View source for Fanuc How Tos, FAQ, etc.

== FAQ ==
* Run Program
** Turn on FANUC
** Turn the key to Auto mode on Robot
** Move the switch on the Teaching Pendant (TP) to OFF.
** Press Select on the TP and scroll down to the appropriate communication program. (LABVIEW_COM, LV_COM_FRM, etc.)
** Press Enter
** Hit Reset to clear any Faults (Red LED on)
** Hit the green Start button on the Fanuc controller. Light should turn on Green. If it doesn't, then check for errors. Robot will move to it's HOME position.
** Press FCTN -> Abort All to stop program - Green light should turn off
** Arrow up to line 1 of LV_COM_FRM and hit the Green button on the Robot to restart
* View Alarm Screen - if you can't clear an error you will want to do this to see what the real problem is
** Menu -> Alarms -> Alarm Log
* Use Teaching Pendant
** Keyed control knob in T1 position 
** Teaching Pendant in ON position
** Press Deadman switch in half way to do anything
** Move robot with Teaching Pendant
*** Press Coord until Joint Frame is selected
*** Press Shift and any of the blue motion buttons to move the 6 joints
*** Press +%/-% to adjust the speed
** Open and Close Gripper
*** Menu -> I/O -> Robot. Press Enter.
*** Arrow down to Gripper
**** F4 (On) Opens
**** F5 (Off) Closes
** Clear Errors on Teaching Pendant
*** Push Deadman switch in halfway
*** Hold Shift and push Reset on TP

== Recalibrate ==
* Keyswitch in T1, Teaching Pendant in On
* Coord Mode until Joint is selected
* Move all 6 joints 30 degrees and then back 30 degrees and then line up the registration marks (photos below)
** Joint 4 doesn't have a mark - just line it up flush - make sure the words are in the up position
** Joint 6 doesn't have a mark - just line up horizontally with the words down.
* If you get "No Pulse Detected" error on a joint, then you just manually move the joint and then put it back. ????????
* Menu -> Next -> System -> Master/Cal
** If Master/Cal isn't shown in the menu, then you have to enable it:
*** Menu -> Next -> System -> Variables -> MasterEnable -> 1. Now Master/Cal will be in the menu.
** Click on Zero Position Master
** Yes (F4)
* You should get warning "SYST-212 Need to apply DCS parameter"
* Menu -> Next -> System -> DCS
** Scroll down to Mastering parameter: CHGD
** Click Apply (F2)
** Enter Code 1111
*** Please Wait ...
* Click OK (F4)
** Should show Mastering parameter: PEND
* Cycle Power
* Test by putting in World Frame and make sure the tip moves in the desired X,Y or Z directions

 Joint 1
[[File:Joint_1.jpg|300px]]
 Joint 2
[[File:Joint_2.jpg|300px]]
 Joint 3
[[File:Joint_3.jpg|300px]]
 Joint 5
[[File:Joint_5.jpg|300px]]

== Errors ==
* "SRV-038 Pulse Mismatch" Error
** If the problem is just 1 axis (G:1 A:5)
*** Menu -> Next -> System -> Master/Cal -> RES_PCA (soft key F3)
**** Answer Yes. This should clear the alarm
* "SRVO-062 BZAL Alarm" Error
** Replace 4 C Cell batteries in battery compartment
** Clear Pulse Coders
*** Menu -> Next -> System -> Master/Cal
**** F3 (RES_PCA)
*** Reset
*** Cycle Power
*** Repeat (You have to do this 2x)
** Re-Calibrate
* "MOTN-049 Attempt to move without Calibrated"
** Recalibrate

== Getting Started Guides ==
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* [[Getting Started with LabVIEW controlling the Robot]]
* [[Kinect-Fanuc Calibration]]
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* [http://ese.wustl.edu/ContentFiles/Research/UndergraduateResearch/CompletedProjects/WebPages/sp14/Pradosh/index.html Pradosh's website]