Robot Fanuc Manual
Francisco Harner
We aren't allowed to post links to FANUC owned manuals or copyrighted materials here, but you can take a look at my open source ebook on TP programming. I'm *specifically* writing it out on my own to ensure it never angers FANUC's legal department.
So far I've written pages on about a third of the TPP materials, and I add two to three pages every week. Each new concept is introduced in lab experiments as well, with step by step guides on how to apply them.
So far, nobody has actually figured out why FANUC doesn't release free manuals for their products. You'd think they would, as someone is FAR more likely to purchase FANUC robots at their company if they can easily obtain all the required documentation.
I noticed in one of our R30iB controllers when the operators manually advance and retract the welding wire while putting it in the feeder, for first couple seconds the speed of the wire is slow and then it starts coming out way faster. Are there any settings for defining the speed of the wire+ - push buttons when pressed continually?
I couldn't find anything in the manual. What I am trying to do is to have all robots run the same way as currently one of the robots does not move the wire as fast as the other ones, when wire+ is pressed continually. I am not sure if we have any settings for those or something else causing it?
May depend on your version of software, but you go to the SETUP Weld Equip screen, [MENU], Setup, Weld Equip. Line 5 whould be the speed of the wire feeder. Also check the system variables $AWEPRR[1].$WFS_CMD.
Im lifting flat sheets into a machine that forms them into a dome. I need to stack them in 4 stacks of 100. I am working with the R-j3iB controller and as far as im aware it does not have the palletizing function on it. So ill have to do it manually I think I can use position registers from what iv read. Im new to fanuc programming so could someone explain in simple terms how to do this or show me some example programs.
What you'll definitely need are Position Reigsters (PR) and numeric Registers (R).
You'll need R's as counters and possibly for calculating offset values, which you'll later use to shift PR's in given directions.
You'll also need to edit only certain coordinates of PR's - use PR[i,j] for that, where i = PR's number, j = coordinate.
Depending on the PR's data type, values of j are: 1 = x or J1, 2 = y or J2, 3 = z or J3, 4= w or J4, 5 = p or J5, 6 = r or J6. Depending on number of additional axes in your system, there may be further components of PR's. At the end of a PR, there is also a CONF string, which determines the arm's configuration, but that won't be needed in most cases - just use LPOS at some point of your program, to get a correctly "formatted" position and then play with it.
Make P1 your bottom point that you teach then use PR21 as an offset to P1 by multiplying the amount of sheets you set by the thickness of each sheet.
When you place a sheet just add 1 to R[19]..... R[19]=R[19]+1.
P[1] = LOCATION OF THE FIRST PART.
P[2] = LOCATION OF THE FIRST PART APPROACH HIGH ENOUGH TO CLEAR STACK
R[1] = X COUNT MAX
R[2] = Y COUNT MAX
R[3] = Z COUNT MAX
R[4] = CURRENT X COUNT
R[5] = CURRENT Y COUNT
R[6] = CURRENT Z COUNT
R[7] = CURRENT X OFFSET
R[8] = CURRENT Y OFFSET
R[9] = CURRENT Z OFFSET
R[10]= X OFFSET AMOUNT
R[11]= Y OFFSET AMOUNT
R[12]= Z OFFSET AMOUNT
Useful if you want to repeat a movement with a certain pattern/spacing.
In the example from I3ooI3oo, R[4] represents the column of the grid (X-axis), R[5] the row (Y-axis) and R[6] the current height (Z-axis).
I think it would be best if you entered all of these instructions into the teach pendant manually. That will help you learn how to use the teach pendant menu's. I'm sure you have learned how to insert a point, right? Well if you hit 'next' on the teach pendant while inside your program, then you will see and 'inst' button. Pressing "inst" will show all the logical instructions that you can enter into your program.
1. Grab a part with the robot and jog to the first position in the pallet. Record/touch up this point. This will be the origin for the palletizer.
2. Adjust the variables in the program.
3. In the main program, grab the part from the machine, position yourself at some safe distance above pallet.
4. Make a CALL to the program below.
can someone tell me how to type this into teach pendant :((R[10]-1)*R[5]) im not sure how to do the double brackets. also the For/ ENDFOR statement option does not come up on my teachpendant. Im guessing its disabled does anyone know how to enable it. Thanks
Im lifting flat sheets into a machine that forms them into a dome. I need to stack them in 4 stacks of 100. I am working with the R-j3iB controller and as far as im aware it does not have the palletizing function on it. So ill have to do it manually I think I can use position registers from what iv read. Im new to fanuc programming so could someone explain in simple terms how to do this or show me some example programs.
I have changed some stuff. I have removed a light curtain that was in the chain that was connected together with two ports on the AS input. I get the same problem with the two ports. Anyway, I went over the electrics several times and the inputs AS1/AS2 seem to work fine.
I have changed some stuff. I have removed a light curtain that was in the chain that was connected together with two ports on the AS input. I'll add that to the question. I get the same problem with the two ports. Anyway, I went over the electrics several times and the inputs AS1/AS2 seem to work fine. That's why I'm a bit lost
E Scurit 90241 Conflit de mode de fonctionnement 2022-01-20 16:48:56 Il y a un conflit entre le mode de fonctionnement slectionn dans le slecteur de mode de la face avant de l'armoire de commande et le mode rel dtect par le calculateur des axes. args:
I have a similar problem with As1/As2 stay value of 1 even if all safeties are jumped the robot is a plasma welder, pilot goes ON but tig welder don't turn ON in auto or in teach doing fwd, but if IOs are triggered manually it works fine, irc5 with fronius 2500transtig n plasmamodule10, controller used to have plc
Is it possible for the robot to move through production program (here, PNS0003) after conditions are met even the teach pendant is on T1 mode (not automatic, speed 250max) and User Control Panel in Manual mode??
What happened is...
We are running a production program then the robot stops because homePos signal was not triggered because of insufficient reference position tolerance.
Then we turned the control panel to "manual mode", set the controller to T1 mode, and turned on the teach pendant.
After that we update the position for the reference position in the current position...
It should not be possible for the robot to move at full speed in T1 and cannot move without the deadman switch held. Either it wasn't really in T1 or there is something seriously wrong with that robot.
I've had controllers where the keyswitch of Auto/T1 was not functioning OK. When switching from Auto to T1, the info on the Teachpendant still displayed Auto. We had to fix this inside the cabinet, something was broken there (don't remember what anymore).
3)What I dont understand is the procedure for the PR
quote " We are running a production program then the robot stops because homePos signal was not triggered because of insufficient reference position tolerance.
Then we turned the control panel to "manual mode", set the controller to T1 mode, and turned on the teach pendant.
After that we update the position for the reference position in the current position..."
Why dont you do this programatically ? with out human intervention
Compare the tolerance against a nominal value, or the last value, or zero value , or ....... and then accordingly load the current position into the pr and keep going. Particularly, I dont like this approach but at least is automatic
The program was already running in production and we just had to modify some robot paths.
One of the point added to the new program was required to be a homepos and a digital output should be sent to the plc once the robot arrived at that position (reference position setting on teach pendant).
After testing manually for collision, etc., we run the whole system including the process with the "cycle start" in the operator panel.
During operation, the robot paused (sorry that i wrote stopped before) at the new position because it was waiting for the signal that the robot was in required position already (the do from ref pos i mentioned above).
To trigger and continue the process we turned the controller switch from 'auto' to 'T1' (at this time, we received an alarm because the cycle has not stop yet. We did it because if we do cycle stop, the controller will run another different program) then, we changed the operator panel switch from 'auto' to 'manual', and enabled the teach pendant.
We then proceed to updating the reference position to properly output the do.
The do was triggered then, and suddenly, the robot moved.
I was looking at the teach pendant panel then (to monitor the do) and couldn't see that the robot was moving. I was surprised when I heard the collision because I was not expecting any movement of the robot.
Thanks for reply.
During normal jogging and operation, when the robot is in T1 mode, the robot moves slowly as expected. Also, when we changed from auto to t1, or to other modes when the cycle is running, we get an error so we think that the signal is properly sent to plc.
The Ethernet cable must be fastened by a cable clamp to prevent tensionbeing applied to the RJ-45 connector, in case the Ethernet cable ispulled directly. This clamp is also used to ground the cable shield.
Pickit works through socket communication. To work properly Pickit hasto act as the server for the socket communication. Hence, the robotcontroller has to be configured to be client.
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