Hello Doctor_C,
Thanks you for your response.
Yes my controllers can have this option, but I can't figure out how to set it up, I tried to configure my encoders under the menu SETUP->Encoders, but I don't know if it's the right thing to configure and how to configure it.
If you have more information about it I would be very grateful.
Thanks
Hello everyone,
I have some difficulties figuring out how to solve my problem, I hope you can help me.
So, I have two delta robots (M-3iA/6s) with separated controller. The robots are positioned above two conveyors, one is for transporting the parts that need to be packed with the robots and the other one is for transporting the packages to the robot.
Those conveyors move continuously at the same speed. I need my robots to track both conveyor.
I managed to do so with both of my robots, but not simultaneously on roboguide. It means that if I activate the tracking on only one robot, any one of them, it will work. It will track the part and the package, and put the part into it. But if I try to activate the second robot, to help the other one in order to keep the pace, it doesn't do anything, the first robot do his job, but not the other one.
If needed I attached both schedules, the one that work with one robots on the one who dosen't work with two robots.
If I haven't been clear enough or you're missing information/photos, don't hesitate to tell me.
Thanks !
Hello, I don't really know to be honest since I never did it with an HMI connected to a PLC, but I'm pretty sure that it can be done.
Hello,
Just to tell you that with the help of my local fanuc support, we found this solution bellow :
To retrieve the contact stop statue with a DO, we need to use this variable "$CR_VAR[1].$STATE" into a BG Logic.
0: contact stop is disabled on screen, 1: SAFE, 2: STOP, 3: DSBL, 4: ESCP
And we write into the BG Logic
IF ($CR_VAR[1].$STATE=X) THEN
DO[X]=ON/OFF
ENDIF
Hope this will help other people.
Hello everyone,
First of all, I searched on this forum for similar thread, but I didn't find anything to help.
So, I want to retrieve the contact stop statues of my fanuc CR7-ia/L, if it's on the "SAFE" state or on the "STOP" state. I want these statues to be retrieve in outputs.
If you're wondering why I want to do this, it's because every time I start up my robot the contact stop is on "STOP" and I want to confirm the payload to set it on "SAFE" and I want it to be on output because, then I could confirm my payload with the help of my HMI. So whenever the contact stop is on "STOP", my HMI will see that my DO will be on or off, depends on which state I will be working on. Then, confirm my payload by setting a DI to ON.
Further information of my robot if needed : CR-7iA/L V9.30P/24 System R-30iB Mate Plus
Thanks for reading my request.
Hello Frank Yeh,
Welcome !
I use a SYMBOL LI2208 barcode scanner, you can find it on amazon (https://www.amazon.com/Symbol-LI2208-…t/dp/B00EUN0M8I). And it's connected to my HMI by USB.
Hi HawkME thanks for responding.
However, I'm sorry, but I don't quite understand what your saying.
For me, I understood that I need to write in my BG Logic something like :
if (DI[1:BP_Start]=off), JMP LBL1
F[1:UOP_Start]=(ON)
LBL [1]
And so on for the reset and pause, and I need to change my UOP to correspond to the rack of flag like
UI 2: HOLD, rack = 34, slot = 1 and start = 1
UI 3: Fault reset, rack = 34, slot = 1 and start = 2
UI 6: Start, rack = 34, slot =1 and start = 3
Am I right?
Hello everyone,
just a simple question, is it possible to start/stop/reset a robot program with a remote control and an HMI, without a PLC ?
I'm using a FANUC CR-7iA/L with a R30iB mate plus controller and a Pro-face HMI.
I'm already using a remote control to do those things with the UOP, but I would like to do the same with my HMI and his smartphone/PC application to be able to start the robot or reset him remotely. And I want to have those two options available. I already figured out that my HMI can do it, but not with my remote control at the same time
I thought of using interconnection, like perhaps instead of connecting directly my remote to the UOP, connect it to some DI used at the same time by my HMI. However, while trying to do so I find out that UOP aren't in the interconnect menu.
I know it's possible to do so with a PLC, but I wanted to know if there is a way to do without.
Thanks for taking the time to read my request and for anyone who puts a thought on it.
Bu as you can see (I hope), I have a variable named $PLST_OVLD that I thought was probably the meaning of my problem, but when I try to set it to true I have a message 'Variable/field write-protected'.
Do the variable $PLST_OVLD mean something to anyone? Or if it's not related at all ?
Hi Fabian thanks for your information,
I do have $PLST variables (see the atachment) but I didn't find anything like 'Payload change distance'.
Ok, so I tried slowing it down and even increase the CNT (for testing) but it didn't change, I have the same message 'Over payload change distance' and the same stop.
Hello Fabian,
Thanks for your reply,
For information I can't change the CNT because, after this point I take a picture from a camera that is attached to the robot flange. However I will try to slow it down and I will let you know.
It's stop on the line 11 with the message 'Over payload change distance', but I just need to press the start button and it will continue the program.
Thanks for your reply.
Yes when the payload change my robot stop completely.
And here is the start of one of my program, and I change the payload at the line 11.
Yes at the start of each program I have a payload instruction 'PAYLOAD[X:XXXX]'
Hello everyone.
I'm coming back to this thread, to say that I finally managed to make it work with the macro.
To summarize, on my HMI I have a button that activate a DI that is assigned to a macro that I created. This macro, launch a program who simply as a CALL instruction (CALL SR[1]).
However, while I was testing it, I step on a problem. Which is that I have different payload for my program and at the start of each program the payload change. But when the payload change my program stop and I need to press the start button to launch it.
Is there a way to bypass this?
Quote from http://www.linuxsand.info/fanuc/code/SRVO-156 :
Cause: Abnormally high current flowed through the main circuit of the servo amplifier.
Remedy: Refer to the remedy of SRVO-045.SRVO-045 :
Remedy: Turn off the controller power, and disconnect the power cable from the servo amplifier indicated by the alarm message.
Also disconnect the brake cable to avoid the axis falling unexpectedly.
1. In the above condition, supply controller power again and check if this alarm occurs again. If this alarm occurs
again, replace the servo amplifier.
2. About the power cable, check the insulation of their U, V, W and the GND lines each other. If there is a
short-circuit, replace the power cable.
3. About the power cable, measure the resistance between their U and V, V and W, and W and U with an ohmmeter
that has a very low resistance range. If the resistances at the three places are different from each other, the motor,
the power cable is defective. Check each item in detail and replace it if necessary.
Refer to the Controller Maintenance Manual for more information.Hope it helps you.
