R-J3iC AuxAxis Setup Manual [System Installation Manual MARF
April 16, 2017 | Author: Juan Francisco Sanchez Massadi | Category: N/A
Short Description
Download R-J3iC AuxAxis Setup Manual [System Installation Manual MARF...
Description
4. SOFTWARE INSTALLATION
MARFCINST09051E REV. B
UTILITIES Hints JOINT 100% ApplicationTool Vx.xxx XXXX/XX Custom Vx.xxx Copyright xxxx, All Rights Reserved FANUC LTD, FANUC Robotics America, Inc. Licensed Software: Your use constitutes your acceptance. This product protected by several U.S. patents.
Note If you are updating your software between major versions , BMON will be updated automatically. If you are updating your software with a minor version , you might have to update BMON manually. Refer to Section A.4.2 . The iPendant firmware does not get automatically updated for full loads over Ethernet. If you have an iPendant, and you loaded a robot over Ethernet, you might see the following message just after you transition to Cold start: “iPendant firmware should be upgraded, but necessary files are missing. Please contact 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 your controller. 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
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• 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 4–4.
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, and set 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 software customizations.
FTP Setup
Select this item to access the FTP Setup screen where you can configure the FTP software and set TCP/IP parameters.
Note For information about the options that are available with your software, refer to the ssd.html file on the load media that contains your software. Refer to Table 1–1 for the location of the .html file specific to your software. Refer to the FANUC Robotics SYSTEM R-J3iC Controller Internet Options Manual for more information on loading options over Ethernet. Refer to Table 4–5 for valid FANUC motor and amp combinations. Refer to Table 4–6 for supported Third-Party Motor and Amp Combinations. Table 4–5. Supported Motor and Amp Combinations New Name
Old Name
Max. Amp. Current
Select Num. for Setup Motor Size
Motor Type
Amp. Current
αiF1/5000
α1/5000i
20A
34
3
10
αiF1/5000
α1/5000i
40A
34
3
5
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Table 4–5. Supported Motor and Amp Combinations (Cont’d) αiF2/5000
α2/5000i
20A
35
3
10
αiF2/5000
α2/5000i
40A
35
3
5
αiF4/4000
α4/4000i
40A
46
4
5
αiF4/4000
α4/4000i
80A
46
4
7
αiF8/3000
α8/3000i
40A
47
5
5
αiF8/3000
α8/3000i
80A
47
5
7
αiF12/3000
α12/3000i
80A
38
5
7
αiF22/3000
α22/3000i
80A
39
5
7
αiF30/3000
α30/3000i
160A
40
5
12
αiF40/3000
α40/3000i
160A
41
5
12
αiS2/5000
α2/5000is(αM2/5000i)
20A
53
3
10
αiS2/5000
α2/5000is(αM2/5000i)
40A
53
3
5
αiS4/5000
α4/5000is(αM3/5000i)
20A
49
3
10
αiS4/5000
α4/5000is(αM3/5000i)
40A
49
3
5
αiS8/4000
α8/4000is(αM8/4000i)
40A
56
4
5
αiS8/4000
α8/4000is(αM18/4000i)
80A
56
4
7
αiS12/4000
α12/4000is(αM12/4000i)
80A
57
4
7
αiS22/4000
α22/4000is(αM22/4000i)
160A
55
4
12
αiS30/4000
α30/4000is(αM30/4000i)
160A
52
4
12
αiS40/4000
α40/4000is(αM40/4000i)
160A
58
4
12
αiS30/3000
α30/3000is(αM30/3000i)
80A
52
5
7
βiS0.4/5000
β0.4/5000is(βM0.4/4000)
20A
147
11
10
βiS0.5/6000
β0.5/5000is(βM0.5/4000)
20A
148
11
10
βiS1/6000
β1/5000is(βM1/4000)
20A
149
11
10
βiS0.2/5000
β0.2/5000is(βM0.2/4000)
4A
145
11
2
βiS0.3/5000
β0.3/5000is(βM0.3/4000)
4A
146
11
2
βiS2/4000
β2/4000is
20A
130
13
10
βiS4/4000
β4/4000is
20A
133
13
10
βiS8/3000
β8/3000is
134
14
10
20A
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Table 4–5. Supported Motor and Amp Combinations (Cont’d) βiS12/3000
β12/3000is
40A
135
14
5
βiS22/2000
β22/2000is
40A
136
15
5
Table 4–6. Supported Third-Party Motor and Amp Combinations
Motor Size Description
Motor Current Limit
Motor Size Select
Motor RPM Select
Motor Current Select
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
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— 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 file on 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 will see a screen similar to the following. Figure 4–5.
Memory Screen
More memory AVAILABLE: Main SYSTEM TEMP : Comm SYSTEM Comm TEMP Main TPP Main PERM Main FR: Use PREV to
is needed than is available. REQUIRED: : 0 Main 0 74750 : 0 0 : 15305678 0 : 864423 1860 : 1047667 0 : 7846912 57344 exit
Contact FANUC Robotics to reconfigure your system with the help of a FANUC Robotics representative.
• 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 to the application-specific Setup and Operations Manual for more information.
• If you are updating controller software, you have backed up everything that you want to use on this controller.
• You have the R-J3iC software load media containing the software you want to load, and the media is 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.
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Power Disconnect Circuit breaker
ON
OFF
• If the controller is turned on but in Cold start mode, press FCTN and select CYCLE POWER. While the controller is starting up, press and hold the PREV and NEXT keys on the teach pendant . You will see a screen similar to the following. ---------- Configuration Menu ---------1 Hot start 2 Cold start 3 Controlled start 4 Maintenance Select >
Select Controlled start and press ENTER. After a few moments, you will see the Controlled start 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 MENUS Application : ProductName 1 Controller ID 2 Robot Library 3 Option 4 Update 5 Customization 6 FTP Setup
4. Move the cursor to Option and press ENTER. You will see a screen similar to the following.
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Load Media Please 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 on the options that are available with your software. The four digits preceding the option name uniquely identify each option. OPTION CONTROLLED START MENUS J631: AccuPath Authorized R635: AccuCal2 Installed FIND: Auto Normal Utility Installed ATCP: Auto TCP Authorized J618: CE Mark Unauthorized J535: CRT/Keyboard Manager Authorized J613: Continuous Turn Authorized CNRE: Control Reliable Unauthorized CNET: ControlNet Int Installed J619: Coordinated Motion Authorized
7. To change the display from TITLE to ORDER NUMBER, move the cursor to the item you want to change and press F3, ORD NO. You will see a screen similar to the following. OPTION 1 A05B-2400-J631 2 A05B-2400-ACAL 3 A05B-2400-FIND
CONTROLLED START MENUS AUTHORIZED INSTALLED 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 has been preauthorized for you. In this case, it has not yet been installed and you can decide whether or not to install it. The option will have a PAC code already assigned (where a number >1 is valid, and -1 is invalid). If you want to install this option, and you know the PAC code, go to Step 3, Install, in Table 4–7 , 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
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option will be authorized, installed, and set up. You do not need to do anything more to install or set up this option. Note If this option status is Unauthorized or empty, it has not yet been authorized for installation. To authorize this option before you install it, refer to Table 4–7 and go to Step 2, Authorize, to authorize this option. 9. To authorize, install, and set up additional options that have been purchased separately from the application software, follow the instructions in Table 4–7 . Table 4–7. 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 have purchased 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 be Authorized. 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 to installing the option. If you do not have enough memory, you will be given an opportunity to continue anyway. If this occurs, reconfigure your system with the help of a FANUC Robotics representative.
4.
Setup (optional) Some options have user-defined parameters. The setup function restores these parameters to their default 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 be displayed.
Note If you are using PaintTool and have installed options after the initial R-J3iC software installation, 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. After you have configured these items press F2, SETUP, to set up your PaintTool software properly.
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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 file on the R-J3iC load media for information on the amount of memory available for your application and required by each option. Refer to Table 1–1 for the location of the .html file specific to your 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 : 0 Main TEMP : 0 74750 Comm SYSTEM : 0 0 Comm TEMP : 15305678 0 Main TPP : 864423 1860 Main PERM : 1047667 0 Main FR: : 7846912 57344 Use PREV to exit
Contact FANUC Robotics to reconfigure your system with the help of a FANUC Robotics representative.
• If you are updating controller software, you have backed up everything that you want to use 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 to the application-specific Setup and Operations Manual for more information.
• You have the R-J3iC software load media containing the software you want to load, and the media is 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.
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While you hold these keys, turn the power disconnect circuit breaker to ON. Power Disconnect Circuit breaker
ON
OFF
• If the controller is turned on but in Cold start mode, press FCTN and select CYCLE POWER. While the controller is starting up, press and hold the PREV and NEXT keys on the teach pendant . You will see a screen similar to the following. ---------- Configuration Menu ---------1 Hot start 2 Cold start 3 Controlled start 4 Maintenance Select >
Select Controlled start and press ENTER. After a few moments, you will see the Controlled start 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 MENUS Application : ProductName 1 Controller ID 2 Robot Library 3 Option 4 Update 5 Customization 6 FTP Setup
4. Select Robot Library and press ENTER. You will see a screen similar to the following.
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Note The following screen is an example. Your screen will look different depending on which robots you have installed in your system. The four digits preceding the name uniquely identify each robot. ROBOT LIBRARY CONTROLLED START MENUS Group 1 of 1 Groups H685: A-520i H888: F-100 Robot Library
Caution Each robot library has a setup program associated with it. If the setup program has an assigned data file, the software will read all of the setup information from it. If there is no assigned data file, you must answer several questions regarding how your robot is to be set up (refer to Appendix C for a list of questions). If you answer the questions incorrectly, you can correct them 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 see a screen similar to the following. ROBOT LIBRARY CONTROLLED START MENUS Group 1 of 1 Groups H685: A05B-2400-H685 H888: 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 to your 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 is required to allocate resources needed by the new robot group. 7. To set up, add, change, and delete robot libraries that have been purchased separately from the application software refer to Table 4–8 .
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Table 4–8. Authorizing, Installing, and Setting Up Robot Libraries Step Order
To do this
You must do this
1.
Add a group and Install a robot 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 up automatically. If a data file does not exist for that robot, you must answer robot configuration questions. Refer to Appendix C for a list of the questions. Note If the setup questions are answered incorrectly, you can correct them using the Maintenance screen. Refer to Section 4.4.4 .
Note When you add a group, the teach pendant screen might go blank for approximately 60 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 the following.
1. Standard Flange 2. Insulated Flange Select 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.
Setup All robots have user-defined parameters. The SETUP function restores these parameters to 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 be displayed.
4.4.4 Robot Library and Extended Axis Maintenance Robot library maintenance allows you to modify the following information:
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• Robot library setup • Extended axis setup Use Procedure 4-10 to perform robot library and option maintenance. Table 4–9 lists the items shown on the Robot Maintenance screen. These items will vary depending on the robot libraries that are installed. Table 4–9. Robot Maintenance Screen Items ITEM
DESCRIPTION
Group
This item displays the group number of the installed robot library.
Robot Library/Option
This item displays the name of the installed robot library or option.
Ext. Axis
This item displays the number of extended axes if applicable.
Procedure 4-10 Performing Robot Library and Option Maintenance Conditions
• You have the R-J3iC software load media containing the software you want to load, and the media is 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. Power Disconnect Circuit breaker
ON
OFF
• If the controller is turned on but in Cold start mode, press FCTN and select CYCLE POWER. While the controller is starting up, press and hold the PREV and NEXT keys on the teach pendant .
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You will see a screen similar to the following. ---------- Configuration Menu ---------1 Hot start 2 Cold start 3 Controlled start 4 Maintenance Select >
Select Controlled start and press ENTER. After a few moments, you will see the Controlled start screen for your application. 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 how your system is set up. ROBOT MAINTENANCE CONTROLLED START MENUS Setup Robot System Variables Group 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 see a screen similar to the following. ROBOT MAINTENANCE CONTROLLED START MENUS Setup Robot System Variables Group 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 4–10 .
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Table 4–10. Auto and Manual Robot Library Setup ITEM
DESCRIPTION
AUTO
This item allows you to set up the robot library or option automatically using default values for each setup item.
MANUAL
This item allows you to set up the robot library or option manually by allowing you to answer each setup question individually. Manual setup records your answers as the new default 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 robot setup questions. These questions and their settings vary depending on how your system is set up. b. To perform an automatic setup, press F2, AUTO. The robot library questions will be answered automatically and will be displayed quickly on the screen. c. To perform a manual setup, press F3, MANUAL. The questions, if they exist, will be displayed on the screen and you will have to answer them. The default value for each question 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 to Procedure 4-12 .
• To set up the AM-HS 500 Head Stock device manually (optional feature), go to Procedure 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.
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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, an opener, IAD Tooling, or a positioner as motion group 2, 3, 4, or 5, unless you have a DualArm Configuration. Only special configurations can be set up on group 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 your application-specific Setup and Operations Manualfor more information. If you add the wrong device , delete the motion group Step 6 of Procedure 4-11 ) 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 media is 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. You will see a screen similar to the following. **** 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 physical device on the second fiber optic link cable (FSSB), the starting number is 9. If the servo amplifier of the axis is connected to the second physical device on the second FSSB, the starting number is 10, and so on. 2. Answer the remaining prompts according to the kind of multi-group device you have selected.
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If you are using or configuring groups 2 - 5 as a Positioner or Independent Axes, you will be 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 FANUC AC Servo Motor Beta Series Descriptions Manual for more information. You will see a screen similar to the following. *** Group 1 Total Independent Axes = 1 1. Display/Modify Independent Axis 1–>6 2. Add Axis 3. Delete Axis 4. Exit Select? 1
3. Type 1 and press ENTER. 4. Answer the remaining questions according to your system setup. Refer to Table 4–11 .
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Table 4–11. Independent Axes Setup Configuration Information You Must Answer These Questions
You Have These Choices
Alpha Motor Size The motor size can be found on the motor name plate on your robot.
Refer to Table 4–6 for valid motor and amp combinations.
Comments
Write Your Answer Here
Note If the motor combination you specify is not supported, the message, "Motor type not found," will be displayed. The system will ask for the motor information again. Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUC AC Servo Motor Beta Series Descriptions Manual for more information.
Motor Type
Refer to Table 4–6 for valid motor and amp combinations.
Current Limit for Amplifier
Refer to Table 4–6 for valid motor and amp combinations. Note If the motor combination you specified is not supported, the message, "Motor type not found," will be displayed. The system will ask for the motor information again.
Independent Axes Axis Type
Linear Axis Rotary Axis
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Table 4–11. Independent Axes Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Gear Ratio
Enter Gear Ratio
The gear ratio for linear axes is the number of millimeters traveled for one rotation of the motor. For example, if a 50mm pinion on the motor is directly coupled to the rack, and the radius of the pinion is 25mm, the gear ratio is 2(pi)(25) = 157.08. If the axis has a gear box between the motor and pinion, divide the number by the gear ratio. For example, if the motor is connected to a 5:1 gear box and a 50mm pinion, the gear ratio is (2)(pi)(25)/5 = 31.416. The gear ratio for rotary axes is in motor turns per single rotation of the rotary axes. The ratio is ng2:ng1, where ng is the number of teeth on a gear. ng1 is attached to the motor and ng2 is attached to the axis. For example, if gear 1 has 25 teeth and gear 2 has 50 teeth, the ratio would be 2:1.
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Table 4–11. Independent Axes Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Max Joint Speed Setting
Suggested Speed = 200.040(deg/s) (Calculated with Max Motor Speed) (1:Change, 2:No Change)?
Comments
Write Your Answer Here
Note The maximum joint velocity is automatically calculated, based on the gear ratio and the maximum RPM of the motor chosen. This value can be used or it can be lowered. CAUTION Do not increase the value of the maximum joint velocity, otherwise the maximum motor RPM will be exceeded, possibly damaging equipment and causing unexpected results.
Motor Direction
Independent Axes 1 Motion Sign = TRUE (1: TRUE, 2: FALSE)
The direction determines which way the motor turns when the positive jog key is pressed, and should be consistent with axis alignment. TRUE indicates that the motor will turn counterclockwise when looking at the motor shaft from the front. Note If the rotation is incorrect, you can modify it by setting up the Independent Axes again. Perform a Controlled start (refer to Appendix A) and then set up the Independent Axes again by repeating Procedure 4-10 starting at Step 2 .
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Table 4–11. Independent Axes Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Upper Limits
Type the upper limit.
Set the upper software limit of the axis to a value smaller than the hard stop.
Lower Limits
Type the lower limit.
Set the lower software limit of the axis to a value smaller than the hard stop. This is usually 0 or a negative number.
Master Position
Type the master position.
ACC/DEC Time 1 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)?
MIN_ACCEL Time
Default Value of min_acctime = 256(ms) (1:Change, 2:No Change)?
Load Ratio Load ratio? (0:None 1~5:Valid)
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The sum of acc_time_1 and acc_time_2 is the time, in milliseconds, it will take for the axis to reach full joint speed. The min_acctime value is used for acceleration/deceleration if the distance between the two points is short enough that the axis cannot reach full speed.
The load ratio adjusts the gain of the axis based on the load inertia and the motor inertia. A value of 0 continues the program without adjusting the gain. Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUC AC Servo Motor Beta Series Descriptions Manual for more information.
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Table 4–11. Independent Axes Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Select Amp Number
Enter amplifier number (1->16)
Select Amp Type
1. A06B-6105 series 6 axes amplifier 2. A06B-6114 series Alpha i amp or A06B-6096 Alpha amp. or A06B-6093 series Beta amp.
Select 1 for 6 channel amplifiers. Select 2 for all other amplifiers.
Brake Setting
Brake Number (0~4)?
CAUTION Make sure that the brake number is assigned and is connected correctly, otherwise, improper operation will result. If the Independent axis has brakes, they should be connected in the controller. Brake 1 is reserved for the robot (special connector), brakes 2 through 4 are available for Independent Axes. Brakes 2 through 4 are located on the EMG CONT PCB. Each brake requires 0.6A or 0.8A, depending on the specification, and each brake output is fused at 2.0 A.
Servo Timeout
Servo Off is Disable (1: Enable 2: Disable)?
If enabled, SERVO OFF allows the brakes to hold the axis and drop servo power after the specified time.
Servo Timeout Value Displayed if Servo Timeout is Enabled.
Servo Off Time (0.0~30.0)
If enabled, SERVO OFF allows the brakes to hold the axis and drop servo power after the specified time.
Write Your Answer Here
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5. When you have finished answering the questions, you will see a screen similar to the following. *** Group 1 Total Independent Axes = 1 1. Display/Modify Independent Axis 1–>6 2. Add Axis 3. Delete Axis 4. 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 one shown 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:
• You have the R-J3iC software load media containing the software you want to load, and the media is inserted properly. Refer to Procedure 4-4 .
• 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 )
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Caution You can only set up an AM-HS 500 Head Stock Device, Arc Index Device, a Independent 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, unless you have a DualArm Configuration. 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 your application-specific Setup and Operations Manualfor more information. If you add the wrong device, delete the motion group ( Step 6 of Procedure 4-11 ) 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. You will see a screen similar to the following. **** 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 an index 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 on the second fiber optic link cable (FSSB), the starting number is 9. If the servo amplifier of the axis is connected to the second physical device on the second FSSB, the starting number is 10, and so forth. 2. Answer the remaining questions according to your system setup. Refer to Table 4–12 .
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Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUC AC Servo Motor Beta Series Descriptions Manual for more information. Table 4–12. Index Device Configuration Information You Must Answer These Questions
You Have These Choices
Comments
Alpha Motor Size The motor size can be found on the motor name plate on your robot.
Refer to Table 4–6 for valid motor and amp combinations.
NOTE If the motor combination you specify is not supported, the message, "Motor type not found," will be displayed. The system will ask for the motor information again. Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUC AC Servo Motor Beta Series Descriptions Manual for more information.
Motor Type
Refer to Table 4–6 for valid motor and amp combinations.
Amplifier Current Limit
Refer to Table 4–6 for valid motor and amp combinations.
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NOTE If the motor combination you specified is not supported, the message, "Motor type not found," will be displayed. The system will ask for the motor information again.
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Table 4–12. Index Device Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Load Ratio
Load ratio? (0:None 1~5:Valid)
Amplifier Number
Enter amplifier number (1->16)
Select Amp Type
1. A06B-6105 series 6 axes amplifier 2. A06B-6114 series Alpha i amp or A06B-6096 Alpha amp. or A06B-6093 series Beta amp.
Comments
Write Your Answer Here
The load ratio adjusts the gain of the axis based on the load inertia and the motor inertia. A value of 0 continues the program without adjusting the gain. Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUC AC Servo Motor Beta Series Descriptions Manual for more information.
Select 1 for 6 channel amplifiers. Select 2 for all other amplifiers.
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Table 4–12. Index Device Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Axis Brake Number
Brake Number (0~4)?
CAUTION Make sure that the brake number is assigned and is connected correctly, otherwise, improper operation will result. If the index axis has brakes, they should be connected in the controller. Brake 1 is reserved for the robot (special connector), brakes 2 through 4 are available for Independent Axes axes. Brakes 2 through 4 are located on the EMG CONT PCB. Each brake requires 0.6A or 0.8A, depending on the specification, and each brake output is fused at 2.0A.
Axis Type Setting
Linear Axis Rotary Axis
Motion Sign
1: TRUE 2: FALSE
The sign determines which way the motor turns when the positive jog key is pressed, and should be consistent with axis alignment. TRUE indicates that the motor will turn counterclockwise when looking at the motor shaft from the front. NOTE If the rotation is incorrect, you can modify it by performing a Controlled start. Refer to Appendix A.
Gear Ratio
Enter Gear Ratio
The gear ratio for linear axes is the number of millimeters traveled for one rotation of the motor. For example, if a 50mm pinion on the motor is directly coupled to the rack, and the radius of the pinion is 25mm, the gear ratio is 2(pi)(25) = 157.08. If the axis has a gear box between the motor and pinion, divide the number by the gear ratio. For example, if the motor is connected to a 5:1 gear box and a 50mm pinion, the gear ratio is (2)(pi)(25)/5 = 31.416. The gear ratio for rotary axes is in motor turns per single rotation of the rotary axes. The ratio is ng2:ng1, where ng is the number of teeth on a gear. ng1 is attached to the motor and ng2 is attached to the axis. For example, if gear 1 has 25 teeth and gear 2 has 50 teeth, the ratio would be 2:1.
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Table 4–12. Index Device Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Maximum Speed (deg/sec)
Type the maximum speed.
NOTE The maximum joint velocity is automatically calculated, based on the gear ratio and the maximum RPM of the motor chosen. This value can be used or it can be lowered. CAUTION Do not increase the value of the maximum joint velocity, otherwise the maximum motor RPM will be exceeded, possibly damaging equipment and causing unexpected results.
Upper Limits (deg)
Type the upper limit.
Set the upper software limit of the axis to a value smaller than the hard stop.
Lower Limits (deg)
Type the lower limit.
Set the lower software limit of the axis to a value smaller than the hard stop. This is usually 0 or a negative number.
Master Position
Type the master position.
ACC/DEC Time 1 and 2
Default Value of acc_time1 = 256(ms) Default Value of acc_time2 = 128(ms)
Min Accel Time
Default Value of min_acctime = 384(ms)
Exp Accel Enable
1: TRUE 2: FALSE
Exp Accel Time
Type the exponential accel time (ms)
Write Your Answer Here
The sum of acc_time_1 and acc_time_2 is the time, in milliseconds, it will take for the axis to reach full joint speed. The min_acctime value is used for acceleration/deceleration if the distance between the two points is short enough that the axis cannot reach full speed.
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Table 4–12. Index Device Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Number of index Positions
Type the number of index positions
The maximum number of index positions for any index axis is 8. For 3 or more index positions the index device can be used as a dial positioner. This means that the index axis has continuous turn capability i.e. to rotate in one direction indefinitely. NOTE Continuous turn must be set up before using the index device as a dial positioner. A system macro will be created at loading time for each index position of an index axis. For example, 3 index positions are defined for index axis 1. The following macro programs will be created: INDEX1_1, INDEX1_2 and INDEX1_3. If index axis 2 has 2 index positions, INDEX2_1 and INDEX2_2 will be created. Running a system macro from a TP program is the only way to move an index axis to one of pre-defined index positions for that axis. You will not be able to create a TP program that includes an index device group. Only 4 entries (entries 90~93) are available for index devices in the system’s macro table. If the total number of macro programs created for the index devices is greater than 4 (see above example), only the first 4 systems macros will appear in the macro table. For macros 5 and so forth:
•
You can use the CALL or RUN instructions to run a macro program.
•
You can manually add macro programs to the macro table if empty entries are available.
For each index position [i] angle (deg) [i]
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Type the joint angle for the index position [i].
Set the angle for index position[i] to a value within the range defined by the upper and lower limits.
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Table 4–12. Index Device Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
digital output [i]
Type the digital output number (1~512).
The digital output number specifies which digital output to be turned on when the index axis is at the designated position. NOTE The specified digital output number should correspond to a valid connection to I/O hardware.
joint speed % [i]
1 - 100%
Write Your Answer Here
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 you want to set up, and have pressed F4, MANUAL. You will see a screen similar to the following. **** EXTENDED AXIS SETTING PROGRAM **** ENTER PAYLOAD (0~500kg)
• You have the R-J3iC software load media containing the software you want to load, and the media is inserted properly. Refer to Procedure 4-4 . Steps 1. To accept the default payload setting, press ENTER. To define a new payload setting , type the new payload value and press ENTER. You will see a screen similar to the following. **** EXTENDED AXIS SETTING PROGRAM **** SELECT HARDWARE Enter hardware start number for the starting axis
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2. Type the starting number of the motion group hardware and press ENTER. If you are adding an AM-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 on the second fiber optic link cable (FSSB), the starting number is 9. If the servo amplifier of the axis is connected to the second physical device on the second FSSB, the starting number is 10, and so on. 3. Answer the remaining questions according to your system setup. Refer to Table 4–13 . Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUC AC Servo Motor Beta Series Descriptions Manual for more information. Table 4–13. AM-HS 500 Head Stock Device Configuration Information You Must Answer These Questions
You Have These Choices
Amplifier Number
Enter amplifier number (1->16)
Amplifier Type
1. A06B-6105 series 6 axes amplifier 2. A06B-6114 series Alpha i amp or A06B-6096 Alpha amp. or A06B-6093 series Beta amp.
Comments
Write Your Answer Here
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 hardware installed, you must also install the Local Stop software option and perform Procedure 4-15 to set up 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 .
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• You have just finished Procedure 4-10 , have selected the extended axis you want to set up, and have pressed F4, MANUAL.
• You have the R-J3iC software load media containing the software you want to load, and the media is inserted properly. Refer to Procedure 4-4 . Steps 1. Answer each extended axis setup question according to your system setup. Refer to Table 4–14 .
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Table 4–14. Extended Axis Setup Configuration Information You Must Answer These Questions
You Have These Choices
Comments
Select Group(optional for multiple groups only)
Extended axes to (1->3)
Select the group number to which the extended axis hardware is installed and press ENTER. For example, if you are adding a rail to a six-axis robot, the group number is 1. The hardware specific information will be added later.
Select Hardware
Enter hardware start number for the extended axes
Type the starting number of the extended axis hardware and press ENTER.
•
If you are adding an extended axis to a four-axis robot , the starting number is 5.
•
If you are adding an extended axis to a six-axis robot , the starting number is as follows:
•
If the servo amplifier of the first extended axis is connected to the six-channel amplifier connector COP10A (FSSB1), the starting number is 7.
•
If the servo amplifier of the first extended axis is connected to the first physical device on the extra axis control PCB (FSSB2), the starting number is 9. If the servo amplifier of the axis is connected to the second physical device on the second FSSB, the starting number is 10, and so on. NOTE The starting number can vary depending on how the hardware is set up for your system. The first extended axis on group 1 must be axis 7; the second extended axis on group one must be 8, and so forth, for options such as touch sensing to work correctly. Extended axes added to multiple group systems (Grp 2 or Grp 3) must be installed sequentially after the last axis in the Grp 2 or Grp 3 device. NOTE The starting number can vary depending on how the hardware is set up for your system.
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2. When you have finished answering the questions in Table 4–14 , you will see a screen similar to the following. **** EXTENDED AXIS SETTING PROGRAM **** E1 E2 E3 *** Group 1 Total Ext Axis = * * * 1. Display/Modify Ext_axis 1~3 2. Add Ext axes 3. Delete Ext axes 4. EXIT Select?
Note Extended axes can be added out of order. For example, you can add extended axis 2 before you add extended axis 1, as long as the hardware follows the order shown above (the first extended 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 and press 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) in the following screen, the axis is initialized. **** EXTENDED AXIS SETTING PROGRAM **** E1 E2 E3 *** Group 1 Total Ext Axis = * * * 1. Display/Modify Ext_axis 1~3 2. Add Ext axes 3. Delete Ext axes 4. EXIT Select?2 Enter axis to add (1 ->3)
Note If you choose to install axis 2, and the hardware start number is 7, the extended axis 2 will be connected to hardware port number 8. Caution If you add axes on a previously defined axis (for example, axis 1 of Group 2), you will corrupt your system software. 4. Type the extended axis number you are adding (1, 2, or 3) and press ENTER.
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5. Answer the remaining questions to set up your extended axis. Refer to Table 4–15 . Table 4–15. Extended Axis Setup Configuration Information You Must Answer These Questions
You Have These Choices
Comments
Alpha or Beta Motor Size The motor size can be found on the motor name plate on your robot.
Refer to Table 4–6 for valid motor and amp combinations.
NOTE If the motor combination you specify is not supported, the message, "Motor type not found," will be displayed. The system will ask for the motor information again. Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUC AC Servo Motor Beta Series Descriptions Manual for more information.
1. Migeye rotator mtr 33. ACb0.5 Refer to Table 4–6 for valid motor and amp combinations.
12A
Motor Type
Refer to Table 4–6 for valid motor and amp combinations.
Current Limit for Amplifier
Refer to Table 4–6 for valid motor and amp combinations.
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NOTE If the motor combination you specified is not supported, the message, "Motor type not found," will be displayed. The system will ask for the motor information again. All robots have 6 channel amplifiers. Optional extended axes used on these robot models are numbered starting with amplifier #2. The P-10/P-15 openers have a dual channel amplifier. Refer to Figure 4–6 for information on selecting a servo amplifier module. Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUC AC Servo Motor Beta Series Descriptions Manual for more information.
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Table 4–15. Extended Axis Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Extended Axis Type
1. 2. 3. 4.
For auxiliary linear or rotary axes, the extended axis is not added into the robot position. For integrated rail or integrated arm, the position on the rail (or arm) is added to the robot position.
Integrated Rail or Integrated Arm only
Direction 1:X 2:Y 3:Z Direction (1~3)?
For integrated rail , the rail alignment is usually with respect to the user frame axes of the robot. For integrated arm , arm-specific information is required. Typically, the offset length is 0 except for cases where the first axis of the robot is replaced by an extension arm. The direction defines about which world axis the arm rotates.
Gear Ratio
Enter Gear Ratio
For a linear axis it is the number of mm’s traveled for one rotation of the motor. For linear axes, the gear ratio is in millimeters of travel per revolution of motor. For rotary axes, the gear ratio is in motor turns per single rotations of the rotary axes, which is 24. NOTE This number will be used to calculate acceleration variables. Gear ratio values of 80 - 100 are most common.
Integrated Rail (Linear axis) Integrated Arm (Rotary axis) Auxiliary Linear axis Auxiliary Rotary axis
Write Your Answer Here
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Table 4–15. Extended Axis Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Max Speed Setting
Suggested Speed = 1000.000(mm/s)(Calculated with Max motor speed)(1:Change, 2:No Change)?
For rotational axes you will be prompted to type the Max Joint Speed Setting . If you have typed a gear ratio of 80 - 100, the default speed should not need to be changed. However, you might want to change this number if it seems too fast or slow for your application. For linear axes you will be prompted to enter the Suggested Speed . If you have typed a gear ratio of 80, for example, your suggested speed will be 2667 mm/sec. If this seems high, you can slow it down to the 1500 - 2000 mm/sec range.
Motion Sign Setting
Ext_axs 1 Motion Sign = TRUE(1:TRUE, 2:FALSE)?
The direction determines which way the motor turns when the positive jog key is pressed, and should be consistent with axis alignment. NOTE If the rotation is incorrect, you can modify it by performing a Controlled start.
Upper Limits
Type the upper limit.
Lower Limits
Type the lower limit.
Upper and lower limits will be displayed in millimeters (mm) if a linear axis is used, and in degrees (deg) if a rotational axis is used.
Master Position
Type the master position.
ACC/DEC Time 1 and 2
Default Value of acc_time1 = 256(ms) (1:Change, 2:No Change)? Default Value of acc_time2 = 128(ms) (1:Change, 2:No Change)?
Exponential Accel Time Setting
Current value = 20 msec(1: Change, 2: No Change)
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The sum of acc_time_1 and acc_time_2 is the time, in milliseconds, it will take for the axis to reach full joint speed. The min_acctime value is used for acceleration/deceleration if the distance between the two points is short enough that the axis cannot reach full speed.
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Table 4–15. Extended Axis Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
MIN_ACCEL Time
Default Value of min_acctime = 256(ms)(1:Change, 2:No Change)?
Load Ratio
Load ratio? (0:None 1~5:Valid)
Comments
Write Your Answer Here
The load ratio adjusts the gain of the axis based on the load inertia and the motor inertia. A value of 0 continues the program without adjusting the gain. Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or to the FANUC AC Servo Motor Beta Series Descriptions Manual for more information.
Select Amp Number
Type the number of the amplifier for the axis and press ENTER.
The amplifier number is the number of the amplifier that is connected to the extended axis you are adding. Amplifiers are numbered sequentially. For example, a standard R-2000i, 6-axis robot with one additional extended axis has two amplifiers; one for the 6-axis robot (#1) and one for the extended axis (#2). In this case, you will type the number 2 in Step 4 as the number of the amplifier that is connected to the extended axis you are adding. Refer to Figure 4–7 .
Select Amp Type
1. A06B-6105 series 6 axes amplifier 2. A06B-6114 series Alpha i amp or A06B-6096 Alpha amp. or A06B-6093 series Beta amp.
Select 1 for 6 channel amplifiers. Select 2 for all other amplifiers.
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Table 4–15. Extended Axis Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Brake Setting
Brake Number (0~4)?
The brake number represents the brake control 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 a cable from the CRM39 connector on the six-channel servo amplifier. The signal lines from this cable must be attached to an auxiliary axis brake board to release brakes on the auxiliary axes. Check the wiring of the brake control for the auxiliary axis. Refer to Figure 4–8 for a guideline on how to set your brake setting. WARNING Make sure that the brake number is assigned and is connected correctly, otherwise, improper operation will result.
Servo Timeout
Servo Off is Disable(1: Enable 2: Disable)?
If enabled, SERVO OFF allows the brakes to hold the axis and drop servo power after the specified time.
Servo Timeout Value Displayed if Servo Timeout is Enabled.
Servo Off TIme(0.0~30.0)
If enabled, SERVO OFF allows the brakes to hold the axis and drop servo power after the specified time.
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Figure 4–6. Servo Amplifier Module
A06B-6117-HXXX Peak Current Values
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Figure 4–8. Brake Number Selection
BRK2 BRK3 BRK4
BRK1
6. When you have finished answering the questions, you will see a screen similar to the following. **** EXTENDED AXIS SETTING PROGRAM **** E1 E2 E3 *** Group 1 Total Ext Axis = I * * 1. Display/Modify Ext_axis 1->3 2. Add Ext_axes 3. Delete Ext_axes 4. Exit Select?
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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 and go 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 Hardware interfaces to the robot controller through I/O. The default I/O settings are based on the Local Stop Control Harness (EE-4707-011-001) provided with the local stop hardware. These settings must be modified to enable the Local Stop functionality for each motion group. You can also modify the I/O setting as required. FANUC Robotics recommends using the default I/O settings for each Local Stop Unit (LSU). Refer to the FANUC Robotics Auxiliary Axis Connection and Maintenance 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 the following. SYSTEM Variables $LS_IOPORT 1 [1] 2 [2] 3 [3]
E1 G1
JOINT 10% 1/3 LS_IOPORT_T LS_IOPORT_T LS_IOPORT_T
3. Select the Local Stop Unit that needs to be configured, and press ENTER. You will see a screen similar to the following.
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SYSTEM Variables $LS_IOPORT[1] 1 $MO_GRP_NUM 2 $SDI1_P_TYPE 3 $SDI1_P_NUM 4 $SDI1_P_STAT 5 $SDI2_P_TYPE 6 $SDI2_P_NUM 7 $SDI2_P_STAT 8 $SDO_P_TYPE 9 $SDO_P_NUM 10 $SDO_P_STAT
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E1 G1
JOINT 10% 1/10
0 8 7 FALSE 8 8 TRUE 9 8 TRUE
4. Set each variable as shown in Table 4–16 , Table 4–17 , and Table 4–18 . Table 4–16. System Variable Name Description System Variable
Name
Description
$MO_GRP_NUM
Motion group number assigned to the LS unit
Type the motion group number that the local stop hardware is connected to. Valid range is 2 – 5, but depends 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 4–17 shows the valid input port types for this signal. The SDI1 signal is generated by the local stop unit 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. The input number will be based on the port type selected for 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 the selected input point for SDI1. You cannot modify this variable.
$SDI2_P_TYPE
SDI2 port type
Type the kind of input signal being used for SDI2. Table 4–17 shows the valid input port types for this signal. The SDI2 signal is an input into the controller to request the system to place a motion group into local stop mode. The controller will use this request to control the local stop hardware. The default value is 8 (RDI).
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Table 4–16. System Variable Name Description (Cont’d)
Table 4–17.
Table 4–18.
System Variable
Name
Description
$SDI2_P_NUM
SDI2 port number
Type the input number being used for SDI2. The input number will be based on the port type selected for 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 the selected input point for SDI2. You cannot modify this variable.
$SDO_P_TYPE
SDO port type
Type the kind of output signal being used for SDO. Table 4–18 shows the valid output port types for this signal. The SDO signal controls the state of the local stop unit. The default value is 9 (RDO).
$SDO_P_NUM
SDO port number
Type the output number being used for SDO. The output number is based on the port type selected for 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 the selected output point for SDO. You cannot modify this variable.
Input Values Port Type
System Variable Value
DI: Digital Inputs
1
RDI: Robot Digital Inputs
8
WDI: Weld Digital Inputs
16
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 configured properly and should not be changed from the default value.
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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-axis positioners that have non-orthogonal axes. The Positioner has the constraint that all axes are parallel or perpendicular to each other. For more information, refer to the FANUC Robotics SYSTEM R-J3iC Controller 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
• You have the R-J3iC software load media containing the software you want to load, and the media is inserted properly. Refer to Procedure 4-4 .
• 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 have pressed F4, MANUAL. Refer to Table 4–19 .
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Table 4–19. Positioner Setup Configuration Information You Must Answer These Questions
You Have These Choices
Comments
Hardware Start Axis Setting
Hardware Start Axis (1..16)
Type the hardware starting number for the first axis of the positioner. For example, if a two-axis positioner is added to an M-6i (without any additional axes in the follower group) the hardware start number of the positioner is seven, because the M-6i has six axes. For more complex arrangements of axes and groups, you must determine the amplifier and axis numbers based on the hardware installed in your system. NOTE The positioner setup requires that all axes of multiple-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 assigned last. The hardware installation must reflect this.
Kinematics Type
Known kinematics Unknown kinematics
Type 1 if all offsets between neighboring axes are known accurately. Type 2 if the relationship between axes is unknown.
Write Your Answer Here
Steps 1. When you have finished setting up the items in Table 4–19 , you will see a screen similar to the following. *** Group 2 Total POSITIONER Axes = 0 *** 1. Display/Modify POSITIONER Axes 1->6 2. Add POSITIONER Axis 3. Delete POSITIONER Axis 4. Exit Select 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. Refer to Table 4–20 .
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Table 4–20. Positioner Setup Configuration Information You Must Answer These Questions
You Have These Choices
Comments
Alpha Motor Size
Refer to Table 4–6 for valid motor and amp combinations.
NOTE If the motor combination you specify is not supported, the message, "Motor type not found," will be displayed. The system will ask for the motor information again. Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual, the FANUC AC Servo Motor Alpha Series Descriptions Manual, or the FANUC AC Servo Motor Beta Series Descriptions Manual for more information.
Write Your Answer Here
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Table 4–20. Positioner Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Motor Type
Refer to Table 4–6 for valid motor and amp combinations.
Current Limit for Amplifier
Refer to Table 4–6 for valid motor and amp combinations.
NOTE If the motor combination you specified is not supported, the message, "Motor type not found," will be displayed. The system will ask for the motor information again.
Amplifier Number Setting
Amplifier Number (1->16)
The six-axis amplifier is assigned as amplifier 1, by default. The positioner axes typically begin on amplifier 2.
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Table 4–20. Positioner Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Amplifier Type Setting
1. A06B-6105 series 6 axes amplifier 2. A06B-6114 series Alpha i amp or A06B-6096 Alpha amp. or A06B-6093 series Beta amp.
Select 1 for 6 channel amplifiers. Select 2 for all other amplifiers.
Axis Type Setting
1. Linear Axis 2. Rotary Axis
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Table 4–20. Positioner Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Direction Setting Only if used with a Positioner.
1: 2: 3: 4: 5: 6:
Select the direction of linear or rotary motion relative to the frame you want to establish for the positioner device; this is not necessarily aligned with the robot WORLD frame. For example, the first axis of the positioner could be defined as +z, but could be aligned with the robot x-axis. Refer to the FANUC Robotics SYSTEM R-J3iC Controller Coordinated Motion Setup and Operations Manual for more information.
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+X -X +Y -Y +Z -Z
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Table 4–20. Positioner Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Offset Setting Only if kinematics is used with a Positioner.
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 so forth will have non-zero offset values.
Write Your Answer Here
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Table 4–20. Positioner Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
D-H Parameter Setting Only if known kinematics is used with a General Positioner.
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 to the FANUC Robotics SYSTEM R-J3iC Controller Coordinated Motion Setup and Operations Manual for more information.
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Table 4–20. Positioner Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Gear Ratio Setting
Gear Ratio (mot-rev/axs-rev)
The gear ratio for linear axes is the number of millimeters traveled for one rotation of the motor. For example, if a 50mm pinion on the motor is directly coupled to the rack, and the radius of the pinion is 25mm, the gear ratio is 2(pi)(25) = 157.08. If the axis has a gear box between the motor and pinion, divide the number by the gear ratio. For example, if the motor is connected to a 5:1 gear box and a 50mm pinion, the gear ratio is (2)(pi)(25)/5 = 31.416. The gear ratio for rotary axes is in motor turns per single rotation of the rotary axes. The ratio is ng2:ng1, where ng is the number of teeth on a gear. ng1 is attached to the motor and ng2 is attached to the axis. For example, if gear 1 has 25 teeth and gear 2 has 50 teeth, the ratio would be 2:1. Commercial gear drives are generally labeled for items such as gear ratio, maximum RPM, and torque maximum. Look at tags or labels on the equipment for this information.
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Table 4–20. Positioner Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Maximum Speed Setting
Suggested Speed = 200.040 mm/sec(Calculated with Max Motor Speed) (1:Change, 2:No Change)
NOTE The maximum joint velocity is automatically calculated, based on the gear ratio and the maximum RPM of the motor chosen. This value can be used or you can lower it. CAUTION Do not increase the value of the maximum joint velocity; otherwise, the maximum motor RPM will be exceeded. This could injure personnel or damage equipment.
Motion Sign Setting
Current value = TRUE(1: TRUE, 2: FALSE)
The direction determines which way the motor turns when the positive jog key is pressed, and should be consistent with axis alignment. TRUE indicates that the motor will turn counterclockwise when looking at the motor shaft from the front. NOTE If the rotation is incorrect, you can modify it by performing a Controlled start. Refer to Appendix A .
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Table 4–20. Positioner Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Upper Limit Setting
Enter the upper limit.
Set the upper software limit of the axis to a value smaller than the hard stop.
Lower Limit Setting
Enter the lower limit
Set the lower software limit of the axis to a value smaller than the hard stop. This is usually 0 or a negative number.
Master Position
Enter the master position.
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Table 4–20. Positioner Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Accel Time 1 Setting
Current value = 384 msec(1:Change, 2:No Change)
The sum of acc_time_1 and acc_time_2 is the time, in milliseconds, it will take for the axis to reach full joint speed. The min_acctime value is used for acceleration/deceleration if the distance between the two points is short enough that the axis cannot reach full speed.
Accel Time 2 Setting
Current value = 192 msec (1:Change, 2:No Change)
Exponential Filter Setting
Exp Filter Valid = TRUE(1: TRUE, 2: FALSE)
Exponential Accel Time Setting
Current value = 20 msec (1: Change, 2: No Change)
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Table 4–20. Positioner Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Minimum Accel Time Setting
Current value = 384 msec (1: Change, 2: No Change)
Comments
Write Your Answer Here
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Table 4–20. Positioner Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Load Ratio Setting Load ratio? (0:None 1~5:Valid)
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Comments
The load ratio adjusts the gain of the axis based on the load inertia and the motor inertia. A value of 0 continues the program without adjusting the gain. Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUC AC Servo Motor Beta Series Descriptions Manual for more information.
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Table 4–20. Positioner Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Brake Number Setting
Type the brake number (0..4)
NOTE For the standard controller with extended axis configuration, each additional amplifier is assigned to a brake, regardless of whether the motor(s) have brakes. Brake 3 is assigned to the first additional amplifier and brake 4 is assigned to the second additional amplifier. Brake 2 does not exist in this configuration. WARNING Make sure that the brake number is assigned and is connected correctly; otherwise, improper operation will result. Brake channels 2, 3, and 4 need a cable from the CRM39 connector on the six-channel servo amplifier. The signal lines from this cable must be attached to an auxiliary axis brake board to release brakes on the auxiliary axes.
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Table 4–20. Positioner Setup Configuration Information (Cont’d) You Must Answer These Questions
You Have These Choices
Comments
Servo Off Setting
Current value = TRUE (1: TRUE, 2: FALSE)
If enabled, SERVO OFF allows the brakes to hold the axis and drop servo power after the specified time.
Servo Off Time Setting Displayed if Servo Timeout is Enabled.
Servo Off Time (0..30 sec)
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4. When you have finished answering all the questions in Table 4–20 , you will see a screen similar to the following.
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*** Group 2 Total POSITIONER Axes = 0 *** 1. Display/Modify POSITIONER Axes 1->6 2. Add POSITIONER Axis 3. Delete POSITIONER Axis 4. Exit Select 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 repeat Step 1 through Step 4 . If you are finished , type 4, Exit. The Controlled start screen for your application will be displayed. 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 installed initially. 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 4–21 lists the process axes default hardware setup for the PaintTool Integral Pump Control option only. Table 4–21. Process Axes Default Hardware Setup SETUP ITEM
DEFAULT SETTING
Motor Type
ACbM0.5
Motor Size
/4000
Current Limit for Amplifier
20A
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