I'm working with an R30iB controller and i just integrated this robot, im getting these alarms and in the past i would just select continue, but when i do that on this robot it faults out and says it failed to run task arm is too far out of tolerance, even though the robot didn't move. I went to that menu to modify those settings, but it won't let me select anything to modify, like it's locked out... thinking maybe a variable needs change..? any help is appreciated
Posts by Dr.Bowers
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Hey Guys,
I have an S430i and i can not get this robot to turn UO1 - CMD ENABLED on... All of my necessary UI signals are on, TP is not in step and is not on, controller KS is in auto, I'm in REMOTE mode, I'm in INTERLOCK mode, I'm using Style select, no faults exist, robot is at home... I can turn it on by hand but it only stays on for a second.... I have cycled power, I cold-started... not sure what else to do.
Any help would be appreciated,
Thanks
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Just a heads-up. I fixed this problem. I found there were system variables that someone had been messing with and had no idea. I did an INIT Start on the controller and reloaded my software options, and it solved all of my problems... of course i had to re-map all of my IO, but it took care of the issues...
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I should also add that the robot needs to be the slave and the 1769 SDN module is the master.
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I think the problem lies in the amount of Digital inputs and Digital outputs i have set in the Device definition. Under "Polled I/O:" I have 32 for each because i'm using 32 DI's and 32 DO's going over the devicenet network. I have tried adding the amount of UI's and UO's , but it didn't help. The edoc for this -
(FANUC Robotics SYSTEM R-J3 Controller DeviceNet Setup and Operations Manual Versions 5.22 and 5.30 MARO3DENT05001E REV B ) describes this as " The number of digital input points supported by the selected I/O mode. " Does this mean the amount i put in here is the MAXIMUM amount of I/O supported by the 80 bytes i allocated for the connection? or just the digital I/O i intend to use?
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Changing the baud rate didn't help, I'm still getting the DNET-070 Connection allocation Error and when i try to reset i get a DNET-068 Device timeout.
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Thanks for Replying. There are only 2 devices on the network, the 1769-SDN and the robot's daughterboard - an SST 5136 DNP. I will try increasing the Baud rate, right now it's at 125kb
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I should add to this that i keep getting PRIO faults for bad IO assignments for rack 81, on slots that aren't even assigned to anything, such as slot 4 and 5... not sure if thats related or it's a symptom of the already described problem...
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Hi guys,
I'm trying to set up a Fanuc S430i to talk on a devicenet network to a compactlogix PLC via a 1769-SDN module. The network is up and has no errors on the PLC side, but when i try to set the Fanuc daughter-board's slave device (Rack 81 - Slot 1) to ONLINE, it immediately errors out. I get 2 faults, a DNET-070 and a DNET-068. The mac id of the 1769-sdn on the plc rack is 1, the mac id of the daughterboard is 2. these are the only devices on the network. I created the device because there was no predefined device for the 1769-sdn. i set all the parameters to match the RSNetworx 1769-sdn settings i.e. - the baud rate, vendor id, product type, and the IO comm data ( Polling ) The only thing im not quite sure on is how many "digital inputs" and outputs to set under the polling heading in the device setup... Im using a full assignment of UOPs - (18 and 20 respectively) , 32 DI's and DO's, and 16 GI's and GO's. Surely i don't count all of these as digital inputs and outputs with respect to the device setup screen, that makes no sense - as the GI's and GO's are integers... or do i count each and every bit that i want to pass through the comm..? I have allotted 80 bytes in and out on the PLC side to allocate and map IO, that covers all of my UOPS, digital IO, and my group IO... that is 640 bits of each. Since both sides match im not sure why im having this problem... any help would be appreciated...
Thanks fellas
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Hi guys,
Not sure if this will help anyone, but i have been studying this thread and similar threads for a while now trying to figure out the best approach for my application, but I figured out a method to Offset the Tool " Z " by setting my User Frame coordinates relative to the fixture i'm working on. So even though the robot was always moving in Tool and everything is taught in Tool, the PR( i , j ) statements i use can reference the Z axis by setting 3 for the " j " as long as i call out the new User frame in the TP program.
EX:
1 UFRAME_NUM=1 (new user frame) , default is 0 or (world)
2 PR[11 , 3] = PR[11 , 3] + R2 (R2 being a register with any value i want to offset with, coming from either the PLC( via a GI ) or put in by hand at the TP)
3 L PR[11] 100mm/sec FINE
do this for any position you want to be dynamic, the critical part is setting your User Frame up properly so the robot moves as expected. There are plenty of guides out there on how to set up a solid User Frame.
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Hey guys,
I am programming a Fanuc R2000iA RJ-3iB controller running handling tool. I need to be able to set different Z-offsets for PR's based on values in GI's received from the PLC. I know I can do this with the PR ( i , j ) statement and manipulate an axis offset in the WORLD coordinates, but my fixture is set at an angle that is not parallel with the robot and my program will be taught in the TOOL coordinates. If I set the tool frame at the top of my program will the PR ( i , j ) statement offset the axis ( j ) in the WORLD coordinates or TOOL? Is there a way this could be done?
Thanks