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 ;

example:

GET_REG(2,r_flg, i_val, r_val, status) --Get R[2] value
CNV_REAL_STR(r_val, 7, 2, r2_val)
WRITE tpdisplay ('E=',r2_val,CR)

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

did you connect the ethernet cable shield in the controler?

with RJ3iB you can connect Fronius weld source with Device net, profibus but Rob5000/processIO is the most often used

i just found this one for RJ3iB.

;======================================================
; 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.

you can change variable in $AWEPRR
select each weldIO
and replace $PORT_TYPE

FYI
1 -- Digital input
2 -- Digital output
3 -- Analog input
4 -- Analog output
16 -- weld inputs
17 -- weld outputs
18 -- Grouped inputs
19 -- Grouped outputs

srvo-069 is noise on the encoder, it could be a encoder problem or encoder cable problem.
on M6i, there is a small cable between J5 and J6 axis , you can open J5 cover to see if the cable have no damage

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)

You have an answer here:
https://www.robot-forum.com/robotforum/fan…e-fanuc-r-30ib/

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.

You have bad wiring for SFDO

Please go to DCS manual and use Example of the Connection diagram to wiring correctly the SFDO