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

Revision as of 23:06, 24 November 2014

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
Run Program
- Turn the key to Auto mode on Robot
- Move the switch on the Teaching Pendant (TP) to ON.
- Press Select on the TP and scroll down to Program.
- Press Enter
- Turn TP to OFF
- Press Shift-Reset to clear any Faults (Red LED on)
- Press the green Start button. 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 Program and press the Green button on the Robot to restart

Move all 6 joints to line up the registration marks (add photos)
- Joint 4 doesn't have a mark - just line it up flush
- Joint 6 doesn't have a mark - just line up screws
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

"SRV-038 Pulse Mismatch" Error
"SRVO-062 BZAL Alarm" Error
- Replace 4 C Cell batteries in battery compartment
- Re-Calibrate

@@ Line 51: / Line 51: @@
 == Getting Started Guides ==
 * [[Getting Started with LabVIEW controlling the Robot]]
-* Pending: Calibration executable with detailed instructions
+* [[Kinect-Fanuc Calibration]]
 * [http://ese.wustl.edu/ContentFiles/Research/UndergraduateResearch/CompletedProjects/WebPages/sp14/Pradosh/index.html Pradosh's website]