Posts by Hazard

Actually those units of measure are for linear motions. For joint motions I only see % and sec.

Could be the unit of measure for speed. On my 5.30 robots I don't see msec as an available option. I only see mm/sec, cm/sec, inch/min, deg/sec, and sec.

Sounds like the teach pendant switch is not in the 'ON' position.

Have to cycle power after resetting the alarm.

A condition monitor with a pause instruction would probably satisfy the requirement for a rapid but not sudden stop. But you would have to set it up with a button other than the e-stop to toggle an input.

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.