Manuals are generally available through FANUC's CRC website, though I'm not sure what you're looking for will be in any manual available there. From my experience they don't have repair manuals on the CRC website. I'd suggest contacting FANUC support for documentation.
Posts by RockemSockem
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Found the issue. One of the robots was holding on an output to the other that was running a program through a condition handler, taking up processor resources.
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The programs called before do have wait statements for inputs; those inputs have to be satisfied before the programs continue though so the motion statement wouldn't have run if it were stuck on the wait statements (and it is at the point that the motion statement would move it to).
To clarify whats in the video: it stopped after executing the motion statement. There are no wait statements or computationally intensive instructions in between that motion and the next. Another engineer at my workplace suggested it could be related to speed change programs we're using so I will be testing that at the next opportunity.
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Hello,
I have experienced a strange issue working on an R-30iB Plus. As shown in the video, the robot will reach a motion statement, complete it, and then seemingly do nothing. The length of this delay is quite long, a minute or even longer. It has occurred in multiple programs, not just the one shown in the video. There are 2 robots, only one of which is experiencing this issue. Their programs are mostly identical, the one experiencing the issue has fewer programs to run. The programs it is running when it these delays occur are identical to the ones on the other robot. It has gone away at the moment but I'd like to be able to prevent from happening later on down the road.
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Per chapter 2 of the Internet Options Setup and Operations manual, local area data is saved in the sysvars.sv file ($hostent). The shared area data is saved in the syshost.sv file ($host_shared). Shared area hostnames are supposed to be used for client tag configuration. They shouldn't include robot or router name entries.
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It will also say "PAUSED" in between lines when in Step mode.
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Have you tried re-seating the main board and checking all connections? Also, can you give a step-by-step explanation of what happened immediately before it froze?
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You can define reference positions under the setup menu that do pretty much exactly what you're describing. The positions need to be specified as joint angles +/- a number of degrees, which can be determined pretty easily by putting the robot in the middle of a zone and then moving to the edges, and doing some basic math to get the angles needed.
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I've never disabled the port itself but I think you might mean the connection, right? If so, yeah, probably that would work.
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Disable the connection first, I think that should be all you need to do to allow changes. You'll also want to check the instance, assembly, and I think there's one more thing but I haven't done it in a minute (size?). If you can get it running just by changing the number of words I think you'll be fine. You'll also need to configure the IO I'm guessing, do you have an excel sheet for mapping the PLC tags to the IO? If not, the PLC tags may indicate which robot IO they're supposed to be mapped to. Once you know which IO needs to be mapped and how, you'll need to set them up on Rack 89, slot 1. The start will depend on whether or not you only have digital IO mapped or if you have some UOP IO mapped as well. It's probably 1, but its impossible to say without knowing the intended mapping.
Do you have access to the manual for the controller you're working on, and for the ethernet Adapter option? I highly recommend reading through them (the IO portion for the controller manual specifically), or at least scanning through the main chapters. It helped me a lot.
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Did you check the configuration for connection 1 to make sure it matches what's in the PLC?
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There should be a set of LEDs inside the controller on the main board that you can use to diagnose since it isn't starting up. If you have access to the maintenance manual for the controller, it should tell you what the LEDs mean.
As for the cycle start, I know its basic, but did you check the IO config on the controller?
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I'm not familiar with that controller but on the R30iA there is an output on one of the boards that indicates a fault, I think on the panel board. I assume a similar signal exists on the RJ3i. If you have the manual for your controller you could find that output and wire it into the red light.
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Ok, I figured it out. The maintenance manual and the DCS manual show different schematics. I'm assuming at some point it was changed, but my controller uses the CRMA8 on the board.
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The only way I know how to is using backups. Do you have any image or file backups of the robot? Do the robots have any backup options like the Auto Backup option?
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If the suction isn't turning on then either something is wired/plumbed incorrectly or the PLC isn't programmed to respond to those DO from the robot.Misunderstood. Is the suction turning on?When you say that its right on top of the part, does that mean that it is in the position where turning on the suction will grab the part?
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I have an R-30iA cabinet that seems to not have the CRM99 on the panel board. Is this normal? It isn't a big deal for our application but it is puzzling, as I don't see anything in the manuals indicating that it is part of an option.