Posts by Hazard

That looks like a programmed text box.

I use a condition monitor to pause our robots under certain conditions. I think cold starts abort condition monitors.

You could try disabling brake hold on that axis. By doing this you force the robot to hold position with the motor powered rather than enabling brakes after a set time period. Go to variable $PARAM_GROUP > MRR_GRP_T > MRR_GRP_T > SV_OFF_ENB then scroll down to number [5] and change from TRUE to FALSE. Then cycle power. This worked for me in a similar situation years ago.

Just put new vernier marks that line up with your new zero. No one will ever know the difference.

You have to start the condition monitor program again.

I am not sure if this is still true but last time I got the Password Protection option J541 from FANUC it was free. It was a simple matter of getting a PAC code from FANUC and enabling it.

Look up CONDITION MONITOR. With it you can easily set up an error handler without using KAREL.

I would just do this with a video camera and monitor. And if you record the video feed you can use it for troubleshooting.

If you have password protection and are not logged in it will not show up. Additionally, if your quick/full menu toggle is on quick, it will not show up.

To clarify, SYSTEM does not show up unless on full menus.

Collision adjustment was available earlier than R-30iA. I have some RJ3 robots running HandlingTool 5.3 that do collision guard adjustments. It is probably an optional feature. If you have it you have to setup a register to work with it. Then the programming is:

1: R[7:COL GUARD]=80

2: COL GUARD ADJUST

Do you clean out the controller periodically? Our RJ3 controllers are in a dusty area and even with filters on all of the controller fans some dust gets in. We blow them out with compressed air periodically to prevent overheating.

Only thing I can think of is the Quick/Full Menus toggle.

It is probably a value on line 299 in program PATPRJOB.

I went through this several years ago on my oldest RJ3 to upgrade from 500K to 2M. What FANUC told me at the time was that I could only use a file backup to restore the controller. The procedure was:

1) upgrade memory

2) install core software

3) restore from an AoA backup

OP panel key sets it so that you can switch between remote and local just by switching the key on the panel. Most of my robots are set this way.

Quote

Did you have to run PrintTP against each .TP file, one at a time? Because whenever I try to do printtp D:\directory\*.tp it just throws "copy to/from directory failed." But it works if I type out an entire single file name.

No. I just copied all of the .tp into the same folder as the printtp executable then executed the printall.bat from the same folder. No subfolders - all files in same folder. The printall.bat has the following in it:

echo off

for /f "tokens=*" %%a in ('dir /b *.tp') do printtp %%a %%a.txt

I am not sure what version this came from. I got it online somewhere years before I convinced management to buy me roboguide.

Not sure if this will work for maketp. I used to run printtp on an entire AoA backup by copying all of the files into the same directory as printtp. Unfortunately I can't test it because new IT security measures now prevent me from running any of the executables in the WinOLPC folder.

Actually I believe it is the other way around. If the condition is not met by the time the robot reaches the programmed point then it jumps to the specified label.

In my process we use range finding lasers to find the surface level of a liquid in a pot. The analog input signal is then used to calculate the Z element of a PR to dip a part in the gripper to that level. I do not use LPOS or JPOS. It is a programmed PR that just has the Z altered every time a part is dipped.

I would recommend contacting Fanuc so you can get the correct mechanical maintenance manual for your robot. There may be other PMs you are missing as well.