MAROBSP8104121E REV C 15. ADVANCED FUNCTIONS

• If you perform “mastering after temporary mastering” as described above, master count ofthe axes which have an interaction with the recently mastered axis will change. This causes

unexpected position change. Therefore, after performing mastering, verify that master count

of the axes that did not require mastering stayed the same as the original. If this value has

changed, enter the original value which was documented before.

15.19 GROUP MASK EXCHANGE

15.19.1 Overview

Group Mask Exchange is used to copy a teach pendant program into a new program with a different

group mask than an original program. The position data from the original teach pendant program

will be copied into another group in the new teach pendant program. You can copy multiple group

programs from a single robot or dual robots.

Note This feature does not validate the logic of the output program, its positional data, or the

program header (except group mask information). The resulting program might also require some

position touchup.

Table 15–43. Group Mask Exchange Screen Items

ITEM DESCRIPTION

Original Program Select the name of the original program from which

to copy the group mask.

New Program Select the name of the new program to which the

group mask will be copied.

Copy Orig Grp[x] to New Grp[x] Select a motion group in the original program to copy

to the new program motion groups where x identifies

the group number.

15.19.2 Setting Up Group Mask Exchange

Procedure 15-35 Copying a Program Using Group Mask Exchange

1. Press MENU.

2. Select UTILITIES.

3. Press F1, [TYPE].

4. Select Group Exchg and press ENTER. You will see a screen similar to the following.

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15. ADVANCED FUNCTIONS MAROBSP8104121E REV C

Group Exchange G1 JOINT 10 %

Program Selection 1/8

1 Orig Prog : (*,*,*,*,*) [SIDE_A ]

2 New Prog : (*,*,*,*,*) [SIDE_A ]

Group Selection New Prog Group

3 Copy Orig Grp[1] to New Grp[0]

4 Copy Orig Grp[2] to New Grp[0]

5 Copy Orig Grp[3] to New Grp[0]

6 Copy Orig Grp[4] to New Grp[0]

7 Copy Orig Grp[5] to New Grp[0]

Note If a program is currently selected, it is used as the default for the original and new program

displayed in lines 1 and 2 above.

5. To select a different original program, press F3, [CHOICE].

6. To rename the new program, move the cursor to line 2 and press ENTER. You can then

choose a method to rename the program and type the new program name. You must then identify

the new group for the copy to take place.

7. To select a motion group in the original program to copy to the new program motion groups:

a. Move the cursor to the first New group [#] to copy.

b. Type a group number, and press ENTER.

Note If any of the entries for New Group [#] are left at 0, this group will be deleted

from the new program.

8. To clear a single entry, press NEXT, > and then press F1, CLEAR.

9. To clear all entries, press NEXT, > and then press SHIFT and F1, CLEAR.

Note If lines 1 and 2 are changed, the New Grp column in lines 3 through 7 are cleared.

10. When you have finished identifying the groups to be copied, press F2, EXEC.

Note If the new program exists when you press F2, EXEC, you must confirm the overwrite

operation before the execute takes place.

15.19.3 Troubleshooting Group Mask Exchange

Prompt messages will be displayed during Group Mask Exchange setup. Use Table 15–44 to

determine the cause of a problem, and to solve it.

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MAROBSP8104121E REV C 15. ADVANCED FUNCTIONS

Table 15–44. Group Mask Exchange Troubleshooting

Prompt Message Possible Cause Solution

%s not aborted, abort program ? %s is the name of the

program. The original or

new program is Running or

Paused.

Press F4 for Yes to ABORT program.

Press F5 for NO and operation will be

canceled

Group %d does not exist in Orig

program

%d is the original program

group number. The group

number does not exist in

original program. This group

number can not be copied to

new program.

Set new group number to 0 or to a new

group number for %d number.

Group %d does not exist on

controller

%d is the original program

group number. The group

number does not exist on the

controller. This group number

cannot be copied on this

controller.

Set the new group number to 0 or to a

new group number for %d number.

New Grp %d axis do not match

Orig Grp %d

%d is the group number for

new program and original

program. The original group

cannot be copied to new

group.

Set the new group number to 0 or to a

new group number for %d number of

original group.

New Grp %d is an INDEXER

cannot copy

%d is the new program group

number. New program group

is an INDEXER and cannot

be copied.

Set new group number to 0 for %d

number of new group.

1) Answering NO to Overwrite. 1) Overwrite the existing program or

change the new program name.

New Program could not be created

2) Refer to the error message

posted in the alarm log.

2) Refer to the Error Code Manual for

error remedy information.

New Program created successfully This message is a status

message only.

None

No New Grps specified All New Grps are "0" You must specify a New Grp to execute

Group Mask Exchange.

Orig Grp %d is an INDEXER

cannot copy

%d is the original program

group number. Original

program group is an

INDEXER and cannot be

copied.

Set new group number to 0 for %d

number of original group.

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15. ADVANCED FUNCTIONS MAROBSP8104121E REV C

Table 15–44. Group Mask Exchange Troubleshooting (Cont’d)

Prompt Message Possible Cause Solution

Program exist, Overwrite ? The new program exists on

the controller.

Press F4, YES, to overwrite the program

on the controller. Press F5, NO, to cancel

the operation.

Program names match Original and new program

name are the same.

Change the original or the new program

name.

Robot types do not match, Orig

Grp %d

%d is the original program

group number. Robot types

do not match and cannot

be copied. Robots must

be copied to robots; nobots

must be copied to nobots;

positioners must be copied to

positioners.

Set new group number to 0 or to a new

group number for %d number of original

group.

WORKING……… The utility is copying the

program

Wait for the utility to complete the copy.

15.20 HIGH SPEED INPUT FUNCTIONS

15.20.1 Overview

The following High Speed Input Functions are available:

• Frequency Interface

• High Speed Scanning (for Line Tracking Part Detect)

• Position Snap and Map

15.20.2 Frequency Interface

Outputs are supplied as system variables that are accessible by the FANUC Robotics Software.

The following outputs are supplied:

• Frequency Reading (x1000 Hz)

• Total Pulse Count

• Standard Operator Panel Input (SOPIN)

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