Fanuc R-30IA DATASHEET

R-30iA CONTROLLER

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ANUC ROBOTICS SYSTEM R

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A CONTROLLER USES ADVANCED TECHNOLOGY PACKAGED IN A PROVEN, RELIABLE

AND EFFICIENT DESIGN. PROCESS CAPABILITY AND OPEN ARCHITECTURE FEATURES PROVIDE INTELLIGENCE
TO IMPROVE APPLICATION AND MOTION PERFORMANCE WHILE SIMPLIFYING SYSTEM INTEGRATION. THE R

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CONTROLLER INCORPORATES FANUC ROBOTICS UNIQUE “PLUGIN OPTIONS” CONCEPT, WHICH GIVES FLEXIBILITY FOR

APPLICATION SPECIFIC

NFIGURATIONS WHILE MAINTAINING A COMMONALITY FOR ALL USERS OF THE SYSTEM.

FEATURES AND BENEFIT

HE R30iA CONTROLLER OFFERS ENHANCED VIBRATION CONTROL. THIS GREATLY REDUCES THE ROBOT’S ACCELERATION AND DECELERATION TIMES LEADING TO
EDUCED CYCLE TIMES. THE CONTROLLER PROVIDES AN INTEGRATED 2D VISION SYSTEM TO SPEEDUP THE INSTALLATION OF VISION APPLICATIONS, THIS CAN BE
ASILY UPGRADED TO PROVIDE A 3D VISION SYSTEM.

DVANCED COMMUNICATION R-3

Simple down- and upload of robot programs to server
Built-in Ethernet (100 BaseTX)
FANUC I/O-link (Master
E-mail function as an option
Fieldbus (option

· PROFIBU

· DEVICENET

· CCLIN

ADVANCED I/O FEATURES

nput / Output (I/O) are electrical signals through which the robot can
control grippers and other external tools. It is also needed for the
communication with external machines (e.g. CNC machines) which the
robot may load or unload

Available types of I/O

· DI/DO (digital)

· RI/RO at the robot arm (digital

· GI/GO (grouped digital I/O)

· UI/UO (digital I/O for remote control by external PLC)

· AI/AO (analog I/O)

· WI/WO (arc welding I/O)

· SI/SO (standard operation panel interface)

I/O setup can be separately backed up and restored using PCMCIA

emory card or USB

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FFICIENT COOLING SYSTEM WITH SEPARATED AIR CIRCUIT

Cooling by external air for maximum effi ciency

· Rear to rear air fl ow, saving fl oor space and poss
controllers side by side

· All components are IP 54 sealed, hence no fi lters necessary (reduced
maintenance and cost reduction).

Fully sealed internal air circui

· No external air coming into the component sid

· No dust can enter the controller and cause short circuit

· Fans on the controller door and in the controller rack ensure optimum
cooling of all component

ty to have many

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FEATURES AND BENEFITS

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XTENDED AXES CONTROL R3

The controller can manage up to 40 axe
(divided in up to 5 groups; one group can control up to 9 axes), such as:

4 r
4 auxiliary axes groups (arc welding positioners, robot rails, servo hands,

rippers...

HERE ARE THREE TYPES OF MOTION CONTROL AVAILABLE:

Extended auxiliary axes: for robot rails and simple tools (grippers
Nobot: for servo driven tools and other inte
Positioner: for arc we

robot and positioner.

LLOWING OPTIONS ARE AVAILABLE A

XTENSIONS OF THIS FEATURE:

Aux Axis servo off: for safety design of manual in/out-feed stations
Torque limit: in order to control the gripping force of servo grippers
Servo hand change function: This allows the changing and disconnectin

servo hands and too
Continuous turn: for tools and positioners needing endless rotation
Multi-motion for multiple groups
Multi-robot control (dual / multiple arm) for more than one robot

AST STARTUP

-

basic software onl

n case of power failure:

Robot program restarts much quicker than with any PC-based program

(non-Windows operating system)

The resume hotstart function allows restarting safely and continuing

roduction after power failure: no need to re-do the whole movement.

Unique resume tolerance check: in case of any program interruption,

the robot automatically memorises its position before failure. When the
program continues, it checks whether the robot has been moved outside

a preset tolerance.
Increased up-time (robot availability)

NTEGRATED INTELLIGENT VISION SOLUTIONiVISION

The controller provides integrated 2D vision to speed-up the installation of
vision applications, which can easily be upgraded to:

2D VISION SHIFT
2D VISUAL LINE TRACKIN
3DL VISION
3DL VISION BIN PICKING

See chapter iRVision

+

positioners, with coordinated motion between

controller needs less than 1 minute to start (and even less with the

s avoids unexpected movements and co

that are using FANUC motors

ent peripherals

ons

MINIMAL MAINTENANCE REQUIREMENTS

Controller size allows quick access to all components
Minimal number of components
No air-fi lter
Emergency stop and I/O connections facilitate fast component change
Special quick-change design for the 6-axes servo amplifi er

· All cables attached have connectors, thus allowing an easy change

· Quick exchange frame for the amplifi er fi xed with only 2 bolts
components can be changed without special tools

· Low MTTR (Mean Time To Repair)

Remote diagnostics feature

POWERFUL PROGRAMMING FUNCTION

he controller runs with FANUC operating system, which brings strong
dvantages:

Virus-free (not PC based

ata security in case of power loss
Quick start-up of basic software
Easy to use

e controller offers various programming poss
TPE (Teach pendant editor) which is the standard way of programming
Advanced offl ine programming options such as ROBOGUIDE

See chapter ROBOGUIDE
Integrated PMC (optional)

optional

See chapter Software Options

s a block style interpreter language: allows fast and cost-effi cient

programming.

Possibility to record up to 11

onfi guration

One key stroke on the teach pendant records one complete operation of

he robot

Standard operations (e.g. motion, arc start, arc end, logic...) can be

ected and adapted to the application very easily

motion includes:

· Joint, linear and circular motions

· Remote TCP, coordinated motion and other functions in option

ositions with basic memory

es:

SAFETY CLASS 4

Safety Class 4 (EN 954-1) is offered with Dual Check Safety.

CS consists of 2 I/O security channels running on 2 independent

rocessors which mutually check each other. Dual Check Safety is the
embedded safety conformed to European safety standards. Two processors
monitor real position and velocity of servo motor for safety redundantly. The
embedded safety provides conformance to the safety standards without any

acrifi ce on machine effi ciency and cost.

ual Check Safety in the robot has the following features:
2 channel safety inputs for FENCE, Emergency Stop, Servo Off
2 channel safety output for Emergency Stop
Same safety inputs and outputs as R-J
Safely cuts the servo motor power using magnetic contactors
Safety classifi cation according to EN 954-1 risk assessment class 4

highest level as needed for manual press loadin

SERVO MONITORING  OVERLOAD, OVERHEAT

ND COLLISION DETECTION

ontinuous monitoring of the motor current by the servo control for

enhanced predictive maintenance

Overheat monitoring: the power dissipation and capacity of each motor

is continuously monitored, as well as the robot duty cycle. In case of

verheat, an alarm is issued and stops the robot.

Collision detection (disturbance torque monitoring): the difference

etween real and expected motor current is monitored. Collisions and
lectrical / mechanical problems to the robot can be detected quickly
efore serious damages occur. Disturbance excess alarm warns the

erator while the collision alarm stops the robot. Collision events are

ecorded to allow further analysis

Overload monitoring (OVC): the commanded torque is monitored and

verload detected when the value gets too big.

Position monitoring: the „following“ error of the servo control is

onstantly monitored. It tr

alarms

ers move error excess and stop error excess

B and R-J

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FEATURES AND BENEFITS

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VIBRATION CONTROL

Thanks to enhanced hardware and software capacities, the R­controller offers much better robot vibration control.

s greatly reduces
the robot’s acceleration and deceleration times, leading to reduced cycle
tim

IDE RANGE OF CONNECTIONS (US

The R-

PCMCIA interf

controller has an USB interface in the front panel and a

inside of the control

PCMCIA INTERFACE...

2 serial interface connections (RS232C, RS422) available

· Printer Connect

· Data Transfer (option

· Sensor interface (option

· CRT keyboard (option)

· User specifi c data transfer using

optio

s allows fast and economical back-ups and restore of data and

he FANUCiendant is an inte
tandard (except for PaintTool). Touch screen is available as option.

Pendant view status of peripheral equipment and other robots‘ html web

server pages (when available
Coloured, multi-windows display
Customizable scree
asier work with the robot, enhanced productivity

“B“ (normal) and “A“ (small) cabinets available

.

R-30iA Controller R-30iA Controller

External dimensions (A-cabinet)
all models approx. 120 kg, except M-410iB approx. 140 kg

(37)470

600

External dimensions (B-cabinet)
all models approx. 180 kg, except M-900iA, M410iB, R-2000iB/200T approx. 200 kg

ent teach pendant and is available as

t to web sites

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