Mainboard cards between 2 Robots, it is not too hard, but it's something you should have done before because there's a lot of small things you need to be careful of, if you have never done it, call a certified Fanuc Technician.

    Before trying the swapping, you could try to do a very good cleaning on your SOP, and if the heat is too much it should be in a place with A/C, for now you could try putting up a good fan infront of the SOP with the door open and see if that gives any improvement.

    Thank you for the examples Janusz, another small question.

    If the Max Disturbance Torque is reached (as the example on my original post), does that mean that the Robot had a Collision Detection on that same cycle?

    Hello! I was able to progress a little.

    I looked at your question on how I am starting the Robot, what I did was change in Config from Local to Remote, and now it doesn't get the error anymore, but the Robot is still not moving to pick-up, it's just cycling the program, I can probably look into this part, it's probably missing a signal to start.

    Thanks a lot for the help Phil, all your suggestion really helped me get on track.

    Oh you are right, it works on the simulation, but is still not working physically...

    I will give it a try by changing the patterns to a default one, I will let you know when I do the test.

    Thanks again!!

    Do you have RoboGuide? PalletPro is included with new robots. I can tell this is a very new robot.

    Yes, we are using RoboGuide, and we get the same fault in there too.

    Also, why are you using a 6-axes robot? Space constraints

    This is a 5-Axis Robot, it's an R-1000iA/80H.

    And why two infeeds on top of each other?

    You can use just one and create two cycles, one for each pallet station:

    We thought that we may need two for each outfeed, we put them on top of each other to simulate as if it were just one infeed.

    Try changing the argument back to R[1] and let me know what happens.

    You are right, looks like one of my colleges might have changed it while we were trying to look for a solution. We changed it back to R[1] but we are still getting the same fault.

    Also, your test unit load looks very odd ;)

    I just made the Unit Load with some random lengths and widths, did you see something too odd that may cause errors?

    Thanks again for doing all those tests and helping me out.

    There is a few things that you need to check/test to know what is the problem.

    As Hawk said, the first thing is to check all of your fuses, these can be the 2 green ones on your PSU or the crystal fuses on the Motherboard.

    The next thing would be to disconnect the Teach Pendant and connect it on another Robot that it's working, if the TP turns on then it's fine on that part.

    Then you would need to try changing the cable, depending on your technical skills, you could disconnect the TP Cable from the Robot's SOP with another Robot that you have, if it's still not working then you better call a Fanuc Maintentance service because it could be a major fault in one of the cards.

    Yes, we have already taught the stations, we have two of each one.

    Here are the settings you told me to check, I will get the AoA backup briefly and attach it on my next post.

    Unit Load Setup:

    Pattern Coordinates:

    Unit Load Optimal Path 02:

    I think those are all the settings you asked me for, sorry for posting too much.

    I loaded everything with the Teach Pendant and I am starting Auto Mode with the SOP.

    Hello pdl, thank you for giving me a hand, it really is my first time commissioning a PalletTool cell, I have worked with them before though.

    I will have to do a few different posts because my image upload limit is 2 pictures, so here they go:

    Pallet System Setup:

    Gripper Setup:

    Hello everyone.

    I hope my question is not too specific. I am working on a PalletTool program and everytime I try to start Auto Mode, the Robot goes to Perch Position, but then it stops with the Alarm INTP-311 (PMUPDVRS, 188) Uninitialized data is used.

    I am probably missing something I haven't declared on the setup, what concerns me is that I see the number "188", which I suppose is the line where the .PC program has the error, but I cannot find the PMUPDVRS anywhere to look for that line.

    I searched on all TP programs for this "PMUPDVRS" word, and I see it's being used with the Register "Current Cycle" and "Multi Use", I have tried changing these registers but it doesn't make any change.

    The values between parentheses are the peaks. They reset at each servo on. The last detected collision data is logged in the reductor's status page.

    Thank you for answering, sorry I hadn't taken a look at this post in a while.

    So if I understand correctly, the ones in parentheses are the maximum peaks received during the cycle and they reset everytime I power off and then on.

    So that means the 22.5 and -23.8 are the maximum and minimum set?


    I have a question about the Disturbance Torque screen in the Teach Pendant.

    I am reading the disturbance as the Robot does it's cycle, here is the reading which concerns me:

    Curr./Max (Allowed)/Min. (Allowed)

    J2: 1.4 22.5(16.1) -23.8(-16.1)

    I understand that 1.4 is the current value of the disturbance (this value changes every few ms).

    The (16.1) and (-16.1) is the maximum and minimum disturbance allowed.

    My concern is for the 22.5 and -23.8.

    Are these values the max/min distrubance that this axis has received?

    How do I know if these values are from a collision or if they are the normal cycle disturbance I get in automatic mode?

    Is it possible to clear these values, so in case I get a new collision or big disturbance we will be able to know at what value did it occur?