Difference between revisions of "Fanuc How Tos, FAQ, etc."
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** 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 | + | *** 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 | ||
+ | *** Press the POSN button to view the actual position | ||
** Open and Close Gripper | ** Open and Close Gripper | ||
*** Menu -> I/O -> Robot. Press Enter. | *** Menu -> I/O -> Robot. Press Enter. | ||
Line 28: | Line 29: | ||
*** Push Deadman switch in halfway | *** Push Deadman switch in halfway | ||
*** Hold Shift and push Reset on TP | *** 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 == | == Recalibrate == | ||
* Keyswitch in T1, Teaching Pendant in On | * Keyswitch in T1, Teaching Pendant in On | ||
* Coord Mode until Joint is selected | * Coord Mode until Joint is selected | ||
− | * Move all 6 joints 30 degrees and then back 30 degrees and then line up the registration marks ( | + | * 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 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. | ** Joint 6 doesn't have a mark - just line up horizontally with the words down. | ||
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* Cycle Power | * Cycle Power | ||
* Test by putting in World Frame and make sure the tip moves in the desired X,Y or Z directions | * 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 == | == Errors == | ||
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** Replace 4 C Cell batteries in battery compartment | ** Replace 4 C Cell batteries in battery compartment | ||
** Clear Pulse Coders | ** Clear Pulse Coders | ||
+ | *** Key in T1, Pendant On | ||
*** Menu -> Next -> System -> Master/Cal | *** 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) | **** F3 (RES_PCA) | ||
*** Reset | *** Reset | ||
Line 68: | Line 119: | ||
* "MOTN-049 Attempt to move without Calibrated" | * "MOTN-049 Attempt to move without Calibrated" | ||
** Recalibrate | ** 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 == | == Getting Started Guides == |
Latest revision as of 16:12, 11 June 2018
Contents
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.
- We added the command
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)
- If Master/Cal isn't shown in the menu, then you have to enable it:
- 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 2
Joint 3
Joint 5
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
- Menu -> Next -> System -> Master/Cal -> RES_PCA (soft key F3)
- If the problem is just 1 axis (G:1 A:5)
- "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