In general in such cases they force to exchange the whole wrist, bacuase after exchanging eg. J6, then you need to measure and compensate backlash using the special spacers with different thickness, which is not so easy.
Posts by neighbour1
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What controller do you have?
You could use ECHO mode using any internet browser.
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Is there a motion group blocked by another program (left in PAUSED mode)?
Press FCTN -> Abort all.
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Don't you have any spelling mistake in the program name $shell_wrk.$cust_name?
Does the start program exist? -> press SELECT and chect if it's there.
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Sounds like everything is OK
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What about Enable UI signals = TRUE or FALSE (set it to TRUE).
It's also hidden in Config (MENU -> SYSTEM -> Config).
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Check also:
1. TP = OFF?
2. AUTO is selected (operator's panel key)?
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Start for continue only is set to FALSE
Following the manual:
1. If START for CONTINUE only on the system setting menu is set to FALSE, the currently selected program is started from the current line. A temporarily stopped program is also started. (Standard setting)
2. If START for CONTINUE only on the system setting menu is set to TRUE, any temporarily stopped
program is started. This signal is ignored when there is no temporarily stopped program.
Try to use UI[18].
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Check in MENU -> SYSTEM -> Config what do you have for „START for CONTINUE” - TRUE or FALSE?
In genaral UI[6] is used to start the PAUSED program.
When you want to start a program which is not PAUSED, from the 1st line, use UI[18].
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Try to look at:
1. $SCR_GRP[1].$MCH_POS_X to $SCR_GRP[1].$MCH_POS_R in order to get cartesian position
2. $SCR_GRP[1].$MCH_ANG[1] to $SCR_GRP[1].MCH_ANG[6] in order to get joint position
Before reading above variables set $SCR_GRP[1].$M_POS_ENB = TRUE and cycle power.
Maybe that helps you.
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Do you want to configure full size UOs?
Do you have a yellow module including 16DOs? If yes, mind there are 20 UOs - they won't fit there, maybe that's the point?
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does this come down to the fact the robot needs to be mastered with a fixture? we do not have the original fanuc mastering sheet with it so that is out of the question plus being used can not verify none of the hardware has or hasn't been changed.
from what it looks like to me, we need a mastering fixture to get the robot back to an original pulsecoder count but dont want to spend 20k on the fixture if its not even going to help.
It seems to me that the fixture mastering should solve the issue.
Some time ago it was possible to borrow the fixture from fanuc, don't know whether it's still possible or not.
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What kind of cabinet do you have - A or B size?
Have you checked connectors CRM67 and CRM72 na the ESTOP board?
Have you closed the cabinet door?
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Thank you
yes actually I read somewhere there is a way to change the number of these parameters in the " "Controlled Start" from this path:Robot>Restart Controller> Controlled Start
however in this part I couldn't find any option related to the Tool frame number.
Look MENU -> 0 NEXT -> Program Setup (->> attachment)
It's working
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I mean the CAD file is different for each gripper. How we can define the CAD file in the PRs?
OK, now I get it. In this case your right...
I don't know whether these is any system variable to increase tool frames or not
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Found myself, if somebody needs it...
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But I need to define different gripper for each Tool frame. I mean there are more than 10 cases for the shape of gripper which is connected to robot and for each type of gripper I need to define a special tool frame. In this case what can I do?
Still you can store them into PRs and then use them. Your limit will be the number of PRs, or... I don't exactly get the issue
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The most probabbly the manufacturer is TE CONNECTIVITY:
- housing: 1-1827863-5
- contact: 1939991-2
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Haven't found the brand, but Fanuc number for it is: A63L-0002-0055#R40DXB.
You can also buy the longer cable (10m): A660-2006-T686#L10R53.
If you happen to find the brand, post it - could be useful in the future.
