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

Move all 6 joints 30 degrees and then back 30 degrees and then line up the registration marks (add photos)
- 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

"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 - 0 - 6 (System) - F1 (Type) - Master Cal - Enter
  - F3 (RES_PCA)
  - Cycle Power
  - Repeat (You have to do this 2x)
- Re-Calibrate
"MOTN-049 Attempt to move without Calibrated"
- Recalibrate