Posts by fungus

Long overdue, I finally got to give this a try. It worked great!!! I prepared some notes since I know I'll forget the steps, and I'm putting them here for future use.

I used a Windows XP computer with a hardware serial port. I'm unsure how much flow control plays into this, as at 9600 baud I think both the controller and PC keep up quite well. You could likely ignore flow control and just use Rx, Tx and 0V lines.

On robot teach pendant:
    Menu > File > File > [UTIL](F5) > Set Device (1) > Floppy disk (1)
    
Run CMD.exe
cd to kfloppy.exe folder
run kfloppy.exe

Setup > Port Settings, modify as appropriate. Did not have to change defaults for RJ3iB, only port number.
File > Change Directory, move to an appropriate folder (preferably other than the executable folder).

For backing up programs:
    On the PC:
        Create an empty folder through windows explorer or command line, then change directory in kfloppy
        (as shown above) into this folder. 
    On the robot:
        Menu > File > File > [BACKUP](F4) > your choice of files to transfer
        Note: I had a repeating error where the file cannot "open for read". This is likely due to 
        *.TP not being ASCII readable. The log file "KFLOPPY.LOG" will be automatically generated and also
        placed into the directory with the backup files.

For sending programs:
    On the PC:
        Create an empty folder through windows explorer or command line, place your file to be sent there,
        then change directory in kfloppy (as shown above) into this folder. 
    On the robot:
        Menu > File > File > scroll down to the extension of file to transfer (I did not have luck transferring all file types, but I am unsure why)
        [LOAD](F3), then you should see a prompt to agree to transfer the file you are trying to load
        
What is happening here?
    This utility was apparently written outside FANUC with the intention of emulating an RS-232 capable
    floppy drive. You are configuring the program with the correct parameters so that the controller can 
    see it on the UART, then dumping programs to the "floppy" or requesting programs from the "floppy".

If I ever get bored, I might try to create a 64-bit compatible version of this that will work with USB<>UART converters. But no promises, I'm rarely bored

Nation, thank you again! Apparently you've got all the tools. I tried to mark your post as helpful, but then realized this stole the tag from your first really helpful post.

I'll give this a try this evening!

I have a basic post processor working! I need to clean things up, but so far so good for 3D. I'm going to try to figure out 5 axis post processing as well, but that will take time.

I had posted in another thread about FTP over ethernet, sadly this controller does not have the option.

CF card transfer is working for now, but is there a way to upload over RS232? It seems from what I'm seeing that this port is intended for use with KAREL only.
I suppose I can write a KAREL program for RS232 transfer, but maybe there's an easier way?

JMD, thank you for taking the time to set that up in RoboGuide! Good idea. Unfortunately I do not have that option, so it looks like no FTP for us.

Thanks again for your help.

FYI, for anyone else reading this the PSU does not have any volatile memory. After looking at it, I doubt it has ANY memory. If you go to clean things, make sure you leave all the little cards on the MAIN (SLOT1) PCB, as they look like they could have some volatile memory on them.

I'm catching snippets here and there (since FANUC won't sell me instructions!) that indicate I should be able to select DETAILS while setting up a server tag to change Protocol name to FTP, but when I press choice it says "The selected operation failed". It really looks like something is not enabled.

Is there a possibility that FTP is a payed option? On this R-J3iB I can connect to the web server, but FTP connections are refused. Under Menu>Setup>Host Comm>Protocols, FTP is not an option. Under the server screen, S1 and S2 are not set up, and I can't seem to find directions on how to set them up.

Thanks HawkME, I should have known that easier = additional paid options

Good tip on the loop though, since this is pre-compiled I know how many points I will navigate to. I could possibly iterate through points in a single "for" loop if speeds and types of motion stay the same. Memory isn't really an issue here, so I'll cross that bridge when I come to it.

We had an overheat alarm the other day on one of the intelligent power modules (IPMs), so I'm doing some cabinet cleaning today. This old gal is NASTY. It came in tripping a breaker, which was likely due to the 5lbs of weld spatter piled on the internal transformer.

On the control, I have process I/O, Devicenet I/F, Main (slot 1) and PSU. As I unrack these to blow them off/clean them, I'm not worried about process I/O or Devicenet PCBs being volatile, but MAIN has the backup battery. Is there anything in the PSU that will be lost if I unrack these two? They could -potentially- be sharing the battery through the backplane.

I've done a controller backup, but I'd rather not test my ability to restore it!

Please let me know if I should start a separate thread for these little questions...

I am attempting to offset the Z axis of the UFRAME using digital inputs; this is to account for surface deviations in parts we are attempting to trace.
I have this -sort of- working, but I must periodically apply an offset to a position, which means that for a long move it will not update until the next position.

I can go into depth about my current solution, but I am wondering if there is a way to update a motion's offset dynamically?

Let's say, for instance, I have:

PR[5,3] = R[7]
J P[1] 50% FINE OFFSET PR[5,3]

PR[5,3] = R[7]

J P[2] 50% FINE OFFSET PR[5,3]

etc...

I can update the specific axis in the position register from a generic register, but even if positions 1 and 2 are two feet apart, I will only get a Z adjustment for P[2] based on the value read in before motion started.

The brute-force method is to break long motions into shorter chunks, which is doable. I'm just curious if this can be handled more efficiently.

P.S. I attempted writing the PR[5] from a "RUN" (parallel) statement, but sadly this requires the use of motion group 1. Even though motion is not being handled from this parallel routine, a motion group still must be assigned to update position registers. I CAN however update the register, which you see above.

(Just for future reference, 0V pins, COMB1-5 pins and internal GND test points (1,2) are all internally connected.)

Another silly question: pins 49/50 (+24E) are 24V out for input switches, and 17/18 are 0V for the same purpose (depending on the setting of the ICOM2 jumper which selects sinking or sourcing inputs).
It is recommended to use an external 24V power supply for outputs (the outputs only sink), with a common connection of COMB1-B5 (external power supply negative goes to COMB1-B5). Each output is rated to sink 200mA.
I am using an external optoisolator board to buffer the outputs, so the current on each of the digital outs (2 are used currently) is more like 15mA each, 30mA total worst-case.

Would it be acceptable to jumper 0V (17-18) to COMB1-5(37,42,47,23,28), and use the +24E output (49-50) for the high side of the optoisolator inputs?
Other than creating too high a current draw on the internal 24V supply, I cannot see how this could harm anything. It just keeps me from having to add a 24V PSU for these tiny outputs.
Jumpering 0V-COMB1-5 may create a short ground loop, so I'll read with an ohm-meter to see if they are internally connected already.

Thanks!

Quote from Skooter

I web searched both 'Fanuc CRM2A' and 'Fanuc CRM2B' and came up with the info.

Copy that, I'll try searching that way. Thank you.

Here's what I'm seeing from what I can glean online:

CRM2A:

CRM2B:

Does the above make sense for this I/O card?

Grrr. Fanuc won't even sell me a manual. This is absurd.

Can anyone give me some pinout hints on the I/O? The card is an A16B-2201-0472, so 40DI / 40DO.

I get them wanting to protect their copyrighted material, but come on... I'm trying to get one the legitimate way

Quote from Nation

Also, attached is my post for an ABB. Hopefully it will help you out a bit.

Fanuc code is a bit different. You will have to store the XYZWPR pos and paste it at the end of your .ls file.

John Saunders made a video on configuring a post that was very helpful in making this.

https://www.youtube.com/watch?v=4OWT-O4oN8E

Thank you for your example ABB post! I've modified both the LinuxCNC lathe post and the generic FANUC mill post in the past, Autodesk made a nice choice with using JavaScript for their posts. It's similar enough to C++ that I can monkey my way through it.

PDL, thanks for the tip. It sounds like if I run across a newer robot than the ones on this older tool set, I'll still have a workaround.

It may be a hot minute, but once I get a post processor going I'll try to throw the whole tool chain on GitHub for anyone else who treads this path.

Just a quick update: I have had zero trouble going from .TP to .LS or from .LS to .TP on Windows 10 native cmd.exe.
I have not tried Ktrans yet, but to be honest if I can just convert ASCII to .TP and execute them, it's a small post-processing step for what we're trying to do.
Nation, I can't thank you enough for the help. Are the files you shared with me to be guarded, or can they be shared with others as they need help?

Quote from Nation

On that era of controller, you can enable Karel by going into the system variables and turning $Karel_enb to true. As for compiling teach pendant or Karel programs, attached is pretty much an abandon ware version of the compiler. It can also compile .tp programs.

Maketp.exe will compile .ls programs to .tp. PrintTP will do the opposite. Ktrans.exe will compile .kl to .pc. Use -? on them in a command prompt to see what they need for arguments. You may also need to run them in a dosbox. I haven't used them in years. You may need to run setrobot.exe to setup your robot first for the compilers.

You, sir, are a gentleman and a scholar. This is absolutely fantastic. I'm going to give this a try this evening and see if it will work. I can't thank you enough!!!

rf103 states in this post that R632 may not be required for KAREL program upload.

We do have J539 (KAREL Run-Time Env). Does anyone else have experience with this? I could potentially try just a "hello world" program to see if it works.

It looks like you have to download RoboGuide just to compile KAREL programs though. Geeze.

Quote from Nation

I would say give Fanuc a call and see if they can generate a PAC for ASCII Upload. Hopefully you still have the original install media for the robot.

I believe it was free on that era of controller, and Fanuc tends to hand out options like candy on educational machines.

Unfortunately no manuals or install media came with the robot. I only have a backup because I made it myself!

Quote from jmd2777

Hey fungus. I don't know if those codes in the backdate.dt correspond to the installed options. It would be helpful if we could see what is installed on that robot. I normally do this by going to Menu->Status->Version ID. Then click the NEXT button and find the ORDER FI button (F2 or F3). This screen will show the code and the name of the option.

As you are realizing, the software options define the capability of robot.

Hi JMD, I thought the list of options seemed short compared to the list I saw under Version ID (if this is the same thing, it's slightly different on my controller: Menu>Next>Status>Version ID>F3[config])

The list is quite long, so I had hoped to pull it in automatically.
Some of the zeros (0) and o's (O) may be crossed, it's hard to tell the difference.

1 ArcTool (N.A.) ARTL

2 English Dictionary H521

3 Alarm Cause/Remedy DIAG

4 Analog I/O H550

5 Arc EQ Program Select J676

6 Arc SoftPart AWSP

7 Background Editing J616

8 Control Reliable J547

9 Controller Backup J632

10 Cycle Time Priority J523

11 Enhanced Rob Serv Req ORSR

12 Enhanced User Frame J604

13 Ext. DIO Config EIOC

14 Floppy Connection J516

15 General Weld Eq Lib AWMG

16 Group Mask Exchange MASK

17 Host Communications HOCO

18 Hour Meter J513

19 I/O Interconnect 2 J542

20 Incr Instruction J510

21 KAREL Run-Time Env J539

22 Kernel + Basic S/W H510

23 Lincoln Weld Eq Lib AWML

24 MACROs, Skip/Offset J503

25 Mirror Shift J506

26 Mode Switch MDSW

27 Multi-Tasking J600

28 Online Help HELP

29 Position Registers J514

30 Print Function J507

31 Program Num Selection J515

32 Program Adjust J517

33 Program Shift J505

34 RDM Robot Discovery FRDM

35 Robot Service Request SRSR

36 Robot Servo Code H930

37 Shift Library SHLB

38 Shift and Mirror Lib SMLB

39 TCP Auto Set J520

40 TCP/IP Interface HTCP

41 TMILIB Interface TMIL

42 TP Menu Accounting TPAC

43 TPTX TPTX

44 Tool Offset J509

45 User Frame UFRM

46 Weaving J504

47 Web Server HTTP

48 Weld I/O Inst WIOI

49 iPendant CGTP

50 iPendant Setup IPGS

51 M-6iB/ARCMate100iB H770

52 ArcLink I/O ACLK

53 BumpBox BBOX

54 Data Monitor J675

55 Error Recovery J664

56 MH Collision Guard HSCD

57 Payload Ident. J669

58 TorchGuard TGRD

59 TorchMate TOMA

60 Touch Sensing J536

61 iPendant Controls FRIP

62 Collision Guard J633

63 Cycle Time Opt. CTOP

64 Data Acquisition DTAQ

65 Data Monitor Chart DMCH

66 Data Monitor Common DMCM

67 ETX for TM and BBOX TXBT

68 Motherboard Driver MOBO

69 System Trigger SYTG

Again, thanks everyone.