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

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?

Feeling lost. Have a circular weld with a servo driven turn table. Robot stays in a fixed position during the weld. Problem #1 is the weld start where it burns over the top and becomes scrap. Unsure how to use Ramping.

Settings:
-Rapid Arc with .045 wire.
-375 WFS
-1.05 Trim
- Negative 2 UltimArc.

The main struggle here is the weld starts always burning over the top of the plug seat being welding. Cover plug is being welded to is roughly 4mm thick.

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.

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.

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!