However, just to confuse things, Fanuc more recently added the SKIP JUMP option, which is the same but opposite.
Depends of the software - in R-30iB Plus (SW: V9.10P/16), there's no option like this. I've just checked!
However, just to confuse things, Fanuc more recently added the SKIP JUMP option, which is the same but opposite.
Depends of the software - in R-30iB Plus (SW: V9.10P/16), there's no option like this. I've just checked!
Directly from the manual:
SRVO-056 FSSB com error 2 (Group: i Axis: j)
(Explanation) A communication error has occurred between the main board and servo amplifier.
(Action 1) Check the communication cable (optical fiber) between the main board and servo amplifier.
Replace it if it is faulty.
(Action 2) Replace the axis control card on the main board.
(Action 3) Replace the servo amplifier.
If I'm not wrong, an Image would do the same as an AOA...but loading the AOA is just faster? And as HawkME said, you'd still need to load the SYSMAST file.
Yes, AOA is faster, but it's not the same as loading Image.
When loading Image you also load the whole system software (FROM+SRAM -> clearing) and then all software options are also copied from one to another robot. If they're the same there's no problem.
Use a Skip.
Set a skip condition at the start of your program.SKIP CONDITION DI[1] = ON
L P[1] 300 mm/s FINE SKIP CONDITION JMP LBL[1]
LB[1]:
When the condition is triggered, the robot stops the movement and jumps to the selected label.
Right, that's a better way!
But it should look as follows:
L P[1] 300 mm/s FINE SKIP, LBL[1]
Use condition program.
Neighbour1, I believe if I only adjust axis 1 master it will not effect the linearity of the robot, in my head it will only turn the whole frame of the robot which is exactly what I want to do. I believe that is why vision mastering does not effect axis 1 and axis 6.
Partly yes, you're right with the vision mastering, but I wouldn't be so sure about the linearity. Also it always depends how much you'd change the mastering, how many degrees - so "a little" change makes only "a little" linearity problem.
But anyway, in my opinion, linearity will be affected by changing mastering data on J1.
They just need to understand UIs and UOs
Yes, I agree, this is the first step, and the most important.
If you don't need to, do not "destroy" mastering data - you'll loose the linearity of the robot 6 axes, which in not good. Then making linear motion in the robot program (L), it'll not move straight, but making a little arc - depends how much mastering will be missed.
There is the third way - use *IMSTP -> it's like the E-STOP, but not hardware, only just software. In my opinion, in this case, it could be better than Hold signal.
Mastering is in sysmast.sv, so loading sysvars.sv will not destroy it.
I've never needed it, but me personally I'd load sysvars.sv (of course, assuming all the same robots, too -> I mean mechanical units and controllers).
But first make a AOA and Image on the target robot and then try loading sysvars.sv + check if everything is OK.
Let me know it it works, always good to know it
Thanks, that helps me a bit, I'll try to test it.
ad. 1. And this is how it looks...
You have two choicesas it should be properly done:
1. Buy two position switch from Fanuc - there are T1 and AUTO only, replace yours and this solves the problem.
2. Set the system variable $SCR.$T2_LOCK_ENB = 1 (originally it's = 0) - and this also solves the problem - robot, when switched to T2, shows the message T2 disabled and that's all No changing in wires needed
This system variable needs to be set in Controlled start.
Gents.
I'd like to read robot present alarm code using Karel, and then basing on it, make some actions, eg. witing some messages, setting bits, flags, etc.
Could you please advise me how to read the alarm code?
Thanks a lot for help.
Thanks 'SkyeFire' and 'dha' - especially the last one helps me a lot.
It works as I wanted
Gents, I have a problem with using SET_POS_REG instruction in Karel.
I want to set the value to PR fot example the following data:
posn.X = 0
posn.Y = 0
posn.Z = value
posn.W = 0
posn.P = 0
posn.R = 0
SET_POS_REG(reg, posn, status)
The instruction itself make a good job, but when I want to use this position as offset to points in a program, I got a problem with config field in the PR.
Before running my Karel prog, the PR config field was NUT 000, after using SET_POS_REG from Karel prog, I got "FUT 127-1-1".
My "value" is around -200.
The effect is, when using is as the offset data, I got the alarm INTP-311 Uninitialized data, which stops my robot.
Do you have any ideas how to solve that issue?
Thanks for info, also I coludn't find any and was looking and it wokrs like:
$SEMIPOWERFL
= TRUE -> Hot start
= FALSE -> Cold start
And you can only control hot start (also possible in config, because it sets this variable).
When DO[x] = ON -> Hot start,
=OFF -> Cold start
which is not convenient for me, but what to do...
Partly already find myself - hot start is in config
But I haven't find cold start, any ideas?
Do you know it there's a signal for hot/cold start done?
Could be also the system variable.
Can't find anywhere.
Thanks for help.
It sounds like neighbour1 will be able to check the status of the TP enable switch, and only run his karel logic whenever the teach pendant is on.
Exactly! Also including T1/T2 mode and my magic flag "xy"