Hello All,
Seeing a SRVO-358 alarm on a robot in the field. I have a backup and will be restoring it, but I would like to know what may have caused this. I was told it occurred while jogging the robot to a tight position near the base of the robot. Any thoughts?
Needed to separate the points with commas.
Hello, I am having trouble with the Arc/Arc3 instruction for the EPSON SPEL+ language. I am using a T6-B SCARA robot and RC+ 7.5.4.
When I try to build with the below code snippet, it says "Point is not specified". When I try to write out the command, it never stops suggesting points, even after I have specified 2 of them, which is what is shown in the manual.
For i = 0 To 3 Step 1
Arc3 P14 P15
Arc3 P16 P14
Next
Manual for reference: https://files.support.epson.com/far/docs/epson…rc90(v75r8).pdf
I have a backups of everything but when I restore, it changes nothing.
Have you tried using an older backup? If you have made changes you want to save you can just load the diocfgsv.io file from the backup.
There is another thread recently made that you may find helpful: Exporting Fanuc position register as a csv file
Another suggestion is you could use explicit messaging by a PLC to grab the register values and store them on the PLC, then log it to a CSV file or something.
If you have the KAREL option you can also use a KAREL program to abort all tasks. There is a built in procedure called ABORT_TASK that works very well.
I have had issues with Karel programs when using programs compiled on older controllers. That includes TP programs; I've had issues where it appears that the arguments were not passed correctly to the Karel program when called from an old TP program. Did you copy the TP programs from the older cell?
Looks like its on the back of the operator panel according to the maintenance manual.
Additionally, you can load .TP files from robots with similar configurations. You cannot load a .TP program to a robot that doesn't have similar motion or instruction commands (e.g. SPOT instruction to a Handling robot). Although you won't risk damaging anything like you could loading .SV files, you will get an alarm.
An additional issue can crop up when the .TP files are from an older version. We have a set of standard programs for specific applications, one of which calls a program with arguments that passes those arguments to a Karel program. Loading the old .TP file messes with that somehow so that (as far as it seems to me) the arguments don't get passed to the Karel program. Compiling the LS file on a newer version controller fixes that though.
From the description, it sounds like a BG logic issue. I would suggest using condition handlers instead, but you can try to keep using the BG logic. I think the issue is that there is a race, of sorts, between when the controller changes the speed to 10% and when UO8 turns off. If the controller sets the speed to 10% before turning off the UO8 signal, then the speed will be set to GI5. You need a different set of conditions to prevent that from happening. For example, you could have it conditioned off of UO3 so that it is controlling the speed whenever the program is running (you could run into the same issue if you enabled the teach pendant while running though).
Do you have anything else configured to use rack 89 slot 1 that may overlap with the range? Maybe the UOP?
How is it configured?
How is it configured? Are there any interconnections set up?
You could try setting it up as though you had a pointer and fixture plate (ie, get the tool a certain height above the infeed/build station, try to make it parallel, and record the position; just make sure the tool is oriented right), then modify the pick and place positions by selecting the corresponding PM file in the select menu and go to Data>Karel Posns. Carefully step through the pick and place programs and measure how much its off, and make the necessary adjustments to the positions.
How are you providing these inputs to the robot? Ethernet/IP, 24VDC, etc.
Can you post a picture of your IO configuration on the robot?
There is no way to disable/clear it through the robot software, you have to satisfy the EES circuit.
If you're just doing testing/programming and it will only be running under your control, you can temporarily jumper the EES circuit. But you absolutely cannot do this if you are intending to allow the robot to run while you are not there with the teach pendant in hand.
Is the safety circuit reset through the HMI? If that is the issue with just resetting it, you could add a physical button and modify the PLC program to allow the reset to be done through that button.
I'm still not sure what your facing difficulty with, you need to explain what you actually need help with.
I have a few questions for you that will help answer your own.
What specifically are you having trouble with? IO configuration, wiring, etc.
What program selection mode do you plan on using?
Do you have the documentation for your robot?
Do you plan on using any other devices, such as a PLC, and do you have any options installed?
It does. Then I cold start controller and open it up and it's all zeroes again. The changes don't take.
It sounds like your num pts is too high. Are you putting in 32? GIs go up to 16, so if you want to use more CPCs than that you'll need to configure 2 GIs.
But I don't think that it can be directly mapped to GIs.
They can. I'm doing it right now with an R-30iB Plus Mate.
You don't have to remove the rack 36 assignment from the DIs. Your GI configuration should look similar to line 6 below, with the number of points being however many CPCs you're using.
