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Fanuc robot only moving to First Point (Connection Issues)
#1
Question 
Hello, I am having difficulty with a Fanuc r-30ib mate controller paired with a 200id mate robot(Without ascii upload option). Whenever I try to run a program from RoboDK using the "Run on Robot" feature,  it stops after reaching the first target and shows "Connection Problems" in the bar showing if the robot is connected. Some possible reasons for error include the pointer showing what command it is on in RoboDk moves through all of the targets before the actual robot ever reaches the first one. I was thinking along the lines of a failure to wait until the program gets a handshake from the robot, but I am honestly not sure. I have re-installed RoboDK, the driver, and gone through all steps given on your website. This is my second time posting about this issue, and would appreciate any form of feedback!

Thank you

Jeremiah~Millersville Robotics
#2
Hi Jeremiah,

Do you own a professional version of RoboDK?
If so, go to "Help"->"Request support" and ask for the key sequence to reach developer mode.
This will be required to debbug the issue.

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


#3
(03-10-2022, 08:19 PM)Jeremy Wrote: Hi Jeremiah,

Do you own a professional version of RoboDK?
If so, go to "Help"->"Request support" and ask for the key sequence to reach developer mode.
This will be required to debbug the issue.

Jeremy

I got into developer mode, what should I do next?
#4
now you should have more information in the log file of the connection window.

What does it show when you try to run the program?

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


#5
(03-11-2022, 09:28 PM)Jeremy Wrote: now you should have more information in the log file of the connection window.

What does it show when you try to run the program?

Jeremy

This is the log from start to when the robot wandered off randomly at the end.


Disconnected
Stopped
Starting robot driver: C:/RoboDK/api/robot/FanucSM.exe
Starting...
RoboDK driver for Fanuc Socket Messaging v5.2.1
Disconnected
Loading settings: C:/Users/Justin/AppData/Roaming/RoboDK-Drivers/FanucSM.exe.ini
AXIS_MAPPING_00 :0
AXIS_MAPPING_01 :1
AXIS_MAPPING_02 :2
AXIS_MAPPING_03 :3
AXIS_MAPPING_04 :4
AXIS_MAPPING_05 :5
AXIS_MAPPING_06 :6
AXIS_MAPPING_07 :7
AXIS_MAPPING_08 :8
AXIS_MAPPING_09 :9
AXIS_MAPPING_10 :10
AXIS_MAPPING_11 :11
AXIS_MAPPING_12 :12
AXIS_MAPPING_13 :13
AXIS_MAPPING_14 :14
AXIS_MAPPING_15 :15
AXIS_MAPPING_16 :16
AXIS_MAPPING_17 :17
AXIS_MAPPING_18 :18
AXIS_MAPPING_19 :19
CONNECT 192.168.1.30 2000 6
Trying connection 192.168.1.30:2000...
Using V1 Legacy
Version 1 (type 2)
Ready
CJNT
Ready
SETTOOL 0.000000 0.000000 23.000000 0.000000 0.000000 0.000000
Working...
Ready
MOVJ 4.474650 16.344032 -9.007845 -34.025112 -1.570471 4.985066 578.644189 46.867074 280.350630 -110.452062 -59.195196 -66.871093
Ready
MOVJ -0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 488.000000 0.000000 365.000000 0.000000 -90.000000 -180.000000
Ready
Unexpected response or command from robot
Connection problems
CONNECT 192.168.1.30 2000 6
Trying connection 192.168.1.30:2000...
CONNECT 192.168.1.30 2000 6
Using V1 Legacy
Version 1 (type 2)
Ready
Trying connection 192.168.1.30:2000...
Using V1 Legacy
Version 1 (type 2)
Ready
MOVJ 4.474650 16.344032 -9.007845 -34.025112 -1.570471 4.985066 578.644189 46.867074 280.350630 -110.452062 -59.195196 -66.871093
Ready
MOVJ -0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 488.000000 0.000000 365.000000 0.000000 -90.000000 -180.000000
Ready
SETTOOL 0.000000 0.000000 23.000000 0.000000 0.000000 0.000000
Not connected
Trying connection 192.168.1.30:2000...
Disconnected
Using V1 Legacy
Version 1 (type 2)
Ready
MOVJ 4.474650 16.344032 -9.007845 -34.025112 -1.570471 4.985066 578.644189 46.867074 280.350630 -110.452062 -59.195196 -66.871093
Ready
MOVJ -0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 488.000000 0.000000 365.000000 0.000000 -90.000000 -180.000000
Ready
SETTOOL 0.000000 0.000000 23.000000 0.000000 0.000000 0.000000
Not connected
Trying connection 192.168.1.30:2000...
Disconnected
Not connected
Trying connection 192.168.1.30:2000...
Not connected
Trying connection 192.168.1.30:2000...
Not connected
Trying connection 192.168.1.30:2000...
Not connected
#6
Can you provide your .rdk station?

I don't understand why the MOVJ has 12 values when they should only have 6.

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


#7
[attachment=3102 Wrote:     Jeremy pid='11920' dateline='1647404977']Can you provide your .rdk station?

I don't understand why the MOVJ has 12 values when they should only have 6.

Jeremy

Here is my station. The program was simply a loop moving between both targets.
#8
With a program created with the UI or with the Python API?
(As I don't see any program in the screenshot you attached.)

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


#9
[attachment=3109 Wrote:Jeremy pid='11953' dateline='1647539284']With a program created with the UI or with the Python API?
(As I don't see any program in the screenshot you attached.)

Jeremy

Here is a photo of the station with the program. It was just a simple loop between two points, and I tried both the RJ3 and R30i-A post processors to create the code.

Thank you,

Jeremiah~Millersville Robotics

(03-17-2022, 05:48 PM)Jeremy Wrote: With a program created with the UI or with the Python API?
(As I don't see any program in the screenshot you attached.)

Jeremy

This is the .rdk file for the station I was using to show the error log.


.rdk   TestFileStation.rdk (Size: 588.33 KB / Downloads: 72)


Attached Files Thumbnail(s)
   
#10
It looks like the problem happens when you move to the home position (joints set to [0,0,0,0,0,0]).

Are you able to jog the robot to that location?

If not, do you see any error messages on the robot controller? You can access the full error log by typing the IP of your robot in a browser.
  




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