Posts by Shearzy

Hello all,

I work with an integrator and often, during development, teach multiple robots at the same time.

However many of our customers don't allow teaching of multiple robots at the same time which from the facilities perspective I think makes a lot of sense. However are there any standards or official legislation on whether this is allowed or not?

I'm located in North Amarica, specifically Ontario Canada.

Curious to hear your thoughts,

Quote from Shellmer

An update, I've found this info on an old manual while searching another info, it's from old controllers but it may still be there.

Code

$MACRO_MAXNU
Maximum Number of Macros
This is the number of macros. The default value is 20. 
Power Up: Requires a controlled start to take effect. 
See Also: $MACROTABLE[n] where n means $MACRO_MAXNU.

Code

$MACROMAXDRI
Macro Maximum Number of DI and RI
Description: In the macro function, the macro program can be assigned to DI and RI of the digital input signal. This is the maximum limitation number of the DI/RI macro. The default value is 5. This default value is appropriate for most applications.

This does indeed work. I increased $MACRO_MAXDRI from 10 to 20 and it allowed me to add more than 10. Thanks a lot for responding!

Hi,

I am using macros to control a dial table and 2 other trunnions because they allow me to move those axis while the robot is doing something elseware.

However I have found that the controller only allows me to use up to 10 DI's with the macros until it gives me an alarm.

"Number of DI and RI's over maximum"

Does anyone happen to know if this maximum can be increased?

Thanks,

I received a response from Fanuc engineering regarding this issue.

When setting up the axis for the first time, it asks you if the kinematics for the axis is known or not. If you select unknown, the axis will not display in DCS. If you select known kinematics then you can apply joint speed check to that axis is DCS.

If the axis already exists, like in my case, then you wont be asked if kinematics are known. You have to delete the axis and exit the maintenance menu entirely (I just navigated to the file menu and back again) before it will ask you about kinematics.

Okay great. I will give this a try and see if it makes a difference.

Do you know if there is an easy way to remove existing groups? I now need to remove the current positioner and replace it with a generic one but there doesn't appear to be an easy way to do that.

Cheers,

Edit: I tried adding a 5th group using General positioner and used the same motor setup as one of the existing motors and it still doesn't show up in the robot setup menu. However I also don't know if keeping the previous configuration while adding an additional essentially duplicate group would effect this result.

My external axis are setup as "Basic Positioner". My roboguide backup of the existing project with joint speed check working is also using basic positioner which is interesting. Perhaps it would be worth a try using general positioner instead. I would really like to know the difference between them but there doesn't seem to be much good information that I could find on adding external axis.

I do indeed have the advanced DCS package installed.

I've also spoken with Fanuc a few times through their web support chat but haven't been able to find the right person. I have a ticket elevated to engineering but haven't heard anything so far.

I appreciate the feedback!

I have a 6 axis Arcmate 120iD robot with a R30iB Plus Controller that has 3 extra external axis separated into their respective groups, grp 2, 3 and 4.

I can switch between groups, move the axis' in jog and move them with shift fwd/bwd in a TP program.

Group 2 controls a turn table that have group 3 and 4 axis as a trunnion for their respective side.

I want to include a joint speed check using group 3 axis 1 and group 4 axis 1 so that I can monitor the speed of those axis to safely stop them if there is an operator in the loading area.

However when I configure those groups in the joint speed check function menu, the DCS menu says that the axis is invalid.

I noticed that within DCS -> robot setup, group 2, 3 and 4 all show "Robot Excluded! Number of axis:0".

A backup of a previous project shows the extra axis that were added but for some reason do not show for me so it appears that the extra external axis are not included in safety.

Does anyone know if there is a way to get these extra axis included in DCS?

Much thanks,

Upon some more testing, I have found that this problem is likely due to using FPL position levels. I have changed most of the position levels to PL and I haven't been able to recreate this problem yet.

I was unaware that FPL is meant to be used in certain collaborative robot applications although the glossary on the Yaskawa website doesn't really specify exactly what situations it is to be used.

Quote from vmec

Check it in manual also. Go forward through it after it bugs out (INTERLOCK + FWD key).

When I am in teach it does a similar thing where sometimes its gets to a point and acts like it is still moving but wont continues to the point afterwards even if I am still holding interlock and test start.

Have you used really low FPL values like this before?

Hello,

I accidentally got a collision detect on robot with a YRC controller that I cannot clear. If i clear the alarm and then attempt to move again I get a collision detect right away.

Is there an easy way to move the robot slowly while it detects a collision?

Thanks for the help

Edit: I found the solution, Collision detect can be disabled in the shock sens level menu

Does the edit key not display the current running job for the selected group?

The speed override is set to 30% for testing purposes and was moving a that speed until it was put on hold for an unrelated alarm. Upon restarting is when this situation occurs.

No I am not using Motologix, all programming is done straight on the pendant.

I believe that FPL is compatible with MOVL as nothing has suggested otherwise. The vast majority of moves are using some value of FPL and don't create any problem until restarted.

The pendant allows me to edit the FPL value so I would assume that means its compatible..

Quote from 95devils

Are you also running software version FS3.30A-00? A new release of FS100 software was recently released.

Any messages like "Program Sequence Wait?" Are you sure the controller isn't inside a small loop? Or scanning through to see what to do and there is nothing to do. The refresh rate of the pendant isn't that good. I've had plenty of times where it looks like the pendant is frozen. But there is a reason.

Thanks for the response Devil, I wanted to respond once I had some more information to share. Attached is a photo below.

To me it appears that the robot is indeed in auto and running however it just sits and waits at this movement line. I could understand if it was stuck in a loop somehow that it could do this however the next command after this one is also a move command so it should at least move back and forth or something. The exact scenario that this occurs is still a bit vague, sometimes it restarts no problem, other times it does this. Is it possible that it is trying to achieve this exact point but isn't close enough for it to be satisfied? The FPL is quite low on this movement.

A photo of the Version Screen is also below.

Hello,

Where does the Panel switch in run input come from on a Kawasaki Controller?

Currently, in order to get the robot to start, I have to hold A and the "run" button on the pendant. Previously I was able to start the robot remotely but for some reason this run input is no longer being received. I didn't have very much luck finding any information in the manual about this run input.

Any help would be appreciated.

I've been having a similar issue to this but it is not a specific instruction.

When the robot is running in auto and then is interrupted and has to stop (gate broken/ estop etc) when it is restarted the pendant shows that it is running, green light is lit and there are no errors however it does not move through the program, it just stays on the current line but does not move.

Am i missing any steps on resuming production?

Thanks

Ohh okay I understand now. It certainly does make it confusing when two different things are labelled the same thing.

You wouldn't happen to know which manual goes into R auxiliary relays in more detail do you?

Thank you for your answer.

Hello,

I am looking to use Auxiliary relays in the safety logic circuit but even when the auxiliary relay is on, it doesn't show it as on in the safety logic circuit.

I am using address 70055, which I want to use to turn on a safety output. Is there somewhere the auxiliary relay has to be configured first?

I have confirmed that this relay is not being used anywhere else in the ladder program.

Thanks,

Hello,

I am trying to take a backup of a controller that I have not worked on before to compare certain routines.

However when I put my USB in the front of the controller, it doesn't regognize it.

In the save/load menu it shows me files that were on the usb stick that the previous person used.

I can still attempt to create a save file but it does not appear on my USB stick.

Am I meant to force the controller to scan the new usb somehow?

Thanks,

The tool interference file and the robot range are fairly accurate. If I drive it in teach it will stop just before the fence so it appears to be correct. That's why I am a bit confused on why is it detecting the robot range while being so far away.

As I ramp up the speed, over about 80 percent the robot detects that its going to hit the fence and gives a robot range limit error.

Is there any way to make detecting the fence a little less sensitive?

YRC1000 controller with a SP165-105 robot.

Thanks for the assistance.