fanuc R-30iB, R-30iB Mate, R-30iB Plus, R-30iB Mate Plus, R-30iB Compact Plus Operators Manual

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< Robot !
R-30+B/R-30+B Mate/R-30+B Plus/R-30+B Mate Plus/
R-30+B Compact Plus/R-30+B Mini Plus CONTROLLER
OPERATOR’S MANUAL (Basic Function)
© FANUC CORPORATION, 2012
B-83284EN/09
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Original Instructions
All specifications and designs are subject to change without notice.
. The export from Japan may be subject to an export license by the
Should you wish to export or re-export these products, please contact FANUC for advice.
and if the manual
that any operations that are not explicitly described as being possible are "not possible".
Thank you very much for purchasing FANUC Robot. Before using the Robot, be sure to read the "FANUC Robot SAFETY HANDBOOK (B-80687EN)" and understand the content.
No part of this manual may be reproduced in any form.
The products in this manual are controlled based on Japan’s “Foreign Exchange and Foreign Trade Law” government of Japan. Further, re-export to another country may be subject to the license of the government of the country from where the product is re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States government.
In this manual, we endeavor to include all pertinent matters. There are, however, a very large number of operations that must not or cannot be performed, contained them all, it would be enormous in volume. It is, therefore, requested to assume
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B-83284EN/09 SAFETY PRECAUTIONS
SAFETY PRECAUTIONS
This chapter must be read before using the robot.
For detailed functions of the robot operation, read the relevant operator's manual to understand fully its specification.
For the safety of the operator and th e system, follow al l safety precau tions when operatin g a rob ot and its peripheral equipment installed in a work cell. For safe use of FANUC robots, you must read and follow the instructions in “FANUC Robot SAFETY HANDBOOK (B-80687EN)”.
1 DEFINITION OF USER
The personnel can be classified as follows.
Operator:
Turns the robot controller power on/off
Starts the robot program from operator panel
Programmer or Teaching operator:
Operates the robot
Teaches the robot inside the safety fence
Maintenance technician:
Operates the robot
Teaches the robot inside the safety fence
Performs maintenance (repair, adjustment, replacement)
- Operator is not allowed to wor k in the safety fence.
- Programmer/Teaching operator and mainten ance technician is allowed to work in the safety fence. Works carried out in the safety fence include transportation, installation, teaching, adjustment, and maintenance.
- To work inside the safety fence, the person must be trained on proper robot operation.
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SAFETY PRECAUTIONS B-83284EN/09
Teaching operator
technician
Turn power ON/OFF to Robot controller
Select operating mode (AUTO, T1, T2)
Select remote/local mode
Select robot program with teach pendant
Select robot program with external device
Start robot program with operator’s panel
Start robot program with teach pendant
Reset alarm with operator’s panel
Reset alarm with teach pendant
Set data on teach pendant
Teaching with teach pendant
Emergency stop with operator’s panel
Emergency stop with teach pendant
 
Operator’s panel maintenance
Teach pendant maintenance
Symbol
Definitions
occur if he or she fails to follow the approved procedure.
procedure.
is to be indicated.
Table 1 (a) lists the work outside the safety fence. In this table, the sy mbol “” means the work allowed to be carried out by the worker.
Table 1 (a) List of work outside the fence
Operator
Programmer or
In the robot operating, programming and maintenance, the operator, programmer/teaching operator and maintenance technician take care of their safety using at least the following safety protectors.
Use clothes, uniform, overall adequate for th e work
Safety shoes
Helmet
Maintenance
2 DEFINITION OF SAFETY NOTATIONS
To ensure the safety of users and preven t damage to the machine, this manual indicates each precaution on safety with "WARNING" or "CAUTION" according to its severity. Supplementary information is indicated by "NOTE". Read the contents of each "WARNING", "CAUTION" and "NOTE" before using the robot.
WARNING
CAUTION
NOTE
Check this manual thoroughly, and keep it handy for the future reference.
Used if hazard resulting in the death or serious injury of the user will be expected to
Used if a hazard resulting in the minor or moderate injury of the user, or equipment damage may be expected to occur if he or she fails to follow the approved
Used if a supplementary explanation not related to any of WARNING and CAUTION
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B-83284EN/09 TABLE OF CONTENTS
TABLE OF CONTENTS
SAFETY PRECAUTIONS ............................................................................ s-1
1 PREFACE ................................................................................................ 1
1.1 ABOUT MANUAL .......................................................................................... 1
2 OVERVIEW ............................................................................................. 4
2.1 APPLICATION TOOL SOFTWARE ............................................................... 5
2.1.1 System Setting .......................................................................................................... 5
2.1.2 Jog Feed of the Robot ............................................................................................... 5
2.1.3 Program .................................................................................................................... 5
2.1.4 Test Operation (Test Execution) .............................................................................. 6
2.1.5 Automatic Operation (Operation Execution) ........................................................... 6
2.2 ROBOT .......................................................................................................... 6
2.3 CONTROLLER .............................................................................................. 7
2.3.1 Teach Pendant .......................................................................................................... 9
2.3.2 Operator Panel ........................................................................................................ 29
2.3.3 Remote Controller .................................................................................................. 30
2.3.4 CRT/KB.................................................................................................................. 30
2.3.5 Communication ...................................................................................................... 30
2.3.6 Input/Output ........................................................................................................... 31
2.3.7 Peripheral I/O ......................................................................................................... 31
2.3.8 Motion of the Robot ............................................................................................... 31
2.3.9 Emergency Stop Devices ........................................................................................ 32
2.3.10 Extended Axis ........................................................................................................ 32
3 SETTING UP THE ROBOT SYSTEM ................................................... 33
3.1 I/O ................................................................................................................ 33
3.1.1 Digital I/O............................................................................................................... 46
3.1.2 Group I/O ............................................................................................................... 50
3.1.3 Analog I/O .............................................................................................................. 53
3.2 ROBOT I/O .................................................................................................. 57
3.3 PERIPHERAL I/O ........................................................................................ 60
3.4 OPERATOR’S PANEL I/O ........................................................................... 67
3.5 I/O LINK SCREEN ....................................................................................... 70
3.5.1 I/O Link List Screen ............................................................................................... 70
3.5.2 Model B Unit List Screen ....................................................................................... 71
3.5.3 Signal Count Setting Screen ................................................................................... 72
3.6 I/O CONNECTION FUNCTION ................................................................... 73
3.7 SIMULATED INPUT SKIP FUNCTION ........................................................ 75
3.8 SETTING AUTOMATIC OPERATION ......................................................... 77
3.8.1 Robot Service Request (RSR) ................................................................................ 79
3.8.2
3.8.3 STYLE ................................................................................................................... 84
3.8.4 Prog Select Screen .................................................................................................. 87
3.8.5 Cell Interface I/O .................................................................................................... 93
3.8.6 Custom I/O ............................................................................................................. 97
3.9 SETTING COORDINATE SYSTEMS .......................................................... 98
Program Number Selection (PNS) ......................................................................... 82
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3.9.1 Setting a Tool Coordinate System ........................................................................ 100
3.9.2 Setting a User Coordinate System ........................................................................ 114
3.9.3 Setting a Jog Coordinate System .......................................................................... 123
3.9.4 Setting a Cell Coordinate System ......................................................................... 127
3.9.5 Setting a Cell Floor ............................................................................................... 129
3.10 SETTING A REFERENCE POSITION ....................................................... 130
3.11 JOINT OPERATING AREA ....................................................................... 133
3.12 USER ALARM ........................................................................................... 135
3.13 VARIABLE AXIS AREAS ........................................................................... 136
3.14 INTERFERENCE PREVENTION AREA FUNCTION................................. 138
3.15 SYSTEM CONFIG MENU ......................................................................... 142
3.16 SETTING THE GENERAL ITEMS ............................................................. 151
3.17 PAYLOAD SETTING ................................................................................. 152
3.18 CLOCK ...................................................................................................... 156
3.19 OTHER SETTINGS ................................................................................... 157
4 PROGRAM STRUCTURE ................................................................... 158
4.1 PROGRAM DETAIL INFORMATION ......................................................... 160
4.1.1 Program Name ...................................................................................................... 160
4.1.2 Program Comment ................................................................................................ 161
4.1.3 Subtype ................................................................................................................. 161
4.1.4 Motion Group ....................................................................................................... 162
4.1.5 Write Protection ................................................................................................... 163
4.1.6 Ignore Pause ......................................................................................................... 163
4.1.7 Stack Size ............................................................................................................. 163
4.1.8 Collection ............................................................................................................. 165
4.2 LINE NUMBER, PROGRAM END SYMBOL, AND ARGUMENT .............. 165
4.3 MOTION INSTRUCTIONS ........................................................................ 167
4.3.1 Motion Format ...................................................................................................... 168
4.3.2 Position Data ........................................................................................................ 172
4.3.3 Feed Rate .............................................................................................................. 177
4.3.4 Positioning Path .................................................................................................... 179
4.3.5 Additional Motion Instructions ............................................................................ 180
4.4 PALLETIZING INSTRUCTIONS ................................................................ 196
4.4.1 Palletizing Instruction ........................................................................................... 196
4.4.2 Palletizing Motion Instruction .............................................................................. 197
4.4.3 Palletizing End Instruction ................................................................................... 197
4.5 REGISTER INSTRUCTIONS ..................................................................... 197
4.5.1 Register Instructions ............................................................................................. 198
4.5.2 Position Register Instructions ................................................................
4.5.3 Position Register Axis Instructions ...................................................................... 200
4.5.4 Position Register Instructions in Non-Motion Group Program ............................ 203
4.5.5 Arithmetic Palletizing Register Instructions ......................................................... 204
4.5.6 String Register, String Instructions ...................................................................... 205
4.6 I/O INSTRUCTIONS .................................................................................. 208
4.6.1 Digital I/O Instructions ......................................................................................... 208
4.6.2 Robot I/O Instructions .......................................................................................... 210
4.6.3 Analog I/O Instructions ........................................................................................ 211
4.6.4 Group I/O Instruction ........................................................................................... 211
4.7 BRANCH INSTRUCTIONS ........................................................................ 212
4.7.1 Label Instruction ................................................................................................... 212
4.7.2 Program End Instruction ...................................................................................... 213
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4.7.3 Unconditional Branch Instructions ....................................................................... 213
4.7.4 Conditional Branch Instructions ........................................................................... 214
4.7.5 IF_THEN/ELSE/ENDIF Statement ..................................................................... 217
4.7.6 Arguments ............................................................................................................ 222
4.7.7 Wizard to Input Arguments .................................................................................. 230
4.7.7.1 Overview ......................................................................................................... 230
4.7.7.2 Preparation ....................................................................................................... 230
4.7.7.3 Editing ............................................................................................................. 235
4.7.7.4 Handling of Multiple Languages ..................................................................... 238
4.7.7.5 Save and Upload of ASCII Files ..................................................................... 238
4.7.7.6 Mode Selection ................................................................................................ 239
4.8 WAIT INSTRUCTIONS .............................................................................. 239
4.8.1 Time-specified Wait Instruction ........................................................................... 240
4.8.2 Conditional Wait Instructions .............................................................................. 240
4.8.3 The Output When Wait on Input .......................................................................... 242
4.9 SKIP CONDITION INSTRUCTION ............................................................ 244
4.10 PAYLOAD INSTRUCTION ........................................................................ 246
4.11 OFFSET CONDITION INSTRUCTION ...................................................... 248
4.12 TOOL OFFSET CONDITION INSTRUCTIONS ......................................... 248
4.13 FRAME INSTRUCTIONS .......................................................................... 249
4.14 PROGRAM CONTROL INSTRUCTIONS .................................................. 250
4.14.1 Pause Instruction .................................................................................................. 251
4.14.2 Abort Instruction .................................................................................................. 251
4.15 OTHER INSTRUCTIONS .......................................................................... 251
4.15.1 RSR Instruction .................................................................................................... 252
4.15.2 User Alarm Instruction ......................................................................................... 252
4.15.3 Timer Instruction .................................................................................................. 252
4.15.4 Override Instruction ............................................................................................. 253
4.15.5 Comment Instruction ............................................................................................ 253
4.15.6 Multi-language Comment Instruction .................................................................. 254
4.15.7 Message Instruction .............................................................................................. 254
4.15.8 Parameter Instruction............................................................................................ 254
4.15.9 Maximum Speed Instructions ............................................................................... 255
4.16 MULTIAXIS CONTROL INSTRUCTIONS ................................................. 256
4.16.1 Program Execution Instruction ............................................................................. 256
4.17 OPERATION GROUP INSTRUCTIONS .................................................... 257
4.17.1 Asynchronous Operation Group Instruction ........................................................ 257
4.17.2 Synchronous Operation Group Instruction ........................................................... 258
4.18 FOR/ENDFOR INSTRUCTION .................................................................. 258
4.18.1 FOR Statement ..................................................................................................... 258
4.18.2 ENDFOR Statement ............................................................................................. 259
4.18.3 FOR/ENDFOR Statement Combination .............................................................. 260
4.18.4 Backward Execution of FOR/ENDFOR Statement .............................................. 261
4.18.5 Examples of FOR/ENDFOR Statement Execution .............................................. 262
4.18.6 Alarms of FOR/ENDFOR Statement ................................................................... 266
4.19 MIXED LOGIC INSTRUCTION .................................................................. 267
4.20 DIAGNOSIS INSTRUCTION ..................................................................... 271
5 PROGRAMMING ................................................................................. 273
5.1 TIPS ON EFFECTIVE PROGRAMMING ................................................... 274
5.1.1 Motion Instructions .............................................................................................. 274
5.1.2 Predefined Position ............................................................................................... 276
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5.2 TURNING ON THE POWER AND JOG FEED .......................................... 276
5.2.1 Turning On the Power and Turning Off the Power .............................................. 276
5.2.2 Three-Mode Switch .............................................................................................. 278
5.2.3 Moving the Robot by Jog Feed ............................................................................ 282
5.3 CREATING A PROGRAM ......................................................................... 294
5.3.1 Registering a Program .......................................................................................... 295
5.3.2 Changing a Standard Motion Instruction ............................................................. 299
5.3.3 Teaching a Motion Instruction ............................................................................. 301
5.3.4 Teaching an Additional Motion Instruction ......................................................... 303
5.3.5 Teaching a Control Instruction ............................................................................. 307
5.3.6 TP Start Prohibition .............................................................................................. 323
5.4 CHANGING A PROGRAM ........................................................................ 325
5.4.1 Selecting a Program .............................................................................................. 325
5.4.2 Changing a Motion Instruction ............................................................................. 326
5.4.3 Changing a Control Instruction ............................................................................ 337
5.4.4 Program Edit Instructions ..................................................................................... 339
5.5 PROGRAM OPERATION .......................................................................... 362
5.5.1 Changing Program Information ............................................................................ 362
5.6 BACKGROUND EDITING ......................................................................... 367
5.7 SINGULAR POINT CHECK FUNCTION ................................................... 381
5.8 OTHER EDITING FUNCTION ................................................................... 382
5.8.1 Auto Position Renumbering ................................................................................. 382
5.8.2 Fixed Program Name ............................................................................................ 383
5.8.3 Filtered Program List ............................................................................................ 383
5.8.3.1 Method to use the original program name specified in the
system configuration menu as the head of the string ....................................... 383
5.8.3.2 Method to register 6 or more strings as the head of string ............................... 384
5.8.4 Program Collection Function ............................................................................... 385
5.8.4.1 Setup collection ............................................................................................... 386
5.8.4.2 How to create and use collections.................................................................... 386
5.8.4.3 Backup and restore collections ........................................................................ 389
6 EXECUTING A PROGRAM ................................................................. 390
6.1 PROGRAM HALT AND RECOVERY ........................................................ 390
6.1.1 Halt by an Emergency Stop and Recovery ........................................................... 391
6.1.2 Halt by a Hold and Recovery ............................................................................... 392
6.1.3 Halt Caused by an Alarm ..................................................................................... 392
6.2 EXECUTING A PROGRAM ....................................................................... 396
6.2.1 Starting a Program ................................................................................................ 396
6.2.2 Robot Motion ....................................................................................................... 397
6.2.3 Resuming a Program ............................................................................................
6.3 TESTING ................................................................................................... 404
6.3.1 Specifying Test Execution .................................................................................... 404
6.3.2 Step Test ............................................................................................................... 406
6.3.3 Continuous Test .................................................................................................... 409
6.3.4 Program Look/Monitor ......................................................................................... 411
6.4 MANUAL I/O CONTROL ........................................................................... 413
6.4.1 Forced Output ....................................................................................................... 413
6.4.2 Simulated I/O ....................................................................................................... 414
6.4.3 Wait Release ......................................................................................................... 415
6.5 OPERATING THE HAND MANUALLY ...................................................... 416
6.6 AUTOMATIC OPERATION ....................................................................... 417
6.6.1 Automatic Operation by Robot Start Request (RSR) ........................................... 417
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6.6.2 Automatic Operation with Program Number Selection (PNS) ............................. 418
6.6.3 External Override Selection Function .................................................................. 419
6.7 ONLINE POSITION MODIFICATION ........................................................ 421
7 STATUS DISPLAY .............................................................................. 426
7.1 LEDS ON THE TEACH PENDANT ............................................................ 426
7.2 USER SCREEN ......................................................................................... 428
7.3 REGISTERS .............................................................................................. 428
7.4 POSITION REGISTERS ............................................................................ 429
7.5 PALLETIZING REGISTERS ...................................................................... 433
7.6 STRING REGISTERS ............................................................................... 434
7.7 4D GRAPHICS .......................................................................................... 435
7.7.1 4D GRAPHICS Display ....................................................................................... 435
7.7.1.1 Graphic models ................................................................................................ 436
7.7.1.2 Operation procedure ........................................................................................ 436
7.7.2 Current Position .................................................................................................... 439
7.8 SYSTEM VARIABLES ............................................................................... 442
7.9 PROGRAM TIMER .................................................................................... 443
7.10 SYSTEM TIMER ........................................................................................ 445
7.11 EXECUTION HISTORY ............................................................................. 446
7.12 MEMORY USE STATUS DISPLAY ........................................................... 447
7.13 STOP SIGNAL ........................................................................................... 449
7.14 PROGRAM STATUS ................................................................................. 450
7.15 POWER CONSUMPTION MONITOR ....................................................... 451
7.16 NOTIFICATIONS ....................................................................................... 452
8 FILE INPUT/OUTPUT ......................................................................... 455
8.1 FILE INPUT/OUTPUT UNITS .................................................................... 455
8.1.1 Memory Card (on R-30iB or R-30iB Plus) .......................................................... 459
8.1.2 USB Memory ....................................................................................................... 460
8.2 SETTING A COMMUNICATION PORT ..................................................... 466
8.3 FILES ......................................................................................................... 470
8.3.1 Program File ......................................................................................................... 470
8.3.2 Default Logic File ................................................................................................ 471
8.3.3 System File/Application File ................................................................................ 471
8.3.4 Data File ............................................................................................................... 471
8.3.5 ASCII File ............................................................................................................ 471
8.4 SAVING FILES .......................................................................................... 472
8.4.1 Saving with Program Selection Screen ................................................................ 472
8.4.2 Saving all the Program Files Using the File Screen ............................................. 473
8.4.3 Saving with a Function Menu .............................................................................. 480
8.4.4 File Manipulation ................................................................................................. 482
8.4.5 ASCII save ........................................................................................................... 487
8.5 LOADING FILES ........................................................................................ 488
8.5.1 Loading Using the Program Selection Screen ...................................................... 489
8.5.2 Loading a Specified Program File Using the File Screen .................................... 490
8.6 PRINTING FILES ....................................................................................... 497
8.7 SUBDIRECTORIES ................................................................................... 500
8.8 AUTOMATIC BACKUP .............................................................................. 503
8.8.1 Overview of Automatic Backup ........................................................................... 503
8.8.2 Usable Memory Cards .......................................................................................... 503
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8.8.3 Setting of Automatic Backup ............................................................................... 503
8.8.4 Perform Automatic Backup .................................................................................. 505
8.8.5 Version Management............................................................................................ 507
8.8.6 Restore the Backup ............................................................................................... 507
8.9 IMAGE BACKUP FUNCTION .................................................................... 508
8.10 ASCII PROGRAM LOADER FUNCTION ................................................... 513
8.10.1 Overview .............................................................................................................. 513
8.10.2 Output an ASCII Teach Pendant Program ........................................................... 514
8.10.3 Loading an ASCII Teach Pendant Program from the Teach Pendant .................. 515
8.10.4 Viewing ASCII Program Loading Errors ............................................................. 516
8.10.5 Example ASCII File ............................................................................................. 518
8.11 FILE MEMORY .......................................................................................... 524
9 UTILITY ............................................................................................... 525
9.1 MACRO INSTRUCTION ............................................................................ 525
9.1.1 Setting Macro Instructions ................................................................................... 526
9.1.2 Executing Macro Instructions .............................................................................. 532
9.2 SHIFT FUNCTIONS .................................................................................. 536
9.2.1 Program Shift Function ........................................................................................ 537
9.2.2 Mirror Shift Function ........................................................................................... 543
9.2.3 Angle Entry Shift Function .................................................................................. 546
9.3 COORDINATE SYSTEM CHANGE SHIFT FUNCTIONS .......................... 551
9.4 POSITION REGISTER LOOK-AHEAD EXECUTION FUNCTION ............. 555
9.5 TIME BEFORE FUNCTION ....................................................................... 557
9.6 DISTANCE BEFORE FUNCTION ............................................................. 562
9.6.1 Overview .............................................................................................................. 562
9.6.2 Specification ......................................................................................................... 563
9.6.3 Configuration ....................................................................................................... 563
9.6.4 Instruction ............................................................................................................. 563
9.6.5 Entering Distance before ...................................................................................... 571
9.6.6 Caution and Limitations ....................................................................................... 574
9.7 POINT LOGIC INSTRUCTION .................................................................. 575
9.8 SIGNAL OUTPUT MOTION OPTION ........................................................ 579
9.9 CONDITION MONITOR FUNCTION ......................................................... 581
9.10 COLLISION DETECTION FOR AUXILIARY AXIS ..................................... 589
9.10.1 General ................................................................................................................. 589
9.10.2 Caution ................................................................................................................. 589
9.10.3 Initial Setting ........................................................................................................ 589
9.10.4 Tuning Procedure .................................................................................................
9.11 PASSWORD FUNCTION .......................................................................... 591
9.11.1 Overview of the Password Function ..................................................................... 591
9.11.2 Password Operations by the Install User .............................................................. 592
9.11.3 Disabling the Password Function ......................................................................... 596
9.11.4 Password Operations by Program Users and Setup Users ................................... 600
9.11.5 Password Configuration File ................................................................................ 605
9.11.5.1 Overview ......................................................................................................... 605
9.11.6 XML Syntax for Password Configuration Files ................................................... 608
9.11.6.1 Software parts ID, Screen ID ........................................................................... 608
9.11.6.2 Basic tag .......................................................................................................... 609
9.11.6.3 Comment tag .................................................................................................... 610
9.11.6.4 Level name tag ................................................................................................. 610
9.11.6.5 Local Labels tag ............................................................................................... 610
9.11.6.6 Screen Access tag ............................................................................................ 611
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9.11.6.7 Features tag ...................................................................................................... 612
9.11.6.8 Default menu type tag ...................................................................................... 612
9.11.6.9 Default screen tag ............................................................................................ 613
9.11.6.10 FCTN/display menu access tag ........................................................................ 613
9.11.6.11 EDCMD access tag .......................................................................................... 614
9.11.7 Password Log ....................................................................................................... 614
9.11.8 Screen Restrictions According to Password Level ............................................... 616
9.11.9 Password Auto Login Function ............................................................................ 617
9.11.10 USB Password Function ....................................................................................... 618
9.11.11 GI Password Login function ................................................................................. 620
9.12 BACKGROUND LOGIC ............................................................................. 622
9.12.1 Execution Modes and Scan Time ......................................................................... 622
9.12.2 Available Instructions for Background Logic ...................................................... 623
9.12.3 Execution and Setting of Background Logic........................................................ 625
9.12.4 Other Instructions and Functions ......................................................................... 626
9.12.5 Backup for Background Logic ............................................................................. 630
9.13 ORIGINAL PATH RESUME ....................................................................... 631
9.13.1 Original Path Resume ........................................................................................... 631
9.13.2 Resume Offset ...................................................................................................... 635
9.14 MULTITASKING FUNCTION ..................................................................... 639
9.14.1 Overview .............................................................................................................. 639
9.14.2 Functions .............................................................................................................. 639
9.14.2.1 Notes on program creation ............................................................................... 639
9.14.2.2 How to start programs in multitasking ............................................................ 640
9.14.2.3 Behavior of main program and subprogram .................................................... 640
9.14.2.4 Notes on main program and subprogram ......................................................... 641
9.14.3 Monitor ................................................................................................................. 642
9.14.4 Halt and Forced Termination ................................................................................ 643
9.14.5 Cycle Stop Signal (CSTOPI) ................................................................................ 644
9.15 ERROR SEVERITY TABLE ....................................................................... 644
9.15.1 Error Severity Table Overview ............................................................................ 644
9.15.2 Modifying Error Severity ..................................................................................... 644
9.16 DIAGNOSTIC LOG .................................................................................... 648
9.16.1 Overview .............................................................................................................. 648
9.16.2 Operations ............................................................................................................ 648
9.16.3 Getting Out the Save Data .................................................................................... 649
9.16.4 Output to External Device .................................................................................... 649
9.16.5 Delete the Data Saved in FROM .......................................................................... 650
9.16.6
Limitation ............................................................................................................. 650
9.17 ROBOT TOOLS OF ROBOT HOMEPAGE ............................................... 651
9.17.1 Setup for ROBOT TOOLS ................................................................................... 652
9.17.1.1 Setup IP Address ............................................................................................. 652
9.17.1.2 Setup HTTP AUTHENTICATION ................................................................. 655
9.17.2 Usage of ROBOT TOOLS ................................................................................... 657
9.18 GROUP MASK EXCHANGE ..................................................................... 662
9.19 CIRCLE ARC MOTION INSTRUCTION .................................................... 665
9.19.1 Way of Teaching .................................................................................................. 665
9.19.2 Normal Motion ..................................................................................................... 666
9.19.3 Direction of the Circular Motion .......................................................................... 667
9.19.4 Cases Circular Path Cannot be Planned ............................................................... 668
9.19.4.1 Shortage of the circle arc motion instruction ................................................... 668
9.19.4.2 Teaching of same position ............................................................................... 669
9.19.4.3 The case the three points are in line ................................................................. 669
9.19.4.4 The case circular arc bigger than 180 deg ....................................................... 670
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9.19.5 Resume After Pause ............................................................................................. 670
9.19.5.1 Resume after JOG ............................................................................................ 671
9.19.6 Resume After Pause and Modification of Programs ............................................ 671
9.19.6.1 Change of destination point ............................................................................. 671
9.19.6.2 Change of next destination point ..................................................................... 672
9.19.6.3 Deletion of next circle arc motion instruction and resume .............................. 672
9.19.6.4 Current instruction becomes the first circle arc motion after modification ..... 674
9.19.7 Pause and Resume from Another Circle Arc Motion Instruction ......................... 676
9.19.8 Start of Program from the Circle Arc Motion ...................................................... 677
9.19.9 Single Step Execution .......................................................................................... 677
9.19.10 Backward Execution ............................................................................................. 677
9.19.11 Backward Execution after Abort .......................................................................... 678
9.19.12 Backward Resume from Different Line ............................................................... 678
9.19.13 Logic Instructions between the Circle Arc Motion .............................................. 678
9.19.14 Available Motion Options .................................................................................... 680
9.19.15 Change of Position Data during Execution of the Circle Arc Motion
Instruction ............................................................................................................. 681
9.19.16 Restrictions ........................................................................................................... 682
9.20 iRCALIBRATION VISION MASTER RECOVERY ..................................... 683
9.20.1 Overview of Vision Master Recovery .................................................................. 683
9.20.2 Features and Limitations of Vision Master Recovery .......................................... 683
9.20.3 System Configuration for Executing Vision Master Recovery ............................ 683
9.21 OVERVIEW OF KAREL ............................................................................. 684
9.21.1 What is KAREL? .................................................................................................. 684
9.21.2 Feature .................................................................................................................. 684
9.21.3 Setup before Use of KAREL ................................................................................ 685
9.21.4 How to Load KAREL Program ............................................................................ 685
9.21.5 How to Run KAREL Program ............................................................................. 685
9.21.5.1 Running KAREL program using SELECT screen .......................................... 686
9.21.5.2 CALL KAREL program by TP program ......................................................... 687
9.21.5.3 Register as MACRO program .......................................................................... 687
9.21.5.4 Message display by KAREL program ............................................................. 688
9.21.6 KAREL Variable and KAREL Position Variable ................................................ 688
9.22 SOFT OPERATOR PANEL ....................................................................... 689
9.22.1 OVERVIEW ......................................................................................................... 689
9.22.2 SETUP .................................................................................................................. 691
9.22.3 OPERATION ....................................................................................................... 692
10 PALLETIZING FUNCTION .................................................................. 696
10.1 PALLETIZING FUNCTION ........................................................................ 696
10.2 PALLETIZING INSTRUCTIONS ................................................................ 698
10.3 TEACHING THE PALLETIZING FUNCTION ............................................. 700
10.3.1 Selecting a Palletizing Instruction ........................................................................ 700
10.3.2 Inputting Initial Data ............................................................................................ 702
10.3.3 Teaching a Stacking Pattern ................................................................................. 709
10.3.4 Setting Path Pattern Conditions ............................................................................ 715
10.3.5 Teaching a Path Pattern ........................................................................................ 718
10.3.6 Notes on Teaching the Palletizing Function ......................................................... 721
10.4 EXECUTING THE PALLETIZING FUNCTION .......................................... 722
10.4.1 Palletizing Register ............................................................................................... 723
10.4.2 Controlling the Palletizing Function by a Palletizing Register ............................ 725
10.5 MODIFYING THE PALLETIZING FUNCTION ........................................... 726
10.6 PALLETIZING FUNCTION WITH EXTENDED AXES ............................... 727
10.7 PALLETIZING ALL-POINT TEACHING ..................................................... 728
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B-83284EN/09 TABLE OF CONTENTS
11 APPLICATION FUNCTION OF TEACH PENDANT ........................... 730
11.1 SCREEN DISPLAY FUNCTIONS .............................................................. 730
11.1.1 Internet Browser Screen ....................................................................................... 730
11.1.2 Status Sub-window ............................................................................................... 732
11.1.2.1 Current position display ................................................................................... 733
11.1.2.2 Operator panel status display ........................................................................... 733
11.1.2.3 Stop signal status display ................................................................................. 734
11.1.3 Wide Screen Mode ............................................................................................... 734
11.1.4 Screen Maximization ............................................................................................ 735
11.1.5 Zoom .................................................................................................................... 736
11.1.6 Tree View ............................................................................................................. 737
11.1.6.1 Tree View/All program types .......................................................................... 739
11.1.6.2 Tree View/Call Trees ....................................................................................... 740
11.1.6.3 Tree View/Collections ..................................................................................... 740
11.1.6.4 Tree View/Menus ............................................................................................ 741
11.1.6.5 Tree View/Files ............................................................................................... 741
11.1.6.6 Tree View/System Variables ........................................................................... 742
11.1.6.7 Searching Tree View ....................................................................................... 742
11.2 OPERATION FUNCTIONS ........................................................................ 744
11.2.1 Cursor Positioning by Touch Panel ...................................................................... 744
11.3 PROGRAM EDIT FUNCTIONS ................................................................. 745
11.3.1 ICON Editor ......................................................................................................... 745
11.4 CUSTOMIZATION FUNCTIONS ............................................................... 748
11.4.1 Overview .............................................................................................................. 748
11.4.2 Background Color ................................................................................................ 748
11.4.3 Setting up the HMI Screen ................................................................................... 749
11.4.4 Menu Favorites ..................................................................................................... 752
11.4.5 Top Menu Setup ................................................................................................... 753
11.4.6 User Views ........................................................................................................... 756
11.4.7 Setting up iPendant Touch Panel .......................................................................... 758
11.4.8 Setting up iPendant Brightness ............................................................................. 760
11.4.9 History .................................................................................................................. 761
11.5 OPERATION PANEL ................................................................................. 762
11.5.1 Overview .............................................................................................................. 762
11.5.2 Basic Operation .................................................................................................... 762
11.5.3 Panel Setup ........................................................................................................... 764
11.5.3.1 Operation panel setting screen ......................................................................... 764
11.5.3.2 Item select screen ................................................................
11.5.3.3 Item setting ...................................................................................................... 767
11.5.3.4 Panel enable condition setting ......................................................................... 768
11.5.3.5 Finish setting .................................................................................................... 770
11.5.3.6 Save and restore setting value .......................................................................... 770
11.5.3.7 Register panel .................................................................................................. 771
11.5.4 Restriction ............................................................................................................ 773
............................. 766
12 iHMI ..................................................................................................... 774
12.1 OVERVIEW OF THE HOME SCREEN AND BASIC OPERATIONS
ON THE GUIDE SCREENS ....................................................................... 774
12.1.1 Overview of the Home Screen ............................................................................. 774
12.1.2 Basic Operations on the Guide Screens ................................................................ 776
12.1.2.1 Components of the guide screens .................................................................... 776
12.1.2.2 Basic operations on the guide screens ............................................................. 778
12.2 OPERATIONS RELATED TO SETUP ....................................................... 781
12.2.1 Initial Setup .......................................................................................................... 781
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TABLE OF CONTENTS B-83284EN/09
12.2.2 End of Arm Tool Setup ........................................................................................ 782
12.3 OPERATIONS RELATED TO TEACH ....................................................... 783
12.3.1 Create Program ..................................................................................................... 783
12.3.2 Select Program ..................................................................................................... 784
12.4 OPERATIONS RELATED TO RUN ........................................................... 785
12.4.1 Production Monitor .............................................................................................. 786
12.5 OPERATIONS RELATED TO UTILITY ..................................................... 787
12.5.1 Backup .................................................................................................................. 787
12.5.2 Jog Assist .............................................................................................................. 788
12.5.3 Tutorial ................................................................................................................. 789
12.5.3.1 Jog a Robot ...................................................................................................... 791
12.5.3.2 Program Edit .................................................................................................... 792
12.5.3.3 Program Execution .......................................................................................... 793
13 OPERATIONS WITHOUT A TEACH PENDANT ................................ 794
13.1 OVERVIEW ............................................................................................... 794
13.2 SETUP ....................................................................................................... 795
13.3 OPERATIONS ........................................................................................... 796
13.3.1 Connect to Controller ........................................................................................... 796
13.3.2 iRProgrammer ...................................................................................................... 798
13.3.2.1 Screen .............................................................................................................. 798
13.3.2.2 Program Editing ............................................................................................... 800
13.3.2.3 Jog operation .................................................................................................... 803
13.3.2.4 Program execution ........................................................................................... 804
13.3.2.5 Tree menu ........................................................................................................ 805
13.3.2.6 Limitations of iRProgrammer .......................................................................... 805
13.3.3 Jogging iPendant (JITP) ....................................................................................... 806
13.3.3.1 Connection ....................................................................................................... 806
13.3.3.2 Screens ............................................................................................................. 807
13.3.3.3 Jog operation .................................................................................................... 809
13.3.4 Navigate iPendant (JCGTP) ................................................................................. 810
13.3.4.1 Connection ....................................................................................................... 810
13.3.4.2 Screens ............................................................................................................. 811
13.3.3 Special Operation ................................................................................................. 811
13.3.5.1 Operation ......................................................................................................... 811
13.3.5.2 Select Start Mode ............................................................................................. 813
13.3.5.3 Configure Ethernet .......................................................................................... 813
13.3.5.4 Image Backup/Image Restore ..........................................................................
814
14 OPERATION WITHOUT MODE SWITCH ........................................... 816
14.1 OVERVIEW ............................................................................................... 816
14.2 SETUP ....................................................................................................... 816
14.3 TP MODE SELECT FUNCTION ................................................................ 818
14.3.1 Operation .............................................................................................................. 819
14.3.2 Setup ..................................................................................................................... 820
14.4 EXTERNAL MODE SELECT FUNCTION .................................................. 822
14.4.1 Setup ..................................................................................................................... 822
14.5 OPTIONAL MODE SWITCH ...................................................................... 823
14.5.1 Setup ..................................................................................................................... 823
15 OPERATIONS TABLET TEACH PENDANT ...................................... 824
15.1 OVERVIEW ............................................................................................... 824
15.2 SETUP ....................................................................................................... 824
15.2.1 TCP/IP setting ...................................................................................................... 824
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B-83284EN/09 TABLE OF CONTENTS
15.2.2 Tablet TP APP ...................................................................................................... 824
15.3 OPERATIONS ........................................................................................... 825
15.3.1 Connect to Controller ........................................................................................... 825
15.3.2 Emergency Stop ................................................................................................... 826
15.3.3 Enabling Device (Deadman switch) ..................................................................... 826
15.3.4 Screen ................................................................................................................... 827
15.3.4.1 Status bar ......................................................................................................... 827
15.3.4.2 Menu ................................................................................................................ 828
15.3.4.3 Key sheet ......................................................................................................... 831
15.3.5 Jog Operation and Program Execution ................................................................. 832
15.3.5.1 Jog operation .................................................................................................... 832
15.3.5.2 Program execution ........................................................................................... 833
15.3.6 Disconnect from Controller .................................................................................. 833
15.4 PLUGIN FUNCTION .................................................................................. 834
15.4.1 Overview of Plugin Function ............................................................................... 834
15.4.2 Install Screen of Plugin ........................................................................................ 835
15.4.3 Plugin List Screen ................................................................................................ 837
15.4.4 Limitations of Plugin Function ............................................................................. 839
15.5 LIMITATIONS ............................................................................................ 839
APPENDIX
A SCREEN/PROGRAM INSTRUCTIONS .............................................. 843
A.1 LIST OF MENUS ....................................................................................... 843
A.2 LIST OF PROGRAM INSTRUCTIONS ...................................................... 848
A.3 PROGRAM INSTRUCTIONS .................................................................... 853
A.3.1 Motion Instructions .............................................................................................. 853
A.3.2 Additional Motion Instructions ............................................................................ 853
A.3.3 Register and I/O Instructions ................................................................................ 855
A.3.4 String Register, String Instructions ...................................................................... 857
A.3.5 Mixed Logic Instructions ..................................................................................... 858
A.3.6 FOR/ENDFOR Instructions ................................................................................. 859
A.3.7 Conditional Branch Instructions ........................................................................... 859
A.3.8 Wait Instruction .................................................................................................... 860
A.3.9 Unconditional Branch Instructions ....................................................................... 861
A.3.10 Program Control Instructions ............................................................................... 861
A.3.11 Other Instructions ................................................................................................. 861
A.3.12 Skip and Offset Condition Instruction .................................................................. 862
A.3.13
Frame Setup Instruction ....................................................................................... 863
A.3.14 Macro Instruction ................................................................................................. 864
A.3.15 Multiaxis Control Instructions .............................................................................. 864
A.3.16 Position Register Look-ahead Execution Instruction ........................................... 864
A.3.17 Status Monitoring Instructions ............................................................................. 864
A.3.18 Motion Group Instructions ................................................................................... 865
A.3.19 Diagnose Instruction ............................................................................................. 865
A.3.20 Palletizing Instructions (Software Option:J500) .................................................. 866
B SPECIAL OPERATION ....................................................................... 867
B.1 START MODE ........................................................................................... 867
B.1.1 Start Up Methods .................................................................................................. 867
B.1.2 Initial Start ............................................................................................................ 868
B.1.3 Controlled Start .................................................................................................... 869
B.1.4 Cold Start .............................................................................................................. 871
B.1.5 Hot Start ............................................................................................................... 872
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TABLE OF CONTENTS B-83284EN/09
B.2 MASTERING ............................................................................................. 872
B.2.1 Fixture Position Mastering ................................................................................... 875
B.2.2 Mastering at the Zero-degree Positions ................................................................ 877
B.2.3 Quick Mastering ................................................................................................... 879
B.2.4 Quick Mastering For Single Axis ......................................................................... 882
B.2.5 Single Axis Mastering .......................................................................................... 885
B.2.6 Setting Mastering Data ......................................................................................... 889
B.3 SOFTWARE VERSION ............................................................................. 891
B.4 ROBOT AXIS STATUS .............................................................................. 893
B.5 DIAGNOSIS SCREEN ............................................................................... 898
B.5.1 Outline .................................................................................................................. 898
B.5.2 About Reducer Diagnosis ..................................................................................... 899
B.5.3 Procedure .............................................................................................................. 899
B.5.4 Each Item .............................................................................................................. 900
B.6 WORLD FRAME ORIGIN .......................................................................... 902
B.7 I/O MODULE SETTING ............................................................................. 902
B.8 FSSB LINE SETUP ................................................................................... 906
B.8.1 Definition of FSSB Line ....................................................................................... 906
B.8.2 Setting 1 (FSSB line) ............................................................................................ 907
B.8.3 Setting 2 (Number of total axes on FSSB line 1) ................................................. 907
B.8.4 Setting 3 (Hardware start axis) ............................................................................. 907
B.8.5 Setup Examples .................................................................................................... 908
B.8.5.1 Example 1 ........................................................................................................ 908
B.8.5.2 Example 2 ........................................................................................................ 909
B.8.5.3 Example 3 ........................................................................................................ 909
B.9 POSITIONER SETUP ................................................................................ 910
B.10 EXTENDED AXIS SETUP ......................................................................... 921
B.11 INDEPENDENT ADDITIONAL AXIS SETUP ............................................. 932
B.12 TP FIRMWARE .......................................................................................... 940
C SYSTEM VARIABLES ........................................................................ 941
C.1 FORMAT OF A SYSTEM VARIABLE TABLE ............................................ 941
C.2 SYSTEM VARIABLES ............................................................................... 943
D SAVING RESEARCH DATA ............................................................... 961
D.1 DIAGNOSTIC LOG .................................................................................... 963
D.2 MAINTENANCE DATA .............................................................................. 965
D.3 All BACKUP ............................................................................................... 966
D.4 IMAGE BACKUP ....................................................................................... 969
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B-83284EN/09 1. PREFACE
Chapter
Descriptions
PREFACE
OVERVIEW
and the system for Robot.
SYSTEM
PROGRAM STRUCTURE
PROGRAMMING
describes the procedures for turning the power on and moving the robot by jog feed.
EXECUTING A PROGRAM
automatic operation, and recovery from the alarm state.
STATUS DISPLAY
LEDs.
FILE INPUT/OUTPUT
UTILITY
and so on.
PALLETIZING FUNCTION
1 PREFACE
This chapter explains the manual plan at the usage of FANUC robot.
Contents of this chapter
1.1 ABOUT MANUAL
1.1 ABOUT MANUAL
About this manual
"FANUC Robot series OPERATOR’S MANUAL(Basic Operation) B-83284EN" describes how to operate the FANUC Robot. It is controlled by the FANUC R-30iB, R-30iB Mate, R-30iB Plus, R-30iB Mate Plus, R-30iB Compact Plus and R-30iB Mini Plus controllers (called the robot c ontroller hereinafter) containing the Application tool software. This manual describes the following items for manipulating workpieces with the robot:
Setting the robot system
Operating the robot
Creating and changing a program
Executing a program
Robot status indications
Backup and restore robot programs.
Using this manual
Each chapter of the manual describes a single operation of the robot. The user can select and read chapters describing required operations.
Chapter 1
Chapter 2
Chapter 3 SETTING UP THE ROBOT
Chapter 4
Chapter 5
Chapter 6
Chapter 7
Chapter 8
Chapter 9
Chapter 10
Describes how to use this manual. Gives a basic knowledge of the robot. It describes the basic configuration of the robot
Describes the procedure for setting the system for Robot i nc l uding i nput/output, coordinate system, and reference position.
Describes the program structure and the syntax of program inst ructions. Describes how to design, create, change, delete, and copy a program. It also
Describes how to execute and stop a program. It also describes the test operation,
Describes how to check the operating status of the robot, using the s tatus indicator
Describes how to store, read, and print a program file or system file. Describes additional utility functions, macro functions, program shift and mirror shift,
Describes the setting and executing of palletizing function.
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Page 18
1. PREFACE B-83284EN/09
Chapter
Descriptions
OF TEACH PENDANT
iHMI
TEACH PEANDANT
MODE SWITCH
Describes lists of the menus, screens, program instructions and detail of program, special operations, lists of the system variables, s aving research data.
Item to be checked
Section
Verification of your software version
B.3 SOFTWARE VERSION
Item to be checked
Section
Verification of memory status
7.12 MEMORY USE STATUS DISPLAY
Guide to teaching, introducing, and adjusting the robot at the work site, and application designing.
unit to the peripheral device and maintenance the robot.
Guide to teaching, introducing, and adjusting the robot at the work site, and application designing.
welding application
Guide to teaching, introducing, and adjusting the robot at the work site, and application designing.
Chapter 11 APPLICATION FUNCTION
Describes the setting and operation for the application function of the teach pendant.
Chapter 12
Chapter 13 OPERATIONS WITHOUT A
Chapter 14 OPERATION WITHOUT
APPENDIX
Describes the function of iHMI details and operation method
Describes operations for controller without a teach pendant.
Describes operations for controller without a mode switch.
Identification
For software version, read the followin g sections:
Specifications of products
For memory statuses, see the following sections:
Related manuals
The following FANUC Robot series manuals are available:
Robot controller
OPERATOR’S MANUAL (Basic Operation)
B-83284EN
(This manual)
Topics: Functions, operations and the procedure for operating the r obot. Programming procedure and interface. Use:
OPERATOR'S MANUAL (Alarm code list)
B-83284EN-1
Optional Function OPERATOR’S MANUAL
B-83284EN-2
Arc Welding Function OPERATOR’S MANUAL
B-83284EN-3
Topics: Error code listings, causes, and remedies. Use: Installing and activating the system, connecting the mechanic al
Topics: Description of the software optional functions. Use:
Topics: Description of the setting and operation for arc software. Use:
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Page 19
B-83284EN/09 1. PREFACE
Guide to teaching, introducing, and adjusting the robot at the work site, and application designing.
Guide to teaching, introducing, and adjusting the robot at the work site, and application designing.
Mini Plus)
Installing and activating the robot, connecting the mechanical unit
Guide to installation, activation, connection, and maintenance.
Robot controller Spot Welding Function
OPERATOR’S MANUAL
B-83284EN-4
Dispense Function OPERATOR’S MANUAL
B-83284EN-5
MAINTENANCE MANUAL
B-83195EN (for R-30iB,
R-30iB Plus),
B-83525EN (for R-30iB
Mate, R-30iB Mate Plus)
B-83555EN (for R-30iB
Mate Open Air )
B-84035EN (for R-30iB
Compact Plus)
B-84175EN (for R-30iB
Mechanical unit OPERATOR’S MANUAL Topics:
Topics: Description of the setting and operation for spot welding application software. Use:
Topics: Description of the setting and operation for dispense application software. Use:
Topics: Installing and activating the system, connecting the mechanic al unit to the peripheral device and maintenance the robot.
to the controller, maintaining the robot. Use:
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Page 20
2. OVERVIEW B-83284EN/09
2 OVERVIEW
This chapter shows the basic configuration of the FANUC Robot System and briefly describes the functions of each component.
Contents of this chapter
2.1 APPLICATION TOOL SOFTWARE
2.2 ROBOT
2.3 CONTROLLER
A FANUC robot system consists of the Application tool software, the mechanical unit of the robot itself (FANUC Robot series), and the Robot controller. The FANUC robot offers outstanding performance when handling or welding.
Tool software for application
The tool software for application is a software package for all kinds of Robot’s manipulations installed on the Robot controller. Any work can be performed by specifying menus and instructions from the teach pendant. The Application tool software contains instructions for controlling the robot, hands, remote controllers, and other peripheral devices. The I/O between an additional axis or controller and another peripheral device can be controlled. Other peripheral devices include cell controllers or sensors.
Robot
Robot has a hand or another end effector interface for control to do work. The FANUC robot is ideal for when handling or welding.
Controller
The Robot controller supplies power to drive the mechanical unit. The Application tool software is installed on the Robot controller to control the teach pendant, operator’s panel, and external peripheral devices. Peripheral devices, including re m ote contr oller s, a re r equir ed to configure a robot s yste m for manipulating workpieces.
The remote controllers are used to external control the Robot controller.
The hands, sensors, and other devices are operated using I/O and ser ial communication units.
Fig. 2 shows a typical robot system. The system con sists of a robot, the Robot controller, and peripheral devices.
Fig. 2 Assembly system for car doors
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B-83284EN/09 2. OVERVIEW
2.1 APPLICATION TOOL SOFTWARE
The Application tool software has been specially designed to perform manipulating workpieces operations. The Application tool software is contained in the Robot controller and enables the following:
Setting up the robot system
Creating a program
Performing the test operation of a program
Performing the automatic operation
Status display or monitoring
When optional functions are incorporated, the system can be expanded and the management functions can be enhanced.
2.1.1 System Setting
The Application tool software has an interface for various settings required to configure a robot system. (For setting up the Robot system, see Chapter 3.) With the Application tool software, the hands, the remote controller, and other external units can be controlled. Before the mani pulation is started, t he following must be s pecified: input from and output to the hand and other peripheral units, the coordinate system, communication, and automatic operation.
2.1.2 Jog Feed of the Robot
Jog feed of the robot is the operation of moving the robot as desire d by manually entering comma nds on the teach pendant. In order to teach a motion instruction in a program, the robot is moved to the target pos ition by jog feed, then the position is recorded. (For moving the Robot by jog feed, see Subsection 5.2.3.)
2.1.3 Program
A program contains motion instructions, I/O instructions, register instructions, and branch instructions. (For the program structure, see Chapter 4.) Each instruction is assigned a statement number. The target work is accomplished by sequentially executing the instructions. The teach pendant is used to create or correct a program. (For p r ogramming, see Chapter 5.) The program contains the following instructions. Fig.2.1.3 shows a basic program.
Motion instruction: Moves the robot to the target position within the operating range.
Additional motion instruction: Performs an additional (special) operation during a motion.
Register instruction: Places (loads) numerical data into a register.
Position register instruction: Places (loads) position data into a register.
I/O instruction: Sends or receives a signal to or from a peripheral unit.
Branch instruction: Changes the flow of a program.
Wait instruction: Holds execution of the program until the specified conditions are
satisfied.
Routine call instruction: Calls and executes a subprogram.
Macro instruction: Calls a specified program and executes it.
Palletizing instruction: Palletizes workpieces.
Program end instruction: Terminates execution of a program.
Comment instruction: Adds a comment to a program.
Other instructions
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2. OVERVIEW B-83284EN/09
SAMPLE1 1/9 1: J P[1] 100% FINE 2: HAND1CLOSE 3: J P[2] 70% CNT50 4: L P[3] 500mm/sec CNT10 5: HAND1OPEN
6: L P[4] 500mm/sec CNT10
7: HAND1CLOSE
8: END
[End]
>
POINT
TOUCHUP
Program name
Line number
Macro instruction
Motion instruction
End inst ruction
Program end symbol
Program Statement
Fig. 2.1.3 Robot program
2.1.4 Test Operation (Test Execution)
After the system is set and a program is created, perform the test op eration in the test execution mode to check the program for normal operation. (For the test operation, see Section 6.3.) The test execution of the pr ogram is one of the im porta nt ste ps in cre ating a good program . Be fore s tarting automatic operation, perform the test execution of the created program.
2.1.5 Automatic Operation (Operation Execution)
Automatic operation (operat ion exe cuti on) is the f inal s tep i n exe cuting pr ograms. In automatic operation, the following processing is executed:
Specified programs are started one after another. (For automatic operation, see Sections 3.8 and 6.6.)
During automatic operation, position data can be corrected (For online position modification, see
Section 6.7).
The processing is halted, then aborted or resumed. (For program halt and recovery, see Section 6.1.)
2.2 ROBOT
A robot is a mechanical unit consisting of axes and arms driven by servo motors. A place at which arms are connected is a joint, or an axis. J1, J2, and J3 are main axes. The basic configuration of the robot depends on whether each main axis functions as a linear axis or rotation axis. The wrist axes are used to move an end effecter (tool) mounted on the wrist flange. The wrist itself can be rotated about one wrist axis and the end effector rotated about the other wrist axis.
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B-83284EN/09 2. OVERVIEW
Fig. 2.2 (a) Main axes and wrist axes
Fig. 2.2 (b) Hand with fingers
Fig. 2.2 (c) Hand with suction cups and no fingers
2.3 CONTROLLER
Robot controller includes a power unit, user interface circuit, motion controlling circuit, memory circuit, and input/output (I/O) circuit. The user should use a teach pendant and operator's box to operate the controller. The operation control circuit controls the servo amplifier which moves all the robot axes, including any additional axes, via the main CPU printed circuit board. The memory circuit can store programs and data set by the user in the C-MOS RAM o n the main CPU printed circuit board. The I/O circuit interfaces the controller with the peripheral units by receiving and sending signals via the I/O modules (I/O print ed circuit boa rds). The remote I/O signal is used for communication with the rem ote controller.
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2. OVERVIEW B-83284EN/09
Robot controller
Operator panel
Three mode switch
Teach pendant
Teach pendant
(iPendant)
Operator panel
Breaker
Teach pendant hook (option)
USB port (option)
Fig. 2.3(a) Robot controller R-30iB
Fig. 2.3 (b) Robot controller R-30iB Mate
The circuitry of the controller depends on the robot and the system it controls. For details, refer to the “FANUC Robot series R-30iB/R-30iB Plus CONTROLLER MAINTENANCE MANUAL” (B-83195EN) or “FANUC Robot series R-30iB Mate/R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL” (B-83525EN) or "FANUC Robot series R-30iB Compact Plus CONTROLLER MAINTENANCE
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B-83284EN/09 2. OVERVIEW
NOTE
2 On R-30iB Plus controller iHMI was added. For detail of iHMI, refer to “12 iHMI”.
CAUTION
operation error.
Switch
Function
disabled, a jog feed, program generation, or test executi on c annot be carried out.
the robot stops immediately.
ROBOT" in "SAFETY PRECAUTIONS" for detail of stop type).
MANUAL” (B-84035EN)” or "FANUC Robot series R-30iB Mini Plus CONTROLLER MAINTENANCE MANUAL” (B-84175EN)”.
2.3.1 Teach Pendant
The teach pendant provides an interface between the Application tool software and the operator. The teach pendant is connected to the controller by a cable. The teach pendant is optional for some controllers.
The following operations can be performed using the teach pendant:
Jog feed of the robot
Program creation
Test execution of program
Change settings
Status check
The teach pendant includes the following:
640 x 480 pixel Liquid crystal display on R-30iB controller
1024 x 768 pixel Liquid crystal display on R-30iB Plus controller
2 LEDs
68 keys
1 Design of the screen was changed in R-30iB Plus controller. In this manual the
screen design is described at R-30iB controller.
The operator of the teach pendant should use gloves t hat would not caus e any
The following switches are also provided:
Table 2.3.1 (a) Switches on the t each pendant
Teach pendant enable switch This switch enables or disables the teach pendant. When the teach pendant is
Deadman switch 3 position DEATMAN SWITCH is enabled by pressing the switch to its midpoint.
When the teach pendant is enabled, this switch allows robot motion only while the deadman switch is gripped. If you release this switch or grip this switch strongly,
Emergency stop button When pressed, the emergency stop button immediately stops the robot regardless
of status of teach pendant enable switch (Please refer to "STOP TYPE OF
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2. OVERVIEW B-83284EN/09
Fig. 2.3.1(a) Switches on the teach pendant
Fig. 2.3.1(b) and Fig. 2.3.1(c) show the examples of the key layout of the teach pend ant.
Fig. 2.3.1(b) Teach pendant keys (handling tool)
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B-83284EN/09 2. OVERVIEW
Screen focus change
/
Screen split key
Diagnose / Help key
i key
Group key
These keys depend on an application. This is the key sheet for general(symbolic).
Key
Function
or
Fig. 2.3.1(c) Teach pendant keys (general(symbolic))
Keys on the teach pendant
The teach pendant has the following keys:
Keys related to menus
Keys related to jog feed
Keys related to execution
Keys related to editing
Other keys
As Fig. 2.3.1(b) and Fig. 2.3.1(c), different k ey layouts have some key s with different words or pictures. But the key at the same position on each layout has the same function.
Table 2.3.1 (b) Keys related to menus
The function (F) key to select a function menu at t he l as t line of the screen.
The next page key to switch the function key menu on the next page.
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2. OVERVIEW B-83284EN/09
Key
Function
or
or
or
or
or
or
2 screen.
or
or
or
or
or
the screen is displayed.
or
GROUP key pressed.
NOTE
axis or the independent axis has been set up.
The MENU key to display the screen menu.
The FCTN key to display the function menu.
The SELECT key to display the program selection screen.
The EDIT key to display the program edit screen.
The DATA key to display the data screen.
These keys are application specific. In Handling Tool, the TOOL1 and TOOL2 key to display tool 1and
This key is application specific. MOVE MENU key is not supported by Handling Tool.
This key is application specific. The SET UP key displays the setup screen.
The STATUS key displays the status screen.
The I/O key displays the I/O screen.
The POSN key displays the current position screen.
In case that the screen on the teach pendant is split, when this key is pressed, the operation target screen is changed. When this
or
or
key is pressed while [SHIFT] key is held down, the menu to split
When this key is pressed, the hint screen is displayed. When this key is pressed while the [SHIFT] key is held down, the alarm screen is displayed.
Pressing this key changes the current motion group and sub-group selection step by step like this: G1, G1S, G2, G2S, G3, ... G1. Pressing a numeric key, that is identical with the group number you wish to select, with a GROUP key selects the wished motion group directly. You can toggle subgroup of currently selected group by pressing a 0 key with holding
Each of the keys TOOL 1, TOOL 2, and MOVE MENU is an application-dedicated key on the teach pendant for handling tools. Application-dedicated keys differ depending on the application.
The group key is enabled only when Multi motion group software option (J601) or
Extended Axis Control software option (J518) has been ordered, and the extended
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B-83284EN/09 2. OVERVIEW
Key
Function
function.
“Setting of J7, J8 key” in “5.2.3 Moving the Robot by Jog Feed”.
coordinate system appears.
more.)
Key
Function
or
.
program halts.
.
program halts.
or
or
Key
Function
or
or
or
Table 2.3.1 (c) Keys related to jog feed
The SHIFT key is used to execute a jog feed of the robot, teach the position data and start a program by pressing the key with
or
or
another key. The right and left SHIFT keys have the sam e
The jog keys are effective while [SHIFT] key is held down. They are used for jog feed.
J7 key and J8 key are used for the jog feed of the extended axes in the same group. In case that the number of the robot axes is less than 6, the keys that is not used for the jog feed of the robot are used for the jog feed of the extended axes, too. Ex) In case that the number of the robot axes is 5, J6, J7 and J8 keys are used for the jog feed of the extended axes.
The function of J7 and J8 key can be changed. Please refer to
The COORD key selects a manual-feed coordinate system (jog type). Each time the COORD key is pressed, it selects the next jog type in the order: "JOINT", "JGFRM", "World frame", "TOOL", "USER" and “JOINT”. When this key is pressed while [SHIFT] key is held down, a jog menu for changing the
The override key adjusts the feed rate override. Each time the override key is pressed, it selects the next override in the order: "VFINE", "FINE", "1%, 5%, 50%, 100%". (changing amount 1% for 5% or less and changing amount 5% for 5% or
Table 2.3.1 (d) Keys related to execution
The FWD key (+ [SHIFT] key) starts a program in normal order When [SHIFT] key is released during the program execution, the
The BWD key (+ [SHIFT] key) starts a program in reverse order When [SHIFT] key is released during the program execution, the
or
The HOLD key causes a program to halt.
The STEP key selects step or continuous test operation.
Table 2.3.1 (e) Keys related to editing
The PREV key restores the most recent state. In some cases, the screen may not return to the immediately preceding status.
The ENTER key enters a numeral or selects a menu.
The BACK SPACE key deletes the character or numeral immediately before the cursor.
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2. OVERVIEW B-83284EN/09
Key
Function
or
Key
Function
i key can display Notifications screen on being pushed when
LED
Description
POWER
The POWER LED indicates that the power of the controller is ON.
FAULT
The FAULT LED indicates that an alarm has occurred.
The cursor key moves the cursor. The cursor is the highlighted part which can move on the teach pendant screen. This part becomes the object of oper ation ( input or change of the value or contents) from the t eac h pendant key.
The ITEM key moves the cursor to a line whose number is specified.
Table 2.3.1 (f) Other keys
blinking icon (Notification Icon) is displayed on status bar. Or it is used with the following keys. By pressing the following keys while the i key is held down, the operation by these keys is enhanced. For example, graphical screen is displayed.
MENU key
FCTN key
EDIT key
DATA key
POSN key
JOG key
DISP key
LEDs on the teach pendant
The teach pendant has the following two LEDs.
Fig. 2.3.1(d) LEDs on the teach pendant
Table 2.3.1 (g) LEDs on the teach pendant
Touch panel
The teach pendant provides a touch panel as an option. T he scr eens on w hich oper ations ca n be perform ed using the touch panel are as follows. Note that not all operations can be performed using the touch panel.
Operation Panel screen / BROWSER screen (Web browser screen) / Status sub-window screen
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B-83284EN/09 2. OVERVIEW
NOTE
Software keyboard
Screen switching (When multiple screens are displayed, moving to the desired screen is accomplished
by touching the screen.), cursor movement
Software button from F1 to F5 in the lower part of the screen
A beep occurs at the time of the use of the touch panel. To disable the beep, chang e the value of system variable $UI_CONFIG.$TOUCH_BEEP from TRUE to FALSE, and make restart (power off/on). This system variable can be used by system software 7 DC 2 (V8.20) series, version 01.or later.
If you press 2 or more places on touch panel, touch panel may r ec ognize wr ong
place, which is different from touched place. Please touch only one place on touch panel.
When touch panel is broken, the panel can recognize wrong place that are
different from place operator touched. Don’t use touch panel to set operations that can affect safety of system.
Use touch panel by finger or dedicated pen for touch panel operation. If you us e
sharp object like usual pens, touch panel may get broken.
When following dialog box is displayed on the teach pendant, touch panel may be
broken. Turn down robot controller and exchange the teach pendants.
Status window
The window at the top of the teach pendant screen is called t he status window. In this window, eight software LEDs, alarm indication, and override value are displayed. Each software LED is "on" when displayed together with an icon or "off" when displayed with no icon.
Fig. 2.3.1(e) Status window on the teach pendant
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2. OVERVIEW B-83284EN/09
( Upper: On, Lower: Off )
[CHOICE]
POSITION
FBD SAMPLE1 Line 1 T1 PAUSED JOINT
30%
SAMPLE1 1/6 1: J P[1] 100% FINE 2: J P[2] 70% CNT50 3: L P[3] 1000cm/min CNT50 4: L P[4] 500cm/min FINE 5: J P[1] 100% FINE [End]
Enter value or press ENTER
Coordinate system for jogging
Indicate current jog type.
Line number
Program end symbol
Current line number
Indicate the number of the line in the program being executed.
TP forward/backward disa b l e
FBD is displayed when the teach pendant is enable and is set so that start from teach pendant is prohibited.
Execution status
Indicates ABORTED, PAUSED, or RUNNING.
Feedrate override
The override key specifies the percentage of the maximum feedrate.
Current line and total number of lines
Indicates the number of the line in the program being executed or edited and the total number of lines in the current program.
Function key menu
Indicates the function key labels. The menu depends on the selected screen and the position of the cursor. Labels including [] shows that the selection menu is displayed when this label is selected.
Program which is being executed
Prompting message
Prompts the operator to enter data. The message depends on the selected screen and the position of the cursor.
Program which is being edited
Table 2.3.1(h) Description of software LEDs
LEDs
Description
Busy
Step
Hold
Fault
Run
I/O
Prod
TCyc
Indicates that the robot is working.
Indicates that the robot is in the step operation mode.
Indicates that the HOLD button is being held or the HOLD si gnal i s i nput.
Indicates that an alarm occurs.
Indicates that a program is being executed.
Application-specific LED. This is a sample LED for a handling tool.
Application-specific LED. This is a sample LED for a handling tool.
Application-specific LED. This is a sample LED for a handling tool.
Display screen of the teach pendant
The liquid crystal display screen (liquid crystal display) displays the Application tool software screen shown in Fig. 2.3.1(f). To operate the robot, select a screen corresponding to a desired function. The screen is selected by the screen menus shown in Fig. 2.3.1(g).
Fig. 2.3.1(f) Program edit screen
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B-83284EN/09 2. OVERVIEW
MENU 1
0 --NEXT --
MENU 2
0 -- NEXT --
Page 1
Page2
Item
Description
UTILITIES
The utility screen is used to operate various functions .
TEST CYCLE
The test cycle screen is used to specify the data for test operation.
MANUAL FCTNS
Macro instructions are executed manually.
ALARM
Alarms currently posted, alarm history and details of them are displayed.
simulated input/output, assign of signals and input of comment.
SETUP
The setting screen is used to set the system.
and register.
USER
The user screen shows user messages when message instruction is executed.
delete programs.
EDIT
The program edit screen is used to correct and execute a pr ogram.
and pallet register.
STATUS
The status screen shows the system status.
4D GRAPHICS
This screen shows the 3D display of the robot and the current position data of the robot.
SYSTEM
The system screen is used to set system variables and master i ng.
USER2
This screen displays messages output from KAREL programs.
BROWSER
This screen is used to browse Web pages on the network.
Menus
Menus are used to operate the teach pendant. The screen menu is displayed by [MENU] key and the function menu is displayed by [FCTN] key. And the top menu is displayed by the i key and [MENU] key. Fig. 2.3.1(g), Fig. 2.3.1(h), and Fig. 2.3.1(i) show the screen menu, the top menu, and the function menu respectively. And Fig. 2.3.1(j) shows the quick menu.
- Screen menu
The screen menu is used to select a screen. The screen menu lists the following options. (For the list
of menus, see Appendix A.1.) To display the screen menu, press the [MENU] key on the teach pendant.
1 UTILITIES 2 TEST CYCLE 3 MANUAL FCTNS 4 ALARM 5 I/O 6 SETUP 7 FILE 8 9 USER
Fig. 2.3.1(g) Screen menu
1 SELECT 2 EDIT 3 DATA 4 STATUS 5 4D GRAPHICS 6 SYSTEM 7 USER2 8 BROWSER 9
Table 2.3.1(i) Screen menu items
I/O The I/O screen is used to display status of various I/O and to display and set manual output,
FILE The file screen is used to read or store files. For example, files of program, system variable,
SELECT The program selection screen is used to list the programs. You can also create, copy and
DATA The program data screen shows the values in registers, position registers, string register,
- Top menu
The top menu is used to select a screen. To display the top menu, press and hold the i key, then press
By touching the icon on the touch panel (option), or entering the numbe r at the upper left of the icon by
the [MENU] key on the teach pendant.
the numeric key on the teach pendant, the screen corresponding to the selecte d icon is displayed. Up to 9 icons can be allocated in a top menu.
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2. OVERVIEW B-83284EN/09
FUNCTION 1
0 -- NEXT --
FUNCTION 2
0 -- NEXT --
FUNCTION 3
0 -- NEXT --
Item
Description
ABORT (ALL)
ABORT forces a program which is being executed or temporarily halted to terminate.
pendant
groups are set.
extended axes. This item is displayed only when extended axis is setup.
wrist joint feed which does not maintain the wrist attitude in linear feed.
the wait instruction.
Up to 10 top menus can be defined. Each top menu can be switched by the function keys. The top
menu for production, teaching, se tting, and ini tial se tup has bee n defined beforehand. (Refer to 11.4.5 Top menu setup.)
To disable a top menu, change the value of system variable $UI_CONF IG.$ENB_TOPMENU from
TRUE to FALSE. This system variable can be used by system software 7DC2 (V8.20) series, version
01.or later.
Fig. 2.3.1(h) Top menu
- Function menu
The function menu is us ed to e xec ute a m is cel lane ous func tion. (For the lis t of m e nus, s ee Appendi x A.1.) To display the function menu, press the [FCTN] key on the teach pendant.
1 ABORT (ALL) 2 Disable FWD/BWD 3 CAHNGE GROUP 4 TOGGLE SUB GROUP 5 TOGGLE WRIST JOG 6 7 RELEASE WAIT 8 9
Page 1
Disable FWD/BWD Disable FWD/BWD enables or disables starting a program with a teach
1 QUICK/FULL MENUS 2 SAVE 3 PRINT SCREEN 4 PRINT 5 6 UNSIM ALL I/O 7 8 CYCLE POWER 9 ENABLE HMI MENUS
1 REFRESH PANE 2 3 4 5 6 7 Diagnostic log 8 Del Diag Log 9
Page 2
Fig. 2.3.1(i) Function menu
Table 2.3.1 (j) Function menu
Page 3
CHANGE GROUP Changes the operation group for jog feed. Displayed only when multiple
TOGGLE SUB GROUP TOGGLE SUB GROUP toggles jog between robot standard axes and
TOGGLE WRIST JOG TOGGLE WRIST JOG toggl es jog between the attitude control feed and the
RELEASE WAIT Skips the wait instruction currently being executed. When the wait state is
released, execution of the program stops temporarily at the line subsequent to
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B-83284EN/09 2. OVERVIEW
Item
Description
quick menu.
device.
PRINT SCREEN
PRINT SCREEN saves display data of the current screen to s torage.
PRINT
PRINT prints program and system variables.
UNSIM ALL I/O
Cancels the simulated settings of all I/O signals .
R-30iB Mate, R-30iB Mate Plus, R-30iB Compact Plus or R-30iB Mini Plus)
pressed.
REFRESH PANE
This item refreshes the pane in the active window.
operation should do before controller power off.
Del Diag Log
This item deletes the recorded diagnostic data.
QUICK/FULL MENUS QUICK/FULL MENUS toggles the menu between a usual screen menu and a
SAVE SAVE saves the data related to the current screen on ext er nal memory
CYCLE POWER Makes a restart (power OFF/ON). (This item is not displayed if the controller is
ENABLE HMI MENUS Used to select whether to display the HMI menu when the MENU key is
Diagnostic log This item saves the log data when problem occur on controller. This save
Restart
It is now possible to make a restart (power off/on) from [FCTN] key (R-30iB Mate, R-30iB Mate Plus, R-30iB Compact Plus and R-30iB Mini Plus do not support restart by function menu).
- Condition
The teach pendant is enabled.
- Step
1 Press the [FCTN] key. 2 Select "CYCLE POWER". 3 The screen below appears.
This will cycle power. Are you sure
[ NO ] YES
4 Select "YES" and press the [ENTER] key.
- Quick menu
When a quick menu is selected in "QUICK/FULL MENUS of FUNCTIONS", the screen that can be displayed by using the screen menu is limited. The screens that can be displayed depend on the application tool software. The screens that can be displayed in handling tool are as follows.
ALARM / Alarm occurrence, Alarm history screen
UTILITIES / Hint screen
TEST CYCLE screen
DATA / Register, Position Register screen
MANUAL FCTNS screen
I/O/ Digital I/O, Group I/O, Robot I/O screen
STATUS/ Program, Axis, Version ID, Exec-hist, Memory screen
Tool 1, Tool 2 screen
USER, USER2 screen
SETUP / Frames, Password screen
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2. OVERVIEW B-83284EN/09
QUICK 1
0 -- NEXT --
QUICK 2
0 -- NEXT --
Page 1
Page 2
NOTE
functions are changing position and speed values.
DISPLAY 1
0 -- NEXT --
DISPLAY 2
0 -- NEXXT --
Page 1
Page 2
Item
Description
Single
Displays only one data item on the screen. The screen is not split.
Double
Splits the screen into right and left screens.
Triple
Splits the right screen into top and down screens and displays a total of three screens .
screen and the status sub-window with icons is displayed on the left screen.
Signal Wide
Up to 76 characters in a line and up to 20 lines can be displayed.
Double Horizontal
Splits the screen into top and down screens.
Triple Horizontal
Splits the top screen into right and left screens and dis plays a total of three screens.
EDIT<-->EDIT
When multiple edit screens are displayed, the program to edit is switched.
Menu History
The last displayed 8 menus are listed. The selected menu in the l ist can be displayed.
User Views
The list of the registered user view is displayed. The user view can be changed by selecting the registered user view from the list.
4D GRAPHICS/ 4D Display, Position Display screen
BROWSER/ Browser, Panel setup screen
1 ALARM 2 UTILITY 3 TEST CYCLE 4 DATA 5 MANUAL FCTNS 6 I/O 7 STATUS 8 9 USER
1 Tool1 2 Tool2 3 SETUP 4 5 4D GRAPHICS 6 7 USER2 8 BROWSER 9
Fig. 2.3.1(j) Quick menu
1 The program selection screen can be displayed by the SELECT key. But the only
available function is selecting a program.
2 The program edit screen can be displayed by the EDIT key. But the only available
Splitting screen
Pressing key together with [SHIFT] key di splays the following screen menu:
Status/Single Splits the screen into right and left screens. The right screen is slightly larger than the left
1 Single 2 Double 3 Triple 4 Status/Single 5 Single Wide 6 Double Horizontal 7 Triple Horizontal 8 Help/Diagnostics 9 EDIT<-->EDIT
1 Menu History 2 User Views 3 Menu Favorites 4 Related Views 5 Maximize/Restore 6 Zoom 7 8 9
Fig. 2.3.1(k) Screen split menu
Table 2.3.1 (k) Description of t he screen split menu
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B-83284EN/09 2. OVERVIEW
Item
Description
registered menu from the list.
displayed in the sub menu, the selected screen can be displayed.
original screen mode.
Zoom
The character in the selected screen can be enlarged, and return to the original size.
Menu Favorites The list of the registered menu is displayed. The menu c an be displayed by selecting the
Related Views In case that the screen related to the current screen is registered, the relat ed screen is
Maximize/Restore When the screen is split, the current screen is changed to full screen mode and return to the
Restrictions
Two or three program edit screens can be displayed in the split windows at a time. But only the program opened in the left window is executable. To execute the program opened in the
left window from the teach pendant, please select the left window as the current active window.
Some screen, for example online touchup screen, can not be displayed at a same time in different windows.
Fig. 2.3.1(l) Example of displaying double screens
Fig. 2.3.1(m) Example of displaying tri ple screens
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2. OVERVIEW B-83284EN/09
NOTE
memory in the memory status display screen.
Fig. 2.3.1(n) Example of displaying t he status/single screen
When the amount of free memory in the DRAM memory is not enough, the screen
may not be split and the alarm "TPIF-142 Menu limit exceeded" occurs. When the alarm "TPIF-142 Menu limit exceeded" occurs, please check the rest of temporary
Changing the operation target screen
Pressing the key changes the operation target screen in turn. The title line of the screen which can be operated is displayed in blue and the frame of the screen is displayed in red.
ICON menu
During the pop-up menu invoked by pressing the [MENU], [DISP] or [FCTN] key is displayed on a screen, ICON menu is also displayed at the bottom of a screen for operation short cut . Favorite screen selectio n and user desired window configuration operation can be done quickly to select an ICON in the menu.
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B-83284EN/09 2. OVERVIEW
MENU key
FCTN key
DISP key
ICON menu
Exit ICON
Next Page
ICON
Press a MENU key …
(A)
To setting general screen
To select screen
To data register screen
To I/O digital screen
To
current
position screen
Fig. 2.3.1(o) ICON menu
If your teach pendant has a touch p anel optional hardware, you can select an ICON by just only screen
touching. If your teach pendant does not have a touch panel, you can select an ICON by pres sing a function key, [PREV], or [NEXT] key located under an ICON.
The ICON at the ri ght corner of the menu i s the next page ICON t o change the menu ite ms to next page. The ICON at the left corner of the ICON menu is the exit ICON to escape from the ICON menu.
ICON menu for favorite screen
When a MENU key is pressed, ICON menu for favorite screens will be displayed. By select an ICON of the menu, a favorite screen associated with the ICON will appear .
Fig. 2.3.1(p) ICON menu for favorite screen
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2. OVERVIEW B-83284EN/09
Keep to press a key for 4 seconds.
Short cut icon is registered.
Default setting of ICON menu in SPOT TOOL+
Default setting of ICON menu in ARC TOOL
At initial setting condition, no screen is registered into an ICON menu. To register a short cut to invoke a favorite screen, display your favorit e screen and keep to press an ICON of the menu for about 4 seconds. Then the ICON for your favorite screen is registered into the pressed lo cation in the menu. If your teach pendant does not have the touch panel optional hardware, please keep pressing a function key, PREV or [NEXT] key for 4 seconds. Up to 10 screens can be registered to your ICON menu.
Fig. 2.3.1(q) Registration to ICON menu
In Arc Tool and Spot Tool+, some application related screens, that are used very often, have been registered
into an ICON menu at FANUC shipping as the default setting.
Fig. 2.3.1(r) Default setting of ICON menu corresponding application tool
(B) ICON menu for User Views
When [DISP] key and [SHIFT] key are pressed together, an ICON menu for User Views will be displayed.
User Views means the user definable screen configuration and the window split mode and the selected screen in each window can be registered as a short cut ICON in the menu. When a short cut ICON is pressed, window is split and some screens are displayed in the windows according to the screen configuration
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B-83284EN/09 2. OVERVIEW
Single general
Double Left: Register Right: Position
Triple Left: Edit RUpper: Select RLower: Position
Status/Single Left: Status Right: Digital
Maximize/ Restore
NOTE
location.
NOTE
software.
automatically. Current window config uration is registered by pressing an ICON for about 4 seconds. If your teach pendant does not have a touch panel, use a function key, [PREV] or [NEXT] key. Up to 10 window configurations can be registered.
Fig. 2.3.1(s) User view ICON menu
A special ICON is registered as the default setting for window maximization operation at the far right of an ICON menu. When this icon is pressed, current selected window is maximized and displayed in full screen mode. And the ICON is pressed aga in, the maxim ized window is r eturned to previous siz e. If you don't need this maximization operation, you can overwrite this icon for another purpose.
If you overwrite the maximization icon but want to recover it, please erase the fifth
item of the ICON menu in iPendant setup screen. Then the maximization icon will be recovered at the far right of your ICON menu. The maximization icon is always registered as the far right item and it can not be registered in other menu item
(C) ICON menu for sub-function
When [FCTN] key is pressed, the ICON menu for sub-function will be displayed. Contents of menu depend
on applications. In SPOT TOOL+, short cut icons are registered for some functions, which are used very often for SPOT application.
Fig. 2.3.1(t) ICON menu of FCTN menu of SPOT TOOL+
All short cut items in ICON menu for FCTN menu are decided statically and can
not be customized. It is different from that of menu fav or it e and us er menu.
ICON menu for sub-function is available depending on the application tool
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2. OVERVIEW B-83284EN/09
(D) ICON menu for jog coordinate system
When [COORD] key is pressed while [SHIFT] key is held dow n, an ICON menu for jog coordinat e system will be displayed at the bottom of screen. By selecting an ICON, the jog coordinate system can be changed quickly.
Fig. 2.3.1(u) ICON menu to change the jog coordinate system
ICON menu for jog coordinate system have been registered beforehand, and cannot be changed. ICON menu for jog coordinate system is enabled by default setting, but can be disabled in the iPendant setup screen. Select iPendant Setup in the menu displayed by MENU key to display the iPendant setup screen, then press Menu Favorites Setup button in the iPendant setup screen. The following screen will be displayed.
Fig. 2.3.1(v) iPendant setup screen (menu favorite setup)
ICON menu for jog coordinate system c an be enabled or disabled by checking the item "COORD Favorites Enable".
Software keyboard
You can use the software keyboard to i nput a character string. We would like to explain usage of software keyboard by showing how to display software keyboard to input comment of register.
Move cursor to the register that you wa nt to input com ment and press the [ENTER] key. The m enu to input character is displayed around F5 key. Set the cursor to the item Options in the menu. Then display of F5 key is changed to KEYBOARD. Press the key.
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B-83284EN/09 2. OVERVIEW
NOTE
cursor is displayed in the text box, and then start up the software keyboard.
Fig. 2.3.1(w) Register screen
The software keyboard is display ed as follows.
When entering into the text box using the software keyboard, m ak e sure that the
Fig. 2.3.1(x) software keyboard
In order to input character, m ove the c ur s or to t he c ha r a c t e r t ha t you want to input by the arrow key on the teach pendant, then press the [ENTER] key on the teach pendant. If the teach pendant has a touch panel optional hardware, you can input the character by touching the character on the touch panel.
In order to change the input mode, se lect ”abc” or “123” on the software keyboard. Whe n “abc” is selected, the input mode becomes the a lpha betic cha ra cte r input m ode . And, when “123” is selected, the input mode becomes the numeric character and symbol input mode. When [Shift] key on the software key board is pressed, the character on the software keyboard is changed as follows.
You can input space by pressing the F4 SPACE.
After you finish the input, select the “Exit” button or press F5 EXIT to exit the software keyboard. If you want to cancel the input characters and return to the previous screen, select the “Cancel” button.
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2. OVERVIEW B-83284EN/09
In some input fields, software keyboard is displayed by moving cursor to the field or pressing the [Enter] key. If only function key display is changed, press F1 KEYBOARD to display software keyboard. You can change how to display keyboard by F2 AUTO and F3 MANUAL. In auto mode, software keyboard is displayed only by moving cursor to input field. In manual mode, you have to press the [Enter] key to display software keyboard.
Fig. 2.3.1(y) switching of auto/manual
Backlight automatic blanking
The teach pendant can turn off the backlight automatically for energy saving when any key is not pressed for a definite period of time.
The setting of the automatic blanking function can be changed by the following sy stem variable. Restart (power off/on) is necessary to enable a change of the setting. $UI_CONFIG.$BLNK_ENABLE If TRUE, an automatic blanking function is valid. If FALSE, the function is invalid. $UI_CONFIG.$BLNK_TIMER
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B-83284EN/09 2. OVERVIEW
NOTE
a controller cycle power.
CAUTION
operator panel.
Switch
Function
clockwise to release it.
Alarm release button
Release the alarm state.
Start button
Starts the currently selected program. Lit while the program is being started.
status of its use.
When any key is not pressed in this time, turn off the backlight automatically. Unit is minute. $UI_CONFIG.$BLNK_ALARM If TRUE, turn off the backlight automatically regardless of an alarm. If FALSE, when an alarm occurs, disable the automatic blanking function This system variable ($UI_CONFIG.$BLNK_ALARM) can be used by system software 7DC2 (V8.20) series, version 01.or later.
When the teach pendant enable switch is turned to the enable position, the
automatic blanking is not performed.
During blanking, if any key is pressed, the displaying of the teach pendant will be
recovered soon. FANUC recommends to press the [SHIFT] key if you want to recover the display.
During blanking, any display is not visible on the screen. Don't judge the status of
power cycle of your controller by whether display is visible or not on the screen. The teach pendant has a green LED indicator on a key sheet to show the status of
NetFront Browser
NetFront by ACCESS CO., LTD. is mounted in this product.
ACCESS, ACCESS logo and NetFront are trademarks or registered trademarks of ACCESS CO., LTD. in Japan, United States of America or other countries and regions. © 2018 ACCESS CO., LTD. All rights reserved. Part of the software of this product includes modules developed by Independent JPEG Group.
2.3.2 Operator Panel
The operator panel has buttons, switches, and connectors. Fig. 2.3.2 shows the operator panel on the cabinet. The buttons on the operator panel/box can be used to start a program, release the alarm state, and perform other operations.
Do not wear gloves which would likely cause operator errors when using the
The operator panel also has an RS-232-C communication port and a USB communication port. Table 2.3.2 (a) lists the switch es on the operator’s panel. Table 2.3.2 (b) lists the LEDs on the op erator panel. The standard operator panel of the robot controller does not have the power ON/OFF button. Execute the power on or off with the breaker of the controller.
Table 2.3.2 (a) Switches on the operator panel
Emergency stop button
Three mode switch Enables the user to select operation mode suitable to the robot operation conditions or the
Press this button to stop the robot immediately (Please refer to "STOP TYPE OF ROBOT" in "SAFETY PRECAUTIONS" for detail of stop type). Turn the emergency stop button
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2. OVERVIEW B-83284EN/09
LED
Description
Alarm
Indicates the alarm state. Press the alarm r el eas e button to release the alarm state.
Power
Indicates that the power of the controller is ON.
Alarm Release
Start
Alarm
Emergency Stop
Power
Mode Switch Three mode switch.
Emergency Stop
Start switch (Green)
Mode Switch (Three mode switch)
Table 2.3.2 (b) LEDs on the operator panel
Fig. 2.3.2 (a) R-30iB Operator panel (standard)
Fig. 2.3.2 (b) R-30iB Mate Operator panel
2.3.3 Remote Controller
Remote controllers are external devices connected to the Robot controller to configure a sy stem. These are controllers for controlling the operation of the system created by the user using peripheral devices and I/O provided by the robot controller.
2.3.4 CRT/KB
The CRT/KB is an optional operation unit. An external CRT/KB is connected to the controller via an RS-232-C cable. The CRT/KB can be used to execute almost all teach pendant functions excluding those related to robot operation. Functions related to robot operation can only be executed using the teach pendant.
2.3.5 Communication
For communications, the following int erfaces a re provided (setting a communic ation port Section 8.2) .
Port 1 RS-232-C
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B-83284EN/09 2. OVERVIEW
Port 2 RS-232-C (Port 2 is not available on R-30iB Mate, R-30iB Mate Plus, R-30iB Compact Plus and R-30iB Mini Plus controllers.)
2.3.6 Input/Output
General-purpose and specialized input/output (I/O) signals are used to send the data of an external unit to the application tool software. The general-purpose signal (user-defined signal) is controlled by a program and is used to send or receive data to or from the external units or hand. The specialized signal (system-defined signal) is applied to a specific use.
The input/output signals include the following:
Peripheral I/O (See Section 3.3.)
Operator’s panel I/O (See Section 3.4.)
Robot I/O (See Section 3.2.)
Digital I/O (See Subsection 3.1.1.)
Group I/O (See Subsection 3.1.2.)
Analog I/O (See Subsection 3.1.3.)
The number of the I/O signals and their types depend on the hardware of the controller and the number of selected I/O modules and their types. I/O unit model A, I/O unit model B, and Process I/O PC board can be connected to the controller.
2.3.7 Peripheral I/O
Peripheral I/O is a signal specialized for sending and receiving data to or from the remote controller or peripheral equipment. (See Section 3.3, ”PERIPHERAL I/O”). Peripheral I/O signals perform the following:
Select a program
Start and stop a program
Recover the system from the alarm state
Others
2.3.8 Motion of the Robot
A single motion instruction specifies a motion of the robot, or a movement of the tool center point (TCP) from the current position to the target position. The Robot uses a motion control system that comprehensively controls the tool path, acceleration/deceleration, positioning, feed rate, and other factors. The Robot controller can control multiple axes, divided into multiple operation groups (multiple motion function). The operation groups are independent of one another, but can be synchronized to operate the robot simultaneously. The robot moves accor ding to a jog f eed spe cifie d on the te ach pe ndant or a m otion i nstruc tion spec ified i n a program. To execute a jog feed of the robot, us e the corre sponding key on the teach pe ndant. In j og feed, t he m otion of the robot depends on the selected m anual-feed coordinate system (jog type) and feed rate override. When a motion instruction is used, the motion of the robot depends on the position data, motion format, positioning path, traveling speed, and feed rate override specified in the instruction. One of four motion formats -- "Linear", "Circular", "Circle Arc" and "Joint" -- can be selected to operate the robot. When "Joint" is selec ted, the tool is moved arbitrarily between two specified points. When "Linear" is selected, the tool is moved along a straight line b etween the two specified points. Wh en "Circular" or "Circle Arc" is selected, the tool is moved along an arc connecting three specified points. A positioning path can be selected from two options, "Fine" and "Cnt".
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2. OVERVIEW B-83284EN/09
Linear axis
R_rot: Number of motor rotation required for one axis rotation
2.3.9 Emergency Stop Devices
This robot has following emergency stop devices.
Two emergency stop buttons
( installed on the operator’s panel and the teach pendant )
External emergency stop ( input signal )
When an emergency stop button is pushed or the external emergency stop is input, the robot stops immediately in any cases (Please refer to "STOP TYPE OF ROBOT" in "SAFETY PRECAUTIONS" for detail of stop type). The signal terminal of the external emergency stop is on the inside of the controller.
2.3.10 Extended Axis
A maximum of three axes of one group can be added to the standard axes (usually six axes) of the robot. The extended axis has the following two types:
Auxiliary axes
This can move only at the joint motion.
Integrated axes
Controlled together with the robot during l ine a r or c ir c ul a r or c i rcle arc robot motion. Use these axes
to perform linear or circular or circle arc robot motion.
Restrictions
Limitation of the number of axes
The maximum num ber of axe s in a group of independent a xes or pos itioner is 4. You can a dd extended axes to this group, but the maximum number of total axes in this group including extended axes is also 4. You cannot add 5th and subsequent axes. The maximum number of m otors in a group is 9. If you use a robot w hich has 7 or m ore m otors i n itsel f, the maximum number of motors you can add in the same group would be less than 3.
Limitation of motion range
The upper and lower limits of the motor (Pulsecoder) ar e ± 4085 rotations from the zero position. The motion range of the extended axis cannot e xceed the upper and low er limits of t he motor (Pulsecoder) rotations. The upper and lower limits of the motion range of the extended axis are determined as follows, using the reduction ratio of the mechanical parts driven by the motor.
Absolute value of upper and lower limits of motion range [mm] = 4085 x R_lin R_lin: Axis movement [mm] per one motor rotation
Rotation axis
Absolute value of upper and lower limits of motion range [deg] = 4085 / R_rot x 360
Example 1: Linear axis, R_lin = 10 The motion range of the extended axis can be set only between -40850 [mm] and 40850 [mm]. Example 2: Case of rotation axis, R_rot = 100 The motion range of the extended axis can be set only between -14706 [deg] and 14706 [mm].
There is no such a limitati on when using the Cont inuous Rotation func tion for a rota tion axis. This axis can rotate in one direction infinitely. For the Conti nuous Rot ation f uncti on, re fer t o the c hapte r of " Continuous Rotation function" in the FANUC Robot series Optional Function OPERATOR’S MANUAL (B-83284EN-2).
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
3 SETTING UP THE ROBOT SYSTEM
The Robot system can be used after required data is specified . This chapter describ es the data that can be specified.
Contents of this chapter
3.1 I/O
3.2 ROBOT I/O
3.3 PERIPHERAL I/O
3.4 OPERATOR’S PANEL I/O
3.5 I/O LINK SCREEN
3.6 I/O CONNECTION FUNCTION
3.7 SIMULATED INPUT SKIP FUNCTION
3.8 SETTING AUTOMATIC OPERATION
3.9 SETTING COORDINATE SYSTEMS
3.10 SETTING A REFERENCE POSITION
3.11 JOINT OPERATING AREA
3.12 USER ALARM
3.13 VARIABLE AXIS ARE AS
3.14 INTERFERENCE PREVENTION AREA FUNCTION
3.15 SYSTEM CONFIG MENU
3.16 SETTING THE GENERAL ITEMS
3.17 PAYLOAD SETT I NG
3.18 CLOCK
3.19 OTHER SETTINGS
3.1 I/O
Input/output signals (I/O) are electr ic signal s that allow the controller to communicate with the robot, end effector, external equipm ent, and other periphera l equipment of the system . The signals are di vided into two groups: general-purpose I/O and specialized I/O.
For the safety signals like external emergency sto p signal and safety fence signal, refer to the “FANUC Robot series R-30iB/R-30iB Plus CONTROLLER MAINTENANCE MANUAL” (B-83195EN) or the “FANUC Robot series R-30iB Mate/R-30iB Mate Plus CONTROLL ER MAINTENANCE MANUAL” (B-83525EN).or the “FANUC Robot series R-30iB Mate Open Air MAINTENANCE MANUAL” (B-83555EN).
General-purpose I/O
The user can define the general-purpose I/O as required. This group includes the following signals:
Digital I/O: DI[i]/DO[i]
Group I/O: GI[i]/GO[i]
Analog I/O: AI[i]/AO[i]
[i] represents the logic number of each I/O signal and group signal.
Specialized I/O
The use of the specialized I/O has already been defined. This group includes the following signals:
Peripheral (UOP) I/O: UI[i]/UO[i]
Operator’s panel (SOP) I/O: SI[i]/SO[i]
Robot I/O: RI[i]/RO[i]
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
[i] represents the logic number of each I/O signal and group signal.
Configuring I/O
Signals for general-purpose I/O (DI/O, GI/O, etc.) and specialized I/O (UI/O, RI/O, etc.) are called logical signals. In the robot controller, logical signals are subjected to signal processing.
On the other hand, signals of actual I/O d evices are called physical signals. Physical signals specify a device using a rack and slot and specify each signal using its signal number (physical number) in the device.
Rack
The rack indicates the kind of I/O module.
- 0 = Process I/O board, I/O link connection unit
- 1 to 15 = I/O Unit-MODEL A / B
- 32 = I/O link slave interface
- 33 = PMC (internal I/O assignment)
- 34 = Flags, Markers
- 35 = Always ON
- 36 = DCS Safe I/O (Non-safety funct i on)
- 48 = R-30iB Mate main board (CRMA15, CRMA16)
- 66 = PROFIBUS-DP (master)
- 67 = PROFIBUS-DP (slave)
- 68 = FL-net (variety 1)
- 69 = FL-net status (variety 1)
- 75 = FIPIO (slave)
- 81 = DeviceNet (board 1)
- 82 = DeviceNet (board 2)
- 83 = DeviceNet (board 3)
- 84 = DeviceNet (board 4)
- 87 = RoboWeld
- 88 = Ethernet Global Data
- 89 = EthernetIP
- 90 = Arclink
- 91 = WTC welder
- 92 = CC-Link
- 93 = InterBus (master)
- 94 = InterBus (slave)
- 95 = InterBus (CMD mode)
- 96 = Modbus TCP
- 98 = InterBus slave only
- 99 = PROFINET I/O controller
- 100 = PROFINET I/O device
- 101 = Dual Channel PROFINET I/O controller
- 102 = Dual Channel PROFINET I/O device
- 103 = FL-net (variety 2)
- 104 = FL-net status (variety 2)
- 105 = CC-Link IE Field
- 106 = EtherCAT
- 107 = Tool Interface
Slot
The slot indicates numbers of I/O module which compose t he rack.
- When the process I/O board or I/O link connection unit is used, the first connected device is Slot 1, the second is Slot 2 and others are numbered sequen tially as this.
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
- When the I/O unit-MODEL A is used, the slot number on the base unit in which the module is plac e d is the slot value of the module.
- When the I/O unit-MODEL B is used, the slot number is the unit number specified by the DIP switch in the basic unit.
- For I/O link slaves interface or R-30iB Mate main board (CRMA15, CRMA16), the number is always
1.
- For Flags, the number is always 1. And for Markers, the number is always 2.
- For Always ON, the number is always 1.
- For the other I/O modules, PMC (internal I/O assignment), DCS Safe I/O (Non-safety function ), and from PROFIBUS-DP (master) to Tool Interface, refer to corresponding manuals.
Physical number
The physical number indicates th e signal number in the I/O module. The physical number is expressed as follows.
- Digital input signal : The first signal is in1, the second signal is in2, and others are numbered sequentially as this.
- Digital output signal : The first signal is out1, the second signal is out2, and others are numbered sequentially as this.
- Analog input signal : The first signal is ain1, the second signal is ain2, and others are numbered sequentially as this.
- Analog output signal : The first signal is aout1, the second signal is aout2, and others are numbered sequentially as this.
To control the signals of I/O devices in the robot controller, establish an association between physical signals and logical signals. The associatio n is called I/O assignment. Generally, I/O assignment is performed automatically.
- For Digital, Group, Analog, and Peripheral I/O, the logic ports can be mapped to the physical ports. They can be redefined.
- The physical numbers of the robot I/O and Operator’s panel I/O are alway s the same as the logic numbers. They cannot be redefined.
When I/O assignment is deleted and the power of the robot controller is turned on, the connected I/O devices are recognized and proper I/O assignment is automatically performed. The I/O assignment is called the standard I/O assignment. The standard I/O assignment varies with the setting of "UOP auto assignment" in system config menu. (See Subsections 3.3, PERIPHERAL I/O) The physical number and the standard I /O assignment o f each hard ware compon ent th at composes th e I/O module are described below.
Process I/O board
The process I/O board is a I/O link slave device that has digital Input/Output signals and/or analog Input/Output signals. The type and number of sig nals varies with the type of process I/O board.
For connection of the process I/O board, refer to the “FANUC Robot series R-30iB/R-30iB Plus CONTROLLER MAINTENANCE MANUAL” (B-83195EN) or the “FANUC Robot series R-30iB Mate/R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL” (B-83525EN).
In the maintenance manuals, the logical signal name of the standard I/O assignment is specified as the signal name. The following table shows the physical number corresponded to the signal name specified in the maintenance manual and the standard I/O assignment in case of a process I/O board is connected. The standard assignment of the process I/O board MA is different from the other process I/O board, because the number of signals is small.
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
R-30iB standard I/O asg.
UOP auto asg.:
UOP auto asg.:
UOP auto asg.:
Simple(CRMA16)
in 1
*IMSTP
UI[1] *IMSTP
UI[2] *HOLD
DI[1]
in 2
*HOLD
UI[2] *HOLD
UI[5] RESET *1
DI[2]
in 3
*SFSPD
UI[3] *SFSPD
UI[6] START *2
DI[3]
in 4
CSTOPI
UI[4] CSTOPI
UI[8] ENBL
DI[4]
in 5
FAULT RESET
UI[5] FAULT RESET
UI[9] PNS1
DI[5]
in 6
START
UI[6] START
UI[10] PNS2
DI[6]
in 7
HOME
UI[7] HONE
UI[11] PNS3
DI[7]
in 8
ENBL
UI[8] ENBL
UI[12] PNS4
DI[8]
in 9
RSR1/PNS1
UI[9] RSR1/PNS1/STYLE1
DI[1]
DI[9]
in 10
RSR2/PNS2
UI[10] RSR2/PNS2/STYLE2
DI[2]
DI[10]
in 11
RSR3/PNS3
UI[11] RSR3/PNS3/STYLE3
DI[3]
DI[11]
in 12
RSR4/PNS4
UI[12] RSR4/PNS4/STYLE4
DI[4]
DI[12]
in 13
RSR5/PNS5
UI[13] RSR5/PNS5/STYLE5
DI[5]
DI[13]
in 14
RSR6/PNS6
UI[14] RSR6/PNS6/STYLE6
DI[6]
DI[14]
in 15
RSR7/PNS7
UI[15] RSR7/PNS7/STYLE7
DI[7]
DI[15]
in 16
RSR8/PNS8
UI[16] RSR8/PNS8/STYLE8
DI[8]
DI[16]
in 17
PNSTROBE
UI[17] PNSTROBE
DI[9]
DI[17]
in 18
PROD START
UI[18] PROD START
DI[10]
DI[18]
in 19
DI01
DI[1]
DI[11]
DI[19]
:
out 1
CMDENBL
UO[1] CMDENBL
UO[1] CMDENBL
DO[1]
out 2
SYSRDY
UO[2] SYSRDY
UO[6] FAULT
DO[2]
out 3
PROGRUN
UO[3] PROGRUN
UO[9] BATALM
DO[3]
out 4
PAUSED
UO[4] PAUSED
UO[10] BUSY
DO[4]
out 5
HELD
UO[5] HELD
DO[1]
DO[5]
out 6
FAULT
UO[6] FAULT
DO[2]
DO[6]
out 7
ATPERCH
UO[7] ATPERCH
DO[3]
DO[7]
out 8
TPENBL
UO[8] TPENBL
DO[4]
DO[8]
out 9
BATALM
UO[9] BATALM
DO[5]
DO[9]
out 10
BUSY
UO[10] BUSY
DO[6]
DO[10]
out 11
ACK1/SNO1
UO[11] ACK1/SNO1
DO[7]
DO[11]
out 12
ACK2/SNO2
UO[12] ACK2/SNO2
DO[8]
DO[12]
out 13
ACK3/SNO3
UO[13] ACK3/SNO3
DO[9]
DO[13]
out 14
ACK4/SNO4
UO[14] ACK4/SNO4
DO[10]
DO[14]
out 15
ACK5/SNO5
UO[15] ACK5/SNO5
DO[11]
DO[15]
out 16
ACK6/SNO6
UO[16] ACK6/SNO6
DO[12]
DO[16]
out 17
ACK7/SNO7
UO[17] ACK7/SNO7
DO[13]
DO[17]
out 18
ACK8/SNO8
UO[18] ACK8/SNO8
DO[14]
DO[18]
out 19
SNACK
UO[19] SNACK
DO[15]
DO[19]
out 20
RESERVED
UO[20] Reserve
DO[16]
DO[20]
out 21
DO01
DO[1]
DO[17]
DO[21]
:
Table 3.1 (a) Physical number and standard I/O assignment
for digital Input/Output signals of Process I/O board (except process I/O board MA)
Physical
number
R-30iB
maintenance
manual
Full
Simple
None Full(Slave) Full(CRMA16) Simple(Slave)
:
in N
DI(N-18)
DI[N-18]
DI[N-8]
DI[N]
:
out N
*1 : in2 is also assigned to UI[4](CSTOPI).
DO(N-20)
DO[N-20]
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DO[N-4]
DO[N]
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
R-30iB standard I/O asg. (R-30iB Mate is in p arentheses)
Simple(CRMA16)
in 1
DI01 (DI121)
DI[1] (DI[121])
UI[2] *HOLD
in 2
DI02 (DI122)
DI[2] (DI[122])
UI[5] RESET *1
in 3
DI03 (DI123)
DI[3] (DI[123])
UI[6] START *2
in 4
DI04 (DI124)
DI[4] (DI[124])
UI[8] ENBL
in 5
DI05 (DI125)
DI[5] (DI[125])
UI[9] PNS1
in 6
DI06 (DI126)
DI[6] (DI[126])
UI[10] PNS2
in 7
DI07 (DI127)
DI[7] (DI[127])
UI[11] PNS3
in 8
DI08 (DI128)
DI[8] (DI[128])
UI[12] PNS4
in 9
DI09 (DI129)
DI[9] (DI[129])
DI[1] (DI[121])
in 10
DI10 (DI130)
DI[10] (DI[130])
DI[2] (DI[122])
in 11
DI11 (DI131)
DI[11] (DI[131])
DI[3] (DI[123])
in 12
DI12 (DI132)
DI[12] (DI[132])
DI[4] (DI[124])
in 13
DI13 (DI133)
DI[13] (DI[133])
DI[5] (DI[125])
in 14
DI14 (DI134)
DI[14] (DI[134])
DI[6] (DI[126])
in 15
DI15 (DI135)
DI[15] (DI[135])
DI[7] (DI[127])
in 16
DI16 (DI136)
DI[16] (DI[136])
DI[8] (DI[128])
in 17
DI17 (DI137)
DI[17] (DI[137])
DI[9] (DI[129])
in 18
DI18 (DI138)
DI[18] (DI[138])
DI[10] (DI[130])
in 19
DI19 (DI139)
DI[19] (DI[139])
DI[11] (DI[131])
in 20
DI20 (DI140)
DI[20] (DI[140])
DI[12] (DI[132])
out 1
DO01 (DO121)
DO[1] (DO[121])
UO[1] CMDENBL
out 2
DO02 (DO122)
DO[2] (DO[122])
UO[6] FAULT
out 3
DO03 (DO123)
DO[3] (DO[123])
UO[9] BATALM
out 4
DO04 (DO124)
DO[4] (DO[124])
UO[10] BUSY
out 5
DO05 (DO125)
DO[5] (DO[125])
DO[1] (DO[121])
out 6
DO06 (DO126)
DO[6] (DO[126])
DO[2] (DO[122])
out 7
DO07 (DO127)
DO[7] (DO[127])
DO[3] (DO[123])
out 8
DO08 (DO128)
DO[8] (DO[128])
DO[4] (DO[124])
out 9
DO09 (DO129)
DO[9] (DO[129])
DO[5] (DO[125])
out 10
DO10 (DO130)
DO[10] (DO[130])
DO[6] (DO[126])
out 11
DO11 (DO131)
DO[11] (DO[131])
DO[7] (DO[127])
out 12
DO12 (DO132)
DO[12] (DO[132])
DO[8] (DO[128])
out 13
DO13 (DO133)
DO[13] (DO[133])
DO[9] (DO[129])
out 14
DO14 (DO134)
DO[14] (DO[134])
DO[10] (DO[130])
out 15
DO15 (DO135)
DO[15] (DO[135])
DO[11] (DO[131])
out 16
DO16 (DO136)
DO[16] (DO[136])
DO[12] (DO[132])
*2 : in3 is also assigned to UI[17](PNSTROBE)
Table 3.1 (b) Physical number and st andard I/O assignment
for digital Input/Output signals of process I/O board MA
Physical
number
R-30iB maintenance
manual
(R-30iB Mate is in
parentheses)
UOP auto asg.: None Full Full(Slave) Full(CRMA16) Simple(Slave)
UOP auto asg.: Simple
*1 : in2 is also assigned to UI[4](CSTOPI). *2 : in3 is also assigned to UI[17](PNSTROBE)
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
R-30iB / R-30iB Mate maintenance
manual
R-30iB / R-30iB Mate standatrd I/O
assignment
ain 1
ADCH1
AI[1]
ain 2
ADCH2
AI[2]
ain 3
ADCH3
AI[3]
ain 4
ADCH4
AI[4]
ain 5
ADCH5
AI[5]
ain 6
ADCH6
AI[6]
aout 1
DACH1
AO[1]
aout 2
DACH2
AO[2]
MAINTENANCE MANUAL
Address
Bit
R-30iB
R-30iB Mate
in 1
Xm 0 DI[1]
DI[121]
in 2
Xm 1 DI[2]
DI[122]
in 3
Xm 2 DI[3]
DI[123]
in 4
Xm 3 DI[4]
DI[124]
in 5
Xm 4 DI[5]
DI[125]
in 6
Xm 5 DI[6]
DI[126]
in 7
Xm 6 DI[7]
DI[127]
in 8
Xm 7 DI[8]
DI[128]
in 9
Xm+1
0
DI[9]
DI[129]
in 10
Xm+1
1
DI[10]
DI[130]
in 11
Xm+1
2
DI[11]
DI[131]
in 12
Xm+1
3
DI[12]
DI[132]
:
out 1
Yn 0 DO[1]
DO[121]
out 2
Yn 1 DO[2]
DO[122]
out 3
Yn 2 DO[3]
DO[123]
out 4
Yn 3 DO[4]
DO[124]
out 5
Yn 4 DO[5]
DO[125]
out 6
Yn 5 DO[6]
DO[126]
out 7
Yn 6 DO[7]
DO[127]
out 8
Yn 7 DO[8]
DO[128]
out 9
Yn+1
0
DO[9]
DO[129]
out 10
Yn+1
1
DO[10]
DO[130]
Table 3.1 (c) Physical number and stan dard I/O assignment
for analog Input/Output signals of process I/O board
Physical number
I/O Unit-MODEL A
I/O Unit-MODEL A is the I/O module which includes the plural modules. Plural modules can be connected. For details of the I/O Unit-MODEL A, refer to the “FANUC I/O Unit-MODEL A CONNECTION AND MAINTENANCE MANUAL“ (B-61813EN).
In “F ANUC I/O Unit-MODEL A CONNECTION AND MAINTENANCE MANUAL“, the address that the signals are assigned in CNC is specified. The following table shows the physical number corresponded to the CNC address specified in the manual and the stan dard I/O assignment in case of a I/O module is connected. The standard I/O assignment is not changed by the setting of UOP auto assignment, because I/O Unit-MODEL A is not assigned to peripheral I/O by standard I/O assignment.
Table 3.1 (d) Physical number and st andard I/O assignment
for digital Input/Output signals of I/O Unit-MODEL A
FANUC I/O Unit-MODEL A
Physical number
CONNECTION AND
Standard I/O assignment
:
in (8×A+B+1)
Xm+A
B
DI[8×A+B+1]
- 38 -
DI[8×A+B+121]
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
MAINTENANCE MANUAL
Address
Bit
R-30iB
R-30iB Mate
out 11
Yn+1
2
DO[11]
DO[131]
out 12
Yn+1
3
DO[12]
DO[132]
:
CONNECTION AND MAINTENANCE MANUAL
R-30iB / R-30iB Mate
standard I/O assignment
ain 1
Channel 0 of analog input module
AI[1]
ain 2
Channel 1 of analog input module
AI[2]
ain 3
Channel 2 of analog input module
AI[3]
ain 4
Channel 3 of analog input module
AI[4]
aout 1
Channel 0 of analog output module
AO[1]
aout 2
Channel 1 of analog output module
AO[2]
FANUC I/O Unit-MODEL A
Physical number
CONNECTION AND
Standard I/O assignment
:
out (8×A+B+1)
Yn+A
B
DO[8×A+B+1]
DO[8×A+B+121]
Table 3.1 (e) Physical number and stan dard I/O assignment
for analog Input/Output signals of I/O Unit-MODEL A
Physical number
FANUC I/O Unit-MODEL A
I/O Unit-MODEL B
The I/O Unit-MODEL B consists of an interface unit an d one or more DI/DO units. The DI/DO units ar e used to input/output signals. The interf ace uni t is use d to ass em ble I/O inform ati on in the DI/DO units and transfers it to or from the robot controller. Combining an appropriate number of DI/DO units of different types makes it possible to provide a necessary number of input/output points. Twisted pair cables are used to connect the DI/DO units with the interface unit, thus allowing the DI/DO units to be installed at a distance from the interface unit. Refer to the “FANUC I/O Unit-MODEL B CONNECTION MANUAL“(B-62163EN), for details of the I/O Unit-MODEL B. When the I/O unit-MODEL B is used, the setting is needed on I/O link screen. ( Section 3.5, I/O link screen)
In “FANUC I/O Unit-MODEL B CONNECTION MANUAL“, the address that the signals are assigned in CNC is specified. The physical number correspo nd ed to t he CNC ad dr ess specifi ed i n th e manual and the standard I/O assignment in case of a I/O module is connected are the same as the I/O Unit-MODEL A.
R-30iB Mate main board (CRMA15, CRMA16)
The R-30iB Mate controller is equipped with peripheral device control interfaces, which have 28 input points and 24 output points in total. By default, the signals of the peripheral device control interfaces are assigned to DI[101-120], DO[101-120], DI[81-88], and DO[81-84]. In the LR Handling Tool, the signals of R-30iB Mate I/O main board are assigned to peripheral I/O by standard I/O assignment, because "UOP auto assignment" is set to "Simple(CRMA16)".
For connection of R-30iB Mate I/O main board signals, refer to “FANUC Robot series R-30iB Mate/R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL” (B-83525EN).
In the maintenance manual, the logical signal name of the standard I/O a s s i gnment in LR Handling Tool is specified as the signal name. The following table shows the phy sical number corresponded to the signal name specified in the maintenance manual and the standard I/O assignment.
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
R-30iB Mate standard I/O assignment
UOP auto asg.:
UOP auto asg.:
UOP auto asg.:
Simple(Slave)
in 1
DI101
DI[101]
UI[1] *IMSTP
DI[101]
in 2
DI102
DI[102]
UI[2] *HOLD
DI[102]
in 3
DI103
DI[103]
UI[3] *SFSPD
DI[103]
in 4
DI104
DI[104]
UI[4] CSTOPI
DI[104]
in 5
DI105
DI[105]
UI[5] FAULT RESET
DI[105]
in 6
DI106
DI[106]
UI[6] START
DI[106]
in 7
DI107
DI[107]
UI[7] HONE
DI[107]
in 8
DI108
DI[108]
UI[8] ENBL
DI[108]
in 9
DI109
DI[109]
UI[9] RSR1/PNS1/STYLE1
DI[109]
in 10
DI110
DI[110]
UI[10] RSR2/PNS2/STYLE2
DI[110]
in 11
DI111
DI[111]
UI[11] RSR3/PNS3/STYLE3
DI[111]
in 12
DI112
DI[112]
UI[12] RSR4/PNS4/STYLE4
DI[112]
in 13
DI113
DI[113]
UI[13] RSR5/PNS5/STYLE5
DI[113]
in 14
DI114
DI[114]
UI[14] RSR6/PNS6/STYLE6
DI[114]
in 15
DI115
DI[115]
UI[15] RSR7/PNS7/STYLE7
DI[115]
in 16
DI116
DI[116]
UI[16] RSR8/PNS8/STYLE8
DI[116]
in 17
DI117
DI[117]
UI[17] PNSTROBE
DI[117]
in 18
DI118
DI[118]
UI[18] PROD START
DI[118]
in 19
DI119
DI[119]
DI[119]
DI[119]
in 20
DI120
DI[120]
DI[120]
DI[120]
in 21
*HOLD
UI[2] *HOLD
DI[81]
DI[81]
in 22
RESET
UI[5] RESET *1
DI[82]
DI[82]
in 23
START
UI[6] START *2
DI[83]
DI[83]
in 24
ENBL
UI[8] ENBL
DI[84]
DI[84]
in 25
PNS1
UI[9] PNS1
DI[85]
DI[85]
in 26
PNS2
UI[10] PNS2
DI[86]
DI[86]
in 27
PNS3
UI[11] PNS3
DI[87]
DI[87]
in 28
PNS4
UI[12] PNS4
DI[88]
DI[88]
out 1
DO101
DO[101]
UO[1] CMDENBL
DO[101]
out 2
DO102
DO[102]
UO[2] SYSRDY
DO[102]
out 3
DO103
DO[103]
UO[3] PROGRUN
DO[103]
out 4
DO104
DO[104]
UO[4] PAUSED
DO[104]
out 5
DO105
DO[105]
UO[5] HELD
DO[105]
out 6
DO106
DO[106]
UO[6] FAULT
DO[106]
out 7
DO107
DO[107]
UO[7] ATPERCH
DO[107]
out 8
DO108
DO[108]
UO[8] TPENBL
DO[108]
out 9
DO109
DO[109]
UO[9] BATALM
DO[109]
out 10
DO110
DO[110]
UO[10] BUSY
DO[110]
out 11
DO111
DO[111]
UO[11] ACK1/SNO1
DO[111]
out 12
DO112
DO[112]
UO[12] ACK2/SNO2
DO[112]
out 13
DO113
DO[113]
UO[13] ACK3/SNO3
DO[113]
out 14
DO114
DO[114]
UO[14] ACK4/SNO4
DO[114]
out 15
DO115
DO[115]
UO[15] ACK5/SNO5
DO[115]
out 16
DO116
DO[116]
UO[16] ACK6/SNO6
DO[116]
out 17
DO117
DO[117]
UO[17] ACK7/SNO7
DO[117]
out 18
DO118
DO[118]
UO[18] ACK8/SNO8
DO[118]
out 19
DO119
DO[119]
UO[19] SNACK
DO[119]
Table 3.1 (f) Physical number and standard I/O assignment
for digital Input/Output signals of R-30iB Mate main board (CRMA15, CRMA16)
Physical
number
R-30iB Mate
maintenance
manual
Simple(CRMA16)
Full(CRMA16)
None Full Full(Slave) Simple
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
R-30iB Mate standard I/O assignment
UOP auto asg.:
UOP auto asg.:
UOP auto asg.:
Simple(Slave)
out 20
DO120
DO[120]
UO[20] Reserve
DO[120]
out 21
CMDENBL
UO[1] CMDENBL
DO[81]
DO[81]
out 22
FAULT
UO[6] FAULT
DO[82]
DO[82]
out 23
BATALM
UO[9] BATALM
DO[83]
DO[83]
out 24
BUSY
UO[10] BUSY
DO[84]
DO[84]
R-30iB Compact Plus, R-30iB Mini Plus standard I/O assignment
Simple(Slave)
in 1
DI101
DI[101]
DI[101]
in 2
DI102
DI[102]
DI[102]
in 3
DI103
DI[103]
DI[103]
in 4
DI104
DI[104]
DI[104]
in 5
DI105
DI[105]
DI[105]
in 6
DI106
DI[106]
DI[106]
in 7
DI107
DI[107]
DI[107]
in 8
DI108
DI[108]
DI[108]
in 9
DI109
DI[109]
DI[109]
in 10
DI110
DI[110]
DI[110]
in 11
DI111
DI[111]
DI[111]
in 12
DI112
DI[112]
DI[112]
in 13
*HOLD
UI[2] *HOLD
DI[81]
Physical
number
R-30iB Mate
maintenance
manual
Simple(CRMA16)
Full(CRMA16)
None Full Full(Slave) Simple
*1 : in22 is also assigned to UI[4](CSTOPI). *2 : in23 is also assigned to UI[17](PNSTROBE)
R-30iB Compact Plus and R-30iB Mini Plus main board (JRM18)
The R-30iB Compact Plus controller and R-30iB Mini Plus controller are equipped with peripheral device control interfaces, which have 20 input points and 16 output points in total. By default, the signals of the peripheral device control interfaces are assigned to DI[101-112], DO[101-112], DI[81-88] , and DO[81-84]. In the LR Handling Tool, the signals of R-30iB Compact Plus and R-30iB Mini Plus I/O main boards are assigned to peripheral I/O by standard I/O assignment, because "UOP auto assignment" is set to "Simple(JRM18)".
For connection of R-30iB Compact Plus and I/O main boa rd signals, refer to “FANUC Robot series R-30iB Compact Plus CONTROLLER MAINTENANCE MANUAL” (B-84035EN). For connection of R-30iB Mini Plus I/O main board signals, refer to “FANUC Robot series R-30iB Mini Plus CONTROLLER MAINTENANCE MANUAL” (B-
In the maintenance manual, the logical signal name of the standard I/O assignment in LR Handling Tool is specified as the signal name. The following table shows the phy sical number corresponded to the signal name specified in the maintenance manual and the standard I/ O assignment.
Table 3.1 (g) Physical number and standard I/O assignment
for digital Input/Output signals of R-30iB Compact Plus and R-30iB Mini Plus main boards (JRM18)
84175EN).
R-30iB Compact
Physical
number
Plus, R-30iB Mini
Plus maintenance
manual
UOP auto asg.: Simple(JRM18)
UOP auto asg.: None Full Full(Slave) Simple
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
R-30iB Compact Plus, R-30iB Mini Plus standard I/O assignment
UOP auto asg.:
UOP auto asg.:
Simple(Slave)
in 14
RESET
UI[5] RESET *1
DI[82]
in 15
START
UI[6] START *2
DI[83]
in 16
ENBL
UI[8] ENBL
DI[84]
in 17
PNS1
UI[9] PNS1
DI[85]
in 18
PNS2
UI[10] PNS2
DI[86]
in 19
PNS3
UI[11] PNS3
DI[87]
in 20
PNS4
UI[12] PNS4
DI[88]
out 1
DO101
DO[101]
DO[101]
out 2
DO102
DO[102]
DO[102]
out 3
DO103
DO[103]
DO[103]
out 4
DO104
DO[104]
DO[104]
out 5
DO105
DO[105]
DO[105]
out 6
DO106
DO[106]
DO[106]
out 7
DO107
DO[107]
DO[107]
out 8
DO108
DO[108]
DO[108]
out 9
DO109
DO[109]
DO[109]
out 10
DO110
DO[110]
DO[110]
out 11
DO111
DO[111]
DO[111]
out 12
DO112
DO[112]
DO[112]
out 13
CMDENBL
UO[1] CMDENBL
DO[81]
out 14
FAULT
UO[6] FAULT
DO[82]
out 15
BATALM
UO[9] BATALM
DO[83]
out 16
BUSY
UO[10] BUSY
DO[84]
Physical
number
R-30iB Compact
Plus, R-30iB Mini
Plus maintenance
manual
Simple(JRM18)
None Full Full(Slave) Simple
R-30iB Mate I/O link (master/slave)
*1 : in14 is also assigned to UI[4](CSTOPI). *2 : in15 is also assigned to UI[17](PNSTROBE)
The R-30iB Mate controller has two modes: I/O link master mode and I /O link slave mode.
I/O link slave mode
The robot controller operates as an I/O link slave device and con nect s to an I/O l ink master dev ice such as the CNC. The I/O information is transferred to or from the CNC by I/O link slave i nter fac e w hich ha ve 72 input points and 68 output points.
I/O link master mode
The robot controller operates as an I/O link master device and connects to an I/O link slave device. To use process I/O board, I/O Unit-MODEL A / B, I/O link connection unit, the I/O link master mode needs to be selected. For physical number and standar d I/O assignment of the connected slave device, refer to each hardware item in "3.1 I/O".
In default setting, I/O link is set as follows.
- LR tool : I/O link slave mode
- LR handling tool : I/O link master mode.
When UOP auto assignment is set to "Full (Slave)" or "Simple(Slave)", the slave mode is automatically set. In other settings, the master mode is set.
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
R-30iB Mate standard I/O assignment
Simple(CRMA16)
Address
Bit
in 1
Yn 0 UI[2] *HOLD
UI[1] *IMSTP
DI[1]
in 2
Yn 1 UI[5] RESET *1
UI[2] *HOLD
DI[2]
in 3
Yn 2 UI[6] START *2
UI[3] *SFSPD
DI[3]
in 4
Yn 3 UI[8] ENBL
UI[4] CSTOPI
DI[4]
in 5
Yn 4 UI[9] PNS1
UI[5] FAULT RESET
DI[5]
in 6
Yn 5 UI[10] PNS2
UI[6] START
DI[6]
in 7
Yn 6 UI[11] PNS3
UI[7] HONE
DI[7]
in 8
Yn 7 UI[12] PNS4
UI[8] ENBL
DI[8]
in 9
Yn+1
0
DI[1]
UI[9] RSR1/PNS1/STYLE1
DI[9]
in 10
Yn+1
1
DI[2]
UI[10] RSR2/PNS2/STYLE2
DI[10]
in 11
Yn+1
2
DI[3]
UI[11] RSR3/PNS3/STYLE3
DI[11]
in 12
Yn+1
3
DI[4]
UI[12] RSR4/PNS4/STYLE4
DI[12]
in 13
Yn+1
4
DI[5]
UI[13] RSR5/PNS5/STYLE5
DI[13]
in 14
Yn+1
5
DI[6]
UI[14] RSR6/PNS6/STYLE6
DI[14]
in 15
Yn+1
6
DI[7]
UI[15] RSR7/PNS7/STYLE7
DI[15]
in 16
Yn+1
7
DI[8]
UI[16] RSR8/PNS8/STYLE8
DI[16]
in 17
Yn+2
0
DI[9]
UI[17] PNSTROBE
DI[17]
in 18
Yn+2
1
DI[10]
UI[18] PROD START
DI[18]
in 19
Yn+2
2
DI[11]
DI[1]
DI[19]
:
in 72
Yn+8
7
DI[64]
DI[54]
DI[72]
out 1
Xm 0 UO[1] CMDENBL
UO[1] CMDENBL
DO[1]
out 2
Xm 1 UO[6] FAULT
UO[2] SYSRDY
DO[2]
out 3
Xm 2 UO[9] BATALM
UO[3] PROGRUN
DO[3]
out 4
Xm 3 UO[10] BUSY
UO[4] PAUSED
DO[4]
out 5
Xm 4 DO[1]
UO[5] HELD
DO[5]
out 6
Xm 5 DO[2]
UO[6] FAULT
DO[6]
out 7
Xm 6 DO[3]
UO[7] ATPERCH
DO[7]
out 8
Xm 7 DO[4]
UO[8] TPENBL
DO[8]
out 9
Xm+1
0
DO[5]
UO[9] BATALM
DO[9]
out 10
Xm+1
1
DO[6]
UO[10] BUSY
DO[10]
out 11
Xm+1
2
DO[7]
UO[11] ACK1/SNO1
DO[11]
To switch between the I/O link modes unrelated to the setting of UOP auto assignment, change system variable $IOMASTER and cycle power of t he controller.
- $IOMASTER=0: I/O link slave mode
- $IOMASTER=1: I/O link master mode
For connection of R-30iB Mate I/O link, refer to “FANUC Robot series R-30iB Mate/R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL” (B-83525EN) or “FANUC Robot series R-30iB Mate Open Air MAINTENANCE MANUAL” (B-83555EN).
The following table shows the physica l number corres ponded to t he addr es s of the conne cte d CN C and t he standard I/O assignment in case of I/O link slave in t erface is used.
Table 3.1 (h) Physical number and standard I /O assignment
for digital Input/Output signals of R-30iB Mate I/O link slave interface
Physical
number
Address of CNC
UOP auto asg.: Simple(Slave)
UOP auto asg.: Full(Slave)
UOP auto asg.: None Full Full(CRMA16) Simple
:
in (8×A+B+1)
Yn+A
B
DI[8×A+B-7]
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DI[8×A+B-17]
DI[8×A+B+1]
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
R-30iB Mate standard I/O assignment
UOP auto asg.:
UOP auto asg.:
UOP auto asg.:
Simple(CRMA16)
Address
Bit
out 12
Xm+1
3
DO[8]
UO[12] ACK2/SNO2
DO[12]
out 13
Xm+1
4
DO[9]
UO[13] ACK3/SNO3
DO[13]
out 14
Xm+1
5
DO[10]
UO[14] ACK4/SNO4
DO[14]
out 15
Xm+1
6
DO[11]
UO[15] ACK5/SNO5
DO[15]
out 16
Xm+1
7
DO[12]
UO[16] ACK6/SNO6
DO[16]
out 17
Xm+2
0
DO[13]
UO[17] ACK7/SNO7
DO[17]
out 18
Xm+2
1
DO[14]
UO[18] ACK8/SNO8
DO[18]
out 19
Xm+2
2
DO[15]
UO[19] SNACK
DO[19]
out 20
Xm+2
3
DO[16]
UO[20] Reserve
DO[20]
out 21
Xm+2
4
DO[17]
DO[1]
DO[21]
:
out 68
Xm+8
3
DO[64]
DO[48]
DO[68]
NOTE
CNC doesn’t post the alarm because entire 2 groups are assigned.)
Physical
number
:
out (8×A+B+1)
Address of CNC
Xm+A
B
Simple(Slave)
DO[8×A+B-3]
*1 : in2 is also assigned to UI[4](CSTOPI). *2 : in3 is also assigned to UI[17](PNSTROBE)
Full(Slave)
DO[8×A+B-19]
None Full Full(CRMA16) Simple
DO[8×A+B+1]
R-30iB I/O link slave
A hardware that supports I/O Link i slave has I/O Link i slave function for 2 groups.
(That is for supporting the communication of dual signal for safety signals as slave. Refer to “FANUC Robot series R-30iB/R-30iB Mate/R-30iB Plus/R-30iB Mate Plus/R-30iB Compact Plus/R-30iB Mini Plus CONTROLLER Dual Check Safety Function OPERATOR'S MANUAL”(B-83184EN) and see Section “I/O LINK i SLAVE FUNCTION” for more information.)
If you connect the hardware as slave for CNC, please assign entire 2 groups to CNC. And for 2nd group, please assign 1 byte to free address of X or Y. If no byte is assigned for 2nd group, CNC posts the alarm "ER97 I/O Link FAILURE", and CNC doesn’t communicate. (If you use dual signal for safety signals as slave,
The R-30iB controller operates as an I/O link slave device and connects to an I/O link master device such as the CNC by the setting of the following system variable.
- $IOSLAVE.$INPUT_N : Number of I/O link slave input signals.
- $IOSLAVE.$OUTPUT_N : Number of I/O link slave output signals.
By default, the number of signals is set to 0, and I/O link slave is not available. The maximum number of signals is 256 point input and 256 point output.
The R-30iB controller can use both I/O link master and slave at the same time.
For connection of R-30iB I/O link slave, refer to “FANUC Robot series R-30iB/R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL” (B-83195EN). The physical number corresponded to the address of the connected CNC and the standar d I/O assignm ent is the same as R-30iB Mate. Refer to Table 3.1 (g).
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
NOTE
CNC doesn’t post the alarm because entire 2 groups are assigned.)
R-30iB standatd I/O asg. (R-30iB Mate is in parentheses)
Simple(CRMA16)
Address
Bit
in 1
Yn 0 UI[2] *HOLD
UI[1] *IMSTP
DI[1] (DI[121])
in 2
Yn 1 UI[5] RESET *1
UI[2] *HOLD
DI[2] (DI[122])
in 3
Yn 2 UI[6] START *2
UI[3] *SFSPD
DI[3] (DI[123])
in 4
Yn 3 UI[8] ENBL
UI[4] CSTOPI
DI[4] (DI[124])
in 5
Yn 4 UI[9] PNS1
UI[5] FAULT RESET
DI[5] (DI[125])
in 6
Yn 5 UI[10] PNS2
UI[6] START
DI[6] (DI[126])
in 7
Yn 6 UI[11] PNS3
UI[7] HONE
DI[7] (DI[127])
in 8
Yn 7 UI[12] PNS4
UI[8] ENBL
DI[8] (DI[128])
in 9
Yn+1
0
DI[1] (DI[121])
UI[9] RSR1/PNS1/STYLE1
DI[9] (DI[129])
in 10
Yn+1
1
DI[2] (DI[122])
UI[10] RSR2/PNS2/STYLE2
DI[10] (DI[130])
in 11
Yn+1
2
DI[3] (DI[123])
UI[11] RSR3/PNS3/STYLE3
DI[11] (DI[131])
in 12
Yn+1
3
DI[4] (DI[124])
UI[12] RSR4/PNS4/STYLE4
DI[12] (DI[132])
in 13
Yn+1
4
DI[5] (DI[125])
UI[13] RSR5/PNS5/STYLE5
DI[13] (DI[133])
in 14
Yn+1
5
DI[6] (DI[126])
UI[14] RSR6/PNS6/STYLE6
DI[14] (DI[134])
in 15
Yn+1
6
DI[7] (DI[127])
UI[15] RSR7/PNS7/STYLE7
DI[15] (DI[135])
in 16
Yn+1
7
DI[8] (DI[128])
UI[16] RSR8/PNS8/STYLE8
DI[16] (DI[136])
in 17
Yn+2
0
DI[9] (DI[129])
UI[17] PNSTROBE
DI[17] (DI[137])
in 18
Yn+2
1
DI[10] (DI[130])
UI[18] PROD START
DI[18] (DI[138])
A hardware that supports I/O Link i slave has I/O Link i slave function for 2 groups.
(That is for supporting the communication of dual signal for safety signals as slave. Refer to “FANUC Robot series R-30iB/R-30iB/R-30iB Plus Mate/R-30iB Compact Plus/R-30iB Mini Plus CONTROLLER Dual Check Safety Function OPERATOR'S MANUAL”(B-83184EN) and see Section “I/O LINK i SLAVE FUNCTION” for more information.)
If you connect the hardware as slave for CNC, please assign entire 2 groups to CNC. And for 2nd group, please assign 1 byte to free address of X or Y. If no byte is assigned for 2nd group, CNC posts the alarm "ER97 I/O Link FAILURE", and CNC doesn’t communicate. (If you use dual signal for safety signals as slave,
I/O link connection unit
The robot controller of I/O link master mode can connect to an I/O link master device such as the CNC by using I/O link connection unit. The maximum 256 input points and 256 output points I/O information is transferred to or from the CNC. When the I/O link connection unit is used, the setting is needed on I/O link screen. ( Section 3.5, ”I/O link screen”)
For connection of I/O link connection unit, r efe r to “FANUC Robot series R-30iB Mate/R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL” (B-83525EN). The following table shows the physic al num be r c orres ponded t o the a ddres s of t he c onnect ed CN C a nd the standard I/O assignment in case of I/O link conn ection unit is used.
Table 3.1 (i) Physical number and standard I/O assignment
for digital Input/Output signals of I/O link connection unit
Physical
number
Address of CNC
UOP auto asg.: Simple
UOP auto asg.: Full
UOP auto asg.: None Full(Slave) Full(CRMA16) Simple(Slave)
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
R-30iB standatd I/O asg. (R-30iB Mate is in parentheses)
UOP auto asg.:
UOP auto asg.:
UOP auto asg.:
Simple(CRMA16)
Address
Bit
in 19
Yn+2
2
DI[11] (DI[131])
DI[1] (DI[121])
DI[19] (DI[139])
:
(DI[8×A+B+113])
(DI[8×A+B+103])
(DI[8×A+B+121])
out 1
Xm 0 UO[1] CMDENBL
UO[1] CMDENBL
DO[1] (DO[121])
out 2
Xm 1 UO[6] FAULT
UO[2] SYSRDY
DO[2] (DO[122])
out 3
Xm 2 UO[9] BATALM
UO[3] PROGRUN
DO[3] (DO[123])
out 4
Xm 3 UO[10] BUSY
UO[4] PAUSED
DO[4] (DO[124])
out 5
Xm 4 DO[1] (DO[121])
UO[5] HELD
DO[5] (DO[125])
out 6
Xm 5 DO[2] (DO[122])
UO[6] FAULT
DO[6] (DO[126])
out 7
Xm 6 DO[3] (DO[123])
UO[7] ATPERCH
DO[7] (DO[127])
out 8
Xm 7 DO[4] (DO[124])
UO[8] TPENBL
DO[8] (DO[128])
out 9
Xm+1
0
DO[5] (DO[125])
UO[9] BATALM
DO[9] (DO[129])
out 10
Xm+1
1
DO[6] (DO[126])
UO[10] BUSY
DO[10] (DO[130])
out 11
Xm+1
2
DO[7] (DO[127])
UO[11] ACK1/SNO1
DO[11] (DO[131])
out 12
Xm+1
3
DO[8] (DO[128])
UO[12] ACK2/SNO2
DO[12] (DO[132])
out 13
Xm+1
4
DO[9] (DO[129])
UO[13] ACK3/SNO3
DO[13] (DO[133])
out 14
Xm+1
5
DO[10] (DO[130])
UO[14] ACK4/SNO4
DO[14] (DO[134])
out 15
Xm+1
6
DO[11] (DO[131])
UO[15] ACK5/SNO5
DO[15] (DO[135])
out 16
Xm+1
7
DO[12] (DO[132])
UO[16] ACK6/SNO6
DO[16] (DO[136])
out 17
Xm+2
0
DO[13] (DO[133])
UO[17] ACK7/SNO7
DO[17] (DO[137])
out 18
Xm+2
1
DO[14] (DO[134])
UO[18] ACK8/SNO8
DO[18] (DO[138])
out 19
Xm+2
2
DO[15] (DO[135])
UO[19] SNACK
DO[19] (DO[139])
out 20
Xm+2
3
DO[16] (DO[136])
UO[20] Reserve
DO[20] (DO[140])
out 21
Xm+2
4
DO[17] (DO[137])
DO[1] (DO[121])
DO[21] (DO[141])
:
(DO[8×A+B+117])
(DO[8×A+B+101])
(DO[8×A+B+121])
CAUTION
carefully checked. Otherwise, injury or property damage would occur.
Physical
number
:
in (8×A+B+1)
Address of CNC
Yn+A
B
Simple
DI[8×A+B-7]
Full
DI[8×A+B-17]
None Full(Slave) Full(CRMA16) Simple(Slave)
DI[8×A+B+1]
3.1.1 Digital I/O
Configuring I/O
RACK
:
out (8×A+B+1)
Xm+A
B
DO[8×A+B-3]
DO[8×A+B-19]
DO[8×A+B+1]
*1 : in2 is also assigned to UI[4](CSTOPI). *2 : in3 is also assigned to UI[17](PNSTROBE)
Digital I/O (DI/DO) is a group of general-p urpose signals that send or receive the data of the p eripheral equipment via the process I/O printed circuit board (or I/O unit). Moreover, this can send or receive the data of master (CNC) of I/O link. The digital signal is set on or off.
In digital I/O, the configuration of the signal lines can b e redefined. The fol lowing items are set. Refer to "3.1 I/O" for detail of configuring I/O.
Before the physical numbers are re-def ined, t he us e of the signals should be
The rack indicates the kind of I/O module.
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
NOTE
automatically assigned to other logical number.
SLOT
The slot indicates the number of I/O module which composes RACK.
START
START assigns the logical number to the physical number to map the signal lines. The first physical number in the assignment should be specified.
1 A physical number specifies the pin of I nput/Output lines on the I/O module.
Logical number is assigned to this physical number. And each signal line can be assigned respectively.
2 Any physical number can be specified as the start point. Not assigned signal is
I/O configuration can be done w ith I/O c onfigura tion scr een and I /O det ail sc reen. When the assignment or settings of I/O is changed, cycle power of the controller to use new information. When the kind of I/O board is changed to the different one, I/O configuration may be done again.
Attribution of I/O signal
- Polarity
The polarity selects whether the current i s switched on or off when the signal is set on.
- NORMAL = The current is turned on when the signal is set on.
- INVERSE = The current is turned on when the signal is set off.
- Complementary
Complementary is the funct ion to se t on or off t w o s uc c e s s i ve digi tal output signals: When a signal having an odd number goes on (off), complementary sets the next signal having an even number off (on).
- Skipping simulated si gnal s
If a wait using a wait command is performed on an input signal set as a simulated one, the wait can be automatically canceled by detecting a timeout.
Output
The value of a digital output signal can be specified by executing a program or performing manual operation. (See Section 4.6, “I/O INSTRUCTIONS,” and Section 6.4, “MANUAL I/O CONTROL”.)
Simulated input/output
When simulated input/output is se lected, a pr ogram ca n be tested without se nding or receiving signals to or from the external equipment. (See Subsection 6.3.1,“Specifying Test Execution”.)
Procedure 3-1 Configuring Digital I/O
Step
1 Press the [MENU] key. The screen menu will be displayed. 2 Select “5 I/O”. 3 Press the F1, [TYPE]. The screen change menu will be displayed. 4 Select “Digital.”
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
I/O Digital Out
[ TYPE ]
CONFIG
IN/OUT
ON
OFF
>
I/O Digital Out
[ TYPE ]
LIST
IN/OUT
DELETE
HELP
>
I/O Digital Out
[ TYPE ]
CONFIG
IN/OUT
ON
OFF
>
Digital I/O list screen
# SIM STATUS 1/512 DO[ 1] U OFF [ ] DO[ 2] U OFF [ ] DO[ 3] U OFF [ ] DO[ 4] U OFF [ ] DO[ 5] U OFF [ ] DO[ 6] U OFF [ ] DO[ 7] U OFF [ ] DO[ 8] U OFF [ ] DO[ 9] U OFF [ ] DO[ 10] U OFF [ ] DO[ 11] U OFF [ ] Sorted by port number.
5 To switch the input screen to the output screen, or vice versa, press the F3 key, "IN/OUT". 6 To allocate I/O, press F2, "CONFIG". To return to the list screen, press the F2, "MONITOR".
Digital I/O configuration screen
1/2 # RANGE RACK SLOT START STAT. 1 DO[ 1- 20] 0 1 21 ACTIV 2 DO[ 21-512] 0 0 0 UNASG
Device Name : PrcI/O JB
7 Manipulating the I/O assignment screen
a) Place the cursor on RANGE, and specify the range of signals to be assigned. b) Line division is performed automatically according to the specified range. c) Enter appropriate values for RACK, SLOT, and START. d) When the entered values are valid, abbreviation PEND is displayed in STAT.. If any entered value is invalid, abbreviation INVAL is displayed in STAT..
Unnecessary lines can be deleted by pr essing the F4 "DELETE". The abbreviations that will appear in Status mean the following:
ACTIV : This assignment is now in use. PEND : Assignment is normal. Cycling power causes the ACTIV status to be entered. INVAL : A specified value is invalid. UNASG : No assignment has been made. PMC : Assignment has been made by PMC. This assignment cannot be changed in this screen.
8 To return to the list screen, press the F2, "LIST".
# SIM STATUS 1/512 DO[ 1] U OFF [DT SIGNAL 1 ] DO[ 2] U OFF [DT SIGNAL 2 ] DO[ 3] U OFF [DT SIGNAL 3 ] DO[ 4] U OFF [DT SIGNAL 4 ]
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
I/O Digital Out
[TYPE
PRV-PT
NXT-PT
I/O Digital Out
[ TYPE ]
CONFIG
IN/OUT
ON
OFF
>
WARNING
property damage would occur.
CAUTION
setting information would be lost when it is changed.
9 To set the attribute of I/O, press the [NEXT] key and press the F4, "DETAIL" of the next page.
Digital I/O detail screen
Port Detail 1/3
Digital Output [ 1]
1 Comment: [ ]
2 Polarity: NORMAL
3 Complementary: FALSE [ 1 - 2]
To return to the list screen, press the [PREV] key. 10 To add a comment:
a Move the cursor to the comment line and press the [ENTER] key. b Select the method of naming the comment. c Press the appropriate function keys to add the comment. d When you are finished, press the [ENTER] key.
11 To set the item, move the cursor to the setting column, and select the function key menu. 12 To set the next digital I/O group, presses the F3, "NXT-PT". 13 When you are finished, press the [PREV] key to return to the list screen.
# SIM STATUS 1/512 DO[ 1] U OFF [DT SIGNAL 1 ] DO[ 2] U OFF [DT SIGNAL 2 ] DO[ 3] U OFF [DT SIGNAL 3 ] DO[ 4] U OFF [DT SIGNAL 4 ]
14 Cycle power of the controller so it can use the new information.
Cycling power is required to make a new setting valid. Ot herwise, injury or
1 In the first power -up after I/O re-assign, power recovery would not be executed
even if it is enabled.
2 After all I/O signals ar e s et , the setting information should be saved in external
storage in case the information needs to be re-loaded. Otherwise, the current
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
I/O Digital Out
[ TYPE ]
CONFIG
IN/OUT
ON
OFF
>
WARNING
input/output.
NOTE
included in the complementary pair.
NOTE
boards can not be assigned to one group.
15 To perform forced output or simulated input/output of a signal, place the cursor on ON or OFF and
press the corresponding function key.
# SIM STATUS 1/512 DO[ 1] S ON [DIGTAL 1 ]
For the forced output and simulated input of a signal, see Chapter 6, Section 6.4.
The controller uses signals to control the peripheral equipment. The forced output
or simulated input/output may adversely affect the security of the s ys t em. Check the use of signals in the system before attempting the forced output or sim ulat ed
3.1.2 Group I/O
Group I/O (GI/GO) is a group of general-purpose signals that send or receive the data by using two or more signal lines as the same group. The value of the group I/O is represented in decimal or hex adecimal. When the data is sent, the value is transformed to the binary number.
Configuring I/O
In the group I/O, the signal numbe r can be defi ned to one group. Signal lines from 2 to 16 can be def ined as one group. The defined group can overlap with the digital I/O. Refer to "3.1 I/O" for detail of configuring I/O.
However, the defined group can not overlap with the digital out put which is
- RACK
The rack indicates the kind of I/O module.
- SLOT
The slot indicates the number of I/O module which composes the rack.
- START PT
START PT assigns the logical number to the physical number to map the signal lines. The first
physical number in the assignment should be specified.
1 A physical number specifies the Input/Output pin on the I/O module. Logical
number is assigned to this physical number. 2 Any number can be specified as the st art point of the physical number. 3 When two or more I/O boards are connected, the signal lines on the different
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NOTE
The number of the signal assigned to 1 group is from 2 t o 16 point s .
CAUTION
off regardless of whether processing for power failures is enabled.
I/O Group Out
[ TYPE ]
CONFIG
IN/OUT
SIMULATE
UNSIM
>
- NUM PTS
NUM PTS specifies the number of the digital signals which is assigned to one group.
I/O configuration can be done with I/O c onfigur ation s cr een a nd I/O deta il s cre en. W hen I/ O conf igura tion is changed, cycle power of the controller to use the new information.
At the first power-on after the I/O assignment is modified, the output signals are all
Execution of output
The value of the group output can be set by exe cuting the program or m anua l I/O c ontrol. (See Section 4.6, I/O INSTRUCTIONS, and Section 6.4,MANUAL I/O CONTROL)
Execution of simulated I/O
Simulating I/O allows you to test a program that uses I/O. Simulating I/O does not actually send output signals or receive input signals.(See Subsection 6.3.1 Specifying Test Execution.)
Procedure 3-2 Configuring group I/O
Step
1 Press the [MENU] key. The screen menu will be displayed. 2 Select “5 I/O”. 3 Press the F1, [TYPE]. The screen change menu will be displayed. 4 Select "Group". Group I/O list screen will be displayed.
# SIM VALUE 1/100 GO[ 1] * * [ ] GO[ 2] * * [ ] GO[ 3] * * [ ] GO[ 4] * * [ ] GO[ 5] * * [ ] GO[ 6] * * [ ] GO[ 7] * * [ ] GO[ 8] * * [ ] GO[ 9] * * [ ] GO[ 10] * * [ ] GO[ 11] * * [ ] Sorted by port number.
5 To switch the input screen to the output screen, or vice versa, press the F3, "IN/OUT". 6 To allocate I/O, press F2, "CONFIG".
Group I/O list screen
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
I/O Group Out
[ TYPE ]
MONITOR
IN/OUT
HELP
>
NOTE
cannot be changed.
I/O Group Out
[ TYPE ]
PRV-PT
NXT-PT
Group I/O configuration screen
1/100 GO # RACK SLOT START PT NUM PTS 1 0 0 0 0 2 0 0 0 0 3 0 0 0 0 4 0 0 0 0 5 0 0 0 0 6 0 0 0 0 7 0 0 0 0 8 0 0 0 0 9 0 0 0 0 10 0 0 0 0
To return to the list screen, press the F2, "MONITOR". 7 To configure the I/O, move the cursor to each item and type the value.
1 The physical number to which the logical number of group I/O is assigned can be
the same to which the digital I/O is assigned. 2 In the line of the group I/O which is assigned by PMC, “(PMC)” is displayed on the
right of NUM PTS data. The configuration of the signal which is assigned by PMC
8 To set the attribute of I/O, press the [NEXT] key of the selection screen and press the F4, "DETAIL" of
the next page.
Port Detail 1/1
Group Output [ 1]
1 Comment: [ ]
To return to the selection screen, press the [PREV] key. 9 To add a comment:
a Move the cursor to the comment line and press the [ENTER] key. b Select the method of naming the comment. c Press the appropriate function keys to add the comment.
d When you are finished, press the [ENTER] key. 10 To set the item, move the cursor to the setting column, and select the function key menu. 11 When you are finished, press the [PREV] key to return to the list screen. 12 Cycle power off the controller so it can use the new information.
Group I/O detail screen
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
WARNING
property damage would occur.
CAUTION
setting information would be lost when it is changed.
NOTE
the standard setting, make a reconfiguration.
CAUTION
carefully checked. Otherwise, injury or property damage would occur.
NOTE
altered.
CAUTION
off regardless of whether processing for power failures is enabled.
Cycling power is required to make a new setting valid. Ot herwise, injury or
1 In the first power -up after I/O re-assign, power recovery would not be executed
even if it is enabled.
2 After all I/O signals ar e s et , the setting information should be saved in external
storage in case the information needs to be re-loaded. Otherwise, the current
3.1.3 Analog I/O
Analog I/O (AI/AO) signals are sent to and from the arc welding machine and peripher al equipm ent via t he input/output signal lines on the process I/O printed circuit board (or I/O unit). The analog input/output voltages are converted to digital form when they are read or written. Therefore, they do not directly correspond to the input/output voltages.
Configuring I/O
The physical numbers for the analog signal lines can be redefined. Refer to "3.1 I/O" for detail of configuring I/O.
The standard configuration is factory-set up. To use a different configuration from
Before the physical numbers are re-def ined, t he us e of the signals should be
- RACK
Indicates the type of I/O module.
- SLOT
Indicates the number for the I/O module which compose RACK.
- CHANNEL
Assigns the physical number to the logical number for mapping the signal lines.
A physical number specifies the pin of an input/output line on the I/O module. The
logical number is assigned to this physical number. This assignment can be
I/O configuration can be done on the I/O configuration screen and I/O detail screen. When I/O
configuration is changed, cycle power of the controller to use the new information.
At the first power-on after the I/O assignment is modified, the output signals are all
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
0V
+18V
0
4095(DN) FFF(HEX)
+15V
3413(DN) D55(HEX)
Process I/O analog output
0V
+10V
-10V
0
8191(DN) 1FFF(HEX)
16383(DN) 3FFF(HEX)
Process I/O analog Input
12-bit analog input module (AAD04A)
12-bit analog output module (ADA02A)
0V
+10V
-
10V
0
2096(DN) 830(HEX)
4096(DN) 1000(HEX)
2000(DN) 7D0(HEX)
Execution of output
The value of the analog output can be s et by executing the program or m anual I/O control (Sect ions 4.6 and
6.4).
Execution of simulated I/O
Simulating I/O allows you to test a program that uses I/O. Simula ting I/O does not ac tually send output signals or receive input signals (Subsection 6.3.1).
Conversion of analog I/O
For analog I/O of process I/O board, the digital value and voltage correspond as the following.
For analog I/O of I/O unit-MODEL A, the digital value and voltage correspond as the following.
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14-bit analog output module (ADA02B)
0V
+10V
-10V
0
8384(DN) 20C0(HEX)
16384(DN) 4000(HEX)
8000(DN) 1F40(HEX)
65536(DN) 10000(HEX)
16-bit analog input module (AAD04B)
0V
+10V
-10V
0
33536(DN) 8300(HEX)
32000(DN) 7D00(HEX)
NOTE
the standard setting, reconfigure the I/O.
If the setting is default, 16-bit module is unusable. By following setting, 16-bit module is available.
$IOLNK[N].$RACK = (The rack number connecting to the module) $IOLNK[N].$SLOT = (The slot number connecting to the module) $IOLNK[N].$OPTION = 1 (N : arbitrary number)
Procedure 3-3 Configuring analog I/O
The standard configuration is factory-set up. To use a different configuration from
Step
1 Press the [MENU] key. The screen menu will be displayed. 2 Select “5 I/O”. 3 Press the F1, [TYPE]. The screen change menu will be displayed. 4 Select "Analog". The analog I/O list screen will be displayed.
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
I/O Analog In
[ TYPE ]
CONFIG
IN/OUT
SIMULATE
UNSIM
>
I/O Analog In
[ TYPE ]
MONITOR
IN/OUT
HELP
>
I/O Analog In
[ TYPE ]
CONFIG
IN/OUT
SIMULATE
UNSIM
>
Analog I/O list screen
# SIM VALUE 1/64 AI[ 1] U 0 [ ] AI[ 2] U 0 [ ] AI[ 3] * * [ ] AI[ 4] * * [ ] AI[ 5] * * [ ] AI[ 6] * * [ ] AI[ 7] * * [ ] AI[ 8] * * [ ] AI[ 9] * * [ ] AI[ 10] * * [ ] AI[ 11] * * [ ] Sorted by port number.
5 To switch the input screen to the output screen, press the F3, "IN/OUT". 6 To allocate I/O, press F2, "CONFIG".
Analog I/O configuration screen
1/64 AI # RACK SLOT CHANNEL 1 0 1 1 2 0 1 2 3 0 0 0 4 0 0 0 5 0 0 0 6 0 0 0 7 0 0 0 8 0 0 0 9 0 0 0 10 0 0 0
To return to the list screen, press the F2, "MONITOR". 7 To configure the signals, move the cursor to each item and enter the value. 8 To return to the list screen, press the F2, "MONITOR".
# SIM VALUE 1/64 AI[ 1] U 0 [analog sign1 ] AI[ 2] U 0 [analog sign2 ] AI[ 3] * * [analog sign3 ] AI[ 4] * * [analog sign4 ]
9 Press the [NEXT] key of the selectio n screen and press the F4, "DETAIL" of the next page. The
analog I/O detail screen will be displayed.
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I/O Analog In
[ TYPE ]
PRV-PT
NXT-PT
WARNING
property damage would occur.
CAUTION
setting information would be lost when it is changed.
NOTE
manual.
Analog I/O detail screen
Port Detail 1/1
Analog Input [ 1]
1 Comment: [ ]
To return to the configuration screen, press the [PREV] key. 10 To add a comment:
a Move the cursor to the comment line and press the [ENTER] key.
b Select the method of naming the comment.
c Press the appropriate function keys to add the comment.
d When you are finished, press the [ENTER] key. 11 To specify the signal attribute, move the cursor to the corresponding fi eld, and sele ct the functi on key. 12 When you are finished, press the [PREV] key to return to the selection screen. 13 Cycle power of the controller so that it can use the new information.
Cycling power is required to make a new set ting valid. Otherwise, injury or
1 In the first power -up after I/O re-assign, power recovery would not be executed
even if it is enabled.
2 After all I/O signals ar e s et , the setting information should be saved in external
storage in case the information needs to be re-loaded. Otherwise, the current
3.2 ROBOT I/O
Robot I/O are digital signals which are used as the end effector I/ O via the robot. The end effect or I/O is connected to the connector at the end of the robotic arm to enable its use. The end effector I/O consists of eight input and eight output general-purpose signals. No signal numbers can be redefined for these signals.
The number of general-purpose input/output s ignals of t he end effector I/O
depends on the model of the robot. Refer to the mechanical unit operator’s
- Hand breakage input signal, *HBK
The *HBK signal is connected to the robot hand and detects a breakage in the tool. In the norm al state,
the *HBK signal is set on. When the *HBK signal goes off, an alarm occurs and the robot is
immediately stopped.
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
NOTE
item of Hand broken in Section 3.15, ”SYSTEM CONFIG MENU”.
Hand breakage detection can be disabled on the system setting screen. See the
- Abnormal air pressure input signal, *PPABN input
The *PPABN signal detects a drop in the air pressure. In the normal state, the *PPABN signal is set on.
When a drop in air pressure occurs, the *PPABN signal goes off, an alarm is issued, and the robot is
immediately stopped.
- *ROT input
The overtravel (robot overtravel) signal indicates an overtravel along each axis of the mechanical unit
of the robot. In the normal status, the *ROT sign al is on. When this signal is t urned off, an alarm is
generated and the robot is stopped immediately. The *ROT input does not appear on the cable terminal of the en d effector because it is processed
within the mechanical unit of the robot. While the *HBK or *ROT signal is off, the alarm state can temporarily be released by holding down
[SHIFT] key and pressing the alarm release key. While holding down [SHIFT] key, move the tool to
the appropriate position by jog feed.
RI [1 to 8] INPUT RO [1 to 8] OUTPUT
The end effector signals, (RI [1 to 8] and RO [1 to 8]), are general-purpose input and output signals.
Attribution of I/O signal
- Polarity
The polarity selects whether the current is switched on or off when the signal is set on.
- NORMAL = The current is turned on when the signal is set on.
- INVERSE = The current is turned on when the signal is set off.
- Complementary
Complementary is the function to set on or off two successive digital output si gna ls : Whe n a signal having an odd number goes on (off), complementary sets the next signal having an even number off (on).
- Skipping simulated si gnal s
If a wait using a wait command is performed on an input sig nal set as a simulated one, the wait can be automatically canceled by detecting a timeout.
Output
The value of a digital output signal can be specified by executing a program or performing manual operation. (See Section 4.6, I/O INSTRUCTIONS, and Section 6.4, MANUAL I/O CONTROL.)
Simulated input/output
When simulated input/output is se lected, a progra m can be t ested w ithout sending or recei ving signals to or from the external equipment. (See Subsection 6.3.1, Specifying Test Execution.)
Procedure 3-4 Setting Robot I/O
Step
1 Press the [MENU] key. The screen menu will be displayed. 2 Select “5 I/O”. 3 Press the F1 key, [TYPE]. The screen change menu will be displayed. 4 Select "Robot".
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
I/O Robot Out
[ TYPE ]
IN/OUT
ON
OFF
>
I/O Robot Out
[ 1]
[ TYPE ]
PRV-PT
NXT-PT
I/O Robot Out
[ TYPE ]
IN/OUT
ON
OFF
>
WARNING
property damage would occur.
Robot I/O list screen
# SIM STATUS 1/8 RO[ 1] U OFF [ ] RO[ 2] U OFF [ ] RO[ 3] U OFF [ ] RO[ 4] U ON [ ] RO[ 5] U ON [ ] RO[ 6] U OFF [ ] RO[ 7] U ON [ ] RO[ 8] U OFF [ ]
Sorted by port number.
5 To switch the input screen to the output screen, press the F3, "IN/OUT". 6 To set the attribute of I/O, press the [NEXT] key and press the F4, "DETAIL" of the next page.
Robot I/O detail screen
Port Detail 1/3
Robot Dig. Output
1 Comment: [ ]
2 Polarity: NORMAL
3 Complementary: FALSE [ 1 - 2]
To return to the selection screen, press the [PREV] key. 7 To add a comment:
a Move the cursor to the comment line and press the [ENTER] key.
b Select the method of naming the comment.
c Press the appropriate function keys to add the comment.
d When you are finished, press the [ENTER] key. 8 To set the polarity and the complementary pair, move the cursor to the setting column, and select the
function key menu. 9 When you are finished, press the [PREV] key to return to the list screen.
# SIM Status 1/8 RO[ 1] U OFF [ ] RO[ 2] U OFF [ ] RO[ 3] U OFF [ ] RO[ 4] U ON [ ]
10 Cycle power of the controller so it can use the new information.
Cycling power is required to make a new set ting valid. Otherwise, injury or
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
CAUTION
setting information would be lost when it is changed.
I/O Robot Out
[ TYPE ]
IN/OUT
ON
OFF
>
WARNING
system before attempting the forced output.
Type
UOP assignment type
I/O device to which UOP is assigned
None
No assignment
None
Full
Full assignment
I/O link master interface, etc
Full (Slave)
Full assignment
I/O link slave interface
Full (CRMA16)
Full assignment
R-30iB Mate main board (CRMA16)
Simple
Simple assignment
I/O link master interface, etc
Simple (Slave)
Simple assignment
I/O link slave interface
Simple (CRMA16)
Simple assignment
R-30iB Mate main board (CRMA16)
After all I/O signals are set, the setting information should be saved in external
storage in case the information needs to be re-loaded. Otherwise, the current
11 To perform forced output of a signal, place the cursor on ON or OFF and press the corresponding
function key.
RO[ 1] U ON [ ]
For the forced output of a signal, see Chapter 6, Section 6.4.
The controller uses signals to control the peripheral equipment. The forced output
may adversely affect the security of the system. Check the use of signals in t he
3.3 PERIPHERAL I/O
Peripheral I/O signals (UI/UO) are a group of special ized signals whose usage is decided by the sy stem. These signals are connected with a remote controller and the peripheral devices via the following interfaces and I/O links and they are used to control the robot from the outside.
Refer to "3.8 SETTING AUTOMATIC OPERATION" for the setting to control the robot from outside.
Configuring I/O
When all I/O assignment is deleted and cycling power of the robot controller, the connected I/O devices are recognized and proper I/O assignment is automatically performed. In case that the configuration of I/O is set automatically, the configuration of peripheral I/O is set depending on the setting of the item “UOP auto assignment” in the system configuration screen. There are seven types of UOP auto assignment as sho wn below an d each ty pe has di fferent assig nment of peripheral I/O signals (UOP).
Table 3.3 UOP auto assignment
In default setting, the UOP auto assignment is set as f ollows.
- R-30iB : Full
- R-30iB Mate LR Tool : Simple(Slave)
- R-30iB Mate LR Handling Tool : Simple(CRMA16) Refer to "3.1 I/O" for the standard I/O assignment according to the setting of UOP auto assignment.
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
UI[1]
IMSTP
Always ON *4
UO[1]
CMDENBL
Operable
UI[2]
HOLD
Operable
UO[2]
SYSRDY
No allocation
UI[3]
SFSPD
Always ON *4
UO[3]
PROGRUN
No allocation
signal as in RESET *1
UI[5]
RESET
Operable
UO[5]
HELD
No allocation
UI[6]
START
Operable
UO[6]
FAULT
Operable
UI[7]
HOME
No allocation
UO[7]
ATPERCH
No allocation
UI[8]
ENBL
Operable
UO[8]
TPENBL
No allocation
UI[9]
RSR1/PNS1/STYLE1
Operable as PNS1 *3
UO[9]
BATALM
Operable
UI[10]
RSR2/PNS2/STYLE2
Operable as PNS2 *3
UO[10]
BUSY
Operable
UI[11]
RSR3/PNS3/STYLE3
Operable as PNS3 *3
UO[11]
ACK1/SNO1
No allocation
UI[12]
RSR4/PNS4/STYLE4
Operable as PNS4 *3
UO[12]
ACK2/SNO2
No allocation
UI[13]
RSR5/PNS5/STYLE5
No allocation
UO[13]
ACK3/SNO3
No allocation
UI[14]
RSR6/PNS6/STYLE6
No allocation
UO[14]
ACK4/SNO4
No allocation
UI[15]
RSR7/PNS7/STYLE7
No allocation
UO[15]
ACK5/SNO5
No allocation
UI[16]
RSR8/PNS8/STYLE8
No allocation
UO[16]
ACK6/SNO6
No allocation
signal as in START *2
UI[18]
PROD_START
No allocation
UO[18]
ACK8/SNO8
No allocation
UO[19]
SNACK
No allocation
UO[20]
RESERVE
No allocation
UOP assignment types
There are the following two types of peripheral I/O (UOP) assignment.
Full assignment
All peripheral I/O signals can be used. Eighteen input physical signals and twenty output physical signals ar e assigned to peripheral I/O signals.
Simple assignment
The peripheral I/O signals that the number of si gnals is small can be used. Eight input physical signals and four output physical signals are assigned to peripheral I/O signals.
In simple assignment, the number of signals that can be used for general digital I/O is increased because the number of peripheral I/O signals is decreased , but the functions o f peripheral I/O signals are restricted as shown in the table below.
UI[4] CSTOPI Allocated to the same
UI[17] PNSTROBE Allocated to the same
UO[4] PAUSED No allocation
UO[17] ACK7/SNO7 No allocation
*1 Since CSTOPI and RESET are allocated to the same signal, reset in put can forcibly terminate the
program if "CSTOPI for ABORT" is enabled. *2 Since PNSTROBE and START are allocated to the same signal, the program is selected at the rising
edge (OFFON) of the START signal and the p rogram is started at the fallin g edge (ON→OFF) of
the START signal. *3 Only PNS can be used as the program selection method in simple allocation (that START and
PNSTROBE are allocated to the same signal). Even if the "program selection method" other than PNS
is selected on the Prog Select screen, PNS is automatically selected during power-on. *4 These signals are assigned to the internal I/O device (rack 35, slot 1) in which the signal is always on. *5 Since PROD_START is not allocated in simple allocation, when "START for CONTINUE only" item
in System Config menu is TRUE, the program cannot be started by peripheral I/O. Set the "START for
CONTINUE only" item FALSE in simple allocation.
*IMSTP input UI [1] (Always enabled.)
The immediate stop signal turns servo power off by the software. The *IMSTP input is on in the normal status. When this signal is turned off, the following processing is performed:
An alarm is generated and the servo power is turned off.
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
WARNING
(B-83525EN).
WARNING
(B-83525EN).
NOTE
lines.
The robot operation is stopped immediately. Execution of the program is also stopped.
The *IMSTP signal is controlled by software. Please use external emergency stop
for safety-critical processing. For connection of external emergency stop signal, refer to the ”FANUC Robot series R-30iB/R-30iB Plus CONTROLLER MAINTENANCE MANUAL” (B-83195EN) or the “FANUC Robot series R-30iB Mate/R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL”
*HOLD input UI [2] (Always enabled.)
The temporary stop signal specifies a temporary stop from an external device. The *HOLD input is on in the normal status. When this signal is turned off, the following processing is performed:
The robot is decelerated until its stops, then the program execution is halted.
If ENABLED is specified at ”Break on hold” on the general item setting screen, the r ob ot i s stop ped ,
an alarm is generated, and the servo power is turned off.
*SFSPD input UI [3] (Always enabled.)
The safety speed signal temporarily stops the robot wh en the safety fence door is opened. This sign al is normally connected to the safety plug of the safety fence door. The *SFSPD input is on in the normal status. When this signal is turned off, the following processing is performed:
The operation being execut ed is decelera ted and stopped, and executi on of the program is al so stopped. At
this time, the feed rate override is reduced to the value specified for $SCR.$FENCEOVRD.
When the *SFSPD input is off and a program is started from the teach pendant, the feed rate override is
reduced to the value specified for $SCR.$SFRUNOVLIM. When jog feed is executed, the feed rate
override is reduced to the value specified for $SCR.$SFJOGOVLIM. When *SFSPD is off, the feed rate
override cannot exceed these values.
The *SFSPD signal controls deceleration and stop by software. To stop the robot
immediately for safety purposes, use safety fence signal. For connection of safety fence signal, refer to the FANUC Robot series R-30iB/R-30iB Plus CONTROLLER MAINTENANCE MANUAL (B-83195EN) or the FANUC Robot series R-30iB Mate/R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL
When the *IMSTP, *HOLD, and *SFSPD signals are not used, jumper these signal
CSTOPI input UI [4] (Always enabled.)
The cycle stop signal terminates the program curren tly bein g executed. It also releases progr ams from the wait state by RSR.
When FALSE is selected for "CSTOPI for ABORT" on the Config system setting screen , this signal
terminates the program currently being execut ed as soon as execution of the prog ram completes. It
also releases (Clear) programs from the wait state by RSR. (Default)
When TRUE is selected for "CSTOPI for ABORT" on the Config system setting screen, thi s signal
immediately terminates the program currently being ex ecuted. It also releases (Clear) prog rams from
the wait state by RSR.
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
WARNING
complete.
NOTE
When the ENBL signal is not monitored, strap the s ignal with t he gr ound.
When FALSE is selected for "CSTOPI for ABORT" on the Config system setting
screen, CSTOPI does not stop the program being executed until the execution is
FAULT_RESET input signal, RESET, UI [5]
The RESET signal cancels an alarm. If the servo power is off, the RESET signal turns on the servo power. The alarm output is not canceled until the servo power is turned on. The alarm is canceled at the instant this signal falls in default setting.
ENBL input signal, ENBL, UI [8]
The ENBL signal allows the robot to be moved and places the robot in the ready state. When the ENBL signal is off, the system inhibits a jog feed of the robot and activation of a program including a motion (group). A program which is being executed is halted when the ENBL signal is set off.
RSR1 to RSR8 inputs UI [9-16] (Enabled in the remote state.)
These are robot service request signals. When one of these signals is received, the RSR program corresponding to the signal is sele cted and started to per form automatic ope ration. When another program is being executed or is stopped tem porarily, the se lected progra m is added to the queue and is sta rted once the program being executed terminates. (Subsection 3.8.1, Robot Service Request (RSR))
PNS1 to PNS8 UI [9-16] PNSTROBE UI [17] (Enabled in the remote state.)
These are program number select signals and a PN strobe sign al. When th e PNSTR OBE in pu t is receiv ed, the PNS1 to PNS8 inputs are read to select a program to be executed. When another program is being executed or temporarily stopped, these signals are ignored. ( Selection (PNS)) When the remote conditions are satisfied, program selection using the teach pendant is disabled while PNSTROBE is on.
Subsection 3.8.2, Program Number
STYLE1 to STYLE8 UI [9-16] (Enabled in the remote state.)
These are STYLE number select signals. When the start signal is received, the STYLE1 to STYLE8 inputs are read to select a program, then the selected program is executed. When another program is being executed or temporarily stopped, these signals are ignored. (
Subsection 3.8.3, STYLE)
PROD_START input UI [18] (Enabled in the remote st ate.)
The automatic operation start (production start) signal starts the currently selected program from line 1. This signal functions at its falling edge when turned off after being turned on. When this signal is used together with a PNS signal, it executes th e program selected by the PNS signal starting from line 1. When this signal is used together with no PNS signal, it executes the program selected using the teach pendant starting from line 1. When another program is being executed or t emporarily stopped, this s ignal is ignored. ( Program Number Selection (PNS))
Subsec tion 3.8.2,
START input UI [6] (Enabled in the remote stat e.)
This is an external start si gnal. This signal functions at i ts falling edge when turned off after being turned on. When this signal is received, the following processing is performed:
When FALSE is selected for "START for CONTINUE" only on the Config system setting screen, the
program selected us ing the teach pendant is exe cuted from t he line to which the c ursor is positioned. A
temporarily stopped program is also continued. (Default)
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
NOTE
used. To start a temporarily stopped program, the START input is used.
When TRUE is selected for "START for CONTINUE" only on the Config sy stem setting screen, a
temporarily stopped program is continue d. When the program is not t em poraril y stopped, it cannot be
started.
To start a program from a peripheral device, the RSR or PROD_START input is
CMDENBL input UO [1]
The input accept enable (command enable) signal is output when the following conditions are satisfied. This signal indicates that a program including an operation (group) can be started from the remote controllers.
The remote conditions are satisfied.
The operation enable conditions are satisfied .
The mode is continuous operation (single step disable).
SYSRDY output UO [2]
SYSRDY is output while the servo pow er is on. This signal places the robot in t he operation enable s tate. In the operation enable state, jog feed can be executed and a program involving an operation (group) can be started. The robot enters the operation enable state when the following operation enable conditions are satisfied:
The ENBL input of the peripheral device I/O is on.
The servo power is on (not in the alarm state).
PROGRUN output UO [3]
PROGRUN is output while a program is being executed . It is not output while a program is temporarily stopped.
PAUSED output UO [4]
PAUSED is output when a program is temporarily stopped and waits for restart.
HELD output UO [5]
HELD is output when the hold button is pressed. It is not output when the hold button is released. Otherwise, when the HOLD signal UI[2] is OFF from some peripheral devices, then HELD is output.
FAULT output UO [6]
FAULT is output when an alarm occurs in the sy stem. The al arm state i s released by the FAULT_RE SET input. FAULT is not output when a warning (WARN alarm) occurs.
ATPERCH output UO [7]
ATPERCH is output when the robot is in a previously defined reference position. Up to ten reference positions can be defined. This signal is output only when the robot is in the first reference position. For any other reference positions, general-purpose signals are assigned.
TPENBL output UO [8]
TPENBL is output when the enable switch of the teach pendant is set to on.
BATALM output UO [9]
BATALM indicates a low-voltage alarm for the backup battery of the controller or robot Pulsecoder. Turn the power to the controller on and replace the battery.
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
CAUTION
axis) which has no motion group and Slave axis of Dual drive function.
I/O UOP In
[ TYPE ]
CONFIG
IN/OUT
>
In case that the BATALM signal is specified to include BZAL/BLAL of Pulsecoder,
BATALM is output when at least one Pulsecoder of all axis of all motion group detects BZAL/BLAL. However BATALM signal excludes Process axis (Servo torch
BUSY output UO [10]
BUSY is output while a program is being executed or while processing using the teach pendant is being performed. It is not output while a program is temporarily stopped.
ACK1 to ACK8 outputs UO [11-18]
When the RSR function is enabled, ACK1 to ACK8 are used together with the function. When an RSR input is accepted, a pulse of the corres ponding signal i s output as a n acknowledgm ent. The pulse width can be specified. (
Subsection 3.8.1, Robot Service Request (RSR))
SNO1 to SNO8 outputs UO [11-18]
When the PNS function is enabled, SNO1 to SNO8 are used together with the function. The currently selected program number (signal corresponding to the PNS1 to PNS8 inputs) is always output, in binary code, as confirmation. The selection of anot her program changes SNO1 to SNO8. (→ Subsection 3.8.2, Program Number selection (PNS))
SNACK output UO [19]
When the PNS function is enabled, SNACK is used together with the function. When the PNS inputs are accepted, a pulse of this signal is output as an acknowledgment. The pulse width can be specified. (
Subsection 3.8.2, Program Number selection (PNS))
Procedure 3-5 Assigning Peripheral I/O
Step
1 Press the [MENU] key. The screen menu will be displayed. 2 Select “5 I/O”. 3 Press the F1 key, [TYPE]. The screen change menu will be displayed. 4 Select "UOP".
# Status 1/18 UI[ 1] OFF [*IMSTP ] UI[ 2] OFF [*HOLD ] UI[ 3] OFF [*SFSPD ] UI[ 4] OFF [Cycle stop ] UI[ 5] OFF [Fault reset ] UI[ 6] OFF [Start ] UI[ 7] OFF [Home ] UI[ 8] OFF [Enable ] UI[ 9] OFF [RSR1/PNS1/STYLE1 ] UI[ 10] OFF [RSR2/PNS2/STYLE2 ] UI[ 11] OFF [RSR3/PNS3/STYLE3 ] Sorted by port number.
5 To switch the input screen to the output screen, or vice versa, press the F3, "IN/OUT". 6 To allocate I/O, press the F2, "CONFIG".
Peripheral I/O list screen
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
I/O UOP In
[ TYPE ]
MONITOR
IN/OUT
DELETE
HELP
>
I/O UOP In
[ TYPE ]
PRV-PT
NXT-PT
NOTE
be changed. Even if the comment is rewritten, the function is not changed.
Peripheral I/O configuration screen
1/3 # RANGE RACK SLOT START STAT. 1 UI[ 1- 8] 0 1 1 ACTIV 2 UI[ 9- 16] 0 1 9 ACTIV 3 UI[ 17- 18] 0 1 17 ACTIV
Device Name : PrcI/O JB
To return to the list screen, press F2, "MONITOR". 7 Manipulating t he I/O assignment screen
a) Place the cursor on Range, and specify the range of signals to be assigned.
b) Line division is performed automatically according to the specified range.
c) Enter appropriate values for Rack, Slot, and Start point.
d) When the entered values are valid, abbreviation PEND is displayed in STAT.
If any entered value is invalid, abbreviation INVAL is displayed in STAT.
Unnecessary lines can be deleted by pr essing F4, "Delete".
The abbreviations that will appear in “STAT” mean the following:
ACTIV : This assignment is now in use. PEND : Assignment is normal. Turning the power off and on again causes the ACTIV status to be entered. INVAL : A specified value is invalid. UNASG : No assignment has been made.
8 To set the attribute of I/O, press the [NEXT] key of the selection screen and press F4, "DETAIL" of the
next page.
Peripheral I/O detail screen
Port Detail 1/1
User Opr. Panel Input [ 1]
1 Comment: [*IMSTP ]
To return to the configuration screen, press the [PREV] key. 9 To add a comment:
a Move the cursor to the comment line and press the [ENTER] key.
b Select the method of naming the comment.
c Press the appropriate function keys to add the comment.
d When you are finished, press the [ENTER] key.
The comment of peripheral equipment I/ O is written by the tool software and can
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
WARNING
property damage would occur.
CAUTION
setting information would be lost when it is changed.
NOTE
the PMC internal I/O assignment menu.
10 To set the item, move the cursor to the setting column, and select the function key menu. 11 When you are finished, press [PREV] key to return to the selection screen. 12 Cycle power of the controller so it can use the new information.
Cycling power is required to make a new set ting valid. Otherwise, injury or
1 In the first power -up after I/O re-allocation, power failure recovery would not be
executed even if it is enabled.
2 After all I/O signals ar e s et , the setting information should be saved in external
storage in case the information needs to be re-loaded. Otherwise, the current
To control the peripheral I/O (UOP) by integrated PMC (option), UOP is assigned
to PMC address (F, G) by PMC internal I/O assignment. When UOP is assigned to PMC address, the mark "*" is displayed on the left of "UI" and "UO" in the peripheral I/O configuration menu. In this case, the setting of the peripher al I /O configuration menu is ignored, and the setting is not used for the assignment of UI and UO. The UI and UO are assigned to PMC address according to the setting of
3.4 OPERATOR’S PANEL I/O
The operator’s panel I/O means dedicated digital signals for passing data indicating the status of the buttons and LEDs on the operator’s panel/box. The status of each input signal depends on whether the corresponding button on the operator’s panel is on or off. Each output signal is used to turn the corresponding LED lamp on the operator’s panel on or off. For the operator’s panel I/O, the signal numbers cannot be mapped (redefined). Sixteen input and sixteen output signals are defined as st a nda r d. For t he de f ini ti on of t he s i gna ls of t he ope r a tor ’s pane l I/O, se e Fig.
3.4. When the operator’s panel is enabled, the operator’s panel I/O can be used to start a program. However, any signals which have a significant effect on safet y are always enabled. The operator’s panel is enabled when t he following operator’s panel enable conditions are satisfied:
The enable switch on the teach pendant is set to off.
The remote signal (SI[2]) is off. (For how to turn the remote signal on and off, see the description of
“Remote/Local setup” in Section 3.15, ”SYSTEM CONFIG MENU”.)
The *SFSPD input of the peripheral device I/O is on. To start a program involving operation (group), the following conditions must be satisfied:
The ENBL input of the peripheral device I/O is on.
The servo power is on (not in the alarm state).
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
Main CPU printed circuit boad
Operator’s panel
SI 0 SI 1
FAULT_RESET SI 2 REMOTE SI 3 *HOLD SI 4 USER#1 SI 5 USER#2 SI 6 START SI 7
Logical number
Operator’s panel input
SO 0 REMOTE LED SO 1 CYCLE START SO 2 HOLD SO 3 FAULT LED SO 4
BAT TERY AL ARM
SO 5 USER#1 SO 6 USER#2 SO 7 TPENBL
Logical number
Operator’s panel output
Input signal
Description
The program being executed is temporarily stopped.
Always enabled.
alarm state is not released until the servo power is turned on.
CONFIG MENU”.
state.
when turned off after being turned on.
Table 3.4 (a) Operator’s panel input signals
*HOLD
SI [3] Always enabled. Not provided for the operator’s panel.
FAULT_RESET
SI [1]
REMOTE
SI [2] Always enabled. Not provided for the operator’s panel.
START
SI [6] Enabled in the operator’s panel enable
Fig. 3.4 Operator’s panel I/O
The temporary stop (hold) signal specifies temporary stop of the program. The *HOLD signal is on in the normal status. When this signal is turned off:
The robot operation being executed is decelerated, then stopped.
The alarm release (fault reset) signal releases the alarm state. When the servo power is off, this signal turns on the servo power. In this case, the
The remote signal (remote) switches between remote mode and local mode of the system. In remote mode (SI[2] = on), when the remote conditions are satisfied, a program can be started using the peripheral device I/O. In local mode (SI[2] = off), when the operator’s panel enable conditions are satisfied, a program can be started from the operator’s panel. To turn the remote signal (SI[2]) on and off, set "Remote/Local setup" on the system config menu. For details, see Section "3.15, SYSTEM
The start signal starts the currently select ed program using the teach pendant from the line to which the cursor is positioned or restarts a temporarily stopped program. This signal functions at i ts falling edge
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Output signal
Description
REMOTE
Not provided for the operator’s panel.
Not provided for the operator’s panel.
temporarily stopped.
HELD
Not provided for the operator’s panel.
output when a warning (WARN alarm) occurs.
BATAL output
Not provided for the operator’s panel.
The abnormal battery (battery alarm) signal indicates a low-voltage alarm
While keeping the power to the controller on, replace the battery.
Not provided for the operator’s panel.
NOTE
For the operator’s panel I/O, the signal numbers cannot be redefined.
I/O SOP Out
[ TYPE ]
IN/OUT
ON
OFF
>
NOTE
The input signal status can only be checked. Values cannot be changed for cibly.
Table 3.4 (b) Operator’s panel output signals
The remote signal is output when the remote conditions are satisfi ed
SO [0]
(remote conditions Section 3.3, PERIPHERAL I/O).
BUSY
SO [1]
SO [2]
FAULT
SO [3]
SO [4]
TPENBL output
SO [7]
The busy signal is output while processing such as program execution or file transfer is being performed. It is not out put when a program is
The hold signal is output when the hold button is pressed or the HOLD signal is input.
The alarm (fault) signal is output when an alarm occurs in the system. The alarm state is released by the FAULT_RESET input . This signal is not
for the battery in the controller or the battery of the Pulsecoder of the robot.
The teach pendant enable (TP enable) signal is output when the enable switch on the teach pendant is on.
Procedure 3-6 Displaying the operator’s panel I/O
Step
1 Press [MENU] key to display the screen menu. 2 Select ”5 I/O”. 3 Press F1, [TYPE] to display the screen switching menu. 4 Select ”SOP”.
Operator’s panel I/O list screen
# STATUS 1/15 SO[ 0] ON [Remote LED ] SO[ 1] OFF [Cycle start ] SO[ 2] OFF [Hold ] SO[ 3] ON [Fault LED ] SO[ 4] ON [Batt alarm ] SO[ 5] OFF [ ] SO[ 6] OFF [ ] SO[ 7] ON [TP enabled ] SO[ 8] OFF [ ] SO[ 9] OFF [ ] SO[ 10] OFF [ ] Sorted by port number.
5 Press F3, "IN/OUT" to switch the display between the input and output screens.
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
I/O Link Device
[ TYPE ]
DETAIL
CLR_ASG
Word on TP
Device
PrcI/O JA
Process I/O Board JA
PrcI/O JB
Process I/O Board JB
PrcI/O KA
Process I/O Board KA
PrcI/O KB
Process I/O Board KB
PrcI/O KC
Process I/O Board KC
PrcI/O NA
Process I/O Board NA
PrcI/O MA
Process I/O Board MA
PrcI/O MB
Process I/O Board MB
Model A
I/O Unit-MODEL A
Model B
I/O Unit-MODEL B
I/O adptr
I/O link connection unit
Other
Other I/O devices except above devices
3.5 I/O LINK SCREEN
The I/O link screen can be used to make settings related to FANUC I/O Unit-MODEL B and display t he configuration of the I/O link units. The I/O link screen consists of the following screens:
I/O link list screen
Model B unit list screen
Signal count setting screen
3.5.1 I/O Link List Screen
The I/O link list screen displays a list of I /O uni ts in slave mode th at are connected to the I/O l ink (master mode). It also displays the rack and slot numbers of each unit. For "I/O Unit-MODEL A/B", only the interface units are displayed. In this case, a value of "0" is displayed for the slot number. The following figure is an example of the I/O link list screen when "process I/O board MA", one unit of "I/O Unit-MODEL B", and two units of "I/O Unit-MODEL A" are connected to the robot controller. The na mes of the I/O units are displayed in the order in which the units are connected to the robot controller.
1/4 Device Name Comment Rack Slot 1 PrcI/O MA [ ] 0 1 2 Model B [ ] 1 0 3 Model A [ ] 2 0 4 Model A [ ] 3 0
To display this screen, first press MENU to display the screen menu, then select ”5 I/O”. Then, press F1, [TYPE] to display the screen switching menu, then select "Link Device". The following table lists the device names displ ayed on the screen and the corresponding actual device names.
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Word on TP
Detail Screen
Model B
Model B unit list screen
I/O adptr
Signal count setting screen
Other
Signal count setting screen
I/O Link Device
3 ******* ******* [ ]
30 ******* ******* [ ]
[ TYPE ]
LIST
[CHOICE]
CLR_ASG
1
8
When F3, "DETAIL" is pressed, "Model B screen" or "Number of Ports Setting Screen" is displayed according to the type of the unit. When F3, DETAIL is pressed for the following units, the detail screen is displayed. When F3, "DETAIL" is p ressed for other uni ts, no screen change occu rs. Each detail screen is described later.
On this screen, a comment can be specified for each I/O unit. Move the cursor to "Comment" and press the [ENTER] key. The screen enters comment input mode. F5, "CLR_ASG" is described later.
3.5.2 Model B Unit List Screen
The model B unit list screen displays a list of units of FANUC I/O Unit-MODEL B. FANUC I/O Unit-MODEL B does not automatically recognize the connected DI/DO units. On this screen, set the types of the DI/DO units. The address set using the DIP switch of each DI/DO unit is used as the line number on this screen. One additional unit can be co nnected to each DI/DO unit. This screen can also be used to specify whether to connect an additional unit and the type of additional unit. When the cursor is positioned to a ”Model B” it em on the I/O link list screen, press F3, "DETAIL" to display "Model B screen" as shown below:
Model B Rack 1 1/30 Slot Base Exp. Comment 1 ******* ******* [ ] 2 ******* ******* [ ]
At first, nothing is set, as shown above. To use model B, set the types of the units on thi s scr een. When DI/DO unit "BOD16A1" is connected to the interface unit and the address is set to "1", set the unit as shown below. Position the cursor to the position shown above ("Base" column on line 1), then press F4, [CHOICE]. The options are displayed as shown below:
1 ******* 2 BID16A1 3 BOD16A1 4 BMD88A1 5 BOA12A1 6 BIA16P1 7 BMD88Q1
Select "BOD16A1" on this screen. The uni t is set as shown below:
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
I/O Link Device
3 ******* ******* [ ]
30 ******* ******* [ ]
[ TYPE ]
LIST
[CHOICE]
CLR_ASG
I/O Link Device
[ TYPE ]
LIST
CLR_ASG
Model B Rack 1 1/30 Slot Base Exp Comment 1 BOD16A1 ******* [ ] 2 ******* ******* [ ]
When the cursor is positioned to column "Base" and F4, [CHOICE] is pressed, a menu will be display ed. This menu contains the following i tem s . Whe n no unit is se t, ”*******” is di spla yed. ”*******” indic ate s that no unit is connected.
BMD88A1
BID16A1
BOD16A1
BOA12A1
When the cursor is positioned to column "Exp." and F4, [CHOICE] is pressed, a menu will be displayed . This menu contains the following i tem s . Whe n no unit is se t, ”*******” is di spla yed. ”*******” indic ate s that no unit is connected.
BMD88P1
BID16P1
BOD16P1
BIA16P1
BMD88Q1
After a unit is set on this screen, the unit I/O can be used by cycling power. When the setting of a unit is changed, processing for I/O power failures is not performed at the next power-on, even when processing for power failures is enabled. To enter a comment, press [ENTER] key with t he cursor positioned to col umn "Comment". The comment is displayed following "PRIO-100 Model B comm fault", displayed when the DI/DO unit is disconnected from the interface unit. When "SAVE" is selected in the menu displayed by pressing [FCTN] key on thi s screen, a file named DIOCFGSV.IO is saved. This file contains the con tents set on the I /O link screen. It also contains t he I/O assignment, comme nts, and other inform ation. Such informat ion can be saved in this f ile from other I/O and file screens. F5, "CLR_ASG" is described later.
3.5.3 Signal Count Setting Screen
For I/O units such as the "I/O link connection unit" tha t cannot be used without setting the numbe r of signals, set the number of signals on this screen. When the cursor is positioned to ” I/O adptr” on the I/O link list screen, press the F3, "DETAIL" key. Then, "Signal count setting screen" will be di splayed as shown below.
1/2 I/O adptr Rack1 Slot1
Port name Points 1 Digital input 0 2 Digital Output 0
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Clear ALL I/O assignments?
YES
NO
Move the cursor to the number indic ating the number of s ignals and enter a numeric value to set the number of signals. The target I/O unit can be used by cycling power after the number of signals is set on thi s scr een. When the number of signals is changed, processing for I/O power failures is not performed at the next power-on, even when processing for power failures is enabled. When "SAVE" is selected in the menu displayed by pressing [FCTN] key on this screen, a file named DIOCFGSV.IO is saved. This file contains the con tents set on the I /O link screen. It also contains t he I/O assignment, comme nt, and other inform ation. Such i nforma tion can be sa ved in this file from other I/O and file screens in the same way as normal.
Explanation of F5, "CLR_ASG" When the number of signals is set for a model-B unit or I/O unit on the I/O li nk s c r e e n, t he I/ O a s s i gnment may differ from the standa rd assignment accordi ng to the setting procedure. The foll owing operation can set all I/O assignment to the standard settings. Wh en setting the number of signals for a model-B unit or I/O unit for the first time, perform the following operation. * When the unit is used with non-standard settings, this operation deletes the assi gnment information. Press F5, "CLR_ASG". The following message will be displayed.
Press F4, "YES" to delete all assignment information. When cycling power, the assignment is set to the standard settings.
3.6 I/O CONNECTION FUNCTION
The I/O connection function enables the RI/DI/SI status to be output to DO/RO to report the signal input status to external devices. The standard input/output ranges are shown below:
RI[mmm] → DO[nnn]. ( 1<=mmm<=8, 0<=nnn<=512 )
DI[iii] → RO[jjj]. ( 0<=iii<=512, 1<=jjj<=8 )
DI[kkk] → DO[lll]. ( 0<=kkk<=512, 0<=lll<=512 )
SI[qqq] → DO[rrr]. ( 0<=qqq<=15, 0<=rrr<=512 )
ES → DO[ttt]. ( 0<=ttt<=512)
Explanation of the function/settings
Assign signals and enable or disable each assignment on Interconnect screen in I/O menu. The following five types of screens are available:
DI DO connection setting screen (RI → DO)
DI DO connection setting screen (DI → RO)
DI DO connection setting screen (DI → DO)
DI DO connection setting screen (SI → DO)
DI DO connection setting screen (ES → DO)
DI DO connection setting screen (RI DO)
Assign DO signal numbers to RI1 to RI8. Whether to enable or disable each assignment can also be set.
DI DO connection setting screen (DI → RO)
Assign DI signal numbers to RO1 to RO8. Wheth er to enable or disable each assignment can also be set.
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
1
[EMGOP ]
SOP Emergency Stop
2
[EMGTP ]
TP Emergency Stop
3
[DEADMAN ]
TP Deadman release
4
[FENCE ]
Fence Open
5
[ROT ]
Robot Overtravel
6
[HBK ]
Hand Broken
7
[EMGEX ]
External Emergency Stop
8
[PPABN ]
Pneumatic Pressure Abnormal (Low Air Alarm)
9
[BELTBREAK ]
Belt Broken
10
[FALM ]
Fan Alarm [-- FALM is not used nowadays --]
11
[SVOFF ]
SVOFF Input
12
[IMSTP ]
UOP IMSTP
13
[BRKHLD ]
Brake on hold
14
[USRALM ]
USER Alarm
15
[SRVDSCNCT ]
Servo Disconnect [-- SRVDSCNCT is not used nowadays --]
16
[NTED ]
Non Teacher Enabling Device
NOTE
for more information on emergency stop signals.
NOTE
practice.)
DI DO connection setting screen (DI → DO)
Assign a DO signal number to each DI number. Wh ether to enabl e or disab le each assig nment can also be set.
DI DO connection setting screen (SI DO)
Assign a DO signal number to SI0 to SI15. Whether to enable or disable each assignment can also be set.
DI DO connection setting screen (ES DO)
Assign DO signal numbers to sixteen kinds of ES (Emergency Stop) signal. Whether to en able or disable each assignment can also be set.
List of ES signals
Refer to the FANUC Robot series R-30iB/ R-30iB Plus CONTROLLER
MAINTENANCE MANUAL (B-83195EN) or the FANUC Robot series R-30iB Mate/ R-30iB Mate Plus CONTROLLER MAINTENANCE MANUAL (B-83525EN)
Example) When ”ENABLE DI[2] RO[3]” is set, the status of DI[2] is output to RO[3].
1 When DI[i] DO[j] is set and this assignment is enabled, the status of DI[i] is
output to DO[j] at regular intervals. Therefore, if the contents of DO[j] are changed using the teach pendant or a program, the change is not reflected.
2 Whether to enable or disable each assignment can be changed only on the setting
screen, described above.
3 When different mult iple input s ignals ar e ass igned t o t he s am e output signal, the
status of each input signal is output. For example, assume that the following
settings are made: 1 ENABLE RI[1] DO[ 1] 2 ENABLE RI[2] DO[ 1] In this case, when the status of RI [ 1] is ON and the status of RI[2] is OFF, the
DO[1] output will be unpredictable. (DO[1] alternately indicates ON and OFF in
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INTERCONNECT
[ TYPE ]
[SELECT]
ENABLE
DISABLE
INTERCONNECT
[ TYPE ]
[SELECT]
ENABLE
DISABLE
Procedure 3-7 Setting the I/O connection function
Step
1 Press [MENU] key to display the screen menu. 2 Select ”5 I/O”. 3 Press F1, [TYPE] to display the screen switching menu. 4 Select "Interconnect". The DI DO connection setting screen will be displayed.
DI DO connection setting screen (RI→DO)
1/8 No. Enb/Disabl INPUT OUTPUT 1 DISABLE RI[ 1] -> DO[ 0] 2 DISABLE RI[ 2] -> DO[ 0] 3 DISABLE RI[ 3] -> DO[ 0] 4 DISABLE RI[ 4] -> DO[ 0] 5 DISABLE RI[ 5] -> DO[ 0] 6 DISABLE RI[ 6] -> DO[ 0] 7 DISABLE RI[ 7] -> DO[ 0] 8 DISABLE RI[ 8] -> DO[ 0]
5 Press F3, [SELECT]. 6 Position the cursor to the screen to be displayed and press [ENTER] key or specify the i tem number of
the screen to be displayed using a numeric key.
DI RO connection setting screen (DI→RO)
1/8 No. Enb/Disabl INPUT OUTPUT 1 DISABLE DI[ 0] -> RO[ 1] 2 DISABLE DI[ 0] -> RO[ 2] 3 DISABLE DI[ 0] -> RO[ 3] 4 DISABLE DI[ 0] -> RO[ 4] 5 DISABLE DI[ 0] -> RO[ 5] 6 DISABLE DI[ 0] -> RO[ 6] 7 DISABLE DI[ 0] -> RO[ 7] 8 DISABLE DI[ 0] -> RO[ 8]
3.7 SIMULATED INPUT SKIP FUNCTION
Overview
The robot controller provides a function whereby if a wait is performed with a wait instruction on an input signal set to a simulated status, the wait is automatically canceled when a timeout is detected.
The simulated input skip function can be used with digital input signals and robot input signals. It is possible to specify whether to enable the simulated input skip function for each signal.
On the input signal list screen, a signal for which the simulated input skip function is enabled is displayed with a U/S enclosed in parentheses (), which indicates whether the signal is in a simulated status and whether the simulated input skip function is enabled for that signal. On the screen shown in the example
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
I/O Digital In
[ TYPE ]
CONFIG
IN/OUT
ON
OFF
>
WARNING
then back on.
below, DI[1] is set up as a simulated signal and the simulated input skip function is enabled for it whereas DI[7] is not set to a simulated status but the simulated input skip function is enabled.
# SIM STATUS 1/512 DI[ 1] (S) OFF [ ] DI[ 2] U ON [ ] DI[ 3] U ON [ ] DI[ 4] U OFF [ ] DI[ 5] U OFF [ ] DI[ 6] U OFF [ ] DI[ 7] (U) OFF [ ] DI[ 8] U OFF [ ] DI[ 9] U OFF [ ] DI[ 10] U OFF [ ] DI[ 11] U OFF [ ] Sorted by port number.
If the simulated input skip function is enabled, the prompt below will be displayed before t he program starts. Pressing [ENTER] key causes program operat ion t o s t a rt . T his pr ompt will be displayed if there is at least one input signal for which the simulated input skip function is enabled.
The Simulated Input Skip feature is enabled! WAIT instructions may time out automatically.
[ OK ]
If a timeout occurs after a wait instruction, and the wait is au tomatically canceled, the warning message below will be displayed on the alarm line. PRIO-189 Program, LineWAIT will time out The time after which a timeout is detected after a wait instruction can be set with the "Sim. Input Wait Delay" item on the system configuration menu. If this setting is changed, the change will be applied immediately.
It is possible to monitor to see if there are any input signals for which the simulated input skip function is enabled and output them as output signals. For the "Set if Sim. Skip Enabled" item on the system configuration menu, set the num ber of the output si gnal that will turn on i f the simulate d input skip function is enabled. To make the setting effective, turn off the power and then back on.
Setting an input signal to a simulated status and using the sim ulat ed input sk ip
function should only be temporary during test operation. Never do so during
production line operation. By selecting the "UNSIM ALL IO" item on the f unc t ion m enu, it is possible to
release all signals from a simulated status. By setting up "Set if INPUT SIMULATED" on the system configuration menu, it is
possible to monitor to see if there are any input signals that are set to a simulated
status and output them as output signals. For this item, set the number of the
output signal that will turn on if one of digital, group, robot, and analog signals is
set to a simulated status. To make the setting effective, turn off the power and
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NOTE
2 (host computer), or 3 (no remote equipment).
Procedure for setting up the simulated input skip function
For an input signal to be skipped if in a simulated status, enable the simulated input skip function.
- Step
1 Press [MENU] key. 2 Select the "5 I/O" item. 3 Press the F1, [TYPE] key. 4 Select the "Digital" or "Robot”. 5 If output sign als are displayed, press F3, "IN/OUT" to switch to the input signal list screen. 6 Position the cursor on the signal for which the simulated input skip function is to be enabled. 7 Press the [NEXT] key and then the F3, "DETAIL" key. 8 On the input signal detail screen, position the cursor on "Skip when simulated". 9 Press the F4, "TRUE" key.
3.8 SETTING AUTOMATIC OPERATION
Automatic operation is the func tion wi th whic h the rem ot e cont rolle r st art s a pr ogram, using the peripheral I/O. The automatic operation includes the following functions:
The robot service request (RSR ) function selects and star ts a program according t o the robo t service request signals (RSR1 to RSR8 inputs). When another program is being executed or is temporarily stopped, the selected program enters the wait state an d is started once the program currently being executed terminates.
The program number selection (PNS) function selects or examines a program, using the program number selection signals (PNS1 to PNS8 PNSTROBF) and the START signal.
While a program is temporarily stopped or being executed, these signals are ignored.
The automatic operation start signal (PROD_START input) starts the currently selected program from line 1. When another program is temporarily stopped or is being executed, this signal is ignored.
The cycle stop signal (CSTOPI input) is used to terminate the program currently being executed.
- When "FALSE" is selected for "CSTOPI for ABORT" on the system configuration menu, this
signal terminates the program currently being ex ecuted once the execution is complete. It also releases programs from the wait state by RSR. (Default)
- When "TRUE" is sel ected for "CSTOPI for ABORT" on the system configuration menu, this
signal forcibly terminates the program current ly being executed immediately. It also releases (Clear) programs from the wait state by RSR.
The external start signal (START input) is used to start a program that is temporarily stopped.
- When "FALSE" is selected for "START for CONTINUE only" on the system configuration
menu, this signal starts the currently selected p rogram from the current line. This signal also starts a temporarily stopped program. (Default)
- When "TRUE" is selected for "START for CONTINUE only" on the system configuration menu,
this signal starts only a temporarily stopped program. When no program is temporarily stopped,
this signal is ignored. A program can be started by entering the peripheral I/O only wh en the robot is in the remote state. The remote state is established when the following remote conditions are satisfied:
The teach pendant enable switch is off.
The remote signal (SI[2]) is on. (For how to turn the remote signal (SI[2]) on and off, see the
description of "Remote/Local setup" in Section 3.15, ”SYSTEM CONFIG MENU”.)
The *SFSPD signal of the peripheral I/O is set on.
The ENBL signal of the peripheral I/O is set on.
System variable $RMT_MASTER is set to 0 (peripheral equipment).
The value of $RMT_MASTER can be set to 0 (peripheral equipment), 1 (CRT/KB),
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
NOTE
screen, the START signal is effective for only a program on hold.
Item
Method to check
Check items when the CMDENBL cannot be turned on.
- The remote conditions are satisfied.
SO[0:REMOTE] is on.
- The teach pendant enable switch is off.
SO[7:TPENBL] is off.
- The setting of Remote/Local is Remote.
SI[2:REMOTE] is on.
- The mode switch is set to AUTO mode.
SI[8] is on, and SI[9] is on.
- UI[3:SFSPD] is on.
UI[3:SFSPD] is on.
- UI[8:ENBL] is on.
UI[8:ENBL] is on.
- $RMT_MASTER = 0 (Peripheral equipment)
Check in the system variables screen.
- The operation enable conditions are satisfied.
- Any alarm does not occur.
SO[3:FAULT] is off, UO[6:FAULT] is off.
- The servo power is turned on.
UO[2:SYSRDY] is on.
single step mode is disabled).
the integrated PMC is enabled, INFO[1:STEP] is 0.
alarm detail code in alarm history screen.
variable screen.
program.
whether the robot is in the home position.
A program including a motion (group) can be started when the following ready conditions are satisfied:
The ENBL input signal of the peripheral I/O is set on.
The servo power is turned on (not in the alarm state).
The CMDENBL signal indicates whether the above conditions are satisfied. The CMDENBL signal is output when the following conditions are satisfied:
The remote conditions are satisfied.
The ready conditions are satisfied.
The continuous operation mode is selected (the single step mode is disabled).
If "TRUE" is specified at ”START for CONTINUE only” on the system configuration
When the CMDENBL signal cannot be t ur ne d on, or the progra m cannot be started by peripheral I/O even if the CMDENBL signal is on, confirm the following items.
- The continuous operation mode is selected (the
Check items when the program cannot be started even if the CMDENBL signal is on.
- UI signals are enabled. Check the setting of the system variables in the system
- The PNS/RSR, PNSTROBE, PROD_START, START signals are input correctly.
- The condition for automatic operation in the program select screen in setup menu are satisfied.
The STEP LED on the teach pendant is off. In case that
When the program is started by the peripheral I/O, if the alarm “SYST-011 Failed to run task” occurs, confirm the
Check the status of the signals in UI screen. Check the configuration of UI. In case that UI signals are displayed as “*UI”, because the UOP signals are assigned to PMC, check the PMC
Check the setting in the program select screen. Example) If HOME position check is enabled, check
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At least 100 msec
Within 2 sec
(Depend on the time to turn on servo power.)
RESET( I )
CMDENBL(O)
At least 0 msec
(The remote conditions are satisfied.)
At least 100 msec
(The program is started at the falling edge. Keep this signal on f or at least 100 msec, however. This signal cannot be used when it is always on.)
Within 35 msec
START( I )
PROGRUN(O)
NOTE
signals" on the system configuration screen.
NOTE
robot will not operate.
Sequence of program restart by peripheral I/O
After eliminating the cause of an alarm, the program is restarted b y peripheral I/O as follows.
Fig. 3.8 Sequence of program restart by peri pheral I/O
3.8.1 Robot Service Request (RSR)
The robot service request (RSR) starts a prog ram from an extern al devi ce. The eight r obot service requ est signals (RSR1 to RSR8) are used for this function. 1 The controller uses the RSR1 to RSR8 inputs to determine whether the input RSR signal is enabled.
When the signal is disabled, it is ignored.
Whether to enable or disable RSR1 to RSR8 is set in system vari ables $RSR1 to $RSR8 and can be
changed on the RSR setting screen or by using the program RSR instruction.
If the peripheral device input signal (UI) is dis a ble d, select TRUE for "Enable UI
2 Eight RSR registration numbers can be registered for RSR. The value obtained by adding a base
number to an RSR registra tion number is used as the program number (four digits). For example, when RSR2 is input, the following value is used as the program number: (Program number) = (RSR2 registration nu mb er) + (base number)
The selected program is named as follows:
RSR + (program number)
Specify the name of a program for aut omatic operation in ”RSR” + (program
number) format. Enter a 4-digit number such as RSR0121, not RSR121. If not, the
The base number is set in $SHELL_CFG.$JOB_BASE and can be ch anged using "Base number" on the RSR setting screen or a program parameter instruction. 3 A pulse of the RSR acknowledgment output (ACK1 to ACK8) corresponding to the RSR1 to RSR8
input is output. When the ACK1 to ACK8 signal is output, the controller accepts another RSR input.
4 When a program is in the terminated state, the selected program is started . When another program is
being executed or is temporarily stopped, the request (job) is entered the queue and the selected program is started when the program being executed terminates.
Jobs (RSR programs) are executed in the order in which they are entered the queue.
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
1 Input the RSR2 signal. 2 Check whether RSR2 is enabled or disabled. 3 Start the RSR
program
having the selected RSR program number.
Base number
Whether to enable or disable RSR
RSR Registration number
0121
RSR program number
On
$SHELL_CFG.$JOB_BASE 100
$RSR1 Enabled $RSR2 Enabled $RSR3 Enabled $RSR4 Enabled
RSR1 RSR2 RSR3 RSR4
RSR1 12 RSR2 21 RSR3 33 RSR4 48
RSR progeram
RSR 0121
Within 32 msec
RSR1 ( I )
CMDENBL
( O )
ACK1 ( O )
PROGRUN ( O )
RSR2 ( I )
ACK2 ( O )
( The remote conditions are satisfied.)
( The pulse width is set using a parameter.)
( The program is started at the rising edge.)
Within 35 msec
( When an RSR signal is being input or an ACK signal is being output, another RSR signal can also be accepted.)
5 Waiting programs are canceled (cleared) by the cycle stop signal (CSTOPI input) or upon forced
program termination.
Fig. 3.8.1 (a) Robot service request
Starting a program by RSR is enabled in the remote state. Starting a program involving operat ion (group) by RSR is enabled when the ope ration enable conditions as well as the remote conditions are satisfied.
The CMDENBL output is provided to indicate whether the above conditions are satisfied.
Fig. 3.8.1 (b) Sequence of automatic operation by RSR
Set RSR for SETUP RSR/PNS on the RSR setting screen.
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Item
Description
system variable $RSR1 to $RSR8.
"RSR".
Base number
Added to the RSR registration number to obtain the RSR program number.
Acknowledge function
Sets whether to output RSR acknowledgment signals (ACK1 to ACK8).
Acknowledge pulse width
Sets the pulse output period (unit: msec) when the output of each RSR acknowledgment signal (ACK1 to ACK8) is enabled. (unit msec)
Prog Select
[ TYPE ]
ENABLE
DISABLE
WARNING
controller is required to enable the change. If not, the setting is not acc ept ed.
Table 3.8.1 RSR setting items
RSR1 to 8 program number Specifies whether to enable or disable RSR1 to RSR8 and the RSR registration
numbers. When an RSR signal is disabled and the specified signal is input, the program is not started. Setting whether to enable or disable each RSR is stored in
Job prefix Top character string of the name of the program to be started. By default, it is set to
Procedure 3-8 Setting RSR
Step
1 Press [MENU] key to display the screen menu. 2 Select “6 SETUP”. 3 Press F1, [TYPE] to display the screen switching menu. 4 Select Prog Select. The Prog Select screen appears. 5 Position the curso r to ”Program select mode”. Press F4, [CHOICE] and select "RSR", then press F3,
"DETAIL".(Prog Select Screen 3.8.4)
RSR setting screen
1/12 RSR Setup 1 RSR1 program number [ENABLE ] [ 0] 2 RSR2 program number [ENABLE ] [ 0] 3 RSR3 program number [ENABLE ] [ 0] 4 RSR4 program number [ENABLE ] [ 0] 5 RSR5 program number [ENABLE ] [ 0] 6 RSR6 program number [ENABLE ] [ 0] 7 RSR7 program number [ENABLE ] [ 0] 8 RSR8 program number [ENABLE ] [ 0] 9 Job prefix [RSR] 10 Base number [ 0] 11 Acknowledge function [FALSE ] 12 Acknowledge pulse width(msec) [ 400]
6 Position the cursor to the targ et item and enter a value. 7 After changing Program select mode, to enable the change, cycle power.
After the type of automat ic oper ation function is changed, cycling power of the
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
NOTE
signals" on the system configuration screen.
NOTE
robot will not operate.
3.8.2 Program Number Selection (PNS)
The remote controller uses the program number selection ( PNS) function to select or collate a p rogram. Specify a desired PNS program number with the input signals, PNS1 to PNS8.
Step
1 The controller reads the PNS1 to PNS8 input signals as a binary number by the PNSTROBE pulse
input. When a program is being executed or is temporarily stopped, these signals are ignored. When the PNSTROBE pulse input is on, the selection of a program from the teach pendant is d i sabled.
If the peripheral device input signal (UI) is dis a ble d, select TRUE for "Enable UI
2 The data of signals P NS1 to PNS8 is converted into a decimal PNS number. The sum of the PNS
number and the reference number is a PNS program number (four digits). (Program number)=(PNS number)+(Base number) The specified PNS+(Program number) program number is named as follows.
Specify the name of a program for aut omatic operation in ”PNS” + (program
number) format. Enter a 4-digit number such as PNS0138, not PNS138. If not, the
The base number is set in $SHELL_CFG.$JOB_BASE and can be changed using "Base number" on the PNS setting screen or a program parameter instruction.
When a zero is input by the PNS1 to PNS8 inputs, the following process is done depending on the UOP allocation type.
UOP allocation type is "Full":
When a zero is input by the PNS1 to PNS8 inputs, the system enters the status in which no program is selected on the teach pendant.
UOP allocation type is "Simple":
When a zero is input by the PNS1 to PNS8 inputs, or the nonexistent program number is set and PNSTROBE signal is input, nothing is done. When START is input in this state, if no program is selected, nothing is done. If a program is selected when START signal is input, the selected program is started. ( In case that the nonexistent program number is set and PNSTROBE signal is input, or START signal is input when no program is selected, the warning is displayed.)
3 SNO1 to SNO8 are output to indi cate a PNS number as a binary code as confirmation . An SNACK
pulse is output simultaneously. If the PNS number cannot be represented as an 8-bit numeric value, SNO1 to SNO8 output a zero.
4 The remote controller checks that the SNO1 to SNO8 outp ut value is th e same as the PNS1 to PNS8
input value when SNACK is output, and sends the automatic operation start input (PROD_START).
5 The controller receives the PROD_START input and starts the program.
Starting a program by PNS is enabled in the remote state. Starting a program involving an opera t ion ( gr oup) i s e na bl e d w he n the ope r a t ion e nable conditions as well as the remote conditions are satisfied. The CMDENBL output is provided to indicate whether the above conditions are satisfied.
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B-83284EN/09 3. SETTING UP THE ROBOT SYSTEM
1 The PNSTROBE signal is input. 2 Signals PNS1 to PNS8 are read and the value is converted into a decimal number. 3 The PNS program having the specified PNS program number is selected. 4 When the PROD_START signal goes low, the
selected PNS program is started.
Base number
0138
PNS number
$SHELL_CFG.$JOB_BASE 100
PNS1 PNS2 On PNS3 On PNS4 PNS5 PNS6 On PNS7 PNS8
PNS program
PNS 0138
00100110
Binary
38
Decimal
PNS program number
PNSTROBE
SNACK PROD_START
Within 0msec
PNS1 to 8 ( I )
CMDENBL ( O )
PNS read (internal processing)
PROD_START ( I ) PROGRUN ( O )
SNACK ( O )
( The remote condition is satisfied.)
Within 35msec
( SNACK rises at almost the same time as SNOs rise, but after
the SNOs rise. The pulse width is set using a parameter.)
PNSTROBE( I )
About 30msec
( After detecting the rising edge of PNSTROBE, the controller
reads the PNS value two or more times at intervals of about 15 msec to confirm that the signals are stable, then selects a program.)
Within 130msec
SNO1 to 8 ( O )
At least 0msec
At least 100msec
( The program is started at the falling edge. Keep this signal on for at least 100msec, however. This signal cannot be used when it is always on.)
Fig. 3.8.2 (a) Program number selectio n
Fig. 3.8.2 (b) Sequence of automatic operation by PNS
Set the PNS function on the PNS setting screen [6 (SETUP). RSR/PNS]. Refer to Table 3.8.2.
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3. SETTING UP THE ROBOT SYSTEM B-83284EN/09
Items
Descriptions
Job prefix
Top character string of the name of the program selected. By default, it is set to "PNS".
Base number
The reference number is added to the PNS number to obtain a PNS program number.
(msec)
(SNACK).
Prog Select
[ TYPE ]
WARNING
required to enable the change. If not, the setting is not accepted.
Table 3.8.2 Setting the PNS function
Acknowledge pulse width
Sets the pulse output period (unit: msec) of the PN S acknowledgment signal
Procedure 3-9 Setting the PNS function
Step
1 Press [MENU] key. The screen menu will be displayed. 2 Select “6 SETUP”. 3 Press the F1, [TYPE]. The screen change menu will be displayed. 4 Select Prog Select. Prog Select screen will be displayed. 5 Position the curso r to ”Program sel ect mode”. Press F4, [CHOICE] and select "PNS", then press F3,
"DETAIL".(Prog Select Screen 3.8.4)
PNS setting screen
1/3 PNS Setup 1 Job prefix [PNS] 2 Base number [ 100] 3 Acknowledge pulse width(msec) [ 200]
6 Place the cursor on a desired field and enter a value. 7 After changing RSR to PNS, to enable the change, cycle power of the controller.
After the type of automat ic oper ation function is changed, cycling power is
3.8.3 STYLE
The remote controller uses STYLE function to select or collate a program. Specify a desired STYLE program number with the input signals, STYLE1 to STYLE8.
Step
1 STYLE function needs programs to be se t to e ac h STYL E num ber i n adva nce. Then pr ogram na m e is
not restricted as PNS and RSR. (Refer to "Proced ure 3-10 Setting" the style function about setting of the program.)
2 The controller reads the STYLE1 to STYLE8 input signals as a binary num ber. And the data of signals
STYLE1 to STYLE8 is converted into a decimal STYLE number.
3 From the remote controller, the start input (START or PROD_START) is sent. Then program is
selected by STYLE number, and selected program is started.
4 SNO1 to SNO8 are output to indicate a STYLE number as a binary code as confirmation. An SNACK
pulse is output simultaneously.
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