Posts by retobor

    I always highly suggest extended axis. Avoid Group 2 if you can.

    1. DCS is a nightmare if your rail is setup for group 2. Fencelines/operator spaces move with the robot.
    2. Any type of frame shifting/ work in cartesian space is a nightmare because the robot doesn't know its moving when the RTU is moved.
    3. If you have to reposition your RTU, you have to reposition your robot as well. With extended axis, you have (World 'S' G1) motion type which will keep your TCP in the same point in space while you jog your rail axis, and move group 1 to account for the rail motion.

    The tips of the weld gun should always move perpendicular to the metal. Start distance and end distance are calculated offsets in mm based on cartesian position.

    I don't see any reason why you would want a joint move during spot welding. They're only used for air moves away from the metal.

    Yea, that's a tough one..

    As far as I know, bigger facilities have a 'brake box' to release the brakes, and physically move the arm with a crane/forklift/another robot. Not an easy situation to get out of.

    I want to have some light curtains & Floor Scanners monitoring. If any of these are violated I want to reduce the speed of the Robot to 10%.

    You could interconnect your SPI to DI and monitor in BG logic to change GENOVERRIDE to slow down the robot. However, this is not a safety function. There isn't any other way to do this other than how gpunkt described above (unless you have a cobot, which it doesn't sound like).

    Have you selected equipment 2 in the program header?

    Is there additional spot motion commands for group 4?

    Just some suggestions, I'm not too familiar with spot dual arm. I could take a look if you post a backup.

    Regarding your "Motion Group config. mismatch" alarm, I believe you are adding SPOT command for group 1/3 robot when your program header is calling group 2/4.

    PATH frame is a function of ArcTool, and only ArcTool. So, you likely looking in the wrong manual.

    PATH is mentioned in section 4.3.7 of MAROBAR8304141E REV H (ArcTool Setup & Ops.)

    You might be able to pull PATH frame from system variables. However, from my understanding, PATH frame is only created at the instance the program is paused.

    Maybe LPOS motion instruction would work better, as a suggestion. Not sure what you intend to do.


    It is possible, but requires a jumper, software option, and modification of Safe I/O.

    Changing the mode without a mode select switch.

    Well, it depends how big the unused programs that you deleted were.

    If I have a flash drive full of pictures and videos, and I delete all my pictures, is my flash drive empty? No, because videos take up a lot of space. Same with programs with hundreds of positions in them.

    Memory should free up as you delete programs, so I am assuming your programs are quite large. Unless there is another issue, I've never seen this before.

    I would take a backup, then try and delete more programs. On the select screen, I believe F3 and option 'size' will tell you how big each program is.

    Well, they aren't totally honest with their answer. It is clear that they would like to sell you more software to make more money.

    Although you should not load an entire AOA backup as you have done, there are certain files that you can load to speed up the process. This will depend on your robot configuration and software revision. Meaning, you can load some variable files, as long as the recipient robots software revision is the same as the donor. FANUC advises against loading files like .SV from different versions (e.g. V8.2 to V9.1). I have had some luck doing this as the robot can convert variables from older versions.

    Additionally, you can load .TP files from robots with similar configurations. You cannot load a .TP program to a robot that doesn't have similar motion or instruction commands (e.g. SPOT instruction to a Handling robot). Although you won't risk damaging anything like you could loading .SV files, you will get an alarm.

    If you search "Program and File Manipulation" in the SpotTool manual, there is a list of loadable files.

    Have you optimized your payloads? I think this should be #1 as this will definitely affect your accel and decel. There is an option (I think in maintenance menu?) to set path priority or cycle time, might want to evaluate this as well depending on your application.

    You can add/modify/remove axis in the Maintenance menu under a controlled start.

    However, you can't change the positioner type of the group (as far as I'm aware). You will need to purchase this option from Fanuc and I am not sure how it is setup from there.

    I have a screenshot from a Fanuc Friday webinar session a few years ago that explains the different options very well.

    "RTL-R689 - Basic Process Axes is recommended to control non-FANUC motor speed by Analog or Group output of Robot Controller"

    "RTL-J686 Coordinated Motion & RTL-H874 General Positioner options are recommended for motion coordination between a Turn Table/FANUC Positioner and FANUC robot in master-slave configuration"

    I'm willing to bet you need the general positioner option for more advanced control of your external axis.

    Please note this isn't the full list, there are several options available for controlling external axis depending on its application.


    I've done this on a similar setup. It was a multiarm controller. Are your external axis setup as 'general positioner'? My RG backup shows my setup as general positioner type. It was setup to what you are trying to do.

    It could also be a software option. Do you have the R859 Advanced DCS Package?

    I have versions of software that are built specifically for a certain customer, that isn't a FRVC supported version. However, I can edit the version and Build ID in the backdate.dt file to 'trick' RG into thinking it is a supported version. Not sure about V8.23, but you can give it a try. For example, I would edit V8.23/xx to V8.20/xx:

    Your backdate.dt file:

    Edit to: