Posts by cat91345

    I am palletizing and am frequently getting pallets that are odd-sized. We don't have a sensor to check height so I can't add or deduct based on that. Can anyone help me set up instructions so I can change the Z in the registers while the program is running? My program is 8 layers that flip, so it's really the same program but I am adding 356mm to every other layer. I would like to have 10 positions taught (5 drops, 2 layers), and just add the Z indirectly through the registers.

    What I wouldn't give to have access to all the online documentation, it still blows my mind that they would rather be asked 500 questions and send small snippets of the manual when buying a new robot then just giving access to the complete manual.


    Thanks for all the information guys.

    get a job with a company with Fanuc robots and they have access to all the of the documentation. I don’t know how long I’ll be with my company but I sure as hell downloaded every manual I could get my hands on. I got a lot

    Are you sure your GI value was correct? Can you step thru the code and reproduce the issue? Maybe an input is flickering, you could store the GI value in a register that way you can see what the value actual was at that point in time.


    If it is flickering then you need to adjust the sensors or add debounce logic.

    I know it wasn’t a constant number. When I stepped through the program the number was around 4200. That’s why I adjusted the number down to 4000. The debouncing seems like a good idea Because this logic worked in Roboguide. Of course I wouldn’t have any variation in the software compared to real IO

    I am trying to write code so when the robot doesn't pick up the correct amount of boxes, it takes the boxes it does have, and places them on the ground and starts over again. Right now I have 6 zones that pick up 4 boxes. When all 6 zones are full I have 6 DIs in 1 GI that equals 4232. My logic was this


    1: GO[2:ZONE SOLS]=0 ;

    2: LBL[1] ;

    3: UTOOL_NUM=1 ;

    4: DO[25:DONE PICKING]=OFF ;

    5: GO[1:BLOWER]=63 ;

    6:J P[1] 100% FINE ;

    7: WAIT UI[15]=ON TIMEOUT,LBL[100] ;

    8: GO[1:BLOWER]=63 ;

    9: !PICK UP BOXES ;

    10:L P[2] 2000mm/sec FINE ;

    11: WAIT .50(sec) ;

    12:L P[1] 1000mm/sec FINE ;

    13: IF GI[2]<=4000,JMP LBL[2] ;

    14: DO[25:DONE PICKING]=ON ;

    15: END ;

    16: !Waiting for parts to pick ;

    17: JMP LBL[101] ;

    18: LBL[100] ;

    19:J P[1] 100% FINE ;

    20: GO[1:BLOWER]=0 ;

    21: WAIT UI[15]=ON ;

    22: !Back to beginning when UI5=on ;

    23: ! ;

    24: LBL[101] ;

    25: !Drop bad boxes ;

    26: LBL[2] ;

    27:J P[1] 50% FINE ;

    28:L P[3] 2000mm/sec FINE ;

    29:J P[4] 50% FINE ;

    30: GO[2:ZONE SOLS]=63 ;

    31: WAIT 1.00(sec) ;

    32:J P[3] 50% FINE ;

    33: !Back to top to retry pick ;

    34: JMP LBL[1] ;


    For some reaseon, even though only have 3 boxes and my GI2 = 127, the robot ends the program and goes to place the boxes on the pallet. Why issn't my IF statement woring when GI2 was less than 4232?

    Disable the connection first, I think that should be all you need to do to allow changes. You'll also want to check the instance, assembly, and I think there's one more thing but I haven't done it in a minute (size?). If you can get it running just by changing the number of words I think you'll be fine. You'll also need to configure the IO I'm guessing, do you have an excel sheet for mapping the PLC tags to the IO? If not, the PLC tags may indicate which robot IO they're supposed to be mapped to. Once you know which IO needs to be mapped and how, you'll need to set them up on Rack 89, slot 1. The start will depend on whether or not you only have digital IO mapped or if you have some UOP IO mapped as well. It's probably 1, but its impossible to say without knowing the intended mapping.


    Do you have access to the manual for the controller you're working on, and for the ethernet Adapter option? I highly recommend reading through them (the IO portion for the controller manual specifically), or at least scanning through the main chapters. It helped me a lot.

    I have the dioscfvg.io page. I’m thinking I need to disable the Ethernet port before loading that file.

    Ethernet isn't a protocol, it is a connection method. Are you using the EthernetIP protocol?


    You shouldn't need to be in a controlled start (though it should work in either controlled or cold start). Don't use the restore function, just load that individual file.


    Then check the EthernetIP menu and make sure you have your PLC connection enabled and running.

    I was able to download the dsvcvfg.io file but when I rebooted it said digital IO not recovered. Still says connection with Ethernet module lost. I’m including pic of error and mr Ethernet list. Does it look correct? It said online not running. https://imgur.com/a/Dq6ziAQ https://imgur.com/a/QZU8vPa

    Do you have a backup if just the diocfgsv.io file? You could try loading just that, then cycle power.


    Was your image taken from this exact robot? Did you try restoring it at a cold start from the file menu?

    I do have that file backed up. Will it work differently if I try and download it separately. I remember it vividly saying It could not restore the diocfgsv.io file

    If you have an image backup that doesn't have the comms error you may want to reload it. Only do so if you know that's a good image. You can also take another image now. It's good to be able to get back to a known state, in case you mess it up worse.


    Comms error would be corrected in the appropriate IO setup menu and TcPip menu.

    the comms issue is arising due to the inability to do a complete image backup. I tried to do the restore all in controlled start but only a few actually restored. All of my variables restored and half of mr programs. My Ethernet IPs did restore, but not my IO. it makes no sense to why only portions of the backup will work. I don’t know what to do at this point. Seems If I can get the Ethernet connection working with the PLC everything will be fine. I was able to create a simple box program and run it locally. The the same thing I’m trying to do with the PLC

    I have all of the backup file but only a few of them successfully restored. I can’t do a total image backup because the part that makes the robot inoperable is in there. None of my IO would restore. So I tried to do it manually but that’s why I think I have lost my Ethernet connection.

    You can't get an image from roboguide, only program files.

    I am so screwed this robot isn't gonna be ready. I tried to download all of the files i could but none of the IO tranferred. So now it's saying i have ethernet module not available even though i can ping everything in the robot cell. Ever since I reinitialized the robot, by plc cant see it, i have a "lost comms with robot module", however i can ping every device from the robot, and i can see all devices from the PLC program. Is there some type of variable i am missing? all of my other variables restored. This comms loss is the same one that happens when you power cycle the robot, but it usually comes back once you hit reset.

    Not sure how to do that but that looks like the cause. Try checking the setup menus or options in a controlled start.

    I can’t find anything on it. I did an image back up and am going to try and restore everything but the programs. Unfortunately I had not done a image backup I just had all of my programs on roboguide. Is there anyway roboguide could help me with this ? I know I can create a clone of robot in roboguide but can I copy roboguide robot to real robot

    Try disabling hot start and reteaching the point on line 382.


    Also see if UI signals are enabled in system config. They may need to be disabled.

    I disabled hot start. I don’t have a program that has 382 lines in it. No matter what program I have selected, it always comes up line 0. https://imgur.com/a/a565hCy would reinitializing help this? i have allm programs backed up on roboguide


    Just found out robot is trying to call a pallet tool program but I’m not using pallet tool. That’s what the pmutil2 is. I need figure out how to get it to stop calling that program

    I’m using a r30-ib. I am trying to run from local start. When I power cycle, I get an initialized data error, program x, line 0. I can step through my programs just fine, but can’t get the cycle start. My plc is telling robot to pick. I can ping every device on the network.I remastered and recalibrated. Here is the error that comes up when power cycle https://imgur.com/a/a565hCy when I step through the program in teach the green cycle start button comes on.