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FANUC Robotics RJ3iB Mate ControllerLR Handling ToolOperators
Manual
MAROIBLRH02021E REV. AB81524EN/01
This publication contains proprietary information of FANUC
RoboticsNorth America, Inc. furnished for customer use only. No
other uses areauthorized without the express written permission of
FANUC RoboticsNorth America, Inc.
FANUC Robotics North America, Inc.3900 W. Hamlin RoadRochester
Hills, Michigan 48309-3253
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The descriptions and specifications contained in this manual
were in effectat the time this manual was approved for printing.
FANUC RoboticsNorth America, Inc, hereinafter referred to as FANUC
Robotics, reservesthe right to discontinue models at any time or to
change specifications ordesign without notice and without incurring
obligations.
FANUC Robotics manuals present descriptions, specifications,
drawings,schematics, bills of material, parts, connections and/or
procedures forinstalling, disassembling, connecting, operating and
programming FANUCRobotics products and/or systems. Such systems
consist of robots,extended axes, robot controllers, application
software, the KARELprogramming language, INSIGHT vision equipment,
and special tools.
FANUC Robotics recommends that only persons who have been
trained inone or more approved FANUC Robotics Training Course(s) be
permittedto install, operate, use, perform procedures on, repair,
and/or maintainFANUC Robotics products and/or systems and their
respectivecomponents. Approved training necessitates that the
courses selected berelevant to the type of system installed and
application performed at thecustomer site.
WARNINGThis equipment generates, uses, and can radiate
radiofrequency energy and if not installed and used inaccordance
with the instruction manual, may causeinterference to radio
communications. As temporarilypermitted by regulation, it has not
been tested forcompliance with the limits for Class A computing
devicespursuant to subpart J of Part 15 of FCC Rules, which
aredesigned to provide reasonable protection against
suchinterference. Operation of the equipment in a residentialarea
is likely to cause interference, in which case the user,at his own
expense, will be required to take whatevermeasure may be required
to correct the interference.
FANUC Robotics conducts courses on its systems and products on
aregularly scheduled basis at its headquarters in Rochester Hills,
Michigan.For additional information contact
FANUC Robotics North America, Inc.Training Department3900 W.
Hamlin Roadweb site: www.fanucrobotics.com
Send your comments and suggestions about this manual
to:[email protected]
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Copyright 2002 by FANUC Robotics North America, Inc.All Rights
Reserved
The information illustrated or contained herein is not to be
reproduced,copied, translated into another language, or transmitted
in whole or in partin any way without the prior written consent of
FANUC Robotics NorthAmerica, Inc.
AccuStat, ArcTool, DispenseTool, FANUC LASER DRILL,KAREL,
INSIGHT, INSIGHT II, PaintTool, PaintWorks,PalletTool, SOCKETS,
SOFT PARTS SpotTool,TorchMate, and YagTool are Registered
Trademarks of FANUCRobotics.
FANUC Robotics reserves all proprietary rights, including but
not limitedto trademark and trade name rights, in the following
names:
AccuFlowARC MateARC Mate
Sr.IntelliTrakLaserToolMotionPartsPaintWorks
IIPalletMateSureWeldTurboMove
This manual includes information essential to the safety of
personnel,equipment, software, and data. This information is
indicated by headingsand boxes in the text.
WARNINGInformation appearing under WARNING concerns
theprotection of personnel. It is boxed and in bold type to setit
apart from other text.
CAUTIONInformation appearing under CAUTION concerns the
protectionof equipment, software, and data. It is boxed to set it
apartfrom other text.
NOTE Information appearing next to NOTE concernsrelated
information or useful hints.
Conventions Used inthis Manual
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Revised:11/20/01
TECHNICAL SUPPORT, FIELDSERVICES & ROBOT REPAIRPress 1 (24
Hours/365 Days)
Facsimile = 248-377-7463
PARTS & PART REPAIRPress 2 ("After Hours" Press 1)
Facsimile = (248) 377-7832
PRODUCT & SYSTEMSTRAINING
Press 3 (8am-5pm EST; M-F)Facsimile = 248-377-7367
MARKETING, SALES, &LITERATURE REQUESTS
Press 4 (8am-5pm EST; M-F)Facsimile = 248-377-7366
CUSTOMER RESOURCE CENTER1-800-47-ROBOT
www.fanucrobotics.com(Canada & United States:
1-800-477-6268) or (International: 011-1-248-377-7159)
Technical SupportHot-Line Service personneldispatch After-hours
partssupport (8:00 p.m. to7:00 a.m.)
Marketing information Application review New robot product sales
Systems solution sales
Parts for down robots Replenishment & repairorders Warranty
partreplacement Robot software andPACs
Training classregistration Consultation for non-standard
training classesor on-site requests
___________________For best call resultshave: Customer number
(ifknown) Company name Your name Your phone & faxnumbers Robot
& controller type F# or serial number ofrobot Hour meter
reading (ifavailable Software type andedition Any error messagesand
LED displays (ifapplicable) Your P.O., credit card,or receiving #
forwarranty, down robot, orpreventive maintenanceservice orders
___________________For best call resultshave: Customer number
(ifknown) Company name Your name Your phone & faxnumbers Part
name & number (ifknown) F# or serial number ofrobot, if
available (reqdfor warranty) P.O., credit card, orreceiving # for
warranty,down units, or software Shipping & billingaddresses
Reason for repair (anysymptoms, error codes,or diagnostic LEDs
thatwere identified)
___________________For best call resultshave: Customer number
(ifknown) Company name Your name Your phone & faxnumbers Your
billing address Types of coursesneeded Special requirements Robot
and controllertype Proposed schedules Number of peopleattending
Student names (ifavailable) Method of payment(P.O., credit card,
etc.)
___________________For best call resultshave: Company name
Company address Your name Your phone & faxnumbers Description
of your need
*NOTE: A RETURN AUTHORIZATION (RA) FROM PARTS IS REQUIRED BEFORE
SHIPPING ANYMATERIAL BACK TO FANUC ROBOTICS FOR PROPER RECEIVING
& TRACKING. F# IS LOCATED
ON THE ROBOT BASE OR OPERATION PANEL.
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Revised 11/12/01
FANUC Robotics North America, Inc. 3900 West Hamlin Road
Rochester Hills, Michigan 48309-3253 www.fanucrobotics.com
FANUC Robotics North America Customer Resource Center (cRc)
Aftermarket Support Solutions
Parts Solutions- customized spare part packages, individual
spare part pricing and availability,
warranty parts, refurbished parts inventory, core part credit,
24 hour emergency service on down robots Certified Repair/Rebuild
Solutions- certified repair/rebuild capabilities for over 500
different components and multiple controller product platforms
completed in the Rochester Hills facility, authorized repair for
North America, repaired with authentic FANUC parts, certified
repair/rebuild serial identification, warranty identification
tracked, core part credits on certified repairs *All certified
repairs are backed by the same one-year warranty as a new FANUC
Robotics part
Rebuild Services Levels
Level 1 Refurbishment Service- preventive maintenance service
for robots with less than 10,000 servo hours
Level 2 Refurbishment Service-thorough diagnostic and
maintenance service 10,000 - 30,000 servo hours
Rebuild Service- major overhaul service greater than 30,000
servo hours Rebuilt Robots- sale of certified rebuilt robots *All
certified repairs are backed by the same one-year warranty as a new
FANUC Robotics part
Training Solutions- Robot Operations Computer Based Training
CD-Rom, over 50 courses available providing standard &
customized training solutions that improve your ability to optimize
and troubleshoot robot and system performance
NO Charge Web Solutions (Requires Registration)
cRc Parts Solutions- parts search engine, create/view parts
quotes, submit order online, order tracking, multiple tracking
options, order status (including backorder information), detailed
shipment breakdowns, and a direct link to carriers website
Return Solutions- new or refurbished parts, certified component
repairs, warranty orders by F numbers, core credit, printable
return labels, online return tracking, authorization tracking
number online, online credit value viewing
Customized Web Solutions
Electronic Documentation Solutions- engineering bulletins,
products, operations, and maintenance manuals, multi-platform
eDiagnostic tools DRC, minimize mean time to repair
Application Back-Up Solutions- scheduled on-site manual back-up,
preventive maintenance schedules, customer direct uploads,
cataloging by F numbers, automated network solutions, minimize mean
time to repair
Technical Solutions- local / regional field service scheduling
and dispatch to minimize response time,
reliability and maintainability studies, preventive maintenance,
robot evaluations, system optimization, enhancement services /
upgrades, in-plant resident service engineer
Customer Service Hotline 1-800-47-ROBOT (248) 377-7463
For more information, visit our website at:
http://www.fanucrobotics.com/crc.asp
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SafetyMAROIBLRH02021E REV A s1FANUC Robotics is not and does not
represent itself as an expert in safetysystems, safety equipment,
or the specific safety aspects of your companyand/or its work
force. It is the responsibility of the owner, employer, oruser to
take all necessary steps to guarantee the safety of all personnel
inthe workplace.
The appropriate level of safety for your application and
installation canbest be determined by safety system professionals.
FANUC Roboticstherefore, recommends that each customer consult with
such professionalsin order to provide a workplace that allows for
the safe application, use,and operation of FANUC Robotic
systems.
According to the industry standard ANSI/RIA R15.06, the owner or
user isadvised to consult the standards to ensure compliance with
its requests forRobotics System design, usability, operation,
maintenance, and service.Additionally, as the owner, employer, or
user of a robotic system, it is yourresponsibility to arrange for
the training of the operator of a robot systemto recognize and
respond to known hazards associated with your roboticsystem and to
be aware of the recommended operating procedures for yourparticular
application and robot installation.
FANUC Robotics therefore, recommends that all personnel who
intend tooperate, program, repair, or otherwise use the robotics
system be trained inan approved FANUC Robotics training course and
become familiar withthe proper operation of the system. Persons
responsible for programmingthe system-including the design,
implementation, and debugging ofapplication programs-must be
familiar with the recommendedprogramming procedures for your
application and robot installation.
The following guidelines are provided to emphasize the
importance ofsafety in the workplace.
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SAFETY MAROIBLRH02021E REV As2
Safety is essential whenever robots are used. Keep in mind the
followingfactors with regard to safety:
The safety of people and equipment Use of safety enhancing
devices Techniques for safe teaching and manual operation of the
robot(s) Techniques for safe automatic operation of the robot(s)
Regular scheduled inspection of the robot and workcell Proper
maintenance of the robot
The safety of people is always of primary importance in any
situation. However, equipment must be kept safe, too. When
prioritizing how to apply safety to your robotic system, consider
thefollowing:
People External devices Robot(s) Tooling Workpiece
Always give appropriate attention to the work area that
surrounds therobot. The safety of the work area can be enhanced by
the installation ofsome or all of the following devices:
Safety fences, barriers, or chains Light curtains Interlocks
Pressure mats Floor markings Warning lights Mechanical stops
EMERGENCY STOP buttons DEADMAN switches
A safe workcell is essential to protect people and equipment.
Observe thefollowing guidelines to ensure that the workcell is set
up safely. Thesesuggestions are intended to supplement and not
replace existing federal,state, and local laws, regulations, and
guidelines that pertain to safety.
Sponsor your personnel for training in approved FANUC
Roboticstraining course(s) related to your application. Never
permit untrainedpersonnel to operate the robots.
Install a lockout device that uses an access code to
preventunauthorized persons from operating the robot.
Use anti-tie-down logic to prevent the operator from bypassing
safetymeasures.
Arrange the workcell so the operator faces the workcell and can
seewhat is going on inside the cell.
CONSIDERINGSAFETY FOR YOURROBOTINSTALLATION
Keeping People andEquipment Safe
Using SafetyEnhancing Devices
Setting Up a SafeWorkcell
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SAFETYMAROIBLRH02021E REV A s3
Clearly identify the work envelope of each robot in the system
withfloor markings, signs, and special barriers. The work envelope
is thearea defined by the maximum motion range of the robot,
including anytooling attached to the wrist flange that extend this
range.
Position all controllers outside the robot work envelope.
Never rely on software as the primary safety element.
Mount an adequate number of EMERGENCY STOP buttons orswitches
within easy reach of the operator and at critical points insideand
around the outside of the workcell.
Install flashing lights and/or audible warning devices that
activatewhenever the robot is operating, that is, whenever power is
applied tothe servo drive system. Audible warning devices shall
exceed theambient noise level at the end-use application.
Wherever possible, install safety fences to protect against
unauthorizedentry by personnel into the work envelope.
Install special guarding that prevents the operator from
reaching intorestricted areas of the work envelope.
Use interlocks.
Use presence or proximity sensing devices such as light
curtains, mats,and capacitance and vision systems to enhance
safety.
Periodically check the safety joints or safety clutches that can
beoptionally installed between the robot wrist flange and tooling.
If thetooling strikes an object, these devices dislodge, remove
power fromthe system, and help to minimize damage to the tooling
and robot.
Make sure all external devices are properly filtered,
grounded,shielded, and suppressed to prevent hazardous motion due
to theeffects of electro-magnetic interference (EMI), radio
frequencyinterference (RFI), and electro-static discharge
(ESD).
Make provisions for power lockout/tagout at the controller.
Eliminate pinch points. Pinch points are areas where personnel
couldget trapped between a moving robot and other equipment.
Provide enough room inside the workcell to permit personnel to
teachthe robot and perform maintenance safely.
Program the robot to load and unload material safely.
If high voltage electrostatics are present, be sure to provide
appropriateinterlocks, warning, and beacons.
If materials are being applied at dangerously high pressure,
provideelectrical interlocks for lockout of material flow and
pressure.
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SAFETY MAROIBLRH02021E REV As4
Advise all personnel who must teach the robot or otherwise
manuallyoperate the robot to observe the following rules:
Never wear watches, rings, neckties, scarves, or loose clothing
thatcould get caught in moving machinery.
Know whether or not you are using an intrinsically safe teach
pendantif you are working in a hazardous environment.
Before teaching, visually inspect the robot and work envelope to
makesure that no potentially hazardous conditions exist. The
workenvelope is the area defined by the maximum motion range of
therobot. These include tooling attached to the wrist flange that
extendsthis range.
The area near the robot must be clean and free of oil, water, or
debris.Immediately report unsafe working conditions to the
supervisor orsafety department.
FANUC Robotics recommends that no one enter the work envelope
ofa robot that is on, except for robot teaching operations.
However, ifyou must enter the work envelope, be sure all safeguards
are in place,check the teach pendant DEADMAN switch for proper
operation, andplace the robot in teach mode. Take the teach pendant
with you, turn iton, and be prepared to release the DEADMAN switch.
Only theperson with the teach pendant should be in the work
envelope.
WARNINGNever bypass, strap, or otherwise deactivate a
safetydevice, such as a limit switch, for any
operationalconvenience. Deactivating a safety device is known
tohave resulted in serious injury and death.
Know the path that can be used to escape from a moving robot;
makesure the escape path is never blocked.
Isolate the robot from all remote control signals that can cause
motionwhile data is being taught.
Test any program being run for the first time in the following
manner:
WARNINGStay outside the robot work envelope whenever a programis
being run. Failure to do so can result in injury.
Using a low motion speed, single step the program for at least
onefull cycle.
Using a low motion speed, test run the program continuously
forat least one full cycle.
Using the programmed speed, test run the program continuouslyfor
at least one full cycle.
Make sure all personnel are outside the work envelope before
runningproduction.
Staying Safe WhileTeaching or ManuallyOperating the Robot
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SAFETYMAROIBLRH02021E REV A s5
Advise all personnel who operate the robot during production to
observethe following rules:
Make sure all safety provisions are present and active.
Know the entire workcell area. The workcell includes the robot
and itswork envelope, plus the area occupied by all external
devices andother equipment with which the robot interacts.
Understand the complete task the robot is programmed to
performbefore initiating automatic operation.
Make sure all personnel are outside the work envelope
beforeoperating the robot.
Never enter or allow others to enter the work envelope
duringautomatic operation of the robot.
Know the location and status of all switches, sensors, and
controlsignals that could cause the robot to move.
Know where the EMERGENCY STOP buttons are located on both
therobot control and external control devices. Be prepared to press
thesebuttons in an emergency.
Never assume that a program is complete if the robot is not
moving.The robot could be waiting for an input signal that will
permit it tocontinue activity.
If the robot is running in a pattern, do not assume it will
continue torun in the same pattern.
Never try to stop the robot, or break its motion, with your
body. Theonly way to stop robot motion immediately is to press
anEMERGENCY STOP button located on the controller panel,
teachpendant, or emergency stop stations around the workcell.
When inspecting the robot, be sure to
Turn off power at the controller.
Lock out and tag out the power source at the controller
according tothe policies of your plant.
Turn off the compressed air source and relieve the air
pressure.
If robot motion is not needed for inspecting the electrical
circuits,press the EMERGENCY STOP button on the operator panel.
Never wear watches, rings, neckties, scarves, or loose clothing
thatcould get caught in moving machinery.
Staying Safe DuringAutomatic Operation
Staying Safe DuringInspection
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SAFETY MAROIBLRH02021E REV As6
If power is needed to check the robot motion or electrical
circuits, beprepared to press the EMERGENCY STOP button, in an
emergency.
Be aware that when you remove a servomotor or brake, the
associatedrobot arm will fall if it is not supported or resting on
a hard stop. Support the arm on a solid support before you release
the brake.
When performing maintenance on your robot system, observe the
following rules:
Never enter the work envelope while the robot or a program is
inoperation.
Before entering the work envelope, visually inspect the workcell
tomake sure no potentially hazardous conditions exist.
Never wear watches, rings, neckties, scarves, or loose clothing
thatcould get caught in moving machinery.
Consider all or any overlapping work envelopes of adjoining
robotswhen standing in a work envelope.
Test the teach pendant for proper operation before entering the
workenvelope.
If it is necessary for you to enter the robot work envelope
while poweris turned on, you must be sure that you are in control
of the robot. Besure to take the teach pendant with you, press the
DEADMAN switch,and turn the teach pendant on. Be prepared to
release the DEADMANswitch to turn off servo power to the robot
immediately.
Whenever possible, perform maintenance with the power turned
off.Before you open the controller front panel or enter the work
envelope,turn off and lock out the 3-phase power source at the
controller.
Be aware that when you remove a servomotor or brake, the
associatedrobot arm will fall if it is not supported or resting on
a hard stop. Support the arm on a solid support before you release
the brake.
WARNINGLethal voltage is present in the controller WHENEVER IT
ISCONNECTED to a power source. Be extremely careful toavoid
electrical shock.
HIGH VOLTAGE IS PRESENT at the input side wheneverthe controller
is connected to a power source. Turning thedisconnect or circuit
breaker to the OFF position removespower from the output side of
the device only.
Release or block all stored energy. Before working on the
pneumaticsystem, shut off the system air supply and purge the air
lines.
Staying Safe DuringMaintenance
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SAFETYMAROIBLRH02021E REV A s7
Isolate the robot from all remote control signals. If
maintenance mustbe done when the power is on, make sure the person
inside the workenvelope has sole control of the robot. The teach
pendant must beheld by this person.
Make sure personnel cannot get trapped between the moving robot
andother equipment. Know the path that can be used to escape from
amoving robot. Make sure the escape route is never blocked.
Use blocks, mechanical stops, and pins to prevent
hazardousmovement by the robot. Make sure that such devices do not
createpinch points that could trap personnel.
WARNINGDo not try to remove any mechanical component from
therobot before thoroughly reading and understanding theprocedures
in the appropriate manual. Doing so can resultin serious personal
injury and component destruction.
Be aware that when you remove a servomotor or brake, the
associatedrobot arm will fall if it is not supported or resting on
a hard stop. Support the arm on a solid support before you release
the brake.
When replacing or installing components, make sure dirt and
debris donot enter the system.
Use only specified parts for replacement. To avoid fires and
damageto parts in the controller, never use nonspecified fuses.
Before restarting a robot, make sure no one is inside the
workenvelope; be sure that the robot and all external devices are
operatingnormally.
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SAFETY MAROIBLRH02021E REV As8
Certain programming and mechanical measures are useful in
keeping themachine tools and other external devices safe. Some of
these measures areoutlined below. Make sure you know all associated
measures for safe useof such devices.
Implement the following programming safety measures to prevent
damageto machine tools and other external devices.
Back-check limit switches in the workcell to make sure they do
notfail.
Implement failure routines in programs that will provide
appropriaterobot actions if an external device or another robot in
the workcellfails.
Use handshaking protocol to synchronize robot and external
deviceoperations.
Program the robot to check the condition of all external devices
duringan operating cycle.
Implement the following mechanical safety measures to prevent
damage tomachine tools and other external devices.
Make sure the workcell is clean and free of oil, water, and
debris.
Use software limits, limit switches, and mechanical hardstops
toprevent undesired movement of the robot into the work area
ofmachine tools and external devices.
KEEPING MACHINETOOLS ANDEXTERNALDEVICES SAFE
Programming SafetyPrecautions
Mechanical SafetyPrecautions
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SAFETYMAROIBLRH02021E REV A s9
Observe the following operating and programming guidelines to
preventdamage to the robot.
The following measures are designed to prevent damage to the
robotduring operation.
Use a low override speed to increase your control over the robot
whenjogging the robot.
Visualize the movement the robot will make before you press the
jogkeys on the teach pendant.
Make sure the work envelope is clean and free of oil, water, or
debris.
Use circuit breakers to guard against electrical overload.
The following safety measures are designed to prevent damage to
the robotduring programming:
Establish interference zones to prevent collisions when two or
morerobots share a work area.
Make sure that the program ends with the robot near or at the
homeposition.
Be aware of signals or other operations that could trigger
operation oftooling resulting in personal injury or equipment
damage.
NOTE Any deviation from the methods and safety practices
described inthis manual must conform to the approved standards of
your company. Ifyou have questions, see your supervisor.
KEEPING THEROBOT SAFE
Operating SafetyPrecautions
Programming SafetyPrecautions
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SAFETY MAROIBLRH02021E REV As10
Process technicians are sometimes required to enter the paint
booth, forexample, during daily or routine calibration or while
teaching new paths toa robot. Maintenance personal also must work
inside the paint boothperiodically.
Whenever personnel are working inside the paint booth,
ventilationequipment must be used. Instruction on the proper use of
ventilatingequipment usually is provided by the paint shop
supervisor.
Although paint booth hazards have been minimized, potential
dangers stillexist. Therefore, todays highly automated paint booth
requires thatprocess and maintenance personnel have full awareness
of the system andits capabilities. They must understand the
interaction that occurs betweenthe vehicle moving along the
conveyor and the robot(s), hood/deck anddoor opening devices, and
high-voltage electrostatic tools.
Paint robots are operated in three modes:
Teach or manual mode Automatic mode, including automatic and
exercise operation Diagnostic mode
During both teach and automatic modes, the robots in the paint
booth willfollow a predetermined pattern of movements. In teach
mode, the processtechnician teaches (programs) paint paths using
the teach pendant.
In automatic mode, robot operation is initiated at the System
OperatorConsole (SOC) or Manual Control Panel (MCP), if available,
and can bemonitored from outside the paint booth. All personnel
must remainoutside of the booth or in a designated safe area within
the booth wheneverautomatic mode is initiated at the SOC or
MCP.
In automatic mode, the robots will execute the path movements
they weretaught during teach mode, but generally at production
speeds.
When process and maintenance personnel run diagnostic routines
thatrequire them to remain in the paint booth, they must stay in a
designatedsafe area.
ADDITIONALSAFETYCONSIDERATIONSFOR PAINT ROBOTINSTALLATIONS
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SAFETYMAROIBLRH02021E REV A s11
Process technicians and maintenance personnel must become
totallyfamiliar with the equipment and its capabilities. To
minimize the risk ofinjury when working near robots and related
equipment, personnel mustcomply strictly with the procedures in the
manuals.
This section provides information about the safety features that
areincluded in the paint system and also explains the way the robot
interactswith other equipment in the system.
The paint system includes the following safety features:
Most paint booths have red warning beacons that illuminate when
therobots are armed and ready to paint. Your booth might have
otherkinds of indicators. Learn what these are.
Some paint booths have a blue beacon that, when
illuminated,indicates that the electrostatic devices are enabled.
Your booth mighthave other kinds of indicators. Learn what these
are.
EMERGENCY STOP buttons are located on the robot controller
andteach pendant. Become familiar with the locations of all
E-STOPbuttons.
An intrinsically safe teach pendant is used when teaching in
hazardouspaint atmospheres.
A DEADMAN switch is located on each teach pendant. When
thisswitch is held in, and the teach pendant is on, power is
applied to therobot servo system. If the engaged DEADMAN switch is
releasedduring robot operation, power is removed from the servo
system, allaxis brakes are applied, and the robot comes to an
EMERGENCYSTOP. Safety interlocks within the system might also
E-STOP otherrobots.
WARNINGAn EMERGENCY STOP will occur if the DEADMAN switchis
released on a bypassed robot.
Overtravel by robot axes is prevented by software limits. All of
themajor and minor axes are governed by software limits. Limit
switchesand hardstops also limit travel by the major axes.
Paint System SafetyFeatures
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SAFETY MAROIBLRH02021E REV As12
EMERGENCY STOP limit switches and photoelectric eyes might
bepart of your system. Limit switches, located on the entrance/exit
doorsof each booth, will EMERGENCY STOP all equipment in the booth
ifa door is opened while the system is operating in automatic or
manualmode. For some systems, signals to these switches are
inactive whenthe switch on the SCC is in teach mode.
When present, photoelectric eyes are sometimes used to
monitorunauthorized intrusion through the entrance/exit silhouette
openings.
System status is monitored by computer. Severe conditions result
inautomatic system shutdown.
When you work in or near the paint booth, observe the following
rules, inaddition to all rules for safe operation that apply to all
robot systems.
WARNINGObserve all safety rules and guidelines to avoid
injury.
WARNINGNever bypass, strap, or otherwise deactivate a safety
device,such as a limit switch, for any operational
convenience.Deactivating a safety device is known to have resulted
inserious injury and death.
Know the work area of the entire paint station (workcell).
Know the work envelope of the robot and hood/deck and door
openingdevices.
Be aware of overlapping work envelopes of adjacent robots.
Know where all red, mushroom-shaped EMERGENCY STOP buttonsare
located.
Know the location and status of all switches, sensors, and/or
controlsignals that might cause the robot, conveyor, and opening
devices tomove.
Make sure that the work area near the robot is clean and free of
water,oil, and debris. Report unsafe conditions to your
supervisor.
Become familiar with the complete task the robot will
performBEFORE starting automatic mode.
Make sure all personnel are outside the paint booth before you
turn onpower to the robot servo system.
Staying Safe WhileOperating the PaintRobot
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SAFETYMAROIBLRH02021E REV A s13
Never enter the work envelope or paint booth before you turn
offpower to the robot servo system.
Never enter the work envelope during automatic operation unless
asafe area has been designated.
Never wear watches, rings, neckties, scarves, or loose clothing
thatcould get caught in moving machinery.
Remove all metallic objects, such as rings, watches, and belts,
beforeentering a booth when the electrostatic devices are
enabled.
Stay out of areas where you might get trapped between a
movingrobot, conveyor, or opening device and another object.
Be aware of signals and/or operations that could result in the
triggeringof guns or bells.
Be aware of all safety precautions when dispensing of paint
isrequired.
Follow the procedures described in this manual.
When you perform maintenance on the painter system, observe
thefollowing rules, and all other maintenance safety rules that
apply to allrobot installations. Only qualified, trained service or
maintenancepersonnel should perform repair work on a robot.
Paint robots operate in a potentially explosive environment.
Usecaution when working with electric tools.
When a maintenance technician is repairing or adjusting a robot,
thework area is under the control of that technician. All personnel
notparticipating in the maintenance must stay out of the area.
For some maintenance procedures, station a second person at
thecontrol panel within reach of the EMERGENCY STOP button.
Thisperson must understand the robot and associated potential
hazards.
Be sure all covers and inspection plates are in good repair and
in place.
Always return the robot to the home position before you disarm
it.
Never use machine power to aid in removing any component from
therobot.
During robot operations, be aware of the robots movements.
Excessvibration, unusual sounds, and so forth, can alert you to
potentialproblems.
Whenever possible, turn off the main electrical disconnect
before youclean the robot.
Staying Safe DuringMaintenance
-
SAFETY MAROIBLRH02021E REV As14
When using vinyl resin observe the following:
Wear eye protection and protective gloves during application
andremoval
Adequate ventilation is required. Overexposure could
causedrowsiness or skin and eye irritation.
If there is contact with the skin, wash with water.
When using paint remover observe the following:
Eye protection, protective rubber gloves, boots, and apron
arerequired during booth cleaning.
Adequate ventilation is required. Overexposure could
causedrowsiness.
If there is contact with the skin or eyes, rinse with water for
atleast 15 minutes.
-
This manual describes the following products.
Name of product Abbreviation
FANUC Robot R2000i R2000i
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B81524EN/01 Table of Contents
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1. INTRODUCTION 1. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1
Manual Plan 2. . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . .
1.2 Workers 5. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . .
1.3 General Safety Precautions 6. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . .
1.4 Safety Precautions 9. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
2. OVERVIEW 13. . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 LR Handling Tool Software 15. . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . .
2.1.1 System setting 15. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . 2.1.2 Jog feed of the robot 15. . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . 2.1.3 Program 15. . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. 2.1.4 Test operation (test execution) 16. . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . 2.1.5 Automatic operation (operation execution) 16.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
2.2 Robot 17. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . .
2.3 Controller 18. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . 2.3.1 Teach pendant 20. . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . .
2.3.1.1 Display screen of the teach pendant 25. . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. .
2.3.2 Operator panel 29. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . 2.3.3 Remote controller 29. . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . 2.3.4 CRT/KB 29. . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.5 Communication 29. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . 2.3.6 Input/output 29. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . 2.3.7 Peripheral I/O 30.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.8 Motion of the robot 30. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . 2.3.9 Emergency Stop devices 30. . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . 2.3.10 Extended axis 30. . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. SETTING UP THE HANDLING SYSTEM 31. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . 3.1 I/O 32. . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
3.1.1 Digital I/O 40. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . 3.1.2 Group I/O 50. . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.3 Analog
I/O 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . .
3.2 Robot I/O 59. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . .
3.3 Peripheral I/O 62. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
3.4 Operators Panel I/O 70. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . .
3.5 I/O Link Screen 73. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . 3.5.1 I/O Link list screen 73. . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . 3.5.2 Model B unit list
screen 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.3
Signal count setting screen 75. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . .
3.6 I/O Connection Function 76. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . .
3.7 Setting Automatic Operation 78. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . 3.7.1 Robot service request (RSR) 79. . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . 3.7.2 Program number selection (PNS) 82.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . .
3.8 Setting Coordinate Systems 85. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . 3.8.1 Setting a tool coordinate system 87. . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . 3.8.2 Setting a user coordinate system
96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . 3.8.3 Setting a jog
coordinate system 105. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.9 Setting a Reference Position 110. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . .
3.10 Joint Operating Area 114. . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
3.11 User Alarm 116. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . .
3.12 Variable Axis Areas 117. . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
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3.13 Preventive Interference Area Function 119. . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . .
3.14 System Config Menu 123. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . .
3.15 Setting the General Items 130. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . .
3.16 Other Settings 132. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . .
4. PROGRAM STRUCTURE 133. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1 Program
Detail Information 136. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
4.1.1 Program name 136. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . 4.1.2 Program comment 137. . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . 4.1.3 Subtype 137. . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.4 Group mask 138. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . 4.1.5 Write protection 138. . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . 4.1.6 Interruption
disable 138. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. .
4.2 Line Number, Program End Symbol, and Argument 141. . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Motion Instructions 143. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . 4.3.1 Motion format 144. . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . 4.3.2 Position data 147.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.3 Feedrate 153. . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . 4.3.4 Positioning path 155. . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . 4.3.5 Additional
motion instructions 156. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.6 Highprecision locus function (option) 168. . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . .
4.4 Palletizing Instructions 171. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . 4.4.1 Palletizing instruction 171. . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . 4.4.2 Palletizing motion
instruction 172. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.3
Palletizing end instruction 172. . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . .
4.5 Register Instructions 173. . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . 4.5.1 Register instructions 173. . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . 4.5.2 Position register
instructions 175. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.3
Position register axis instructions 176. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . 4.5.4 Arithmetic palletizing register instructions 178. .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
4.6 I/O Instructions 179. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . 4.6.1 Digital I/O instructions 179. . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . 4.6.2 Robot I/O
instructions 180. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. 4.6.3 Analog I/O instructions 182. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . 4.6.4 Group I/O instruction 183. . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . .
4.7 Branch Instructions 184. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . 4.7.1 Label instruction 184. . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . 4.7.2 Program end
instruction 184. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.3 Unconditional branch instructions 185. . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . 4.7.4 Conditional branch instructions 186. . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . 4.7.5 Arguments 188. . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . .
4.8 Wait Instructions 195. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . 4.8.1 Timespecified wait instruction 195. . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . 4.8.2 Conditional wait
instructions 195. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9 Skip Condition Instruction 198. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . .
4.10 Offset Condition Instruction 200. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . .
4.11 Tool Offset Condition Instructions 201. . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . .
4.12 Frame Instructions 202. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
4.13 Program Control Instructions 203. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . 4.13.1 Halt instruction 203. . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . 4.13.2 Abort instruction
203. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
4.14 Other Instructions 204. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
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B81524EN/01
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4.14.1 RSR instruction 204. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . 4.14.2 User alarm instruction 204. . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . 4.14.3 Timer
instruction 205. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . 4.14.4 Override instruction 205. . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . 4.14.5 Comment instruction 205. . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . 4.14.6 Message
instruction 206. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . 4.14.7 Parameter instruction 206. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . 4.14.8 Maximum speed instructions 209. .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
4.15 Multiaxis Control Instructions 210. . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . 4.15.1 Semaphore instruction 210. . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . 4.15.2 Semaphore wait instruction
210. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . 4.15.3 Program
execution instruction 211. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
4.16 Operation Group Instructions 212. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . 4.16.1 Asynchronous operation group instruction 212.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . 4.16.2 Synchronous operation group
instruction 212. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . .
5. PROGRAMMING 213. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1
Tips on Effective Programming 215. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. .
5.1.1 Motion instructions 215. . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . 5.1.2 Predefined position 218. . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . .
5.2 Turning on the Power and Jog Feed 219. . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . 5.2.1 Turning on the power and turning off the power 219. .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . 5.2.2 ThreeMode Switch 221. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . 5.2.3 Moving the robot by jog feed 227.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . .
5.3 Creating a Program 234. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . 5.3.1 Registering a program 235. . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . 5.3.2 Changing a standard
motion instruction 239. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . 5.3.3 Teaching a
motion instruction 241. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.4 Teaching an supplementary motion instruction 243. . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . 5.3.5 Teaching a control instruction 247. . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . 5.3.6 TP start prohibition 252. . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . .
5.4 Changing a Program 254. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . 5.4.1 Selecting a program 254. . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . 5.4.2 Changing a motion
instruction 256. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.4.3
Changing a control instruction 265. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . 5.4.4 Program edit instructions 266. . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . .
5.5 Program Operation 281. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . 5.5.1 Changing program information 281. . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . .
5.6 Background Editing 286. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . .
5.7 Singular Point Check Function 295. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . .
6. EXECUTING A PROGRAM 296. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1 Program
Halt and Recovery 297. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
6.1.1 Halt by an emergency stop and recovery 298. . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . 6.1.2 Halt by a hold and recovery 299. . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . 6.1.3 Halt caused by an alarm 300. . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . .
6.2 Executing a Program 303. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . 6.2.1 Starting a program 303. . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . 6.2.2 Robot motion 304. . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2.3
Resuming a program 306. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . .
6.3 Testing 311. . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . 6.3.1 Specifying test execution 312. .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . 6.3.2 Step test 313.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . 6.3.3 Continuous test 316. . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
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6.3.4 Program look/monitor 319. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
6.4 Manual I/O Control 320. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . 6.4.1 Forced output 320. . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . 6.4.2 Simulated I/O
321. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . 6.4.3 Standby release 323. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . .
6.5 Operating the Hand Manually 324. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . .
6.6 Automatic Operation 325. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . 6.6.1 Automatic operation by robot start request
(RSR) 326. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . 6.6.2 Automatic operation with program number
selection (PNS) 328. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . 6.6.3 External override selection function 330. .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
6.7 Online Position Modification 332. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . .
7. STATUS DISPLAY 338. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1
LEDs on the Teach Pendant 339. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . .
7.2 User Screen 340. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . .
7.3 Registers 341. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . .
7.4 Position Registers 343. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
7.5 Palletizing Registers 346. . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
7.6 Current Position 347. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
7.7 System Variables 349. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
7.8 Program Timer 350. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
7.9 System Timer 352. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
7.10 Execution History 353. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
7.11 Memory Use Status Display 355. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . .
8. FILE INPUT/OUTPUT 356. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1
File Input/Output Units 357. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . .
8.1.1 Memory card 358. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . 8.1.2 External memory unit 359. . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . 8.1.3 Floppy cassette
adapter 360. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.4 Handy file 362. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . .
8.2 Setting a Communication Port 365. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . .
8.3 Files 369. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . 8.3.1 Program file 369. . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . 8.3.2 Default
logic file 369. . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . 8.3.3 System file/application file 370. . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . 8.3.4 Data file 370. . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.3.5 ASCII
file 370. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . .
8.4 Saving Files 371. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . 8.4.1 Saving with program selection
screen 371. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . 8.4.2 Saving all the
program files using the file screen 373. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . 8.4.3 Saving
with a function menu 376. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.4 File manipulation 378. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . 8.4.5 ASCII save 380. . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . .
8.5 Loading Files 383. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . 8.5.1 Loading using the program selection
screen 384. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . 8.5.2 Loading a specified program
file using the file screen 385. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . .
8.6 Printing Files 390. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . 8.6.1 Printer 390. . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6.2
Printing files 392. . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
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8.7 Automatic Backup 395. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . 8.7.1 Overview of Automatic Backup 395. . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . 8.7.2 Usable Memory Cards 395. . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . 8.7.3 Setting of
Automatic Backup 396. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.7.4 Perform Automatic backup 397. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . 8.7.5 Version management 397. . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . 8.7.6 Restore the backup 398. . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . .
9. UTILITY 399. . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . 9.1 Macro Instruction 400. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . .
9.1.1 Setting macro instructions 401. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . 9.1.2 Executing macro instructions 406. . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . .
9.2 Shift Functions 410. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . 9.2.1 Program shift function 411. . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . 9.2.2 Mirror shift function
416. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.2.3
Angleinput shift function 420. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . .
9.3 Coordinate System Change Shift Functions 425. . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. .
9.4 Soft Float Function 430. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
9.5 Continuous Rotation Function 435. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . .
9.6 Position Register LookAhead Execution Function 439. . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7 Operation Group DO Output Function 441. . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . .
9.8 PreExecution Instruction Function 443. . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . .
9.9 Distance before operations 448. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . 9.9.1 Overview 448. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . 9.9.2 Specification 448. .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9.3 Configuration 448. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . 9.9.4 Instruction 448. . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . 9.9.5 Entering
Distance Before 456. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. 9.9.6 Caution and limitations 458. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . 9.9.7 System Variables 459. . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . 9.9.8 Error Codes 460.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
9.10 State Monitoring Function 462. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . .
9.11 Automatic Error Recovery Function 469. . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . 9.11.1 Overview 469. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . 9.11.2 Outline of the automatic
error recovery function 469. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . 9.11.3 Defining a
resume program 472. . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.4 Teaching the RETURN_PATH_DSBL instruction 473. . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.5 Setting the automatic error recovery function 474. . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . 9.11.6 Flowchart for resuming a suspended program 481. . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . 9.11.7 Manual operation screen of the automatic error
recovery function 482. . . . . . . . . . . . . . . . . . . . . . .
. . . . . 9.11.8 Execution of the resume program from the teach
pendant and test mode 484. . . . . . . . . . . . . . . . . . . . .
. . 9.11.9 Changing conditions for executing the resume program
484. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . 9.11.10 Other specifications and restrictions 484. . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . 9.11.11 Warnings 485. . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . .
9.12 HIGHSENSITIVITY COLLISION DETECTION 486. . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.12.1
Overview 486. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . 9.12.2 Specification 486. . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . 9.12.3 HighSensitivity
Collision Detection 486. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.12.4
Cautions 487. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
9.13 LOAD SETTING 488. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . 9.13.1 Overview 488. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . 9.13.2 Motion Performance
Screens 488. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.13.3
Program Instructions 489. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . .
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9.14 COLLISION DETECTION for AUXILIARY AXIS 491. . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.14.1
General 491. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . 9.14.2 CAUTION 491. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . 9.14.3 INITIAL SETTING
491. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.14.4 TUNING PROCEDURE 491. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . .
9.15 Gravity Compensation 493. . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . 9.15.1 System Variables 493. . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . 9.15.2 MOTION Screen 493. .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.PALLETIZING FUNCTION 495. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . 10.1
Palletizing Function 496. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . .
10.2 Palletizing Instructions 498. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
10.3 Teaching the Palletizing Function 500. . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . 10.3.1 Selecting a palletizing instruction 501. . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . 10.3.2 Inputting initial data 502. . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . 10.3.3 Teaching
a stacking pattern 508. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. 10.3.4 Setting path pattern conditions 514. . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . 10.3.5 Teaching a path pattern 517. . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . 10.3.6 Notes on teaching the
palletizing function 520. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . .
10.4 Executing the Palletizing Function 521. . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . 10.4.1 Palletizing register 522. . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . 10.4.2 Controlling the
palletizing function by a palletizing register 523. . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . .
10.5 Modifying the Palletizing Function 524. . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . .
10.6 Palletizing Function with Extended Axes 526. . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . .
10.7 Palletizing AllPoint Teaching 527. . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . .
APPENDIX
A. APPENDIX 531. . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. A.1 List of Menus 532. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
A.2 Types of Screens 536. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
A.3 List of Program Instructions 555. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . .
A.4 Program Instructions 559. . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . A.4.1 Motion instructions 559. . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . A.4.2 Additional motion
instructions 559. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.4.3
Register and I/O instructions 561. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . A.4.4 Conditional branch instructions 563. . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . A.4.5 Wait instruction 564. . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . A.4.6
Unconditional branch instructions 564. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . A.4.7 Program control instructions 565. . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . A.4.8 Other instructions 565. . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . A.4.9 Skip and Offset
condition instruction 566. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.4.10
Frame setup instruction 567. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . A.4.11 Macro instruction 567. . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . A.4.12 Multiaxis control
instructions 567. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.4.13
Position register lookahead execution instruction 568. . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4.14 Soft float instruction 568. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . A.4.15 Status monitoring instructions 568.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . A.4.16 Motion group
instructions 568. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4.17 Palletizing instructions 569. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
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B. APPENDIX 570. . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. B.1 Start Mode 571. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . .
B.1.1 Start up methods 571. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . B.1.2 Initial start 572. . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.3
Controlled start 573. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . B.1.4 Cold start 575. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . B.1.5 Hot start 576. .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. .
B.2 Mastering 577. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . B.2.1 Jig mastering 579. . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . B.2.2 Mastering
at the zerodegree positions 581. . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2.3
Quick mastering 583. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . B.2.4 Single axis mastering 586. . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . B.2.5 Setting mastering data
589. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3 Software Version 591. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
B.4 Robot Axis Status 593. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
B.5 Diagnosis Screen 599. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . B.5.1 Outline 599. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . B.5.2 About
Reducer Diagnosis 599. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . B.5.3 Procedure 600. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . B.5.4 Each item 601. . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.6 World Frame Origin 604. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . .
B.7 I/O Module Setting 605. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
B.8 Positioner setup 610. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . .
B.9 Extended Axis Setup 616. . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . .
B.10 Extended Axis Setup 621. . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . .
B.11 Independent Additional Axis Board (Nobot) Startup Procedure
626. . . . . . . . . . . . . . . . . . . . . . . . . . . .
C. ALARM CODES 630. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1
Description of an Alarm Code Table 631. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
C.2 Alarm Codes 638. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
D. SYSTEM VARIABLES 742. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . D.1
Format of a System Variable Table 743. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. .
D.2 System Variables 745. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . .
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B81524EN/01 1. INTRODUCTION
1
1. INTRODUCTION
This chapter explains the manual plan and the safety precautions
that must be observed in working with theFANUC Robot.
Contents of this chapter
1.1 Manual Plan1.2 Workers1.3 General Safety Precautions1.4
Safety Precautions
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1. INTRODUCTION B81524EN/01
2
1.1 Manual Plan
FANUC Robot series (RJ3i Mate CONTROLLER) LR HANDLING TOOL
Operators Manual.
This manual describes how to operate the FANUC Robot LR Mate
100i MODEL B an allpurpose compact robot.It is controlled by the
FANUC RJ3i Mate controller (called the robot controller
hereinafter) containing the LRHandling tool software.
This manual describes the following items for versatile mini
robot:
Setting the system for manipulating workpieces
Operating the robot
Creating and changing a program
Executing a program
Status indications
Alarm codes and system variables
Using this manual
Each chapter of the manual describes a single operation of the
robot. The user can select and read chaptersdescribing required
operations. The user can understand all the information presented
in this the manual in fiveor six hours if he or she reads it from
cover to cover once.
Chapter 1Introduction
Describes how to use this manual and the safety precautions that
must beobserved in working with the robot. All users must read the
safety precau-tions.
Chapter 2Overview
Gives a basic knowledge of the robot. It describes the basic
configurationof the robot and the system for manipulating
workpieces.
Chapter 3Setting the System for Manip-ulating Workpieces
Describes the procedure for setting the system for Manipulating
Work-pieces including input/output, coordinate system, and
reference position.
Chapter 4Program Structure
Describes the program structure and the syntax of program
instructions.
Chapter 5Creating a Program
Describes how to design, create, change, delete, and copy a
program. Italso describes the procedures for turning the power on
and moving therobot by jog feed.
Chapter 6Executing a Program
Describes how to execute and stop a program. It also describes
the testoperation, automatic operation, and recovery from the alarm
state.
Chapter 7Status Indications
Describes how to check the operating status of the robot, using
the statusindicator LEDs.
Chapter 8File Input/Output
Describes how to store, read, and print a program file or system
file.
Chapter 9Utility
Describes additional utility functions, macro functions, program
shift andmirror shift.
Chapter 10Utility
Describes the setting and executing of palletizing function.
Appendix Describes lists of the menus, screens, program
instructions and detail ofprogram.
Alarm Codes and SystemVariables
Lists the alarm codes and system variables.
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B81524EN/01 1. INTRODUCTION
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Identification
For editions and order files of software, read the following
sections:
Item to be checked Section
Edition of your software B.3 Software Version
Order No. of your software A.1 List of Menus
Specifications of products
For memory statuses or software option list, see the following
sections:
Item to be checked Section
Memory status