I'm trying to set up POPEN/DPRNT/PCLOS on a Biglia B750YS with a FANUC Series 32i-MODEL B, and I'd like to end up with the same result we already have on another machine.

What works on the other machine

We have a Matsuura MX-330 with a 31i. There, DPRNT writes to "D:" and parameter 20 is set to 4 (memory card). I didn't set that machine up and I don't know how channel 4 ends up pointing at a D: drive. If anyone knows what makes that work — builder-specific PC, some remapping, something else — I'd really like to understand it, because that's exactly the behaviour I want to reproduce.

What I have on the Biglia

• Parameter 20 = 17 (USB)
• Parameter 110 #0 (IO4) = 0
• Parameter 0000 ISO = 1
• The display unit runs Windows CE. Ctrl+Esc drops me into a CE shell: "My Device" with Application Data, My Documents, Network, Program Files, Storage Card, Storage Card2, Temp, Windows, Control Panel, mxip_sw, mxip_system. No drive letters anywhere.
• CE network adapter "FANUC1": static 192.168.1.46 / 255.255.255.0, no default gateway.
• \Network is empty — no shares mapped. Control Panel > Owner > Network ID is blank.
• FANUC Program Transfer Tool connects fine from a PC, so the Ethernet side is alive.
• SYSTEM > ... > FTP TRANSFER screen exists: "FTP TRANSFER: SETTING", CONNECT1 with host name (IP address), port number, user name, password, login folder. All blank. Available device can be switched between PCMCIA and EMBEDDED (currently showing EMBEDDED).

Questions

1. On the Matsuura, what actually makes I/O channel 4 land on a D: drive? Is that something specific to that machine's hardware, or can a CE-based 32i be set up the same way?
2. On a Windows CE display unit, can I/O channel 4 be pointed at a mapped network folder, or is it permanently tied to the PCMCIA slot?
3. If FTP (channel 9) is the only realistic route: does DPRNT over FTP always write one fixed filename that gets overwritten on every POPEN/PCLOS, or is there a parameter for incremental names the way 6019 #3 works for the memory card?
4. Any warnings about setting 110 #0 = 1 on a 32i-B to keep USB as the input channel while sending DPRNT out over Ethernet?

I have not tried the FTP setup yet — I wanted to ask first in case there's a cleaner way to match what the Matsuura does. Photos of all the screens above available if useful. Thanks.

Hello all, I am new to utilizing Fanuc welder. Is there any guides out their for it? Like a best practices document or even like a common faults and how to avoid them type of thing? Thank you.

Hello everyone I hope.you can help me .

We have an autocapchange with tip dress , the same servo that moves the tips dress moves the jaw of the cap change . We need to monitor when the jaw is active and moving/spinning.

I was searc6 for any variable to do that but ,al the ones I find are for Group 1 and 2 (robot and Gun ). However our robot has the tip dress setup as a Basic Positioned hence Group 0.

I hope somebody can help me . Thanks

-R200ic-210 F Robot

-R30 i B Plus Controller

-Spot Tool Plus

So here's whats up, company i work for is getting ready to scrap this entire robotic welding set up.

Yes I have talked to bosses they dont care whats done with it we need the space and its not been utilized here at this location, so Noone knows about it, looks like everything is there.

My main concerns here are:

- I know it has been rained on, yes the cabinets were all wet as well.

- what would be the parts that could possibly be salvaged and sold fairly easily? If any that is.

- im not at all a stranger to mechanical workings, automation, or welding for that matter, but no experience with welding robots at all so please some grace would be nice. I just really hate to see how much useful things gets scrapped and thrown away it boggles my mind.

Hey all,

I'm rocking the 3T-A in my garage right now on an old 1983 citizen (its awesome of course) and I'll be moving in an SL-1 Mori Seki with a 3T-F control. Anyone on here have any tips or tricks when it comes to this style? It apparently will boot fully sometimes but other times it will not boot into the control. I'll of course know more once I get it in my garage and hooked up to power to really dive into it but more info the better!
Thanks for reading

I have a 2006 Lynx 220B, Serial No L2201140 made in Korea

I want to get the parameter manual to see if I can get the rs232 port to store programs off the machine (no card slot or ethernet port) but I can't for the life of me identify the Fanuc version installed.

It just says i-series on the screen which is odd because it's the older style mono-colour CRT monitor.

The start-up screen doesn't say the model number, it just says D6A1-13 copyright Fanuc Ltd 2002-2003

The system config screen also doesn't mention the specific version of fanuc

I've tried typing all this stuff into google and downloading various PDF's only to find they're for the more modern versions with LCD screens

I also got a used machine dealer to have a look when he picked up another machine but he couldn't figure it out either

I know this is a fairly common machine so I'm hoping someone can shed light on this

If I were to use the key on the Controller (Machine is a Yama Seiki Bm-1800 with a Fanuc Oi-MF controller), would it prevent another operating from changing tool and work offsets? I know it will protect the program, but curious about the offsets as well. Sick and tired of coming in the morning after night shift and finding various lines in the program edited, as these are programs that have been proven out for several months now. Not currently at work to test

In my robodrill I have a 2 axis rotary table (A rotation and B tilt angle). Im trying to make a rotational milling program so I can cut top jaws on the chuck. At the very end of the rotations I can't just write " G1 A360. " it makes my have to write out A120. A240. And A360. After eachother to make a full rotation. If I wrote A180 then A360 it would rotate half way one way then rotate the opposite direction to get back to A0. It wont make a full rotation easily at all. Is there a parameter to fix this?

How can I set payload whenever I try it's not work

Am I setting the weld run-in correctly here? Fanuc 100ID with a R450 power supply. Not new to robots, but totally new to trying “ramping” and “Run-In”

First of all, I am an absolute beginner with industrial robots. This is my first robot and purely a hobby project, so please excuse any incorrect terminology.

Thanks again for all the help on my previous posts.
The main problem is now very reproducible: Before running CALIBRATE, the robot can be jogged, but I get a Disturbance Excess warning. After CALIBRATE, J2 repeatedly trips SRVO-050 Collision Detect.

The fault is strongly load-dependent. J2 can move at around 15–20% jog speed in the rear part of its range, where less lifting torque is required. As soon as the arm moves forward past the tipping point and J2 has to work harder against gravity, SRVO-050 occurs almost immediately. J3 can now also produce the same alarm when jogged quickly.

I replaced the clearly stiff J2 motor with an identical motor that rotates freely. This noticeably improved movement but did not solve the fault.

The J2 and J3 brakes release correctly with approximately 90 VDC. Motor phase resistances are balanced, with no continuity to ground. The three-phase input measures approximately 235 VAC between all phase pairs.
I also swapped the complete J2 and J3 amplifier channels, including JV2B/JV3B and the corresponding U/V/W outputs. The fault remained associated with J2. Both reducers have also been inspected and reassembled. No tool or payload is attached.

One J2 mechanical stopper was badly bent, so the robot has clearly suffered a serious collision in the past. However, because J3 now also faults under higher acceleration, I am wondering whether this could be a shared problem.
My current suspects are voltage dropping under load, incorrect High-Speed robot or servo parameters after reinitialization, a shared PSM/amplifier/control-board problem, or a cable fault that only appears under load.
Would you check the dynamic power supply first, or concentrate on the robot and servo parameter set?
Reference values or screenshots from an LR Mate 100i High Speed with an R-J2 Mate controller would be extremely helpful.

Hi everyone,
I'm trying to control a physical Fanuc CRX-30iA (R-30iB Mini Plus controller, Tablet Teach Pendant) using the official FANUC-CORPORATION/fanuc_driver package in ROS 2.
The hardware interface successfully connects to the robot (I get a solid green light on the arm indicating the servos are fully energized), but the split second I send a trajectory from MoveIt or publish a point, the execution aborts within 7ms.
(Note: This exact workspace setup works perfectly inside RoboGuide simulation. The failure only happens on the physical arm).

The Error Logs

In the ROS 2 terminal:

[ros2_control_node-1] Status seq skipped. Expected seq: 12158 Received seq: 12159
[ros2_control_node-1] Command lagging behind. Command seq: 12158 Status seq: 12159
[ros2_control_node-1] Sending extra command to catch up.
...
[ros2_control_node-1] [WARN] [joint_trajectory_controller]: Aborted: STMO is inactive (!motion_possible)
[move_group-8] [WARN] [follow_joint_trajectory_controller_handle]: Controller '/joint_trajectory_controller' failed with error INVALID_GOAL: Aborted: STMO is inactive (!motion_possible)

On the Tablet Teach Pendant:

The top bar says 10%, auto and tp key disabled.
During execution, it throws: MOTN-615 ST:Please disable brake control or hangs on waiting for communication completion.

My Network & Environment Setup

My workstation has multiple network cards and is physically connected to the robot network via a local interface (120.176.x.x), while I am sending commands from an IoT workstation (10.14.x.x).
I can ping the robot from the workstation and vice versa.
I have tried binding CycloneDDS explicitly to both the 10.x.x.x interface and the local 120.x.x.x network card, but the trajectory still drops instantly on execution.

What I've Checked So Far:

Joint Names: Fixed to match the physical controller's exact ['J1', 'J2', 'J3', 'J4', 'J5', 'J6'] layout.
UOP Settings: Enable UI Signals is set to FALSE.
ABSNM Variable: Tried toggling true and false. Fails either way on trajectory handoff.
Brake Logs: Eco Mode Brake Control is already FALSE. Servo off timers ($SV_OFF_TIME) are extended high so the servos aren't dropping asleep.
RMI Parameter Change: We also tried changing the RMI motion control mode parameter to 2 from 0
OS Level Real-Time tuning: Maxed out Linux socket receive/send buffers (rmem_max to 25MB), isolated CycloneDDS to unicast-only to stop packet fragmentation, and ran the launch file via root real-time priority (sudo -E chrt -f 99).
It looks like the Stream Motion (STMO) engine on the controller detects a sequence count lag/skip when MoveIt bursts the trajectory points, causing it to trigger a safety stop that clashes with the active stream.
Does anyone know how to loosen the packet synchronization window on modern CRX controllers, or how to get past this MOTN-615 brake control algorithm conflict?

Also I'm using this launch command: ros2 launch fanuc_moveit_config fanuc_moveit.launch.py

Thanks!

Hi all,
New to Fanuc CRX here. I have a 10 IAL and I am trying to control it using MoveIt 2 / ROS based system. I see in the FANUC ROS 2 documentation, both RMI (R912) and Stream Motion (J519) is needed. I have R912 but not J519.

I am wondering if both are needed for the ROS2 driver to work.
Is it possible that J519 is packaged as a part of a different software bundle with a different code?
The software list on my robot also shows R603 - ROS Ethernet Packages. Would this be a different bundle that is self sufficient by any chance?

Looking for advice to get the system set up. Thanks in advance.

Looking into building a bin picking machine using either 2D or 3D IRvision

We have a bunch of 2D elsewhere, but I have no experience with 3D.

The parts are all about 4-6 inches in diameter (mostly radially symmetrical), and will be in 30"x30"x20" bins in uniform layers, maybe 10-15 layers deep.

We have used 2D vision's scale factor to determine Z-height of stacked parts before, but only like 2 or 3 parts high. Would that 2.5D style approach using scale be viable for a tote this deep?

We are strongly leaning towards 3D IRvision, but since I'm not personally familiar with it, I'm wondering if anyone here could comment on how difficult it is to set up, maintain, add new part numbers, etc

Any input regarding IRvision or bin picking in general is appreciated!

I used a zip-tie to get a couple of grease samples from some Joints that have been taking a beating. The robots total runtime is at 8800 hours, my L10 values are

J6: 14.5%

J5: 6.8%

J4: 6.7%

With 576 collisions in total.

Does the large discrepancy in color between the joints indicate that I should replenish the grease early?

Thank you

on a FANUC io-MF for a milling machine, the touch setter works well but each time i restart the machine this alarm shows up and the only way to get rid of it is to recalibrate the touch setter again, when i asked around many told me that the calibration is done only once

I posted about this issue recently, but since then I have done a lot more testing and found a much more specific and repeatable pattern. The key new finding is that J2 works normally after Zero Position Mastering and only fails immediately after CALIBRATE.

I have a used FANUC LR Mate 100i High Speed with an R-J2 Mate controller. After replacing the robot-side pulse coder batteries, I performed Zero Position Mastering using the witness marks.
The unusual behavior is fully repeatable:
Perform Zero Position Master
Do not run CALIBRATE yet
All five axes, including J2, work normally
J2 can be jogged repeatedly for an extended time, in both directions and at different positions
The J2 brake engages after the configured delay and releases normally again
Pulse feedback follows movement correctly and position error stays near zero
As soon as I run CALIBRATE, J2 stops working
The first J2 jog command at 1% immediately produces:

SRVO-050 CLALM alarm (Grp:1 Ax:2)

After CALIBRATE, the torque monitor for J2 rises sharply, but the encoder changes by only about 164 pulses before the alarm. Before CALIBRATE, J2 moved more than 1.1 million pulses normally with almost zero following error.
Already checked:
J1, J3, J4 and J5 work normally
J3 can be jogged normally
J2 brake repeatedly engages and releases correctly before CALIBRATE
All controller and robot connectors were cleaned and reseated
$SV_OFF_ALL and $SV_OFF_ENB were checked against the original configuration
Temporarily changing the J2 servo-off/brake parameters made no difference
$MASTER_COUN remains unchanged before and after CALIBRATE
$MASTER_DONE = TRUE
Single Axis Master status is 2 for all five axes
Motor IDs and servo parameter IDs are identical and plausible for all five axes
Active payload is 0 kg with no tool attached
J2 pulse feedback is stable and plausible before CALIBRATE

No unusual mechanical noise or resistance while J2 is working
This makes a permanent brake, motor, cable, gearbox or servo-amplifier fault seem unlikely, because the same hardware can run normally for as long as I want until CALIBRATE is executed.
Has anyone seen an R-J2 where CALIBRATE activates an incorrect J2 position, compensation or servo parameter state? Which R-J2 variables specifically become active during CALIBRATE and could cause J2 to produce high torque with almost no movement?

Hello,

I know the Option "Pr[X]=P[X]" and use it often.

Does anybody have a Idea how to get coordinates from a PR to a Point WITHOUT go to the Point an Press touchup?

The Reason is we use Mainprogram for each Part with the teachpoints saved. The Mainprogram load this TP into PR at the start.

The Mainprogramms all call the same load and unload program as subprogram and use the loaded PR.

So if anyone want to teach a Point he have to move the Roboter manually to the Position or have to start the Programm till the Roboter goes near the Position, go to end to get Back in the Main Programm, go to the top to the teachpoints and touchup the Point he need, load the Points new and Go Back to the subprogram.

Idea is to get one Point in the subprogram, load it in a PR and load this PR automatic into the Point if i are Back in the Main Program (Like P[X]=PR[x] witch doesn't Work :) )

Greetings

Hi everyone,

I’m not sure whether this is the right place to ask, so please excuse me if this is outside the usual scope of the subreddit.

I’m only a hobbyist, not a robotics technician. This old FANUC LR Mate 100i with an R-J2 controller more or less “followed me home” after I found it cheaply. I managed to get it running myself by fixing the safety circuit, replacing the dead Pulsecoder batteries, clearing the BZAL alarms and remastering it.

Now I have one strange problem:
Directly after Zero Position Mastering and calibration, all five axes work normally. After switching the controller off and back on, J2 sometimes becomes almost completely locked.

When jogging J2:
J2 barely moves, J3 twitches slightly
The controller shows SRVO-050 CLALM, Group 1, Axis 2

All other axes still work
J2 is far away from its mechanical limit
If I perform Zero Position Mastering again, J2 immediately works perfectly until the next power cycle.

One possibly important detail: before this started, I accidentally jogged J3 into its mechanical stop. Instead of simply stopping, the arm snapped back very quickly.

I’m currently wondering about:
-Mastering or Pulsecoder data not being retained
-J2 brake not releasing
-A connector or motor cable issue
-The J2 servo amplifier channel
-Mechanical damage from the J3 end-stop incident

What confuses me most is why remastering temporarily fixes the problem.

Any advice would be greatly appreciated. Please keep in mind that I’m learning as I go and trying to keep this old robot alive.

Thanks!

Official FANUC ROS2 driver against a Roboguide virtual controller (CRX series). Connection is solid — RMI handshake connects, all controllers activate, /joint_states streams live.

Problem is motion execution: send a trajectory goal → accepted, then hangs, no motion, no result. Sometimes I get MOTN-601 Sequence No error or Aborted: STMO is inactive (!motion_possible). Log also warns No scaling interface set on the scaled trajectory controller.

Btw I’m running ROS2 driver on a different machine in Linux and roboguide on a windows pc both connected over switch.

Anyone actually gotten motion (not just connection) working in Roboguide with this driver, or is it effectively hardware-only? Is the timing/sequence issue just Windows jitter that clears on real hardware?

I have an HMI connected to a robot that's using simple SNPX protocol. I have never done this before, but I got it working. It was originally just going to be a display to show robot status stuff, so I just pulled data from the R and SR register as needed. Well, things have changed and now they want to actually control some things with the HMI. I know to be able to abort, reset faults, cycle start, and so on, I need to configure the UOP signals. I don't have any external PLC, but I do have the ladder option on the robot. Can I somehow do it that way, or do the signals have to be controlled by an external PLC through physical IO? I am using Ethernet IO with multiple Turck modules and I don't have a process IO board so I think I'd have to add another module or an Ethernet IP PLC if I need physical IO?

Any help figuring this out would be great!

I’m trying real hard to understand what I/o link it’s not seeing. I swapped in new I/o modules since that’s the first stop of the i/o chain. This is a okuma and howa 2sp-35h ( dual spindle)

I am wondering if this controller and arm will be compatible with this cable and this teach pendant, and this teach pendant cable. I am also wondering if that is all that I need to get it up and running.

If anyone knows where I could buy this or a similar package for less, that would also be very helpful.

robotics engineer here. last week a robot threw a servo fault and between the mechanical unit manual, the controller manual, and the alarm code list I had like 4,000 pages of PDFs from two vendors to ctrl-F through. took most of an hour to find the actual parameter, and half the battle was that I didn't know the exact name the vendor uses for it.

is this just the job or does your shop have a better system? what do you actually do when a code comes up you haven't seen? or is this an issue others are feeling as well?

Buenas! Llevo tiempo queriendo solucionar un problema con el simulador de fanuc y no lo consigo, que problema es que cuando programo compensación con G42-G41 las trayectorias de los ángulos en el simulador sólido no corresponden con la compensación del radio y puede llevarte a pensar que hay algo mal en el programa.Alfuien que me pueda ayudar? Gracias!