FANUC Alarm SEAL-131 — ABORT SS/SE timing invalid

Description

This error is d by timing problems with Sealing commands (SS or SE). Timing problems could occur if the robot does not have enough time to plan for a sealing instruction before the robot passes that point in the path. For example: If the user is using a sealing schedule with a gunon delay of 1000ms and a gunoff delay of -1000ms and the robot executes the seam in 1500ms, the Dispensetool will detect the logic problem and post this fault. A path which has many sealing instructions very close to each other (closer than 30mm at 500mm/sec) is likely to have this problem.

Remedy · Remède

Make sure there is adequate time for each SS and SE to execute. You may do this by making sure you have only the minimum number of points in your path that you require. Dispensetool works best with as few points as possible. Also, make sure none of your schedules have gunon, gunoff, or equipment delays beyond that which is needed (usually between -100ms and +100ms is adequate). NOTE: Whenever a SEAL-131 occurs, the robot MUST be cold started to recover.

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