Posts by pyrioun

    Cat 5 ethernet cable is minimum, did you connect ethernet cable shield inside the controler? if no try with connecting shield
    Be sure the factory network is not on the same line than your Ethernet IP
    Second ethernet port on main board have best priority for communication, use this port if possible

    place each master count axis variable in register
    make a program like this basic example


    IF calib2 JMPLBL[2]
    LBL[1]
    $DMR_GRP[1].$MASTER_COUN[1] = R[1]
    $DMR_GRP[1].$MASTER_COUN[2] = R[2]
    $DMR_GRP[1].$MASTER_COUN[3] = R[3]
    $DMR_GRP[1].$MASTER_COUN[4] = R[4]
    $DMR_GRP[1].$MASTER_COUN[5] = R[5]
    $DMR_GRP[1].$MASTER_COUN[6] = R[6] ;
    JMPLBL[3]
    LBL[2]
    $DMR_GRP[1].$MASTER_COUN[1] = R[11]
    $DMR_GRP[1].$MASTER_COUN[2] = R[12]
    $DMR_GRP[1].$MASTER_COUN[3] = R[13]
    $DMR_GRP[1].$MASTER_COUN[4] = R[14]
    $DMR_GRP[1].$MASTER_COUN[5] = R[15]
    $DMR_GRP[1].$MASTER_COUN[6] = R[16] ;

    LBL[3]
    $MCR_GRP[1].$CALIBRATE = 1 ;

    if you are using Profibus DP/DP coupler you must configure profibus master menu (you need option profibus master and a profibus master card).


    this an example for siemens 158-0AD01 0XA0
    16bytes in/16bytes out


    DP master Slave parameter :
    status :enable
    address :3
    comment :Coupler DPDP
    IN offset :0
    OUT offset :0
    INPUT bytes :16
    OUTPUT bytes :16
    Ident nummer :32880
    uer prm data bytes :8
    data :0,0,0,5,129,0,0,128
    config data bytes :2
    data :175.159

    i just found this one for RJ3iB. :zwink:


    ;======================================================
    ; DP-Slave : FANUC Robot
    ; Date : 02.25.2003
    ;======================================================
    ;
    #Profibus_DP
    GSD_Revision = 2
    Vendor_Name = "FANUC"
    Model_Name = "FANUC ROBOT"
    Revision = "1.0"
    Ident_Number = 0x009F
    Protocol_Ident = 0
    Station_Type = 0
    FMS_supp = 0
    Hardware_Release = "Release 1.0"
    Software_Release = "Release 7.1"
    9.6_supp = 1
    19.2_supp = 1
    45.45_supp = 1
    93.75_supp = 1
    187.5_supp = 1
    500_supp = 1
    1.5M_supp = 1
    3M_supp = 1
    6M_supp = 1
    12M_supp = 1
    MaxTsdr_9.6 = 15
    MaxTsdr_19.2 = 15
    MaxTsdr_45.45 = 15
    MaxTsdr_93.75 = 15
    MaxTsdr_187.5 = 15
    MaxTsdr_500 = 15
    MaxTsdr_1.5M = 25
    MaxTsdr_3M = 50
    MaxTsdr_6M = 100
    MaxTsdr_12M = 200
    Redundancy = 0
    Repeater_Ctrl_Sig = 2
    24V_Pins = 0
    ;
    ; Slave specific parameters
    ;
    Freeze_Mode_supp = 0
    Sync_Mode_supp = 0
    Auto_Baud_supp = 1
    Set_Slave_Add_supp = 0
    User_Prm_Data_Len = 0
    Min_Slave_Intervall = 1
    Modular_Station = 1
    Max_Module = 1
    Max_Input_Len = 32
    Max_Output_Len = 32
    Max_Data_Len = 64
    Max_Diag_Data_Len = 6
    Slave_Family = 8
    ;
    Module = "8 Byte Out, 10 Byte In" 0xC0,0x07,0x09
    EndModule
    Module = "32 Byte Out, 32 Byte In" 0xC0,0x1F,0x1F
    EndModule
    Module = "28 Byte Out, 28 Byte In" 0xC0,0x1B,0x1B
    EndModule
    Module = "24 Byte Out, 24 Byte In" 0xC0,0x17,0x17
    EndModule
    Module = "20 Byte Out, 20 Byte In" 0xC0,0x13,0x13
    EndModule
    Module = "16 Byte Out, 16 Byte In" 0xC0,0x0F,0x0F
    EndModule
    Module = "12 Byte Out, 12 Byte In" 0xC0,0x0B,0x0B
    EndModule
    Module = " 8 Byte Out, 8 Byte In" 0xC0,0x07,0x07
    EndModule
    Module = " 4 Byte Out, 4 Byte In" 0xC0,0x03,0x03
    EndModule
    Module = " 2 Byte Out, 2 Byte In" 0xC0,0x01,0x01
    EndModule
    Module = "32 Byte Out, 1 Byte In" 0xC0,0x1F,0x00
    EndModule
    Module = " 1 Byte Out, 32 Byte In" 0xC0,0x00,0x1F
    EndModule
    ;

    have this one but maybe it's for R30iA


    ;======================================================
    ; DP-Slave : FANUC Robot-2
    ; Date : 13.SEP.2006
    ;======================================================
    ;
    #Profibus_DP
    GSD_Revision = 2
    Vendor_Name = "FANUC"
    Model_Name = "FANUC ROBOT-2"
    Revision = "2.0"
    Ident_Number = 0x0A2D
    Protocol_Ident = 0
    Station_Type = 0
    FMS_supp = 0
    Hardware_Release = "Release 2.0"
    Software_Release = "Release B.1"
    9.6_supp = 1
    19.2_supp = 1
    45.45_supp = 1
    93.75_supp = 1
    187.5_supp = 1
    500_supp = 1
    1.5M_supp = 1
    3M_supp = 1
    6M_supp = 1
    12M_supp = 1
    MaxTsdr_9.6 = 15
    MaxTsdr_19.2 = 15
    MaxTsdr_45.45 = 15
    MaxTsdr_93.75 = 15
    MaxTsdr_187.5 = 15
    MaxTsdr_500 = 15
    MaxTsdr_1.5M = 25
    MaxTsdr_3M = 50
    MaxTsdr_6M = 100
    MaxTsdr_12M = 200
    Redundancy = 0
    Repeater_Ctrl_Sig = 2
    24V_Pins = 0
    ;
    ; Slave specific parameters
    ;
    Freeze_Mode_supp = 0
    Sync_Mode_supp = 0
    Auto_Baud_supp = 1
    Set_Slave_Add_supp = 0
    User_Prm_Data_Len = 0
    Min_Slave_Intervall = 1
    Modular_Station = 1
    Max_Module = 1
    Max_Input_Len = 128
    Max_Output_Len = 128
    Max_Data_Len = 244
    Max_Diag_Data_Len = 6
    Slave_Family = 8
    ;
    Module = "8 Byte Out, 10 Byte In" 0xC0,0x07,0x09
    EndModule
    Module = "32 Byte Out, 32 Byte In" 0xC0,0x1F,0x1F
    EndModule
    Module = "28 Byte Out, 28 Byte In" 0xC0,0x1B,0x1B
    EndModule
    Module = "24 Byte Out, 24 Byte In" 0xC0,0x17,0x17
    EndModule
    Module = "20 Byte Out, 20 Byte In" 0xC0,0x13,0x13
    EndModule
    Module = "16 Byte Out, 16 Byte In" 0xC0,0x0F,0x0F
    EndModule
    Module = "12 Byte Out, 12 Byte In" 0xC0,0x0B,0x0B
    EndModule
    Module = " 8 Byte Out, 8 Byte In" 0xC0,0x07,0x07
    EndModule
    Module = " 4 Byte Out, 4 Byte In" 0xC0,0x03,0x03
    EndModule
    Module = " 2 Byte Out, 2 Byte In" 0xC0,0x01,0x01
    EndModule
    Module = "32 Byte Out, 1 Byte In" 0xC0,0x1F,0x00
    EndModule
    Module = " 1 Byte Out, 32 Byte In" 0xC0,0x00,0x1F
    EndModule
    ;

    SYST-035 Low or No Battery Power on MAIN


    if pulse battery ars low you must have message BLAL, in this case it's important to do not power off controller


    in your case problem is main board battery but if you replaced it, check battery voltage.


    You have 7th axis, i think you have separate servo amplifier, do you have battery on this servo amplifier? (in robotics no battery need but in CNC they are using same sero amplifier and they use battery on this servo amp)

    in RJ3iB use ethernet cross cable, only one ethernet port for this type of controller


    example of configuration:
    MENU-->SETUP-->TYPE-->HostComm


    TCP/IP 1/11
    Node name: ROBOT1
    Router name: PC1
    Board address: 00:E0:E4:F1:23:45
    Subnet mask: 255.255.255.0


    Host Name Internet Adress
    1 ROBOT1 195.213.99.201
    2 PC1 195.213.99.202
    3******** ************


    Need reboot of controler


    MENUS->SETUP->TYPE(HOST COMM)->SHOW->SERVERS->S1


    SETUP Tags JOINT 100 %
    1/11
    Tag S1:

    1 Comment: ****************
    2 Protocol name: FTP
    3 Port name: ****
    4 Mode: *************************
    Current
    State: UNDEFINED
    5 Remote: ********
    6 Path: ****************************
    Startup
    7 State: START
    8 Remote: ********
    9 Path: ****************************
    Options
    10 Error Reporting: OFF
    11 Inactivity Timeout: 15 min


    reboot the controler or change current state "undefined" to "defined"and to "start"

    Irvision is not available in RJ3iB, before irvision we are using Fanuc Vision V500i, it's not a real integrated vision(like irvision) , necessary to connect controler with computer include V500i software.
    problem, it's very difficult to find/buy avaldata card or ITI card to connect camera with the computer.

    S420F is with RJ or RJ2 controler.


    after an init start it's necessary to have core software to ending software installation, and with RJ2 american software(it's different with japanese software) for each option you need to have corresponding PAC code .
    but logically only Fanuc have these informations (core software and PAC code)

    if you have ACCUPATH option, you can disable it (please do a backup AOA before change variable)
    to disable it:
    $CJCFG.$ENB = FALSE
    $VCCFG.$DISABLE = TRUE
    Try again your program
    to reenable it:
    $VCCFG.$DISABLE = TRUE
    $CJCFG.$ENB = FALSE

    could you control this variable during the program is running: $IDL_CPU_PCT (not sure this variable was available for RJ3iB)
    if the value is less than 10, cpu is very busy and could have some problem to calculate pré-execution, and if it cannot calculate pré execution CNT have no effect


    if you are using multitask , try only with one task

    ARC-134 This error is related to Production Monitor operation.
    Production Monitor is a lincoln software


    do you have thes program in the robot:
    WR_AL_AT.PC
    RD_AL_AT.PC
    PM_SEL
    PM_VER
    PM_OFF
    PM_ON
    ALERT_1, ALERT_2, ALERT_3, ALERT_4, ALERT_5, ALERT_10


    these programs are using to communicate with production monitor software



    this is part of PM lincoln manual:


    5.3 Using Production Monitoring™ in a FANUC® Robotic Application


    5.3.1 Overview
    1. Production Monitoring™ is a tool used to send weld process data to a remote computer for monitoring. It
    can also be used to alert the robot operator if a weld process has exceeded predetermined limits. Limits that
    can be monitored include voltage, current, wire feed speed, and time. If a limit is exceeded, an alarm can be
    generated at the robot to alert the operator. Up to 32 different welds can be monitored.
    2. The system uses programs already loaded into the robot to monitor and check to see if the weld is within
    the limits. These programs will then generate an alarm or other desired action to alert the operator.
    3. Production Monitoring™ determines if a weld is within specified limits. It does not determine if it is a good
    or bad weld. It is the end user’s responsibility to make that determination.


    5.3.2 Requirements
    1. The robot must have Arctool software version 6.40-1M or later installed. This version includes two
    programs, WR_AL_AT.PC and RD_AL_AT.PC that form the basis of Production Monitoring™ robotic
    interface. These two program names are seen in the Select key program listing along with the all other
    programs in the robot’s memory.
    2. The Karel software function must be Enabled. Karel is a Fanuc software tool that performs functions
    behind the scenes, out of view, during normal robot operations. To check to see if it is Enabled, press the
    Menu key, cursor to line 0-next, Enter, cursor to line System, Enter. Press F1-Type key, cursor to line
    Variables, Enter.
    Cursor down to line $KAREL_ENB, approximately line #190, $KAREL_ENB should be set to 1; if it is set
    to 0, key in a 1, Enter. Then power down the robot and power up to save this setting.
    3. Nine Registers need to be set aside and dedicated for Production Monitoring™ use. The robot has 200
    Registers available for use to perform math functions. This manual will use Registers 1-9 for example use.
    4. The Power Wave® must have the Ethernet Module installed, set up and running on a network. A network
    connection can also be established to the Power Wave® through the robot, providing it has been setup,
    configured, and running on a network. Refer to FANUC® CD Manual set, Internet/Ethernet Manual for
    instructions.
    NOTE: Production Monitoring™ email functionally is only available when the Power Wave® is
    directly connected to the network.
    NOTE: If the robot is an E-model, an E-Cell for example, the network connection must be directly to
    the Power Wave® External Ethernet Module.
    5. The software from the Production Monitoring™ CD has been installed on a computer connected to the same
    network as the Power Wave® or the robot.

    try with CNT100,
    try with P[] (not PR[])
    do you see some difference?


    if you are using register for setting speed, you can change variable $RGSPD_PREXE=1 , it's for better pre-execution.

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