Fanuc How Tos, FAQ, etc.

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Revision as of 16:06, 11 June 2018 by Ed (talk | contribs) (→‎FAQ)
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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

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