R-J3iC AuxAxis Setup Manual [System Installation Manual MARF

4. SOFTWARE INSTALLATION MARFCINST09051E REV. B

UTILITIES Hints JOINT 100%ApplicationTool

Vx.xxx XXXX/XXCustom Vx.xxx

Copyright xxxx, All Rights ReservedFANUC LTD, FANUC Robotics America, Inc.Licensed Software: Your use constitutesyour acceptance. This product protectedby several U.S. patents.

Note If you are updating your software between major versions , BMON will be updatedautomatically. If you are updating your software with a minor version , you might have toupdate BMON manually. Refer to Section A.4.2 . The iPendant firmware does not getautomatically updated for full loads over Ethernet. If you have an iPendant, and you loadeda robot over Ethernet, you might see the following message just after you transition to Coldstart: iPendant firmware should be upgraded, but necessary files are missing. Pleasecontact FANUC Robotics. This means that the firmware must be upgraded manually.Refer to Section A.4.3 to update iPendant firmware.

4.4 INSTALL ADDITIONAL SOFTWARE

4.4.1 Overview

This section provides information on how to install or change the software currently loaded on yourcontroller. This includes how to:

Authorize, install and set up options - Section 4.4.2 Modify or initialize robot library groups - Section 4.4.3 Modify robot libraries and options - Section 4.4.4 Set up a Independent Axes manually (Optional Feature) - Section 4.4.5 Set up a special device - Section 4.4.6 Set up an Arc Index Device (Optional Feature)

Set up a FW-500-A (Optional Feature)

Set up a FW-500-L (Optional Feature)

Set up an AM-HS 500 Head Stock (Optional Feature)

Set up extended axes manually (Optional Feature) - Section 4.4.7 Set up positioners manually (Optional Feature) - Section 4.4.8

428

MARFCINST09051E REV. B 4. SOFTWARE INSTALLATION

Set up process axes (Optional Feature) - Section 4.4.9 Modify program limits - Section 4.4.10 Install updates and customizations - Section 4.4.11 Set up FTP - Section 4.4.12

4.4.2 Authorize, Install, and Set Up Options at Controlled Start

Use Procedure 4-8 to authorize, install, and set up options at Controlled start.

Table 44. Software Install Screen Items

ITEM DESCRIPTION

Controller ID Select this item to access the Controller ID screen where you can modify the F Number,Serial Number, and PAC code to match the PAC Delivery Sheet.

Robot Library Select this item to access the Robot Library screen where you can authorize, set up,and install robot libraries.

Option Select this item to access the Option screen where you can authorize, install, andset up software options on the controller.

Update Select this item to access the Update screen where you can install software updates.

Customization Select this item to access the Customization screen where you can install softwarecustomizations.

FTP Setup Select this item to access the FTP Setup screen where you can configure the FTPsoftware and set TCP/IP parameters.

Note For information about the options that are available with your software, refer to the ssd.html fileon the load media that contains your software. Refer to Table 11 for the location of the .html filespecific to your software. Refer to the FANUC Robotics SYSTEM R-J3iC Controller Internet OptionsManual for more information on loading options over Ethernet.

Refer to Table 45 for valid FANUC motor and amp combinations. Refer to Table 46 for supportedThird-Party Motor and Amp Combinations.

Table 45. Supported Motor and Amp Combinations

Select Num. for SetupNew Name Old Name Max. Amp.Current Motor Size Motor Type Amp.

Current

iF1/5000 1/5000i 20A 34 3 10

iF1/5000 1/5000i 40A 34 3 5

429


Table 45. Supported Motor and Amp Combinations (Contd)

iF2/5000 2/5000i 20A 35 3 10

iF2/5000 2/5000i 40A 35 3 5

iF4/4000 4/4000i 40A 46 4 5

iF4/4000 4/4000i 80A 46 4 7

iF8/3000 8/3000i 40A 47 5 5

iF8/3000 8/3000i 80A 47 5 7

iF12/3000 12/3000i 80A 38 5 7

iF22/3000 22/3000i 80A 39 5 7

iF30/3000 30/3000i 160A 40 5 12

iF40/3000 40/3000i 160A 41 5 12

iS2/5000 2/5000is(M2/5000i) 20A 53 3 10

iS2/5000 2/5000is(M2/5000i) 40A 53 3 5

iS4/5000 4/5000is(M3/5000i) 20A 49 3 10

iS4/5000 4/5000is(M3/5000i) 40A 49 3 5

iS8/4000 8/4000is(M8/4000i) 40A 56 4 5

iS8/4000 8/4000is(M18/4000i) 80A 56 4 7

iS12/4000 12/4000is(M12/4000i) 80A 57 4 7

iS22/4000 22/4000is(M22/4000i) 160A 55 4 12

iS30/4000 30/4000is(M30/4000i) 160A 52 4 12

iS40/4000 40/4000is(M40/4000i) 160A 58 4 12

iS30/3000 30/3000is(M30/3000i) 80A 52 5 7

iS0.4/5000 0.4/5000is(M0.4/4000) 20A 147 11 10

iS0.5/6000 0.5/5000is(M0.5/4000) 20A 148 11 10

iS1/6000 1/5000is(M1/4000) 20A 149 11 10

iS0.2/5000 0.2/5000is(M0.2/4000) 4A 145 11 2

iS0.3/5000 0.3/5000is(M0.3/4000) 4A 146 11 2

iS2/4000 2/4000is 20A 130 13 10

iS4/4000 4/4000is 20A 133 13 10

iS8/3000 8/3000is20A

134 14 10

430


Table 45. Supported Motor and Amp Combinations (Contd)

iS12/3000 12/3000is 40A 135 14 5

iS22/2000 22/2000is 40A 136 15 5

Table 46. Supported Third-Party Motor and Amp Combinations

Motor Size Description Motor Current LimitMotor SizeSelect

Motor RPMSelect

Motor CurrentSelect

NIMAK 40A 158 2 5

BAUTZ/3300

80A 159 2 7

ARO /3000 (6 Pole) 80A 160 2 7

ARO/3000

40A 161 2 5

ARO /3000 (4 Pole) 40A 161 11 7

Tolomatic HT12 40A 162 11 5

Tolomatic HT23 40A 163 11 5

Exlar GSX-40 40A 164 5 5

Tolomatic SW44 40A 165 11 5

HONDA/EG 40A 200 10 5

HONDA/EG 20A 200 10 10

HONDA/EG2 40A 201 5 5

L6000B2/4is(0.1um) 160A 222 1 12

Procedure 4-8 Authorizing, Reinstalling, and Setting Up Options

Conditions

The R-J3iC controller is plugged in and is working properly. You are trying to do one of the following: Authorize an unauthorized option

Install an authorized option

Set up an installed option

431


Reinstall an option

Authorize, install, and set up an option purchased separately from the application software

Enough system memory is available to install all application software. Refer to the ssd.html fileon the load media for information on the amount of memory available for your application,and required by each option.

Note If you try to install an option that is too large for the memory on your controller, you willsee a screen similar to the following.

Figure 45. Memory Screen

More memory is needed than is available.AVAILABLE: REQUIRED:Main SYSTEM : 0 MainTEMP : 0 74750Comm SYSTEM : 0 0Comm TEMP : 15305678 0Main TPP : 864423 1860Main PERM : 1047667 0Main FR: : 7846912 57344Use PREV to exit

Contact FANUC Robotics to reconfigure your system with the help of a FANUC Roboticsrepresentative.

The teach pendant ON/OFF switch is OFF and the DEADMAN switch is released. The REMOTE/LOCAL setup item in the System Configuration Menu is set to LOCAL. Refer tothe application-specific Setup and Operations Manual for more information.

If you are updating controller software, you have backed up everything that you want touse on this controller.

You have the R-J3iC software load media containing the software you want to load, and the mediais inserted properly. Refer to Procedure 4-4 .

Steps

1. Perform a Controlled start. If the controller is already in Controlled Start mode, go to Step 2

If the controller is turned off, press and hold the PREV and NEXT keys on the teach pendant.

While you hold these keys, turn the power disconnect circuit breaker to ON.

432


Power Disconnect Circuit breaker

OFF

ON

If the controller is turned on but in Cold start mode, press FCTN and select CYCLEPOWER. While the controller is starting up, press and hold the PREV and NEXT keys onthe teach pendant .

You will see a screen similar to the following.

---------- Configuration Menu ----------1 Hot start2 Cold start3 Controlled start4 MaintenanceSelect >

Select Controlled start and press ENTER. After a few moments, you will see the Controlledstart screen for your application.

2. Press MENUS.3. Select S/W INSTALL. You will see a screen similar to the following.

S/W INSTALL CONTROLLED START MENUSApplication : ProductName1 Controller ID2 Robot Library3 Option4 Update5 Customization6 FTP Setup

4. Move the cursor to Option and press ENTER. You will see a screen similar to the following.

433


Load MediaPlease choose device to load options.Press F3 (DONE) when done.Current Load Media: Memory card (MC:)

5. To choose the device, press F4, [CHOICE], and select the item from the list of available devices.6. When you have finished, press F3, [DONE].

Note The following screen is an example. Your option screen will be different depending onthe options that are available with your software. The four digits preceding the option nameuniquely identify each option.

OPTION CONTROLLED START MENUSJ631: AccuPath AuthorizedR635: AccuCal2 InstalledFIND: Auto Normal Utility InstalledATCP: Auto TCP AuthorizedJ618: CE Mark UnauthorizedJ535: CRT/Keyboard Manager AuthorizedJ613: Continuous Turn AuthorizedCNRE: Control Reliable UnauthorizedCNET: ControlNet Int InstalledJ619: Coordinated Motion Authorized

7. To change the display from TITLE to ORDER NUMBER, move the cursor to the item youwant to change and press F3, ORD NO. You will see a screen similar to the following.

OPTION CONTROLLED START MENUS1 A05B-2400-J631 AUTHORIZED2 A05B-2400-ACAL INSTALLED3 A05B-2400-FIND INSTALLED

8. To change the display from ORDER NUMBER to TITLE, press F3, TITLE.

If the option status is Authorized, it is not a requirement for your application, but it hasbeen preauthorized for you. In this case, it has not yet been installed and you can decidewhether or not to install it. The option will have a PAC code already assigned (where anumber >1 is valid, and -1 is invalid). If you want to install this option, and you know thePAC code, go to Step 3, Install, in Table 47 , to install this option.

Note If this option status is Installed, was purchased with the application software,and is a requirement for your application, the PAC code will already be available and the

434


option will be authorized, installed, and set up. You do not need to do anything more toinstall or set up this option.

Note If this option status is Unauthorized or empty, it has not yet been authorized forinstallation. To authorize this option before you install it, refer to Table 47 and go toStep 2, Authorize, to authorize this option.

9. To authorize, install, and set up additional options that have been purchased separately fromthe application software, follow the instructions in Table 47 .

Table 47. Authorizing, Installing and Setting Up Options

Step Order To do this You must do this

1. Obtain the PAC Code Obtain the Product Authorization Codes (PAC) for each option you havepurchased and want to install from FANUC Robotics America.

2. Authorize 1. Move the cursor to the name of the option you want to install.2. Press F4, AUTH.3. Type the PAC code for the option and press ENTER.4. Press PREV to display the S/W INSTALL screen. The option status will beAuthorized.5. Go to Step 3, Install, to install the option.

3. Install or Re-Install 1. Move the cursor to the name of the option you want to install.2. Press F1, INSTALL. The software will install automatically.3. When it is finished, the S/W INSTALL menu will be displayed.NOTE You will be notified if you need to insert a different memory card.NOTE The memory requirements for each option will be measured prior toinstalling the option. If you do not have enough memory, you will be given anopportunity to continue anyway. If this occurs, reconfigure your system with thehelp of a FANUC Robotics representative.

4. Setup(optional)Some options haveuser-defined parameters.The setup functionrestores theseparameters to theirdefault values.

1. Move the cursor to the name of the option you want to set up.2. Press F2, SETUP.3. When the option setup has finished, the S/W INSTALL screen will bedisplayed.

Note If you are using PaintTool and have installed options after the initial R-J3iC softwareinstallation, you must display the PaintTool Setup screen and set up the PaintTool software. Then,select your Robot No., Applicator Type, Cell I/O Hardware, and Process I/O Hardware. Afteryou have configured these items press F2, SETUP, to set up your PaintTool software properly.

435


4.4.3 Robot Library Groups

Use Procedure 4-9 to modify or initialize a robot library.

Procedure 4-9 Initializing Robot Library Groups

Conditions

The R-J3iC controller is plugged in and is working properly. Enough system memory is available to install all application software. Refer to the ssd.html fileon the R-J3iC load media for information on the amount of memory available for your applicationand required by each option. Refer to Table 11 for the location of the .html file specific toyour software.

Note If you try to install a robot library that is too large for the memory on your controller,you will see a screen similar to the following.

More memory is needed than is available.AVAILABLE: REQUIRED:

Main SYSTEM : 0Main TEMP : 0 74750Comm SYSTEM : 0 0Comm TEMP : 15305678 0Main TPP : 864423 1860Main PERM : 1047667 0Main FR: : 7846912 57344Use PREV to exit

Contact FANUC Robotics to reconfigure your system with the help of a FANUC Roboticsrepresentative.

If you are updating controller software, you have backed up everything that you want touse on this controller. Refer to Appendix D for more information on backing up system files,programs, and application files.

The teach pendant ON/OFF switch is OFF and the DEADMAN switch is released. The REMOTE/LOCAL setup item in the System Configuration Menu is set to LOCAL. Refer tothe application-specific Setup and Operations Manual for more information.


Steps



436




OFF

ON





2. Press MENUS.3. Select S/W INSTALL. You will see a screen similar to the following.

S/W INSTALL CONTROLLED START MENUSApplication : ProductName

1 Controller ID2 Robot Library3 Option4 Update5 Customization6 FTP Setup

4. Select Robot Library and press ENTER. You will see a screen similar to the following.

437


Note The following screen is an example. Your screen will look different depending onwhich robots you have installed in your system. The four digits preceding the name uniquelyidentify each robot.

ROBOT LIBRARY CONTROLLED START MENUSGroup 1 of 1 GroupsH685: A-520iH888: F-100 Robot Library

Caution

Each robot library has a setup program associated with it. If the setupprogram has an assigned data file, the software will read all of the setupinformation from it. If there is no assigned data file, you must answer severalquestions regarding how your robot is to be set up (refer to Appendix C fora list of questions). If you answer the questions incorrectly, you can correctthem by performing a MANUAL setup from the MAINTENANCE screen.Refer to Section 4.4.4 to modify the robot setup manually.

5. To change the display from TITLE to ORDER NUMBER, press F3, ORD NO. You will seea screen similar to the following.

ROBOT LIBRARY CONTROLLED START MENUSGroup 1 of 1 GroupsH685: A05B-2400-H685H888: A05B-2400-H888

6. To change the display from ORDER NUMBER to TITLE, press F3, TITLE.

Note If you want to install an Independent Axis, or positioner, you must add another group toyour system (F5, ADD GRP) before you can set up the new information.

Note During a transition to a Cold start, the robot will re-execute a Controlled start. This isrequired to allocate resources needed by the new robot group.

7. To set up, add, change, and delete robot libraries that have been purchased separately fromthe application software refer to Table 48 .

438


Table 48. Authorizing, Installing, and Setting Up Robot Libraries

Step Order To do this You must do this

1. Add a group and Install arobot library

1. Press F5, ADD GRP.2. Select the robot you want to install from the list of robots.3. Press F1, INSTALL.4. If a data file exists on your controller for that robot the robot will be set upautomatically. If a data file does not exist for that robot, you must answer robotconfiguration questions. Refer to Appendix C for a list of the questions.

Note If the setup questions are answered incorrectly, you can correct them using theMaintenance screen. Refer to Section 4.4.4 .

NoteWhen you add a group, the teach pendant screen might go blank for approximately60 to 90 seconds for each group in the system.

2. Delete a group 1. Press >, NEXT.2. Press F1, DEL GRP.

3. Re-Install a robot library 1. Select the robot you want to install from the list of robots.2. Press F1, INSTALL.3. If you are installing an S-430i robot, you will see a screen similar to thefollowing.

1. Standard Flange2. Insulated FlangeSelect flange type:

a. Select the kind of flange for your robot. The standard flange is the default.b. Press ENTER.4. If you must answer robot configuration questions, refer to Appendix C .

4. SetupAll robots haveuser-defined parameters.The SETUP functionrestores these parametersto their default values.

1. Move the cursor to the name of the robot you want to set up.2. Press F2, SETUP.3. When the option setup has finished, the S/W INSTALL screen will bedisplayed.

4.4.4 Robot Library and Extended Axis Maintenance

Robot library maintenance allows you to modify the following information:

439


Robot library setup Extended axis setup

Use Procedure 4-10 to perform robot library and option maintenance.

Table 49 lists the items shown on the Robot Maintenance screen. These items will vary dependingon the robot libraries that are installed.

Table 49. Robot Maintenance Screen Items

ITEM DESCRIPTION

Group This item displays the group number of the installed robotlibrary.

Robot Library/Option This item displays the name of the installed robot library oroption.

Ext. Axis This item displays the number of extended axes if applicable.

Procedure 4-10 Performing Robot Library and Option Maintenance

Conditions


Steps





OFF

ON


440





2. Press MENUS.3. Select MAINTENANCE. You will see a screen similar to the following.

Note The following screen is an example. Your screen will be different depending on howyour system is set up.

ROBOT MAINTENANCE CONTROLLED START MENUSSetup Robot System VariablesGroup Robot Library/Option Ext Axes

1 M-410iHS 0

4. To change the display from TITLE to ORDER NUMBER, press F2, ORD NO. You will seea screen similar to the following.

ROBOT MAINTENANCE CONTROLLED START MENUSSetup Robot System VariablesGroup Robot Library/Option Ext Axes

1 A05B-2400-H863 0

5. To change the display from ORDER NUMBER to TITLE, press F2, ORD NO.6. Move the cursor to the title or order number of the robot library you want to modify.7. Decide whether you want to perform AUTO setup or MANUAL setup. Refer to Table 410 .

441


Table 410. Auto and Manual Robot Library Setup

ITEM DESCRIPTION

AUTO This item allows you to set up the robot library or option automatically using default valuesfor each setup item.

MANUAL This item allows you to set up the robot library or option manually by allowing you toanswer each setup question individually. Manual setup records your answers as the newdefault values.

8. To modify your setup,a. Move the cursor to the order number or title of the item you want to modify.

Note During automatic setup of some libraries, you will be asked to answer some robotsetup questions. These questions and their settings vary depending on how your systemis set up.

b. To perform an automatic setup, press F2, AUTO. The robot library questions will beanswered automatically and will be displayed quickly on the screen.

c. To perform a manual setup, press F3, MANUAL. The questions, if they exist, will bedisplayed on the screen and you will have to answer them. The default value for eachquestion will be displayed. You can either accept the default or change it.

To set up a robot library manually, refer to Appendix C . To set up a Independent Axes manually (optional feature), go to Procedure 4-11 . To set up a Servo Interchange Axis device manually (optional feature), go toProcedure 4-12 .

To set up the AM-HS 500 Head Stock device manually (optional feature), go toProcedure 4-13 .

To set up an extended axis manually (optional feature), go to Procedure 4-14 . To set up a positioner manually (optional feature), go to Procedure 4-16 . To set up a process axis manually (optional feature), go to Procedure 4-17 .

4.4.5 Setting up Independent Axes Manually (Optional Feature)

Use Procedure 4-11 to modify the Independent Axes setup manually.

442


Caution

You can only set up an AM-HS 500 Head Stock Device, Arc Index Device,Independent Axes, a C-100, an extended axis, an FW-500-A, an FW-500-L, anopener, IAD Tooling, or a positioner as motion group 2, 3, 4, or 5, unless youhave a DualArm Configuration. Only special configurations can be set up ongroup 1. Do not set up any other device or your system will operate incorrectly.If you have a DualArm Configuration, refer to the Dual Arm Chapter of yourapplication-specific Setup and Operations Manualfor more information.

If you add the wrong device , delete the motion group Step 6 of Procedure4-11 ) then add it again and select the correct robot model.

Procedure 4-11 Modifying the Independent Axes Setup Manually

Conditions

Independent Axes has been installed on your controller. Refer to Procedure 4-9 . You have the R-J3iC software load media containing the software you want to load, and the mediais inserted properly. Refer to Procedure 4-4 .

You have just finished Procedure 4-10 , have selected the Independent Axes you want to set up,and have pressed F4, MANUAL.


**** EXTENDED AXIS SETTING PROGRAM ****SELECT HARDWARE

Enter hardware start number for the starting axis

Steps

1. Type the starting number of the motion group hardware and press ENTER.

If you are adding Independent Axes to a four-axis robot, the starting number is 5. If you are adding Independent Axes to a six-axis robot, the starting number is as follows: If the servo amplifier of the first Independent Axes axis is connected to the first fiber

optic link cable (FSSB), the starting number is 7.

If the servo amplifier of the first Independent Axes axis is connected to the first physicaldevice on the second fiber optic link cable (FSSB), the starting number is 9. If theservo amplifier of the axis is connected to the second physical device on the secondFSSB, the starting number is 10, and so on.

2. Answer the remaining prompts according to the kind of multi-group device you have selected.

443


If you are using or configuring groups 2 - 5 as a Positioner or Independent Axes, you willbe asked for the following:

Link length information Motor parameters Limit parameters Acceleration parameters Mastering information

Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUCAC Servo Motor Beta Series Descriptions Manual for more information. You will see ascreen similar to the following.

*** Group 1 Total Independent Axes = 11. Display/Modify Independent Axis 1>62. Add Axis3. Delete Axis4. Exit

Select? 1

3. Type 1 and press ENTER.4. Answer the remaining questions according to your system setup. Refer to Table 411 .

444


Table 411. Independent Axes Setup Configuration Information

You MustAnswer TheseQuestions

You Have These Choices Comments Write Your Answer Here

Alpha MotorSizeThe motor sizecan be found onthe motor nameplate on yourrobot.

Refer to Table 46 for valid motor and ampcombinations.

Note If the motorcombination you specify isnot supported, the message,"Motor type not found,"will be displayed. Thesystem will ask for the motorinformation again.

Refer to the FANUCAC Servo Motor DigitalSeries DescriptionsManual or the FANUC ACServo Motor Beta SeriesDescriptions Manual formore information.

Motor Type Refer to Table 46 for valid motor and ampcombinations.

Current Limit forAmplifier


Note If the motorcombination you specified isnot supported, the message,"Motor type not found,"will be displayed. Thesystem will ask for the motorinformation again.

IndependentAxes Axis Type

Linear AxisRotary Axis

445


Table 411. Independent Axes Setup Configuration Information (Contd)



Gear Ratio Enter Gear Ratio The gear ratio for linearaxes is the number ofmillimeters traveled forone rotation of the motor.For example, if a 50mmpinion on the motor isdirectly coupled to therack, and the radius of thepinion is 25mm, the gearratio is 2(pi)(25) = 157.08.If the axis has a gear boxbetween the motor andpinion, divide the numberby the gear ratio. Forexample, if the motoris connected to a 5:1gear box and a 50mmpinion, the gear ratio is(2)(pi)(25)/5 = 31.416.The gear ratio for rotaryaxes is in motor turnsper single rotation of therotary axes. The ratio isng2:ng1, where ng is thenumber of teeth on a gear.ng1 is attached to themotor and ng2 is attachedto the axis. For example,if gear 1 has 25 teeth andgear 2 has 50 teeth, theratio would be 2:1.

446





Max Joint SpeedSetting

Suggested Speed = 200.040(deg/s) (Calculatedwith Max Motor Speed) (1:Change, 2:NoChange)? Note The maximum joint

velocity is automaticallycalculated, based on the gearratio and the maximum RPMof the motor chosen. Thisvalue can be used or it canbe lowered.

CAUTIONDo not increasethe value of the maximumjoint velocity, otherwisethe maximum motor RPMwill be exceeded, possiblydamaging equipmentand causing unexpectedresults.

Motor Direction Independent Axes 1 Motion Sign = TRUE(1: TRUE, 2: FALSE)

The direction determineswhich way the motorturns when the positivejog key is pressed, andshould be consistent withaxis alignment. TRUEindicates that the motorwill turn counterclockwisewhen looking at the motorshaft from the front.

Note If the rotation isincorrect, you can modify itby setting up the IndependentAxes again. Perform aControlled start (refer toAppendix A) and then set upthe Independent Axes againby repeating Procedure 4-10starting at Step 2 .

447





Upper Limits Type the upper limit. Set the upper softwarelimit of the axis to a valuesmaller than the hardstop.

Lower Limits Type the lower limit. Set the lower softwarelimit of the axis to a valuesmaller than the hardstop. This is usually 0 or anegative number.

Master Position Type the master position.

ACC/DEC Time1 and 2

Default Value of acc_time1 = 360(ms) (1:Change,2:No Change)?Default Value of acc_time2 = 168(ms) (1:Change,2:No Change)?

The sum of acc_time_1and acc_time_2 is thetime, in milliseconds,it will take for theaxis to reach full jointspeed. The min_acctimevalue is used foracceleration/decelerationif the distance betweenthe two points is shortenough that the axiscannot reach full speed.

MIN_ACCELTime

Default Value of min_acctime = 256(ms)(1:Change, 2:No Change)?

Load Ratio

Load ratio? (0:None 1~5:Valid)

The load ratio adjusts thegain of the axis based onthe load inertia and themotor inertia.A value of 0 continues theprogram without adjustingthe gain.Refer to the FANUCAC Servo Motor DigitalSeries DescriptionsManual or the FANUC ACServo Motor Beta SeriesDescriptions Manual formore information.

448





Select AmpNumber

Enter amplifier number (1->16)

Select Amp Type 1. A06B-6105 series 6 axes amplifier2. A06B-6114 series Alpha i amp orA06B-6096 Alpha amp. orA06B-6093 series Beta amp.

Select 1 for 6 channelamplifiers. Select 2 for allother amplifiers.

Brake Setting Brake Number (0~4)? CAUTION Make surethat the brake number isassigned and is connectedcorrectly, otherwise,improper operation willresult.If the Independent axishas brakes, they shouldbe connected in thecontroller. Brake 1 isreserved for the robot(special connector),brakes 2 through 4 areavailable for IndependentAxes. Brakes 2 through4 are located on theEMG CONT PCB. Eachbrake requires 0.6A or0.8A, depending on thespecification, and eachbrake output is fused at2.0 A.

Servo Timeout Servo Off is Disable (1: Enable 2: Disable)? If enabled, SERVO OFFallows the brakes to holdthe axis and drop servopower after the specifiedtime.

Servo TimeoutValueDisplayed ifServo Timeout isEnabled.

Servo Off Time (0.0~30.0) If enabled, SERVO OFFallows the brakes to holdthe axis and drop servopower after the specifiedtime.

449


5. When you have finished answering the questions, you will see a screen similar to the following.

*** Group 1 Total Independent Axes = 11. Display/Modify Independent Axis 1>62. Add Axis3. Delete Axis4. Exit

Select? 1

6. You can either continue adding axes, or exit.

If you want to add/delete other axes, type 2, Add/delete Independent Axes, press ENTER,and repeat Step 1 through Step 5 .

If you are finished, type 4, Exit and press ENTER. You will see a screen similar to oneshown in Section 4.3

7. Press PREV to display the Configuration Menu.8. Select Cold start and press ENTER.9. When the Cold start is finished, master and calibrate the Positioner or Independent Axes.Refer to Appendix B .

4.4.6 Setting up Other Devices Manually (Optional Feature)

This section includes procedures for modifying the setup of the following devices:


Arc Index Device ( Procedure 4-12 ) FW-500-A Procedure 4-12 FW-500-L Procedure 4-12 AM-HS 500 Head Stock ( Procedure 4-13 )

450


Caution

You can only set up an AM-HS 500 Head Stock Device, Arc Index Device, aIndependent Axes, a C-100, an extended axis, an FW-500-A, an FW-500-L,an opener, IAD Tooling, or a positioner as motion group 2, 3, 4, or 5, unlessyou have a DualArm Configuration. Do not set up any other device or yoursystem will operate incorrectly. If you have a DualArm Configuration, referto the Dual Arm Chapter of your application-specific Setup and OperationsManualfor more information.

If you add the wrong device, delete the motion group ( Step 6 of Procedure4-11 ) then add it again and select the correct robot model.

Note Each system supports a maximum of two servo interchange axis device (FW-500-A,FW-500-L, or Arc index) groups.

Procedure 4-12 Modifying a Servo Interchange Axis Device Setup Manually

Conditions

An Arc Index Device has been installed on your controller. Refer to Procedure 4-9 . You have just finished Procedure 4-10 , have selected the Arc Index Device you want to set up,and have pressed F4, MANUAL.


**** EXTENDED AXIS SETTING PROGRAM ****

SELECT HARDWAREEnter hardware start numberfor the starting axis

Steps

1. Type the starting number of the motion group hardware and press ENTER. If you are adding anindex device to a six-axis robot , the starting number is as follows:

If the servo amplifier of the first index device is connected to the first fiber optic link cable(FSSB), the starting number is 7.

If the servo amplifier of the first index device is connected to the first physical device onthe second fiber optic link cable (FSSB), the starting number is 9. If the servo amplifierof the axis is connected to the second physical device on the second FSSB, the startingnumber is 10, and so forth.

2. Answer the remaining questions according to your system setup. Refer to Table 412 .

451


Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUC ACServo Motor Beta Series Descriptions Manual for more information.

Table 412. Index Device Configuration Information


You Have These Choices Comments Write YourAnswer Here

Alpha MotorSizeThe motor sizecan be found onthe motor nameplate on yourrobot.

Refer to Table 46 for valid motorand amp combinations.

NOTE If the motor combination you specify is notsupported, the message, "Motor type not found,"will be displayed. The system will ask for themotor information again.Refer to the FANUC AC Servo Motor DigitalSeries Descriptions Manual or the FANUC ACServo Motor Beta Series Descriptions Manual formore information.

Motor Type Refer to Table 46 for valid motorand amp combinations.

AmplifierCurrent Limit


NOTE If the motor combination you specifiedis not supported, the message, "Motor type notfound," will be displayed. The system will ask forthe motor information again.

452


Table 412. Index Device Configuration Information (Contd)



Load Ratio


The load ratio adjusts the gain of the axis basedon the load inertia and the motor inertia.A value of 0 continues the program withoutadjusting the gain.Refer to the FANUC AC Servo Motor DigitalSeries Descriptions Manual or the FANUC ACServo Motor Beta Series Descriptions Manual formore information.

AmplifierNumber

Enter amplifier number (1->16)

Select AmpType

1. A06B-6105 series 6 axesamplifier2. A06B-6114 series Alpha i amp orA06B-6096 Alpha amp. orA06B-6093 series Beta amp.

Select 1 for 6 channel amplifiers. Select 2 for allother amplifiers.

453





Axis BrakeNumber

Brake Number (0~4)? CAUTION Make sure that the brake number isassigned and is connected correctly, otherwise,improper operation will result.If the index axis has brakes, they should beconnected in the controller. Brake 1 is reserved forthe robot (special connector), brakes 2 through 4are available for Independent Axes axes. Brakes2 through 4 are located on the EMG CONT PCB.Each brake requires 0.6A or 0.8A, depending onthe specification, and each brake output is fusedat 2.0A.

Axis TypeSetting

Linear AxisRotary Axis

Motion Sign 1: TRUE2: FALSE

The sign determines which way the motor turnswhen the positive jog key is pressed, and shouldbe consistent with axis alignment. TRUE indicatesthat the motor will turn counterclockwise whenlooking at the motor shaft from the front.NOTE If the rotation is incorrect, you can modifyit by performing a Controlled start. Refer toAppendix A.

Gear Ratio Enter Gear Ratio The gear ratio for linear axes is the number ofmillimeters traveled for one rotation of the motor.For example, if a 50mm pinion on the motor isdirectly coupled to the rack, and the radius ofthe pinion is 25mm, the gear ratio is 2(pi)(25) =157.08.If the axis has a gear box between the motorand pinion, divide the number by the gear ratio.For example, if the motor is connected to a 5:1gear box and a 50mm pinion, the gear ratio is(2)(pi)(25)/5 = 31.416.The gear ratio for rotary axes is in motor turnsper single rotation of the rotary axes. The ratiois ng2:ng1, where ng is the number of teeth ona gear. ng1 is attached to the motor and ng2 isattached to the axis. For example, if gear 1 has25 teeth and gear 2 has 50 teeth, the ratio wouldbe 2:1.

454





MaximumSpeed(deg/sec)

Type the maximum speed. NOTE The maximum joint velocity is automaticallycalculated, based on the gear ratio and themaximum RPM of the motor chosen. This valuecan be used or it can be lowered.CAUTION Do not increase the value of themaximum joint velocity, otherwise the maximummotor RPM will be exceeded, possibly damagingequipment and causing unexpected results.

Upper Limits(deg)

Type the upper limit. Set the upper software limit of the axis to a valuesmaller than the hard stop.

Lower Limits(deg)

Type the lower limit. Set the lower software limit of the axis to a valuesmaller than the hard stop. This is usually 0 or anegative number.

Master Position Type the master position.

ACC/DEC Time1 and 2

Default Value of acc_time1 =256(ms)Default Value of acc_time2 =128(ms)

The sum of acc_time_1 and acc_time_2 is thetime, in milliseconds, it will take for the axis toreach full joint speed. The min_acctime value isused for acceleration/deceleration if the distancebetween the two points is short enough that theaxis cannot reach full speed.

Min Accel Time Default Value of min_acctime =384(ms)

Exp AccelEnable

1: TRUE2: FALSE

Exp Accel Time Type the exponential accel time(ms)

455





Number of indexPositions

Type the number of index positions The maximum number of index positions for anyindex axis is 8. For 3 or more index positions theindex device can be used as a dial positioner. Thismeans that the index axis has continuous turncapability i.e. to rotate in one direction indefinitely.NOTE Continuous turn must be set up beforeusing the index device as a dial positioner.A system macro will be created at loading timefor each index position of an index axis. Forexample, 3 index positions are defined for indexaxis 1. The following macro programs will becreated: INDEX1_1, INDEX1_2 and INDEX1_3.If index axis 2 has 2 index positions, INDEX2_1and INDEX2_2 will be created.Running a system macro from a TP program isthe only way to move an index axis to one ofpre-defined index positions for that axis. You willnot be able to create a TP program that includesan index device group.Only 4 entries (entries 90~93) are available forindex devices in the systems macro table. Ifthe total number of macro programs created forthe index devices is greater than 4 (see aboveexample), only the first 4 systems macros willappear in the macro table. For macros 5 and soforth:

You can use the CALL or RUN instructions torun a macro program.

You can manually add macro programs tothe macro table if empty entries are available.

For each index position [i]

angle (deg) [i] Type the joint angle for the indexposition [i].

Set the angle for index position[i] to a value withinthe range defined by the upper and lower limits.

456





digital output [i] Type the digital output number(1~512).

The digital output number specifies which digitaloutput to be turned on when the index axis is atthe designated position.NOTE The specified digital output number shouldcorrespond to a valid connection to I/O hardware.

joint speed % [i] 1 - 100%

3. When you have finished, press PREV to display the Configuration Menu.4. Select Cold start and press ENTER.5. When the Cold start is finished, master and calibrate the index device. Refer to Appendix B .

Procedure 4-13 Modifying the AM-HS 500 Head Stock Device Setup Manually

Conditions

An AM-HS 500 Head Stock has been installed on your controller. Refer to Procedure 4-9 . You have just finished Procedure 4-10 , have selected the AM-HS 500 Head Stock Device youwant to set up, and have pressed F4, MANUAL.



ENTER PAYLOAD (0~500kg)


Steps

1. To accept the default payload setting, press ENTER. To define a new payload setting , typethe new payload value and press ENTER. You will see a screen similar to the following.


SELECT HARDWAREEnter hardware start number for the starting axis

457


2. Type the starting number of the motion group hardware and press ENTER. If you are adding anAM-HS 500 Head Stock Device to a six-axis robot, the starting number is as follows:

If the servo amplifier of the first index device is connected to the first fiber optic link cable(FSSB), the starting number is 7.

If the servo amplifier of the first index device is connected to the first physical device onthe second fiber optic link cable (FSSB), the starting number is 9. If the servo amplifierof the axis is connected to the second physical device on the second FSSB, the startingnumber is 10, and so on.

3. Answer the remaining questions according to your system setup. Refer to Table 413 .

Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUC ACServo Motor Beta Series Descriptions Manual for more information.

Table 413. AM-HS 500 Head Stock Device Configuration Information

You Must Answer TheseQuestions


Amplifier Number Enter amplifier number (1->16)

Amplifier Type 1. A06B-6105 series 6 axesamplifier2. A06B-6114 series Alpha i amp orA06B-6096 Alpha amp. orA06B-6093 series Beta amp.

Select 1 for 6 channel amplifiers.Select 2 for all other amplifiers.

4. When you have finished, press PREV to display the Configuration Menu.5. Select Cold start and press ENTER.6. When the Cold start is finished, master and calibrate the device. Refer to Appendix B .

4.4.7 Modifying an Extended Axis Setup Manually (Optional Feature)

Use Procedure 4-14 to modify the extended axis setup manually. If you have Local Stop hardwareinstalled, you must also install the Local Stop software option and perform Procedure 4-15 to setup the local stop software.

Procedure 4-14 Modifying the Extended Axis Setup Manually

Conditions

An extended axis has been installed on your controller. Refer to Procedure 4-9 .

458


You have just finished Procedure 4-10 , have selected the extended axis you want to set up,and have pressed F4, MANUAL.


Steps

1. Answer each extended axis setup question according to your system setup. Refer to Table 414 .

459


Table 414. Extended Axis Setup Configuration Information

You Must AnswerThese Questions

You Have TheseChoices

Comments Write Your Answer Here

SelectGroup(optional formultiple groupsonly)

Extended axes to(1->3)

Select the group number to which the extendedaxis hardware is installed and press ENTER.For example, if you are adding a rail to asix-axis robot, the group number is 1. Thehardware specific information will be addedlater.

Select Hardware Enter hardwarestart number forthe extended axes

Type the starting number of the extended axishardware and press ENTER.

If you are adding an extended axis to afour-axis robot , the starting number is 5.

If you are adding an extended axis to asix-axis robot , the starting number isas follows:

If the servo amplifier of the first extendedaxis is connected to the six-channelamplifier connector COP10A (FSSB1), thestarting number is 7.

If the servo amplifier of the first extendedaxis is connected to the first physicaldevice on the extra axis control PCB(FSSB2), the starting number is 9. If theservo amplifier of the axis is connected tothe second physical device on the secondFSSB, the starting number is 10, and soon.

NOTE The starting number can varydepending on how the hardware is set upfor your system. The first extended axison group 1 must be axis 7; the secondextended axis on group one must be 8,and so forth, for options such as touchsensing to work correctly. Extended axesadded to multiple group systems (Grp 2 orGrp 3) must be installed sequentially afterthe last axis in the Grp 2 or Grp 3 device.

NOTE The starting number can varydepending on how the hardware is set upfor your system.

460


2. When you have finished answering the questions in Table 414 , you will see a screen similar tothe following.


E1 E2 E3*** Group 1 Total Ext Axis = * * *

1. Display/Modify Ext_axis 1~32. Add Ext axes3. Delete Ext axes4. EXIT

Select?

Note Extended axes can be added out of order. For example, you can add extended axis 2before you add extended axis 1, as long as the hardware follows the order shown above (the firstextended axis on group 1 is axis 7; the second extended axis on group one is 8, and so forth).

3. To add an extended axis, type 2 and press ENTER. To delete an extended axis, type 3 andpress ENTER. You will see a screen similar to the following.

Note If an "I" is displayed in place of an "*" under the extended axis name (E1, E2, E3) inthe following screen, the axis is initialized.


E1 E2 E3*** Group 1 Total Ext Axis = * * *

1. Display/Modify Ext_axis 1~32. Add Ext axes3. Delete Ext axes4. EXIT

Select?2Enter axis to add (1 ->3)

Note If you choose to install axis 2, and the hardware start number is 7, the extended axis 2will be connected to hardware port number 8.

Caution

If you add axes on a previously defined axis (for example, axis 1 of Group2), you will corrupt your system software.

4. Type the extended axis number you are adding (1, 2, or 3) and press ENTER.

461


5. Answer the remaining questions to set up your extended axis. Refer to Table 415 .

Table 415. Extended Axis Setup Configuration Information

You MustAnswerTheseQuestions


Alpha or BetaMotor SizeThe motorsize can befound on themotor nameplate on yourrobot.


NOTE If the motor combination youspecify is not supported, the message,"Motor type not found," will be displayed.The system will ask for the motorinformation again.Refer to the FANUC AC Servo MotorDigital Series Descriptions Manualor the FANUC AC Servo Motor BetaSeries Descriptions Manual for moreinformation.

1. Migeye rotator mtr33. ACb0.5Refer to Table 46 for valid motorand amp combinations.

12A

Motor Type Refer to Table 46 for valid motorand amp combinations.

Current Limitfor Amplifier


NOTE If the motor combination youspecified is not supported, the message,"Motor type not found," will be displayed.The system will ask for the motorinformation again.All robots have 6 channel amplifiers.Optional extended axes used on theserobot models are numbered starting withamplifier #2. The P-10/P-15 openershave a dual channel amplifier. Refer toFigure 46 for information on selectinga servo amplifier module. Refer to theFANUC AC Servo Motor Digital SeriesDescriptions Manual or the FANUC ACServo Motor Beta Series DescriptionsManual for more information.

462


Table 415. Extended Axis Setup Configuration Information (Contd)



ExtendedAxis Type

1. Integrated Rail (Linear axis)2. Integrated Arm (Rotary axis)3. Auxiliary Linear axis4. Auxiliary Rotary axis

For auxiliary linear or rotary axes, theextended axis is not added into the robotposition.For integrated rail or integrated arm, theposition on the rail (or arm) is added tothe robot position.

IntegratedRail orIntegratedArm only

Direction 1:X 2:Y 3:ZDirection (1~3)?

For integrated rail , the rail alignmentis usually with respect to the user frameaxes of the robot.For integrated arm , arm-specificinformation is required. Typically, theoffset length is 0 except for cases wherethe first axis of the robot is replaced byan extension arm. The direction definesabout which world axis the arm rotates.

Gear Ratio Enter Gear Ratio For a linear axis it is the number of mmstraveled for one rotation of the motor.For linear axes, the gear ratio is inmillimeters of travel per revolution ofmotor.For rotary axes, the gear ratio is inmotor turns per single rotations of therotary axes, which is 24.NOTE This number will be used tocalculate acceleration variables. Gearratio values of 80 - 100 are mostcommon.

463





Max SpeedSetting

Suggested Speed =1000.000(mm/s)(Calculatedwith Max motor speed)(1:Change,2:No Change)?

For rotational axes you will beprompted to type the Max Joint SpeedSetting . If you have typed a gear ratioof 80 - 100, the default speed should notneed to be changed. However, you mightwant to change this number if it seemstoo fast or slow for your application.For linear axes you will be promptedto enter the Suggested Speed . Ifyou have typed a gear ratio of 80, forexample, your suggested speed will be2667 mm/sec. If this seems high, youcan slow it down to the 1500 - 2000mm/sec range.

Motion SignSetting

Ext_axs 1 Motion Sign =TRUE(1:TRUE, 2:FALSE)?

The direction determines which way themotor turns when the positive jog key ispressed, and should be consistent withaxis alignment.NOTE If the rotation is incorrect, you canmodify it by performing a Controlled start.

Upper Limits Type the upper limit.

Lower Limits Type the lower limit.

Upper and lower limits will be displayedin millimeters (mm) if a linear axis isused, and in degrees (deg) if a rotationalaxis is used.

MasterPosition

Type the master position.

ACC/DECTime 1 and2

Default Value of acc_time1= 256(ms) (1:Change, 2:NoChange)?Default Value of acc_time2= 128(ms) (1:Change, 2:NoChange)?

The sum of acc_time_1 and acc_time_2is the time, in milliseconds, it will takefor the axis to reach full joint speed.The min_acctime value is used foracceleration/deceleration if the distancebetween the two points is short enoughthat the axis cannot reach full speed.

ExponentialAccel TimeSetting

Current value = 20 msec(1:Change, 2: No Change)

464





MIN_ACCELTime

Default Value of min_acctime= 256(ms)(1:Change, 2:NoChange)?

Load Ratio


The load ratio adjusts the gain of the axisbased on the load inertia and the motorinertia.A value of 0 continues the programwithout adjusting the gain.Refer to the FANUC AC Servo MotorDigital Series Descriptions Manual orto the FANUC AC Servo Motor BetaSeries Descriptions Manual for moreinformation.

Select AmpNumber

Type the number of the amplifierfor the axis and press ENTER.

The amplifier number is the number ofthe amplifier that is connected to theextended axis you are adding. Amplifiersare numbered sequentially.For example, a standard R-2000i, 6-axisrobot with one additional extended axishas two amplifiers; one for the 6-axisrobot (#1) and one for the extendedaxis (#2). In this case, you will type thenumber 2 in Step 4 as the number ofthe amplifier that is connected to theextended axis you are adding. Refer toFigure 47 .

Select AmpType

1. A06B-6105 series 6 axesamplifier2. A06B-6114 series Alpha i amporA06B-6096 Alpha amp. orA06B-6093 series Beta amp.

Select 1 for 6 channel amplifiers. Select2 for all other amplifiers.

465





Brake Setting Brake Number (0~4)? The brake number represents the brakecontrol that the extended axes are on.Typically, you will use brake 2.A zero (0) means no brake is used.Brake channels 2, 3, and 4 need acable from the CRM39 connector on thesix-channel servo amplifier. The signallines from this cable must be attached toan auxiliary axis brake board to releasebrakes on the auxiliary axes.Check the wiring of the brake controlfor the auxiliary axis. Refer to Figure48 for a guideline on how to set yourbrake setting. WARNING Make sure thatthe brake number is assigned and isconnected correctly, otherwise, improperoperation will result.

ServoTimeout

Servo Off is Disable(1: Enable 2:Disable)?

If enabled, SERVO OFF allows thebrakes to hold the axis and drop servopower after the specified time.

ServoTimeoutValueDisplayedif ServoTimeout isEnabled.

Servo Off TIme(0.0~30.0) If enabled, SERVO OFF allows thebrakes to hold the axis and drop servopower after the specified time.

466


Figure 46. Servo Amplifier Module

467


Figure 47. Auxiliary Axis Amplifiers

468


Figure 48. Brake Number Selection

BRK2BRK3BRK4

BRK1

6. When you have finished answering the questions, you will see a screen similar to the following.


E1 E2 E3*** Group 1 Total Ext Axis = I * *

1. Display/Modify Ext_axis 1->32. Add Ext_axes3. Delete Ext_axes

4. ExitSelect?

469


7. When you have finished type 4, Exit, and press ENTER.

Note In a multi-group system, press 0, Exit, to display the Robot Maintenance Menu andgo to Step 9 .

8. Press the FCTN key to display the Robot Maintenance Menu.9. Select START (COLD) and press ENTER.10. When the controller is turned on , master and calibrate the robot or Positioner/Independent

Axes. Refer to Appendix B .

Procedure 4-15 Setting Up Local Stop Software

Conditions

Local Stop Hardware is installed for each aux axis motion group. The Local Stop Hardwareinterfaces to the robot controller through I/O. The default I/O settings are based on the Local StopControl Harness (EE-4707-011-001) provided with the local stop hardware. These settingsmust be modified to enable the Local Stop functionality for each motion group. You can alsomodify the I/O setting as required. FANUC Robotics recommends using the default I/O settingsfor each Local Stop Unit (LSU). Refer to the FANUC Robotics Auxiliary Axis Connection andMaintenance Manual.

Extended axis software setup is complete. ( Procedure 4-14 )

1. Display the SYSTEM Variables screen.a. Press MENUS.

b. Select SYSTEM.

c. Press F1, [TYPE].

d. Select Variables.

2. Move the cursor to $LS_IOPORT and press ENTER. You will see a screen similar to thefollowing.

SYSTEM Variables E1 G1 JOINT 10%$LS_IOPORT 1/3

1 [1] LS_IOPORT_T2 [2] LS_IOPORT_T3 [3] LS_IOPORT_T

3. Select the Local Stop Unit that needs to be configured, and press ENTER. You will see a screensimilar to the following.

470


SYSTEM Variables E1 G1 JOINT 10%$LS_IOPORT[1] 1/10

1 $MO_GRP_NUM 02 $SDI1_P_TYPE 83 $SDI1_P_NUM 74 $SDI1_P_STAT FALSE5 $SDI2_P_TYPE 86 $SDI2_P_NUM 87 $SDI2_P_STAT TRUE8 $SDO_P_TYPE 99 $SDO_P_NUM 8

10 $SDO_P_STAT TRUE

4. Set each variable as shown in Table 416 , Table 417 , and Table 418 .

Table 416. System Variable Name Description

System Variable Name Description

$MO_GRP_NUM Motion group numberassigned to the LS unit

Type the motion group number that the local stophardware is connected to. Valid range is 2 5, butdepends on the number of aux axis motion groups.Setting this variable to 0, disables this local stop unit.

$SDI1_P_TYPE SDI1 port type Type the kind of input signal being used for SDI1.Table 417 shows the valid input port types for thissignal. The SDI1 signal is generated by the local stopunit to indicate the current state of the local stop unit.The default value is 8 (RDI).

$SDI1_P_NUM SDI1 port number Type the input number being used for SDI1. Theinput number will be based on the port type selectedfor SDI1. The default value is 7 (RDI7) for LSU1, 5(RDI5) for LSU2, 3 (RDI3) for LSU3.

$SDI1_P_STAT SDI1 port status The port status gives a real time indication of theselected input point for SDI1. You cannot modify thisvariable.

$SDI2_P_TYPE SDI2 port type Type the kind of input signal being used for SDI2.Table 417 shows the valid input port types for thissignal. The SDI2 signal is an input into the controllerto request the system to place a motion group intolocal stop mode. The controller will use this request tocontrol the local stop hardware. The default value is8 (RDI).

471


Table 416. System Variable Name Description (Contd)

System Variable Name Description

$SDI2_P_NUM SDI2 port number Type the input number being used for SDI2. Theinput number will be based on the port type selectedfor SDI2. The default value is 8 (RDI8) for LSU1, 6(RDI6) for LSU2, 4 (RDI4) for LSU3.

$SDO_P_STAT SDI2 port status The port status gives a real time indication of theselected input point for SDI2. You cannot modify thisvariable.

$SDO_P_TYPE SDO port type Type the kind of output signal being used for SDO.Table 418 shows the valid output port types for thissignal. The SDO signal controls the state of the localstop unit. The default value is 9 (RDO).

$SDO_P_NUM SDO port number Type the output number being used for SDO. Theoutput number is based on the port type selectedfor SDO. The default value is 8 (RDO8) for LSU1, 7(RDO7) for LSU2, 6 (RDO6) for LSU3 .

$SDO_P_STAT SDO port status The port status provides a real time indication of theselected output point for SDO. You cannot modify thisvariable.

Table 417. Input Values

Port Type System Variable Value

DI: Digital Inputs 1

RDI: Robot Digital Inputs 8

WDI: Weld Digital Inputs 16

Table 418. Output Values

Port Type System Variable Value

DO: Digital Outputs 2

RDO: Robot Digital Outputs 9

WDO: Weld Digital Outputs 17

5. If necessary, select a different Local Stop Unit that needs to be configured and press ENTER.Repeat Step 4 .

6. Do not modify $LS_CONFIG or $LS_SYSTEM. These variables have been configuredproperly and should not be changed from the default value.

472


7. Cold start the controller. The system setup will take effect after the power up.

4.4.8 Modifying Positioners Manually (Optional Feature)

You can set up a General Positioner or a Positioner. The General Positioner is used for multi-axispositioners that have non-orthogonal axes. The Positioner has the constraint that all axes are parallelor perpendicular to each other. For more information, refer to the FANUC Robotics SYSTEM R-J3iCController Coordinated Motion Setup and Operations Manual.

Use Procedure 4-16 to modify the Positioner or General Positioner setup manually.

Procedure 4-16 Modifying the Positioner Setup Manually

Conditions


A positioner axis has been installed on your controller. Refer to Procedure 4-9 . You have just finished Procedure 4-10 , have selected the positioner you want to set up, and havepressed F4, MANUAL. Refer to Table 419 .

473


Table 419. Positioner Setup Configuration Information


You Have TheseChoices

Comments Write YourAnswer Here

Hardware StartAxis Setting

Hardware Start Axis(1..16)

Type the hardware starting number for the first axis of thepositioner. For example, if a two-axis positioner is addedto an M-6i (without any additional axes in the followergroup) the hardware start number of the positioner isseven, because the M-6i has six axes. For more complexarrangements of axes and groups, you must determine theamplifier and axis numbers based on the hardware installedin your system.NOTE The positioner setup requires that all axes ofmultiple-axis positioners be installed in order sequentially,starting from the base axis and going to the tabletop axis.The axis of the positioner that contains the workpiece,fixture, or work surface of the positioner must be assignedlast. The hardware installation must reflect this.

KinematicsType

Known kinematicsUnknown kinematics

Type 1 if all offsets between neighboring axes are knownaccurately.Type 2 if the relationship between axes is unknown.

Steps

1. When you have finished setting up the items in Table 419 , you will see a screen similar tothe following.

*** Group 2 Total POSITIONER Axes = 0 ***1. Display/Modify POSITIONER Axes 1->62. Add POSITIONER Axis3. Delete POSITIONER Axis

4. ExitSelect Item?

2. Type 2, Add POSITIONER Axis, or 3, Delete POSITIONER Axis, and press ENTER.3. The axes will be numbered automatically as you add them. The first axis is axis one. Referto Table 420 .

474


Table 420. Positioner Setup Configuration Information



Alpha MotorSize


NOTE If the motor combination youspecify is not supported, the message,"Motor type not found," will be displayed.The system will ask for the motorinformation again.Refer to the FANUC AC Servo MotorDigital Series Descriptions Manual, theFANUC AC Servo Motor Alpha SeriesDescriptions Manual, or the FANUC ACServo Motor Beta Series DescriptionsManual for more information.

475


Table 420. Positioner Setup Configuration Information (Contd)



Motor Type Refer to Table 46 for valid motor and ampcombinations.

CurrentLimit forAmplifier


NOTE If the motor combination youspecified is not supported, the message,"Motor type not found," will be displayed.The system will ask for the motorinformation again.

AmplifierNumberSetting

Amplifier Number (1->16) The six-axis amplifier is assigned asamplifier 1, by default. The positioneraxes typically begin on amplifier 2.

476





AmplifierTypeSetting

1. A06B-6105 series 6 axes amplifier2. A06B-6114 series Alpha i amp orA06B-6096 Alpha amp. orA06B-6093 series Beta amp.

Select 1 for 6 channel amplifiers. Select 2for all other amplifiers.

Axis TypeSetting

1. Linear Axis2. Rotary Axis

477





DirectionSettingOnly ifused with aPositioner.

1: +X2: -X3: +Y4: -Y5: +Z6: -Z

Select the direction of linear or rotarymotion relative to the frame you want toestablish for the positioner device; thisis not necessarily aligned with the robotWORLD frame.For example, the first axis of the positionercould be defined as +z, but could bealigned with the robot x-axis. Refer tothe FANUC Robotics SYSTEM R-J3iCController Coordinated Motion Setup andOperations Manual for more information.

478





OffsetSettingOnly ifkinematicsis usedwith aPositioner.

Enter Offset X (mm)?Enter Offset Y (mm)?Enter Offset Z (mm)?

NOTE Axis 1 has a value of 0 for the x, y,and z offsets. Each of axes 2, 3, and soforth will have non-zero offset values.

479





D-HParameterSettingOnly ifknownkinematicsis used witha GeneralPositioner.

Enter A[i] (mm)?Enter ALPHA[i] (deg)?For rotary axis: Enter D[i] (mm)?For linear axis: Enter THETA[i] (deg)?where i is the index of axis.

The default value is displayed. Refer tothe FANUC Robotics SYSTEM R-J3iCController Coordinated Motion Setup andOperations Manual for more information.

480





Gear RatioSetting

Gear Ratio (mot-rev/axs-rev) The gear ratio for linear axes is thenumber of millimeters traveled for onerotation of the motor. For example, ifa 50mm pinion on the motor is directlycoupled to the rack, and the radius of thepinion is 25mm, the gear ratio is 2(pi)(25)= 157.08.If the axis has a gear box between themotor and pinion, divide the number bythe gear ratio. For example, if the motor isconnected to a 5:1 gear box and a 50mmpinion, the gear ratio is (2)(pi)(25)/5 =31.416.The gear ratio for rotary axes is in motorturns per single rotation of the rotaryaxes. The ratio is ng2:ng1, where ng isthe number of teeth on a gear. ng1 isattached to the motor and ng2 is attachedto the axis. For example, if gear 1 has 25teeth and gear 2 has 50 teeth, the ratiowould be 2:1. Commercial gear drivesare generally labeled for items such asgear ratio, maximum RPM, and torquemaximum. Look at tags or labels on theequipment for this information.

481





MaximumSpeedSetting

Suggested Speed = 200.040mm/sec(Calculated with Max Motor Speed)(1:Change, 2:No Change)

NOTE The maximum joint velocity isautomatically calculated, based on thegear ratio and the maximum RPM of themotor chosen. This value can be used oryou can lower it.CAUTION Do not increase the value ofthe maximum joint velocity; otherwise, themaximum motor RPM will be exceeded.This could injure personnel or damageequipment.

Motion SignSetting

Current value = TRUE(1: TRUE, 2: FALSE) The direction determines which way themotor turns when the positive jog key ispressed, and should be consistent withaxis alignment. TRUE indicates that themotor will turn counterclockwise whenlooking at the motor shaft from the front.NOTE If the rotation is incorrect, you canmodify it by performing a Controlled start.Refer to Appendix A .

482





Upper LimitSetting

Enter the upper limit. Set the upper software limit of the axis toa value smaller than the hard stop.

Lower LimitSetting

Enter the lower limit Set the lower software limit of the axis toa value smaller than the hard stop. This isusually 0 or a negative number.

MasterPosition

Enter the master position.

483





Accel Time1 Setting

Current value = 384 msec(1:Change, 2:NoChange)

Accel Time2 Setting

Current value = 192 msec(1:Change, 2:No Change)

The sum of acc_time_1 and acc_time_2is the time, in milliseconds, it will takefor the axis to reach full joint speed.The min_acctime value is used foracceleration/deceleration if the distancebetween the two points is short enoughthat the axis cannot reach full speed.

ExponentialFilterSetting

Exp Filter Valid = TRUE(1: TRUE, 2: FALSE)

ExponentialAccel TimeSetting

Current value = 20 msec(1: Change, 2: No Change)

484





MinimumAccel TimeSetting

Current value = 384 msec(1: Change, 2: No Change)

485





Load RatioSetting


The load ratio adjusts the gain of the axisbased on the load inertia and the motorinertia.A value of 0 continues the programwithout adjusting the gain.Refer to the FANUC AC Servo MotorDigital Series Descriptions Manual orthe FANUC AC Servo Motor Beta SeriesDescriptions Manual for more information.

486





BrakeNumberSetting

Type the brake number (0..4) NOTE For the standard controller withextended axis configuration, eachadditional amplifier is assigned to abrake, regardless of whether the motor(s)have brakes. Brake 3 is assigned tothe first additional amplifier and brake4 is assigned to the second additionalamplifier. Brake 2 does not exist in thisconfiguration.WARNING Make sure that the brakenumber is assigned and is connectedcorrectly; otherwise, improper operationwill result.Brake channels 2, 3, and 4 need acable from the CRM39 connector on thesix-channel servo amplifier. The signallines from this cable must be attached toan auxiliary axis brake board to releasebrakes on the auxiliary axes.

487





Servo OffSetting

Current value = TRUE(1: TRUE, 2: FALSE)

If enabled, SERVO OFF allows the brakesto hold the axis and drop servo powerafter the specified time.

ServoOff TimeSettingDisplayedif ServoTimeout isEnabled.

Servo Off Time (0..30 sec)

4. When you have finished answering all the questions in Table 420 , you will see a screensimilar to the following.

488


*** Group 2 Total POSITIONER Axes = 0 ***1. Display/Modify POSITIONER Axes 1->62. Add POSITIONER Axis3. Delete POSITIONER Axis

4. ExitSelect Item?

5. You can either continue adding or deleting axes, or exit.

If you want to add/delete other axes, type 2, Add/delete POSITIONER Axes, and repeatStep 1 through Step 4 .

If you are finished , type 4, Exit. The Controlled start screen for your application will bedisplayed. For an example of this screen, refer to Section 4.3

6. Press PREV to display the Configuration Menu.7. Select Cold start and press ENTER.8. When the controller is turned on, master and calibrate the robot. Refer to Appendix B .

4.4.9 Displaying, Modifying and Installing Process Axes

Typically, your software will automatically configure your process axes hardware when it is installedinitially. However, if you want to reconfigure your process axes hardware, use Procedure 4-17 .

Note The process axes hardware setup is based on the following rules:

The process axes are not tied to a group The process axes are installed after the standard robot axes, extended axes, and line tracking axes You can only set up one axis at a time

Table 421 lists the process axes default hardware setup for the PaintTool Integral Pump Controloption only.

Table 421. Process Axes Default Hardware Setup

SETUP ITEM DEFAULT SETTING

Motor Type ACbM0.5

Motor Size /4000

Current Limit for Amplifier 20A

489

Documents

R-J3iC AuxAxis Setup Manual [System Installation Manual MARF