Difference between revisions of "Fanuc How Tos, FAQ, etc."

From ESE497 Wiki
Jump to navigationJump to search
 
(51 intermediate revisions by 2 users not shown)
Line 1: Line 1:
 
== FAQ ==
 
== FAQ ==
* View Alarm Screen
+
* 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
 
** Menu -> Alarms -> Alarm Log
 
* Pending
 
** Getting Started with LabVIEW Kinect Interface
 
** Calibration executable with detailed instructions
 
 
* Use Teaching Pendant
 
* Use Teaching Pendant
 
** Keyed control knob in T1 position  
 
** Keyed control knob in T1 position  
 
** Teaching Pendant in ON position
 
** Teaching Pendant in ON position
 
** Press Deadman switch in half way to do anything
 
** Press Deadman switch in half way to do anything
* Move robot with Teaching Pendant
+
** Move robot with Teaching Pendant
** Press Coord until Joint Frame is selected
+
*** Press Coord until Joint or World Coordinates is selected
** Press Shift and any of the blue motion buttons to move the 6 joints
+
*** Press Shift and any of the blue motion buttons to move the 6 joints
** Press +%/-% to adjust the speed
+
*** Press +%/-% to adjust the speed
* Open and Close Gripper
+
*** Press the POSN button to view the actual position
* Clear Errors in general
+
** Open and Close Gripper
** Push Deadman switch in halfway
+
*** Menu -> I/O -> Robot. Press Enter.
** Hold Shift and push Reset on TP
+
*** 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
 +
* Backup Instructions
 +
**Menu -> File ->
 +
**F5 -> Util to change device
 +
**F2 -> DIR *.* to see all files
 +
**F5 Util -> Make DIR to create a directory on selected device
 +
**F4 -> Backup -> 8 All of the above  to created directory on selected device
 +
**F4 - > Backup -> 0 Next -> 2 Image Backup  -> Requires you to manually cycle power – this message is flashed up for about 2 seconds so you might have missed it. On reboot, the image will start automatically.
 +
**You could backup to a USB drive plugged into the Pendant but it is much slower
 +
** Recent Backup
 +
*** 12Core-64:\\Home\ESE497_UGradResearch\MatlabFanucKinect\Fanuc_060418 Tech Visit\IMAGE and \FILES
 +
*Robot I/O
 +
**I/O -> Type -> Robot -> R0[3] Grip Open, R0[4] Grip Closed
 +
*Hide PRIO-230 error message:
 +
**Menu -> Setup -> Error Table -> FCode – 13 (trial and error until PRIO shows up in the FNAME column)  and enter ECODE = 230 and 231 Erlog -> Choice -< NODISP/NOERLOG
 +
*Version
 +
**Menu -> 0 Next -> Status -> 2 Version ID
 +
**F Number F132255
 +
**V7.70P/30 – near end of life – no more updates
 +
*Change a register manually
 +
**Data -> R[26]
 +
**Change to PR – position registers
 +
* FTP to transfer files from FANUC robot
 +
** ftp <IP>
 +
** Blank user name and password
 +
** get or mget to download files
 +
** *.ls - text files for programs
 +
** *.tp - compiled programs
 +
== 6/4/18 FANUC Technician On-Site visit ==
 +
* Emergency Stop wasn't working when running LABVIEW_COM on teaching pendant
 +
** We added the command
 +
*** $MCR_GRP[1].$machinelock=1 ;
 +
** to the program because there was a lot of interference from the Robot servos that we were picking up on the EMG signals from Yuni's experiment. However, this disables the E-Stop. When I called Fanuc to troubleshoot the E-Stop issue, they told me there was no way to disable the E-Stop in software and we needed a technician to replace the E-Stop board. They were wrong! So, we took $machinelock=1 line out of the program and the E-Stop started working again. We'll have to shield our circuits in the future if we need to do something like this again.
 +
 
 +
== 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
 
* "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
 
* "SRVO-062 BZAL Alarm" Error
 
** Replace 4 C Cell batteries in battery compartment
 
** Replace 4 C Cell batteries in battery compartment
 +
** Clear Pulse Coders
 +
*** Key in T1, Pendant On
 +
*** Menu -> Next -> System -> Master/Cal
 +
**** If it says Quick in the Menu, go to FCTN/Next/Quick or Full Menus or you won't see System
 +
**** F3 (RES_PCA)
 +
*** Reset
 +
*** Cycle Power
 +
*** Repeat (You have to do this 2x)
 
** Re-Calibrate
 
** Re-Calibrate
 
+
* "MOTN-049 Attempt to move without Calibrated"
== Recalibrate ==
+
** Recalibrate
** Move all 6 joints to line up the registration marks (add photos)
+
* If a FANUC error is thrown when the last sent coordinates from the computer were in tool frame 2, the FANUC script must be restarted from line 3.
*** Joint 4 doesn't have a mark - just line it up flush
+
** The home position PR[1] will be out of bounds in tool frame 2 and the program will not start
*** Joint 6 doesn't have a mark - just line up screws
+
** FCTN -> Abort All-> Enter -> Select -> LV_COM_FRM -> Enter -> Down Arrow (x2) (R[27] = 0) -> Reset
** 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 -> Mastering/Cal
 
*** Click on Zero Master
 
** You should get warning "SYST-212 Need to apply DCS parameter"
 
** Menu -> Next -> System -> DCS
 
*** Enter Code 1111
 
** Click OK
 
** Cycle Power
 
** Test by putting in World Frame and make sure the tip moves in the desired X,Y or Z directions
 
  
 
== Getting Started Guides ==
 
== Getting Started Guides ==
 +
<!--
 
* [[Getting Started with LabVIEW controlling the Robot]]
 
* [[Getting Started with LabVIEW controlling the Robot]]
 +
* [[Kinect-Fanuc Calibration]]
 +
-->
 +
* [http://ese.wustl.edu/ContentFiles/Research/UndergraduateResearch/CompletedProjects/WebPages/sp14/Pradosh/index.html Pradosh's website]

Latest revision as of 16:12, 11 June 2018

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 or World Coordinates is selected
      • Press Shift and any of the blue motion buttons to move the 6 joints
      • Press +%/-% to adjust the speed
      • Press the POSN button to view the actual position
    • 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
  • Backup Instructions
    • Menu -> File ->
    • F5 -> Util to change device
    • F2 -> DIR *.* to see all files
    • F5 Util -> Make DIR to create a directory on selected device
    • F4 -> Backup -> 8 All of the above to created directory on selected device
    • F4 - > Backup -> 0 Next -> 2 Image Backup -> Requires you to manually cycle power – this message is flashed up for about 2 seconds so you might have missed it. On reboot, the image will start automatically.
    • You could backup to a USB drive plugged into the Pendant but it is much slower
    • Recent Backup
      • 12Core-64:\\Home\ESE497_UGradResearch\MatlabFanucKinect\Fanuc_060418 Tech Visit\IMAGE and \FILES
  • Robot I/O
    • I/O -> Type -> Robot -> R0[3] Grip Open, R0[4] Grip Closed
  • Hide PRIO-230 error message:
    • Menu -> Setup -> Error Table -> FCode – 13 (trial and error until PRIO shows up in the FNAME column) and enter ECODE = 230 and 231 Erlog -> Choice -< NODISP/NOERLOG
  • Version
    • Menu -> 0 Next -> Status -> 2 Version ID
    • F Number F132255
    • V7.70P/30 – near end of life – no more updates
  • Change a register manually
    • Data -> R[26]
    • Change to PR – position registers
  • FTP to transfer files from FANUC robot
    • ftp <IP>
    • Blank user name and password
    • get or mget to download files
    • *.ls - text files for programs
    • *.tp - compiled programs

6/4/18 FANUC Technician On-Site visit

  • Emergency Stop wasn't working when running LABVIEW_COM on teaching pendant
    • We added the command
      • $MCR_GRP[1].$machinelock=1 ;
    • to the program because there was a lot of interference from the Robot servos that we were picking up on the EMG signals from Yuni's experiment. However, this disables the E-Stop. When I called Fanuc to troubleshoot the E-Stop issue, they told me there was no way to disable the E-Stop in software and we needed a technician to replace the E-Stop board. They were wrong! So, we took $machinelock=1 line out of the program and the E-Stop started working again. We'll have to shield our circuits in the future if we need to do something like this again.

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

Joint 1.jpg

Joint 2

Joint 2.jpg

Joint 3

Joint 3.jpg

Joint 5

Joint 5.jpg

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
      • Key in T1, Pendant On
      • Menu -> Next -> System -> Master/Cal
        • If it says Quick in the Menu, go to FCTN/Next/Quick or Full Menus or you won't see System
        • F3 (RES_PCA)
      • Reset
      • Cycle Power
      • Repeat (You have to do this 2x)
    • Re-Calibrate
  • "MOTN-049 Attempt to move without Calibrated"
    • Recalibrate
  • If a FANUC error is thrown when the last sent coordinates from the computer were in tool frame 2, the FANUC script must be restarted from line 3.
    • The home position PR[1] will be out of bounds in tool frame 2 and the program will not start
    • FCTN -> Abort All-> Enter -> Select -> LV_COM_FRM -> Enter -> Down Arrow (x2) (R[27] = 0) -> Reset

Getting Started Guides