https://www.robot-forum.com/robotforum/fan…n-fanuc-robots/
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https://www.robot-forum.com/robotforum/fan…n-fanuc-robots/
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Is it connected to other devices via Ethernet? Apparently the robots are by default set to look at all Ethernet traffic, even if it is not addressed to that robot. There is a filtering setting that can be changed to correct it so the robot only cares about traffic aimed at it. We had to do this with two of our robots. They would become non-responsive, but disconnecting Ethernet and cycling power usually fixed it.The change we made was
$ETH_FLTR[4] from 0 to 44818Must cycle power to take effect. No guarantee this is related, especially if you do not use Ethernet.
When you guys mention the TP being "non responsive" is it not opening menus or anything? We have one robot (out of about 20 on this line) that will start acting up if don't touch it for a while. It will be running the whole time but the second we have an issue and I need to open up Master/Cal to re zero the G2:A1 servo it will open a completely different menu or just freeze for a while. Cycling power on the TP does nothing but cycling the controller power will fix the issue. Is this similar to your issue? If so I may try to change that variable and see if we notice a change. Only problem is I don't know how long it takes for the issue to happen since we don't have to do much with it for weeks or months at a time as far as actually recalibrating and what not. Driving through jobs and similar don't seem to be affected.
In some instances if you know where in the program it was trying to move to I was able to back the robot up to the point just before the point it was traveling to removing it from whatever it just collided with. You may get multiple collision alarms but holding shift and hitting reset should prompt you to basically disable collision detect for a moment to get you to where you need I'm not sure if this is just on some models of fanuc or not. Although i'd be very careful doing so as you can start doing some major damage.
If you have to do multiple robots (I did like 74 robots one night) I found that putting the USB drive into the slot on the robot cabinet works the fastest. It took under a minute per robot vs the 5-10 minutes it would take using the TP USB slot. If you choose to use the USB on the Robot cabinet select UD1 and then backup.
Dang it I almost went that route first! But figured this variable would be easier to do.
$SCR.$RUNOVLIM
Siemens S7300 series.
Scan times to the robots is 2ms.
What do you mean speed overide is active?
I don't think it is a bad cable because multiple robots are on the same switch and only one will fail.
The alarm is very intermittent, occuring once every couple of months.
I believe he is referring to the speed override variable on the TP for the robot. Whenever power is cycled the robot speed will drop down to a safety speed of 10%. Ours are all set to return to 100% override speed for this reason.
SRVO-005 Robot overtravel
Cause: A hardware limit switch on an axis was tripped. Usually, the movement of the robot is prevented from exceeding a
limit beyond the maximum range of movement (software limits) for each axis. However, when the robot is shipped,
the overtravel state is set for transit.
Remedy:
1. Hold down the SHIFT key, and press RESET to reset the alarm.
2. Continue holding the SHIFT key, and jog the robot to bring all axes into the movable range.
Is this a new robot that was just shipped to you? You may need to adjust your axis limits after shipping.
I would check your cable to axis 6 for pinches or rips too. The speed of the robot may be a clue here as the slower it moves (while jogging) gives it more time to short out. Worth a shot.
SOLVED:MENU-SETUP-GENERAL-CURRENT LANGUAGE
Thanks!
Sorry I should have included that the second option is the Language option. I wasn't really thinking about it since ours is already in English but you're trying to translate German Glad you got it figured out though!
Are you guys referring to changing a system variable to change the language? I’ve changed our under Menu<Setup<General but I’m not sure if this is what you’re looking for?
I'm not sure what the manual says but I've always moved each axis 20 degrees in each direction. Never had any issues that.
Thank you both for that clarification!
A small clarification.
Even if already in zero position on power up, each motor needs to be moved before calibration, to establish the encoder reading.
Yes good catch I did not include those instructions.
What to do when you lose mastering on all six axis due to dead batteries.
First step would be to check the batteries and replace them with new. Then you want to get rid of your SRVO-062 BZAL alarm. In order to do this you have to go to MENU<SYSTEM<MASTER/CAL and then hit F3 to RES_PCA and then when prompted hit F4 for yes. After this you will hit FCTN<0<8 you will be asked if you are sure you wish to cycle power arrow key over to YES and hit ENTER. Once your robot is powered up you shouldn’t have the SRVO-062 alarm anymore! If you do then your batteries are completely dead or not installed properly or you have a bad encoder/cable.
**EDIT** if the MASTER/CAL option is not available under MENU<SYSTEM then you will select VARIABLES instead and scroll down to find $MASTER_ENB and change the value from 0 to 1 and hit enter. I have had this not work until power is cycled so if this doesn’t bring up the MASTER/CAL option try putting it to 1 and then cycle power using the FCTN<0<8 as described earlier.
Next step is to establish a pulse on each axis. To do this put the robot in group 1 Joint and then go back into the MASTER/CAL screen as mentioned before. Select option 4 for Single Axis Mastering and then Starting with Joint 1 move this axis back and forth a few times (I’m not sure on how many degrees exactly) and the put a 1 into the SEL column to replace the 0. Hit the enter key on your TP and then repeat this process for all 6 axis. Once you have jogged all 6 axis and put a value of 1 into the SEL column and hit enter now hit F5 for EXEC. Once this is done the value on the far right of each axis under the ST column should now have a value of 2 meaning you’ve successfully established all six axis pulses. If you have one or two that are still showing a value of zero then you may need to jog that axis a bit further and try it again.
Battery Power Loss Recovery Method: Quick Master Conditions Required for Quick Mastering
• You have only lost battery power (i.e., SRVO-062 BZAL)
• You have not replaced any motors, end coders, gearboxes, belts or gears
• You have the original master counts from before mastering was lost
• SMASTER_ENB = 1 or 2
Set Up
Move the robot as close to zero position as possible, either by aligning witness marks or by aligning zero position on calibration scales. Each motor must be within 1⁄2 turn of the original mastering for this procedure to work.
Procedure
1. On the Teach Pendant, select Menu → 0. (Next) →System→F1 [Type] →2. Variables
2. Scroll down to $DMR_GRP[ ] and press Enter twice.
3. Set $DMR_GRP[ ]
a. $REF_POS[ ]=0.00 (all axis)
b. $REF_COUNT[ ]=original master count number – may be a positive or negative integer
c. $REF_DONE=TRUE
4. Press F1 [Type] →Master/Cal
5. Select 3. QUICKMASER
6. Press F4, YES
7. Select 6. CALIBRATE
8. Press F4, YES
Verify
Send the robot to ZERO, or move to zero by jogging the robot. Verify by monitoring actual positioning by selecting the POSN key on the Teach Pendant. If the mastering is off from the witness marks, then move the axis that is off back on to the witness mark (or just the other side of the mark) and repeat the procedure.
This is from Fanuc. It may help.
We have the ATC heads on some of our material handlers but they are entirely pneumatic so no need for the additional batteries. I wish we had cooler toys to play with in our shop.
Question: what if I’m not able to clear the BZAL even after doing the whole procedure that is: master enable-1, RES_PCA, reset the controller power.
The robots not allowing me to move the axis because of the alarm. BZAL alarm group 2 axis 1.
Thanks in advance.
When you hit F3 to RES_PCA did you also hit F4 for YES to confirm before you cycled power? I've done that before. Otherwise it sounds like the batteries in the base need replaced or as Iowan mentioned check inside the cabinet for an external axis battery pack. Our external axis are backed up by the batteries in the base. If once you've changed all the batteries I would say check your encoder/cable. Could be a bad cable or poor connection.
Glad you got it figured out man! Sorry I wasn't of much help haha.
The readout on the valve bank would indicate that +24 VDC on Pin No. 1 & 4 (Valves and Outputs) is not present or below 22 VDC. this is according to the manual. Maybe this is why you are having DNET errors with it?
I also found that it is a default setting to turn all outputs off when a communications fault is detected so it could have something to do with that as well.
I found a guy who was also getting the DNET-060 Xmit Timeout error and said he cleared most of his issues up by switching the two plugs in the attached photo. May or may not be useful in your case but thought I'd throw it out there.
I'd try what RacerMike123 said first as that sounds like what your issue is. But if it doesn't work I have some ideas mind you i'm probably not as experienced as some of these guys.
If you check your alarm history do you have any other alarms showing up that give some clues? We had a motor lock up and was giving us a few alarms before blowing the brake fuse. Pulled the power cable off the servo amp and tested resistance between pins U and V, V and W, and W and U you should have very little resistance here and if any of the combinations show a different reading (like perhaps Over Load like ours did) then you know your problem could be in the cable or the servo itself. Maybe check the cables to those servos as well as the cable grounds in the cabinet.