Posts by RobottoKogaku

Quote from Skooter

My old school approach would be to check the J1 motor temperature after a typical shift. My personal, undocumented temp where I start getting nervous is around 120F (50C). The cooler, the better.

Always look to minimize stress by optimizing motion, use joint and continuous positions whenever possible. Make sure the robot is not running full speed to a position only to wait many seconds.

If still running hot, contact Fanuc and/or your integrator and discuss adding a fan kit option to J1 axis.

Make sure the robot gets its grease exchange PM as scheduled, sooner than recommended if it runs hot.

Display More

Thank you for helping!

I am now facing DCAL alarm. after 40 mins of run. The normal temp of J1,J2 and J3 is from 35-40. Ambient temp itself 35 deg. When it stops with DCAL alarm the temp are 54,62,63 deg for J1, J2 and J3 respectively. Could not locate the root cause for alarm , however trying to smooth the motion.The disturbance of J2 and J3 is exceeding value of 2 than max allowed, but there is no warning for disturbance excess. The payload also I have configured to maximum permissible weight.

Question is because of motor heat the dcal arises? Indeed the disturbance exceeded than max should be avoided, but is it related to the dcal alarm ? The J1 is already equipped with fan kit.

Hello experts ,

I am setting up a second pallet station and the Robot is more busy than before. New stations taught and it moves to five different positions across the J1 angle of about 260 deg approx. I am a novice in robotics and want to ensure , if the new travel paths to second pallet and infeed stations and back to station 1 are not creating stress to axes. In general what all parameters to be checked when robot is working to ensure the new added movements are not creating stress and disturbances.

Thank you for the responses.

Quote from chickenkiller

I have a question related to this

I faced similar problem, hence I tried two line space with IN overlapping over each other. However when the robot reaches the edge of Space 1, which is partly inside Space 2, Motor Stops.

After referring here, I created with combination of In and OUT. However my question is, what parameter I missed out with Case 1 where the motor stopped.

Thank You

Display More

I am not an expert , but to me it seems like, when robot leaves one zone and entering another zone then the zone which it leaves should be disabled and the zone entering should be enabled.

Quote from pdl

Is the new gripper setup as a triple case gripper? This is under gripper setup and also unit load setup to specify the gripper to use. If you haven't updated this the infeed will only ever request as many cases as what the gripper can pick.

The gripper is updated to request for the desired number of cases. I had to tweak the BOXREQ program to make the request for infeed 2 . It is still not working well, but works sometime.

In the BoxReq I saw a place looking for 8 DO to set for box , orientation requests, I had to change it to 16 and saw that the DOs for infeed 2 was also working. But sometimes I see the request getting ON and sometimes not.

I also see that with infeed 2 having products and infeed no, the robot did not move to infeed to start palletizing, it stays waiting for products in infeed 1. I have chose option in pallet system for switch between pallet as "per pick". Does this means the Robot will move to second infeed only after completing the first pick of infeed 1. ?

Also is there a way to avoid the Robot moving from infeed station 1 to infeed station 2 , because there is a pole there and it can hit it. Somehow I was lucky that when it tried to move the J1 mechanical limit is activated and Robot stopped.

Again Thank you experts for helping me

Quote from pdl

Sorry, I think the OP started multiple threads. I'd search for it right now, but the boarding doors are about to close...

"pdl" I understand. Thank you for your effort

Quote from pdl

SETUP > Infeed Station > Assign I/O

I really don't like it when you don't read my previous post...

Could you share the link for that post

I am working with a palletizer cell currently. I am trying to modify an existing setup of 1 infeed and 1 pallet to 2 infeed and 2 pallet.

The infeed requests the products required to PLC and the number of products reaches infeed station. Now I am trying to change the IO for 2nd infeed and pallet, but I see that when I change there the IO for infeed 1 and pallet 1 also getting updated with same IO numbers. Is this normal ?

Also I added one additonal output from Robot DO(in the SETIO menu of infeed station) , to request for one more product than before and I see that the output is not ON when requesting products to PLC for the infeed station.Before it was only 2 products per pick and now it is 3 products per pick.

I created the 2nd infeed and pallet station directly in the TP under Setup/Infeed and Setup/Pallet Station. Is there any other configuration missing?

Please clarify. Thank you experts in advance!

HawkME , thank you very much for the response.

Yes ,I noticed the version of backup and controller one is different. But not sure what are the settings to update. When I try to run robot from PLC the alarms are SYST-011 and SYST-014 and also SYST-004 . I tried to change the setting in SYSTEM/CONFIG to eliminate the alarm for SYST-004, by changing the remote enable to all different options. But the alarm just does not get reset. For SYST-011 and SYST-014 is there any particular variables list , I need to look for ?

I am quite new to Robotic world. I need to startup a fanuc robot, when I load the backup from previous robot I get this message sysvar version mismatch. I could not understand what version is required. How to rectify it and load the sysvar. Because of it I could not start the robot from PLC and have SYST-011 and SYST-014 alarms.

Experts here , please provide helping hands!

Racermike , thank you for the inputs. I did not disconnected the cable. When I move the cable itself , the fuse was blown. After replacing with new cable , the problem is solved. Strange, but this is the situation

I have the same problem , with controller R30i B. Fuse 2 blown . SRVO-0213 alarm. Twice it has blown. Is it possible that the TP cable could be the reason?? wondering why ?? but maintenance manual also states if the external voltage is not short circuit , check TP cable. The fuse was blown when I was taking the TP away from the controller.

Have attached the image with alarm rectification procedure. All other connectors are correct with wiring.

Can it happen?