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 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 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
• "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

• Pradosh's website