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MANUTENÇÃO ROBO FANUC.pdf
FANUC Robotseries
RIA R15.06-1999 COMPLIANT
R-30iA CONTROLLER
MAINTENANCE MANUAL
MARMCRIA304071E REV. D
This publication contains proprietary information
of FANUC Robotics America, Inc. furnished for
customer use only. No other uses are authorized
without the express written permission of
FANUC Robotics America, Inc.
FANUC Robo tics Americ a, Inc.
3900 W. Hamlin Road
Rochester Hills, Mich igan 48309–3253
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The descriptions and specifications contained in this manual were in
effect at the time this manual was approved for printing. FANUC
Robotics
America,
hereinafter
referred
to astime
FANUC
reserves the
right toInc,
discontinue
models
at any
or to Robotics,
change
specifications or design without notice and without incurring
obligations.
FANUC Robotics manuals present descriptions, specifications,
drawings, schematics, bills of material, parts, connections and/or
procedures for installing, disassembling, connecting, operating and
programming FANUC Robotics’ products and/or systems. Such
systems consist of robots, extended axes, robot controllers,
application software, the KAREL programming language,
INSIGHT vision equipment, and special tools.
FANUC Robotics recommends that only persons who have been
trained in one or more approved FANUC Robotics Training
Course(s) be permitted to install, operate, use, perform procedures
on, repair, and/or maintain FANUC Robotics’ products and/or
systems and their respective components. Approved training
necessitates that the courses selected be relevant to the type of
system installed and application performed at the customer site.
WARNING
This equipment generates, uses, and can radiate radio
frequency energy and if not installed and used in accordance
with the instruction manual, may cause interference to radio
communications. As temporarily permitted by regulation, it
has not been tested for compliance with the limits for Class A
computing devices pursuant to subpart J of Part 15 of FCC
Rules, which are designed to provide reasonable protection
against such interference. Operation of the equipment in a
residential area is likely to cause interference, in which case
the user, at his own expense, will be required to take
whatever measure may be required to correct the
interference.
FANUC Robotics conducts courses on its systems and products on
a regularly scheduled basis at its headquarters in Rochester Hills,
Michigan. For additional information contact
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FANUC Robotics America, Inc.
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Copyright 2009 by FANUC Robotics America, Inc.
All Rights Reserved
The information illustrated or contained herein is not to be
reproduced, copied, downloaded, translated into another language,
published in any physical or electronic format, including internet, or
transmitted in whole or in part in any way without the prior written
consent of FANUC Robotics America, Inc.
AccuStat, ArcTool, DispenseTool, FANUC LASER DRILL,
KAREL, INSIGHT, INSIGHT II, PaintTool, PaintWorks,




PalletTool
SOFT
PARTS SpotTool
, of FANUC
TorchMate , ,SOCKETS
and YagTool, 
are Registered
Trademarks
Robotics.
FANUC Robotics reserves all proprietary rights, including but not
limited to trademark and trade name rights, in the following names:
AccuAir AccuCal AccuChop AccuFlow AccuPath
AccuSeal ARC Mate ARC Mate Sr.  ARC Mate System 1 
ARC Mate System 2 ARC Mate System 3 ARC Mate System
4 ARC Mate System 5 ARCWorks Pro AssistTool
AutoNormal AutoTCP BellTool BODYWorks Cal Mate Cell
Finder Center Finder Clean Wall CollisionGuard
DispenseTool  F-100 F-200i FabTool FANUC LASER
DRILL Flexibell FlexTool HandlingTool HandlingWorks
INSIGHT INSIGHT II IntelliTrak Integrated Process Solution
Intelligent Assist Device IPC -Integrated Pump Control IPD
Integral Pneumatic Dispenser ISA Integral Servo Applicator  ISD
Integral Servo Dispenser Laser Mate System 3  Laser Mate
System 4 LaserPro LaserTool LR Tool MIG Eye
MotionParts  NoBots Paint Stick PaintPro PaintTool 100
PAINTWorks  PAINTWorks II PAINTWorks III PalletMate
PalletMate PC PalletTool PC PayloadID RecipTool
RemovalTool  Robo Chop Robo Spray S-420i S-430i
ShapeGen SoftFloat SOF PARTS SpotTool+ SR Mate
SR ShotTool SureWeld SYSTEM R-J2 Controller SYSTEM RJ3 Controller SYSTEM R-J3iB Controller  TCP Mate
TurboMove TorchMate visLOC visPRO-3D visTRAC
WebServer WebTP YagTool
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FANUC LTD 2009
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Conventions
This manual includes information essential to the safety of
personnel,
software,
data.
indicated byequipment,
headings and
boxesand
in the
text.This information is
WARNING
Information appearing under WARNING concerns the
protection of personnel. It is boxed and in bold type to set it
apart from other text.
CAUTION
Information appearing under CAUTION concerns the protection of
equipment, software, and data. It is boxed to set it apart from
other text.
NOTE Information appearing next to NOTE concerns related
information or useful hints.
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Before using the Robot, be sure to read the "FANUC Robot Safety Manual (B-80687EN)" and
understand the content.
This manual can be used with controllers labeled R-30 iA or R-J3iC. If you have a controller
labeled R-J3iC, you should read R-30iA as R-J3iC throughout this manual.
•
No part of this manual may be reproduced in any form.
•
All specifications and designs are subject to change without notice.
The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
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the country from where the product is
re-exported. Furthermore, the product may also be
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TABLE OF CONTENTS
B-82595EN-2/04
TABLE OF CONTENTS
PREFACE ....................................................................................................p-1
I SAFETY PRECAUTIONS
1
SAFETY PRECAUTIONS........................................................................ 3
1.1
1.2
WORKING PERSON ..................................................................................... 3
WORKING PERSON SAFETY ...................................................................... 4
1.2.1
1.2.2
1.2.3
1.3
General Person Safety ..............................................................................................5
Safety of the Teaching Operator...............................................................................6
Safety during Maintenance.......................................................................................7
SAFETY OF THE TOOLS AND PERIPHERAL DEVICES............................. 8
1.3.1
1.3.2
Precautions in Programming ....................................................................................8
Precautions for Mechanism ......................................................................................8
1.4
SAFETY OF THE ROBOT MECHANISM ...................................................... 8
1.5
SAFETY OF THE END EFFECTOR.............................................................. 9
1.4.1
1.4.2
1.4.3
1.5.1
1.6
Precautions in Operation ..........................................................................................8
Precautions in Programming ....................................................................................9
Precautions for Mechanisms.....................................................................................9
Precautions in Programming ....................................................................................9
WARNING LABEL .........................................................................................9
II MAINTENANCE
1
OVERVIEW ...........................................................................................13
2
CONFIGURATION ................................................................................ 14
3
2.1
2.2
EXTERNAL VIEW OF THE CONTROLLER ................................................ 14
COMPONENT FUNCTIONS........................................................................ 26
2.3
PREVENTIVE MAINTENANCE ................................................................... 27
TROUBLESHOOTING ..........................................................................28
3.1
POWER CANNOT BE TURNED ON ........................................................... 28
3.2
ALARM OCCURRENCE SCREEN.............................................................. 31
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3.3
SAFETY SIGNALS ......................................................................................34
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TABLE OF CONTENTS
5
4.5
PROCESS I/O BOARD CA (A16B-2201-0470) ......................................... 129
4.6
4.7
4.8
4.9
4.10
4.11
4.12
PROCESS I/O BOARD EA (A16B-3200-0230).......................................... 131
PROCESS I/O BOARD EB (A16B-3200-0231).......................................... 133
PROCESS I/O BOARD FA (A16B-3200-0420).......................................... 135
PROCESS I/O BOARD GA (A16B-2203-0520) ......................................... 137
PROCESS I/O BOARD HA (A16B-2203-0760) ......................................... 139
PROCESS I/O BOARD JA (A16B-2204-0010) .......................................... 141
PROCESS I/O BOARD JB (A16B-2204-0011) .......................................... 143
4.13
4.14
4.15
PROCESS I/O BOARD KA (A16B-2204-0050, A20B-2101-0560)............. 144
PROCESS I/O BOARD KB (A16B-2204-0051, A20B-2101-0561)............. 147
PROCESS I/O BOARD KC (A16B-2204-0052, A20B-2101-0562) ............ 150
SERVO AMPLIFIERS .........................................................................152
5.1
5.2
6
LED OF SERVO AMPLIFIER .................................................................... 154
SETTING OF SERVO AMPLIFIER............................................................ 155
SETTING THE POWER SUPPLY ....................................................... 156
6.1
6.2
6.3
7
B-82595EN-2/04
BLOCK DIAGRAM OF THE POWER SUPPLY ......................................... 156
TRANSFORMER .......................................................................................157
CHECKING THE POWER SUPPLY UNIT (A16B-2203-0910) .................. 160
REPLA CING A UNIT........................................................................... 161
7.1
A-CABINET................................................................................................ 162
7.1.1
7.1.2
7.1.3
7.1.4
7.2
Replacing the A-cabinet Top Panel ......................................................................162
Replacing the A-cabinet Rear Panel.....................................................................163
Replacing the A-cabinet Louver...........................................................................163
Replacing the A-cabinet Door ..............................................................................164
REPLACING THE PRINTED-CIRCUIT BOARDS ..................................... 165
7.2.1
7.2.2
7.2.3
Replacing the Backplane Board (Unit).................................................................165
Replacing the Power Unit and Printed-Circuit Boards on the Backplane Unit ....166
Replacing the Panel Board ...................................................................................168
7.2.4
Replacing the Process I/O Board EA, EB, FA, GA, KA, KB, KC (A-cabinet) ...169
7.3
REPLACING CARDS AND MODULES ON THE MAIN BOARD ............... 169
7.4
REPLACING THE TRANSFORMER ......................................................... 173
7.5
REPLACING THE REGENERATIVE RESISTOR UNIT ............................ 180
7.6
REPLACING THE E-STOP UNIT .............................................................. 183
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REPLACING SERVO AMPLIFIERS
185
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7.14
7.13.3
Replacing Fuses in the Main board ......................................................................201
7.13.4
7.13.5
Replacing the Fuse on the Process I/O Boards.....................................................202
Replacing the Fuse on the Panel Board................................................................206
REPLACING RELAYS............................................................................... 206
7.14.1
7.15
REPLACING BATTERY ............................................................................207
7.15.1
8
Replacing Relays on the Panel Board ..................................................................206
Battery for Memory Backup (3 VDC)..................................................................207
HOW TO USE THE PLATE TO FIX THE COMPACT FLA SH MEMORY
CARD .................................................................................................. 209
III CONNECTIONS
1
GENERAL ...........................................................................................213
2
BLOCK DIAGRAM .............................................................................. 214
3
ELECTRICAL CONNECTIONS...........................................................216
3.1
3.2
CONNECTION DIAGRAM BETWEEN MECHANICAL UNITS .................. 216
EXTERNAL CABLE WIRING DIAGRAM ................................................... 218
3.2.1
3.2.2
3.2.3
3.2.4
3.2.5
3.2.6
3.2.7
3.2.8
3.2.9
4
Robot Connection Cables.....................................................................................218
Teach Pendant Cable ............................................................................................231
Connecting the Input Power .................................................................................233
3.2.3.1
3.2.3.2
Connecting the input power cable ................................................................... 233
Leakage breaker............................................................................................... 235
3.2.3.3
3.2.3.4
Check input voltage ......................................................................................... 235
On/off timing by the breaker ........................................................................... 235
Connecting the External Power Supply ON/OFF Switch ....................................236
Connecting the External Emergency Stop............................................................239
Connecting the Non-Teaching Enabling (NTED) Signal (CRM65) ....................249
Connecting the Auxiliary Axis Brake (CRR65 A/B) ...........................................250
Connecting the Auxiliary Axis Over Travel (CRM68) ........................................251
Connecting the Operation Box .............................................................................252
PERIPHERAL DEVICE, ARC WELDING, AND END EFFECTOR
INTERFACES ......................................................................................253
4.1
PERIPHERAL DEVICE INTERFACE BLOCK DIAGRAM.......................... 255
4.1.1
When Process I/O Board EA/EB/GA is Used (A-cabinet)...................................255
FA is Used (A-cabinet) ................................................256
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4.1.2
When Process I/O Board
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4.4.2
B-82595EN-2/04
Peripheral Device and Control Unit Connection (Sink Type DO) .......................279
4.5
INTERFACE FOR WELDER...................................................................... 292
4.6
INTERFACE FOR END EFFECTOR ......................................................... 302
4.5.1
4.6.1
4.7
4.8.2
4.8.3
4.8.4
Peripheral Device Connection Cable....................................................................313
Peripheral Device Cable Connector .....................................................................314
End Effector Cable Connector..............................................................................316
Recommended Cables ..........................................................................................317
CONNECTION
OFHDI
HDI
.............................................................................318
4.10.1 Connecting
...................................................................................................318
4.10.2
4.11
Peripheral Device Interface A Cable (CRM2, CRMA5: Honda Tsushin, 50 pins)
..............................................................................................................................311
Peripheral Device Interface B Cable (CRM4, CRMA6: Honda Tsushin, 20 pins)
..............................................................................................................................311
ARC Weld Connection Cable (CRW1, CRW7: Honda Tsushin, 34pins)............312
ARC Weld Connection Cable
(CRW10: Honda Tsushin, 50 pins) ......................................................................312
CABLE CONNECTION FOR THE PERIPHERAL DEVICES, END
EFFECTORS, AND ARC WELDERS ........................................................ 313
4.9.1
4.9.2
4.9.3
4.9.4
4.10
Peripheral Device Interface A ..............................................................................304
End Effector Control Interface .............................................................................307
I/O Signal Specifications for ARC-Welding Interface.........................................308
SPECIFICATIONS OF THE CABLES USED FOR PERIPHERAL DEVICES
AND WELDERS ........................................................................................ 311
4.8.1
4.9
Connection between the Mechanical Unit and End Effector ...............................302
DIGITAL I/O SIGNAL SPECIFICATIONS .................................................. 304
4.7.1
4.7.2
4.7.3
4.8
Connection between the Control Unit and Welder...............................................292
Input Signal Rules for the High-speed Skip (HDI) ..............................................320
CONNECTING THE COMMUNICATION UNIT ......................................... 321
4.11.1
RS-232-C Interface...............................................................................................321
4.11.1.1
4.11.1.2
4.11.1.3
4.11.2
Interface........................................................................................................... 321
RS-232-C interface signals .............................................................................. 322
Connection between RS-232-C interface and I/O device ................................ 323
Ethernet Interface .................................................................................................324
4.11.2.1 Connection to Ethernet .................................................................................... 324
4.11.2.2 Leading out the Ethernet Cable ....................................................................... 325
4.11.2.3 100BASE-TX Connector (CD38R) Pin Assignments ..................................... 326
4.11.2.4 Twisted-pair Cable Specification..................................................................... 326
4.11.2.5 Electrical Noise Countermeasures................................................................... 329
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4.11.2.6 Check Items at Installation .............................................................................. 333
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TABLE OF CONTENTS
B-82595EN-2/04
APPENDIX
A
TOTAL CONNECTION DIAGRAM......................................................349
B
SPECIFICATIONS OF PERIPHERAL DEVICE INTERACE ...............391
B.1
B.2
B.3
SIGNAL .....................................................................................................391
SETTING COMMON VOLTAGE................................................................ 393
I/O SIGNALS ............................................................................................. 393
B.3.1
B.3.2
B.4
Input Signals.........................................................................................................393
Output Signals ......................................................................................................397
SPECIFICATIONS OF DIGITAL INPUT/OUTPUT..................................... 400
B.4.1
B.4.2
B.4.3
Overview ..............................................................................................................400
Input/Output Hardware Usable in the R-30iA Controller ....................................400
Software Specifications ........................................................................................400
C
OPTICAL FIBER CABL E .................................................................... 401
D
BRAKE RELEASE UNIT.....................................................................404
D.1
D.2
D.3
D.4
D.5
D.6
D.7
E
SAFETY PRECAUTIONS.......................................................................... 404
CONFIRMATIONS BEFORE OPERATION............................................... 404
OPERATION.............................................................................................. 406
HOW TO CONNECT THE PLUG TO THE POWER CABLE (IN CASE OF NO
POWER PLUG) .........................................................................................410
DIMENSION .............................................................................................. 411
FUSE ......................................................................................................... 413
SPECIFICATIONS..................................................................................... 413
THE CONTROLLER FOR M-900iA/200P, M-2000iA .........................414
E.1
E.2
CONFIGURATION..................................................................................... 414
TROUBLESHOOTING USING THE ERROR CODE ................................. 416
E.2.1
E.2.2
E.2.3
Troubleshooting using the error code...................................................................416
Alarms detected by servo amplifier......................................................................417
Relationship of axis ..............................................................................................418
E.3
INSTALLING THE CONNECTION CABLE BETWEEN CABINETS .......... 419
E.4
ROBOT CONNECTION CABLE ................................................................ 420
E.5
CONNECTING THE INPUT POWER CABLE............................................ 424
E.6
CONFIRMATIONS OF ON/OFF BY THE BREAKER FOR M-900iA/200P AND
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PREFACE
B-82595EN-2/04
PREFACE
This manual describes the following models (R-30iA controller).
Model
Abbreviation
FANUC Robot R-2000iB/210F
R-2000iB/210F
FANUC Robot R-2000iB/200R
R-2000iB/200R
FANUC Robot R-2000iB/200EW
R-2000iB/200EW
FANUC Robot R-2000iB/150U
FANUC Robot R-2000iB/165R
R-2000iB/150U
R-2000iB/165R
FANUC Robot R-2000iB/165F
R-2000iB/165F
FANUC Robot R-2000iB/165EW
R-2000iB/165EW
FANUC Robot R-2000iB/165CF
R-2000iB/165CF
FANUC Robot R-2000iB/170CF
R-2000iB/170CF
FANUC Robot R-2000iB/175L
R-2000iB/175L
FANUC Robot R-2000iB/125L
R-2000iB/125L
FANUC Robot R-2000iB/100P
FANUC Robot R-2000iB/100H
R-2000iB/100P
R-2000iB/100H
FANUC Robot R-2000iB/200T
R-2000iB/200T
FANUC Robot R-1000iA/80F
R-1000iA/80F
FANUC Robot M-6iB
M-6iB
FANUC Robot M-6iB/6T
M-6iB/6T
FANUC Robot M-6iB/6S
M-6iB/6S
FANUC Robot M-6iB/2HS
M-6iB/2HS
FANUC Robot M-6iB/6C
M-6iB/6C
FANUC Robot M-10iA
M-10iA
FANUC Robot M-10iA/6L
M-10iA/6L
FANUC Robot M-16iB/20
M-16iB/20
FANUC Robot M-16iB/10L
M-16iB/10L
FANUC Robot M-16iB/20T
M-16iB/20T
FANUC Robot M-16iB/10LT
M-16iB/10LT
FANUC Robot M-20iA
M-20iA
FANUC Robot M-20iA/10L
M-20iA/10L
FANUC Robot M-20iA/20T
M-20iA/20T
FANUC Robot ARC Mate 100iB
ARC Mate 100iB
FANUC Robot ARC Mate 100iBe
ARC Mate 100iBe
FANUC Robot ARC Mate 100iB/6S
ARC Mate 100iB/6S
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FANUC Robot ARC Mate 100iC
ARC Mate 100iC
R-2000iB
R-1000iA
M-6iB
M-10iA
M-16iB
M-20iA
ARC Mate 100iB
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PREFACE
B-82595EN-2/04
Model
Abbreviation
FANUC Robot M-710iC/70
FANUC Robot M-710iC/70T
M-710iC/70
M-710iC/70T
FANUC Robot M-710iC/70W
M-710iC/70W
FANUC Robot M-710iC/50
M-710iC/50
FANUC Robot M-710iC/50S
M-710iC/50S
FANUC Robot M-710iC/50T
M-710iC/50T
FANUC Robot M-710iC/50E
M-710iC/50E
FANUC Robot M-710iC/20L
M-710iC/20L
FANUC Robot M-410iB/160
M-410iB/160
FANUC Robot M-410iB/300
M-410iB/300
FANUC Robot M-410iB/450
M-410iB/450
FANUC Robot M-410iB/700
M-410iB/700
FANUC Robot M-420iA
M-420iA
FANUC Robot M-421iA
M-421iA
FANUC Robot M-430iA/2F
M-710iC
M-410iB
M-430iA/2F
FANUC Robot M-430iA/2FH
FANUC Robot M-430iA/2P
M-430iA/2P
M-430iA
FANUC Robot M-430iA/2PH
FANUC Robot M-430iA/4FH
M-430iA/4FH
FANUC Robot M-900iA/200P
M-900iA/200P
FANUC Robot M-900iA/260L
M-900iA/260L
FANUC Robot M-900iA/350
M-900iA/350
FANUC Robot M-900iA/400L
M-900iA/400L
FANUC Robot M-900iA/600
M-900iA/600
FANUC Robot M-2000iA/900L
M-2000iA/900L
FANUC Robot M-2000iA/1200
M-2000iA/1200
FANUC Robot F-200iB
F-200iB
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M-900iA
M-2000iA
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Safety
FANUC
Robotics
not andofdoes
represent
itselfits
as work
an expert
in safety
safety equipment,
or
the specific
safetyis
aspects
yournot
company
and/or
force.
It is thesystems,
responsibility
of the owner,
employer, or user to take all necessary steps to guarantee the safety of all personnel in the workplace.
The appropriate level of safety for your application and installation can best be determined by safety
system professionals. FANUC Robotics therefore, recommends that each customer consult with such
professionals in 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 is advised to consult the
standards to ensure compliance with its requests for Robotics System design, usability, operation,
maintenance, and service. Additionally, as the owner, employer, or user of a robotic system, it is your
responsibility to arrange for the training of the operator of a robot system to recognize and respond to
known hazards associated with your robotic system and to be aware of the recommended operating
procedures for your particular application and robot installation.
Ensure that the robot being used is appropriate for the application. Robots used in classified (hazardous)
locations must be certified for this use.
FANUC Robotics therefore, recommends that all personnel who intend to operate, program, repair,
or otherwise use the robotics system be trained in an approved FANUC Robotics training course and
become familiar with the proper operation of the system. Persons responsible for programming the
system-including the design, implementation, and debugging of application programs-must be familiar
with the recommended programming procedures for your application and robot installation.
The following guidelines are provided to emphasize the importance of safety in the workplace.
CONSIDERING SAFETY FOR YOUR ROBOT INSTALLATION
Safety is essential whenever robots are used. Keep in mind the following factors 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
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Keeping People and Equipment Safe
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 the following:
• People
• External devices
• Robot(s)
• Tooling
• Workpiece
Using Safety Enhancing Devices
Always give appropriate attention to the work area that surrounds the robot. The safety of the work
area can be enhanced by the installation of some 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
Setting Up a Safe Workcell
A safe workcell is essential to protect people and equipment. Observe the following guidelines to
ensure that the workcell is set up safely. These suggestions 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
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• Arrange the workcell so the operator faces the workcell and can see what is going on inside the cell.
• Clearly identify the work envelope of each robot in the system with floor markings, signs, and
special barriers. The work envelope is the area defined by the maximum motion range of the
robot, including any tooling attached to the wrist flange that extend this range.
• Position all controllers outside the robot work envelope.
• Never rely on software or firmware based controllers as the primary safety element unless they
comply with applicable current robot safety standards.
• Mount an adequate number of EMERGENCY STOP buttons or switches within easy reach of the
operator and at critical points inside and around the outside of the workcell.
• Install flashing lights and/or audible warning devices that activate whenever the robot is operating,
that is, whenever power is applied to the servo drive system. Audible warning devices shall
exceed the ambient noise level at the end-use application.
• Wherever possible, install safety fences to protect against unauthorized entry by personnel into
the work envelope.
• Install special guarding that prevents the operator from reaching into restricted 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 be optionally installed between the
robot wrist flange and tooling. If the tooling strikes an object, these devices dislodge, remove
power from the 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 the effects of electro-magnetic interference (EMI), radio frequency
interference (RFI), and electro-static discharge (ESD).
• Make provisions for power lockout/tagout at the controller.
• Eliminate pinch points . Pinch points are areas where personnel could get trapped between a
moving robot and other equipment.
• Provide enough room inside the workcell to permit personnel to teach the robot and perform
maintenance safely.
• Program the robot to load and unload material safely.
• If high voltage electrostatics are present, be sure to provide appropriate interlocks, warning, and
beacons.
• If materials are being applied at dangerously high pressure provide electrical interlocks for
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Staying Safe While Teaching or Manually Operating the Robot
Advise all personnel who must teach the robot or otherwise manually operate the robot to observe the
following rules:
• Never wear watches, rings, neckties, scarves, or loose clothing that could get caught in moving
machinery.
• Know whether or not you are using an intrinsically safe teach pendant if you are working in
a hazardous environment.
• Before teaching, visually inspect the robot and work envelope to make sure that no potentially
hazardous conditions exist. The work envelope is the area defined by the maximum motion range
of the robot. These include tooling attached to the wrist flange that extends this range.
• The area near the robot must be clean and free of oil, water, or debris. Immediately report unsafe
working conditions to the supervisor or safety department.
• FANUC Robotics recommends that no one enter the work envelope of a robot that is on, except for
robot teaching operations. However, if you must enter the work envelope, be sure all safeguards
are in place, check the teach pendant DEADMAN switch for proper operation, and place the
robot in teach mode. Take the teach pendant with you, turn it on, and be prepared to release the
DEADMAN switch. Only the person with the teach pendant should be in the work envelope.
Warning
Never 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 in serious injury and death.
• Know the path that can be used to escape from a moving robot; make sure the escape path is
never blocked.
• Isolate the robot from all remote control signals that can cause motion while data is being taught.
• Test any program being run for the first time in the following manner:
Warning
Stay outside the robot work envelope whenever a program is being
run. Failure to do so can result in injury.
— Using a low motion speed, single step the program for at least one full cycle.
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Staying Safe During Automatic Operation
Advise all personnel who operate the robot during production to observe the following rules:
• Make sure all safety provisions are present and active.
• Know the entire workcell area. The workcell includes the robot and its work envelope, plus the
area occupied by all external devices and other equipment with which the robot interacts.
• Understand the complete task the robot is programmed to perform before initiating automatic
operation.
• Make sure all personnel are outside the work envelope before operating the robot.
• Never enter or allow others to enter the work envelope during automatic operation of the robot.
• Know the location and status of all switches, sensors, and control signals that could cause the
robot to move.
• Know where the EMERGENCY STOP buttons are located on both the robot control and external
control devices. Be prepared to press these buttons 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 to continue activity.
• If the robot is running in a pattern, do not assume it will continue to run in the same pattern.
• Never try to stop the robot, or break its motion, with your body. The only way to stop robot
motion immediately is to press an EMERGENCY STOP button located on the controller panel,
teach pendant, or emergency stop stations around the workcell.
Staying Safe During Inspection
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 to the 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 that could get caught in moving
machinery.
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Staying Safe During Maintenance
When performing maintenance on your robot system, observe the following rules:
• Never enter the work envelope while the robot or a program is in operation.
• Before entering the work envelope, visually inspect the workcell to make sure no potentially
hazardous conditions exist.
• Never wear watches, rings, neckties, scarves, or loose clothing that could get caught in moving
machinery.
• Consider all or any overlapping work envelopes of adjoining robots when standing in a work
envelope.
• Test the teach pendant for proper operation before entering the work envelope.
• If it is necessary for you to enter the robot work envelope while power is turned on, you must be
sure that you are in control of the robot. Be sure to take the teach pendant with you, press the
DEADMAN switch, and turn the teach pendant on. Be prepared to release the DEADMAN switch
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 an applicator bell cup can continue to spin at a very high speed even if the robot is
idle. Use protective gloves or disable bearing air and turbine air before servicing these items.
• Be aware that when you remove a servomotor or brake, the associated robot 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.
Warning
Lethal voltage is present in the controller WHENEVER IT IS
CONNECTED to a power source. Be extremely careful to avoid
electrical shock. HIGH VOLTAGE IS PRESENT at the input side
whenever the controller is connected to a power source. Turning the
disconnect
or circuit
to the OFF position removes power from
the output side
of thebreaker
device only.
• Release or block all stored energy. Before working on the pneumatic system, shut off the system
air supply and purge the air lines.
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• Make sure personnel cannot get trapped between the moving robot and other equipment. Know the
path that can be used to escape from a moving robot. Make sure the escape route is never blocked.
• Use blocks, mechanical stops, and pins to prevent hazardous movement by the robot. Make sure
that such devices do not create pinch points that could trap personnel.
Warning
Do not try to remove any mechanical component from the robot
before thoroughly reading and understanding the procedures in the
appropriate manual. Doing so can result in serious personal injury and
component destruction.
• Be aware that when you remove a servomotor or brake, the associated robot 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 do not enter the system.
• Use only specified parts for replacement. To avoid fires and damage to parts in the controller,
never use nonspecified fuses.
• Before restarting a robot, make sure no one is inside the work envelope; be sure that the robot and
all external devices are operating normally.
KEEPING MACHINE TOOLS AND EXTERNAL DEVICES SAFE
Certain programming and mechanical measures are useful in keeping the machine tools and other
external devices safe. Some of these measures are outlined below. Make sure you know all associated
measures for safe use of such devices.
Programming Safety Precautions
Implement the following programming safety measures to prevent damage to machine tools and
other external devices.
• Back-check limit switches in the workcell to make sure they do not fail.
• Implement “failure routines” in programs that will provide appropriate robot actions if an external
device or another robot in the workcell fails.
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Mechanical Safety Precautions
Implement the following mechanical safety measures to prevent damage to machine 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 to prevent undesired movement of
the robot into the work area of machine tools and external devices.
KEEPING THE ROBOT SAFE
Observe the following operating and programming guidelines to prevent damage to the robot.
Operating Safety Precautions
The following measures are designed to prevent damage to the robot during operation.
• Use a low override speed to increase your control over the robot when jogging the robot.
• Visualize the movement the robot will make before you press the jog keys 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.
Programming Safety Precautions
The following safety measures are designed to prevent damage to the robot during programming:
• Establish interference zones to prevent collisions when two or more robots share a work area.
• Make sure that the program ends with the robot near or at the home position.
• Be aware of signals or other operations that could trigger operation of tooling resulting in personal
injury or equipment damage.
• In dispensing applications, be aware of all safety guidelines with respect to the dispensing
materials.
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ADDITIONAL SAFETY CONSIDERATIONS FOR PAINT ROBOT
INSTALLATIONS
Process technicians are sometimes required to enter the paint booth, for example, during daily or
routine calibration or while teaching new paths to a robot. Maintenance personal also must work
inside the paint booth periodically.
Whenever personnel are working inside the paint booth, ventilation equipment must be used.
Instruction on the proper use of ventilating equipment usually is provided by the paint shop supervisor.
Although paint booth hazards have been minimized, potential dangers still exist. Therefore, today’s
highly automated paint booth requires that process and maintenance personnel have full awareness of
the system and its capabilities. They must understand the interaction that occurs between the vehicle
moving along the conveyor and the robot(s), hood/deck and door opening devices, and high-voltage
electrostatic tools.
Caution
Ensure that all ground cables remain connected. Never operate the paint robot
with ground provisions disconnected. Otherwise, you could injure personnel or
damage equipment.
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 will follow a predetermined
pattern of movements. In teach mode, the process technician teaches (programs) paint paths using
the teach pendant.
In automatic mode, robot operation is initiated at the System Operator Console (SOC) or Manual
Control Panel (MCP), if available, and can be monitored from outside the paint booth. All personnel
must remain outside of the booth or in a designated safe area within the booth whenever automatic
mode is initiated at the SOC or MCP.
In automatic mode, the robots will execute the path movements they were taught during teach mode,
but generally at production speeds.
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Paint System Safety Features
Process technicians and maintenance personnel must become totally familiar with the equipment and
its capabilities. To minimize the risk of injury when working near robots and related equipment,
personnel must comply strictly with the procedures in the manuals.
This section provides information about the safety features that are included in the paint system and
also explains the way the robot interacts with other equipment in the system.
The paint system includes the following safety features:
• Most paint booths have red warning beacons that illuminate when the robots are armed and ready
to paint. Your booth might have other kinds 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 might have other kinds of indicators. Learn what these are.
• EMERGENCY STOP buttons are located on the robot controller and teach pendant. Become
familiar with the locations of all E-STOP buttons.
• An intrinsically safe teach pendant is used when teaching in hazardous paint atmospheres.
• A DEADMAN switch is located on each teach pendant. When this switch is held in, and the teach
pendant is on, power is applied to the robot servo system. If the engaged DEADMAN switch
is released during robot operation, power is removed from the servo system, all axis brakes are
applied, and the robot comes to an EMERGENCY STOP. Safety interlocks within the system
might also E-STOP other robots.
Warning
An EMERGENCY STOP will occur if the DEADMAN switch is released
on a bypassed robot.
• Overtravel by robot axes is prevented by software limits. All of the major and minor axes are
governed by software limits. Limit switches and hardstops also limit travel by the major axes.
• EMERGENCY STOP limit switches and photoelectric eyes might be part of your system.
Limit switches, located on the entrance/exit doors of each booth, will EMERGENCY STOP all
equipment in the booth if a door is opened while the system is operating in automatic or manual
mode. For some systems, signals to these switches are inactive when the switch on the SCC is
in teach mode.When present, photoelectric eyes are sometimes used to monitor unauthorized
intrusion through the entrance/exit silhouette openings.
• System status is monitored by computer. Severe conditions result in automatic system shutdown.
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Staying Safe While Operating the Paint Robot
When you work in or near the paint booth, observe the following rules, in addition to all rules for
safe operation that apply to all robot systems.
Warning
Observe all safety rules and guidelines to avoid injury.
Warning
Never 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 in serious injury and death.
Warning
Enclosures shall not be opened unless the area is know to be
nonhazardous or all power has been removed from devices within the
enclosure. Power shall not be restored after the enclosure has been
opened until all combustible dusts have been removed from the interior
of the enclosure and the enclosure purged. Refer to the Purge chapter
for the required purge time.
• Know the work area of the entire paint station (workcell).
• Know the work envelope of the robot and hood/deck and door opening devices.
• Be aware of overlapping work envelopes of adjacent robots.
• Know where all red, mushroom-shaped EMERGENCY STOP buttons are located.
• Know the location and status of all switches, sensors, and/or control signals that might cause the
robot, conveyor, and opening devices to move.
• 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 perform BEFORE starting automatic mode.
• Make sure all personnel are outside the paint booth before you turn on power to the robot servo
system.
• Never enter the work envelope or paint booth before you turn off power to the robot servo system.
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• Remove all metallic objects, such as rings, watches, and belts, before entering a booth when the
electrostatic devices are enabled.
• Stay out of areas where you might get trapped between a moving robot, conveyor, or opening
device and another object.
• Be aware of signals and/or operations that could result in the triggering of guns or bells.
• Be aware of all safety precautions when dispensing of paint is required.
• Follow the procedures described in this manual.
Special Precautions for Combustible Dusts (powder paint)
When the robot is used in a location where combustible dusts are found, such as the application of
powder paint, the following special precautions are required to insure that there are no combustible
dusts inside the robot.
• Purge maintenance air should be maintained at all times, even when the robot power is off. This
will insure that dust can not enter the robot.
• A purge cycle will not remove accumulated dusts. Therefore, if the robot is exposed to dust
when maintenance air is not present, it will be necessary to remove the covers and clean out any
accumulated dust. Do not energize the robot until you have performed the following steps.
1. Before covers are removed, the exterior of the robot should be cleaned to remove accumulated
dust.
2. When cleaning and removing accumulated dust, either on the outside or inside of the robot, be
sure to use methods appropriate for the type of dust that exists. Usually lint free rags dampened
with water are acceptable. Do not use a vacuum cleaner to remove dust as it can generate static
electricity and cause an explosion unless special precautions are taken.
3. Thoroughly clean the interior of the robot with a lint free rag to remove any accumulated dust.
4. When the dust has been removed, the covers must be replaced immediately.
5. Immediately after the covers are replaced, run a complete purge cycle. The robot can now
be energized.
Staying Safe While Operating Paint Application Equipment
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Warning
When working with electrostatic paint equipment, follow all national and
local codes as well as all safety guidelines within your organization.
Also reference the following standards: NFPA 33 St andar ds f or Spr ay
A p p l i c a ti o n U s i n g F l am m a b l e o r C o m b u s t i b l e M a t er i a ls , and NFPA 70
Nat i onal El ec t r i c al Code .
• Grounding: All electrically conductive objects in the spray area must be grounded. This includes
the spray booth, robots, conveyors, workstations, part carriers, hooks, paint pressure pots, as well
as solvent containers. Grounding is defined as the object or objects shall be electrically connected
to ground with a resistance of not more than 1 megohms.
• High Voltage: High voltage should only be on during actual spray operations. Voltage should be
off when the painting process is completed. Never leave high voltage on during a cap cleaning
process.
• Avoid any accumulation of combustible vapors or coating matter.
• Follow all manufacturer recommended cleaning procedures.
• Make sure all interlocks are operational.
• No smoking.
• Post all warning signs regarding the electrostatic equipment and operation of electrostatic
equipment according to NFPA 33 Standard for Spray Application Using Flammable or
Combustible Material.
• Disable all air and paint pressure to bell.
• Verify that the lines are not under pressure.
Staying Safe During Maintenance
When you perform maintenance on the painter system, observe the following rules, and all other
maintenance safety rules that apply to all robot installations. Only qualified, trained service or
maintenance personnel should perform repair work on a robot.
• Paint robots operate in a potentially explosive environment. Use caution when working with
electric tools.
• When a maintenance technician is repairing or adjusting a robot, the work area is under the control
of that technician. All personnel not participating in the maintenance must stay out of the area.
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• Never use machine power to aid in removing any component from the robot.
• During robot operations, be aware of the robot’s movements. Excess vibration, unusual sounds,
and so forth, can alert you to potential problems.
• Whenever possible, turn off the main electrical disconnect before you clean the robot.
• When using vinyl resin observe the following:
— Wear eye protection and protective gloves during application and removal
— Adequate ventilation is required. Overexposure could cause drowsiness or skin and eye
irritation.
— If there is contact with the skin, wash with water.
— Follow the Original Equipment Manufacturer’s Material Safety Data Sheets.
• When using paint remover observe the following:
— Eye protection, protective rubber gloves, boots, and apron are required during booth cleaning.
— Adequate ventilation is required. Overexposure could cause drowsiness.
— If there is contact with the skin or eyes, rinse with water for at least 15 minutes. Then, seek
medical attention as soon as possible.
— Follow the Original Equipment Manufacturer’s Material Safety Data Sheets.
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1.SAFETY PRECAUTIONS
B-82595EN-2/04
1
SAFETY PRECAUTIONS
1.1
WORKING PERSON
For the safety of the operator and the system, follow all safety precautions when operating a robot and its
peripheral devices installed in a work cell.
The personnel can be classified as follows.
Operator:
Power ON/OFF for robot controller
Start of robot program with operator’s panel
Programmer or teaching operator:
Operate for Robot
•
•
•
•
Teaching inside safety fence
Maint enance engi neer:
Operate for Robot
Teaching inside safety fence
Maintenance (adjustment, replacement)
•
•
•
-
An operator cannot work inside the safety fence.
A programmer, Teaching operator and maintenance engineer can work inside the safety fence.
workings inside safety fence are lifting, setting, teaching, adjusting, maintenance, etc..
To work inside the fence, the person must be trained for the robot.
The
Table 1 lists the workings of outside the fence. In this table, the symbol “ “ means the working allowed
to be carried out by the personnel.
Table 1 List of working s outside th e fence
Operator
Power ON/OFF for Robot controller
Select operating mode (AUTO, T1, T2)
Select Remote/Local mode
Select robot program with teach pendant
Select robot program with external device
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
Programmer or
Maintenance
Teaching operator
engineer










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•
•
•
1.2
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Use adequate clothes, uniform, overall for operation
Put on the safety shoes
Use helmet
WORKING PERSON SAFETY
Working person safety is the primary safety consideration. Because it is very dangerous to enter the
operating space of the robot during automatic operation, adequate safety precautions must be observed.
The following lists the general safety precautions. Careful consideration must be made to ensure
working person safety.
(1) Have the robot system working person attend the training courses held by FANUC.
FANUC provides various training courses. Contact our sales office for details.
(2) Even when the robot is stationary, it is possible that the robot is still in a ready to move state, and is
waiting for a signal. In this state, the robot is regarded as still in motion. To ensure working
person safety, provide the system with an alarm to indicate visually or aurally that the robot is in
motion.
(3) Install a safety fence with a gate so that no working person can enter the work area without passing
through the gate. Install an interlock switch, a safety plug, and so forth in the safety gate so that the
robot is stopped as the safety gate is opened.
The controller is designed to receive this interlock signal of the door switch. When the gate is opened and this
signal received, the controller stops the robot in an emergency. For connection, see Fig.1.1.
(4) Provide the peripheral devices with appropriate grounding (Class A, Class B, Class C, and Class D).
(5) Try to install the peripheral devices outside the work area.
(6) Draw an outline on the floor, clearly indicating the range of the robot motion, including the tools
such as a hand.
(7) Install a mat switch or photoelectric switch on the floor with an interlock to a visual or aural alarm
that stops the robot when a working person enters the work area.
(8) If necessary, install a safety lock so that no one except the working person in charge can turn on the
power of the robot.
The circuit breaker installed in the controller is designed to disable anyone from turning it on when it is locked with
a padlock.
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1.SAFETY PRECAUTIONS
(9) When adjusting each peripheral device independently, be sure to turn off the power of the robot.
RP1
Pulsecoder
RI/RO,XHBK,XROT
RM1
Motor power/brake
EARTH
Safety fence
Interlock switch and safety plug that are activated if the
gate is opened.
Fig.1.2 Safety fence and safety gate
NOTE
Terminals EAS1 EAS11 EAS2 and EAS21 are on the PC board in the operator
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The robot controller is designed to be connected to an external EMERGENCY STOP button. With this
connection, the controller stops the robot operation when the external EMERGENCY STOP button is pressed.
See the diagram below for connection.
NOTE
Connect to EES1 and EES11, EES2 and EES21.
Fig.1.2.1 Connection diagram for external emergency stop button
1.2.2
Safety of t he Teaching Operator
While teaching the robot, it is necessary for the operator to enter the work area of the robot.
particularly necessary to ensure the safety of the teaching operator.
It is
(1) Unless it is specifically necessary to enter the robot work area, carry out all tasks outside the area.
(2) Before teaching the robot, check that the robot and its peripheral devices are all in the normal
operating condition.
(3) When entering the robot work area and teaching the robot, be sure to check the location and
condition of the safety devices (such as the EMERGENCY STOP button and the DEADMAN
switch on the teach pendant).
(4) The teaching operator should pay careful attention so that no other workers enter the robot work
area.
Our operator panel is provided with an emergency stop button and a key switch (mode switch) for selecting the
automatic operation mode (AUTO) and the teach modes (T1 and T2). Before entering the inside of the safety
fence for the purpose of teaching, set the switch to a teach mode, remove the key from the mode switch to prevent
other people from changing the operation mode carelessly, then open the safety gate. If the safety gate is opened
with the automatic operation mode set, the robot enters the emergency stop state. After the switch is set to a
teach mode, the safety gate is disabled. The programmer should understand that the safety gate is disabled and
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The operator's intention of starting teaching is determined by the control unit through the dual operation of setting
the teach pendant enable/disable switch to the enable position and pressing the DEADMAN switch. The operator
should make sure that the robot can operate in such conditions and be responsible in carrying out tasks safely.
The teach pendant, operator panel, and peripheral device interface send each robot start signal. However the
validity of each signal changes as follows depending on the mode switch of the operator panel DEADMAN switch,
the teach pendant enable switch and the remote condition on the software.
Mode
Teach pendant
enable/disable
Software
remote
Teach pendant
Operator panel
Peripheral device
switch
condition
Local
Remote
Local
Remote
Local
Remote
Local
Not allowed
Not allowed
Not allowed
Not allowed
Allowed to start
Allowed to start
Not allowed
Not allowed
Not allowed
Allowed to start
Not allowed
Not allowed
Not allowed
Not allowed
Not allowed
Not allowed
Not allowed
Allowed to start
Not allowed
Not allowed
Not allowed
Remote
Not allowed
Not allowed
Not allowed
On
AUTO mode
Off
On
T1, T2 mode
Off
(5) To start the system using the operator's panel, make certain that nobody is in the robot work area and
that there are no abnormal conditions in the robot work area.
(6) When a program is completed, be sure to carry out a test run according to the procedure below.
(a) Run the program for at least one operation cycle in the single step mode at low speed.
(b) Run the program for at least one operation cycle in the continuous operation mode at low
speed.
(c) Run the program for one operation cycle in the continuous operation mode at the intermediate
speed and check that no abnormalities occur due to a delay in timing.
(d) Run the program for one operation cycle in the continuous operation mode at the normal
operating speed and check that the system operates automatically without trouble.
(e) After checking the completeness of the program through the test run above, execute it in the
automatic operation mode.
(7) While operating the system in the automatic operation mode, the teaching operator should leave the
robot work area.
1.2.3
Safety durin g Maintenance
For the safety of maintenance personnel, pay utmost attention to the following.
(1) During operation, never enter the robot work area.
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(9) If necessary, have a worker who is familiar with the robot system stand beside the operator panel
and observe the work being performed. If any danger arises, the worker should be ready to press
the EMERGENCY STOP button at any time.
(10) When replacing or reinstalling components, take care to prevent foreign matter from entering the
system.
(11) When handling each unit or printed circuit board in the controller during inspection, turn off the
circuit breaker to protect against electric shock.
In case of M-900iA/200P and M-2000iA, turn off both MAIN MACHINE DISCONNECT-1
(Breaker of main controller) and MAIN MACHINE DISCONNECT-2 (Breaker of 2nd controller)
before servicing.
(12) When replacing parts, be sure to use those specified by FANUC.
In particular, never use fuses or other parts of non-specified ratings. They may cause a fire or
result in damage to the components in the controller.
(13) When restarting the robot system after completing maintenance work, make sure in advance that
there is no person in the work area and that the robot and the peripheral devices are not abnormal.
1.3
SAFETY OF THE TOOLS AND PERIPHERAL DEVICES
1.3.1
Precautions in Programming
(1) Use a limit switch or other sensor to detect a dangerous condition and, if necessary, design the
program to stop the robot when the sensor signal is received.
(2) Design the program to stop the robot when an abnormal condition occurs in any other robots or
peripheral devices, even though the robot itself is normal.
(3) For a system in which the robot and its peripheral devices are in synchronous motion, particular care
must be taken in programming so that they do not interfere with each other.
(4) Provide a suitable interface between the robot and its peripheral devices so that the robot can detect
the states of all devices in the system and can be stopped according to the states.
1.3.2
Precautions for Mechanism
(1) Keep the component cells of the robot system clean, and operate the robot in an environment free of
grease, water, and dust.
(2) Use mechanical unit cable that have required user interface.
Please do not obstruct the movement of the mechanical unit cable when cables are added. (Please
never do the nylon band stop etc. of an external cable to the mechanical unit cable.) Moreover,
please do not interfere with the mechanical unit cable when equipment is installed in the robot. If
these precautions are not observed there is a possibility that the mechanical unit cable is
disconnected and the trouble not anticipated occurs
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1.4.2
Precautions in Programming
(1) When the work areas of robots overlap, make certain that the motions of the robots do not interfere
with each other.
(2) Be sure to specify the predetermined work origin in a motion program for the robot and program the
motion so that it starts from the origin and terminates at the origin.
Make it possible for the operator to easily distinguish at a glance that the robot motion has
terminated.
1.4.3
Precautions for Mechanisms
(1) Keep the work areas of the robot clean, and operate the robot in an environment free of grease, water,
and dust.
1.5
SAFETY OF THE END EFFECTOR
1.5.1
Precautions in Programming
(1) To control the pneumatic, hydraulic and electric actuators, carefully consider the necessary time
delay after issuing each control command up to actual motion and ensure safe control.
(2) Provide the end effector with a limit switch, and control the robot system by monitoring the state of
the end effector.
1.6
WARNING LABEL
(1) Step-on prohibitive label
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(2) High-temperature warning label
Fig.1.6 (b) High -temperature warnin g label
Description
Be cautious about a section where this label is affixed, as the section generates heat. If you
have to inevitably touch such a section when it is hot, use a protective provision such as
heat-resistant gloves.
(3) High-voltage warning label
Fig.1.6 (c) High-vol tage warnin g label
Description
A high voltage is applied to the places where this label is attached.
Before starting maintenance, turn the power to the control unit off, and then turn the circuit
breaker
to avoid electric
careful
with
servo amplifier
anda fixed
other time.
units
because off
high-voltage
places inshock
these hazards.
units may Be
remain
in the
high-voltage
state for
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1.OVERVIEW
MANUTENÇÃO ROBO FANUC.pdf
OVERVIEW
This manual describes the maintenance and connection of the R-30iA robot controller (called the R-30iA).
Maintenance Part:
Troubleshooting, and the setting, adjustment, and replacement of units
Connection Part:
Connection of the R-30iA controller to the robot mechanical unit and peripheral devices, and
installation of the controller
WARNING
Before you enter the robot working area, be sure to turn off the power to the
controller or press the EMERGENCY STOP button on the operator's panel or
teach pendant.
Otherwise, you could injure personnel or damage equipment.
-
The RIA R15.06 - 1999 compliant controller has safety circuit performance compliant with 4.5.4
control reliable.
For information on third party approvals, contact your FANUC representative.
The controller is designed to meet R15.06 - 1999 American standard for industrial robots and robot
systems - safety requirements.
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2.CONFIGURATION
MAINTENANCE
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2
2.1
CONFIGURATION
EXTERNAL VIEW OF THE CONTROLLER
The appearance and components might slightly differ depending on the controlled robot, application, and
options used.
Fig.2.1 (a) to (c) shows the view of R-30 iA.
Fig.2.1 (d) to (i) show the construction of the R-30 iA controller.
Fig.2.1 (j) to (l) show the external view of the operator’s panel.
Fig.2.1 (m) and (n) show the block diagram of R-30iA.
Operation box
R-30iA
controller
Teach pendant
Fig.2.1 (a) External view o f th e R-30iA co nt ro ll er (A-c abi net )
Integrated operation box
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Operator’s panel
Teach pendant
Fig.2.1 (c) External view of the R-30iA co nt ro ll er (B -cabin et)
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Emergency stop
button
Teach pendant
Enable/disable switch
Power supply unit
Main board
Emergency stop unit
Heat exchanger
Servo amplifier
Regenerative
resistor
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Rear fan unit
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Emergency stop button
Enable/disable switch
Teach pendant
Power supply unit
2-axis servo amplifier (AMP2)-M-430iA/2F
Main board
3-axis servo amplifier (AMP2)-M-430iA/2P
Emergency stop unit
Heat exchanger
Servo amplifier
Fig.2.1 (e) R-30iA A-cabi net in ter io r (M-430iA)
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Fan motor
Servo amplifier
3 mode switch
External
fan unit
Emergency stop
Panel board
Breaker
Battery
Back plane
Emergency
stop
RCC I/F unit
(Only M-900iA/260L,
M-900iA/350)
Main board
Enable/disable switch
Teach pendant
Door fan
Power supply unit
Optional slot
E-stop unit
Fig.2.1 (f) R-30iA B-c abi net in ter io r (Fr on t)
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1-axis servo amplifier(AMP 3)
2-axis servo amplifier
(AMP 2)
MANUTENÇÃO ROBO FANUC.pdf
6-axis servo amplifier(AMP1)
Mode switch
Fan motor
Emergency stop button
External fan unit
Panel board
Breaker
Battery
Back plane
Emergency stop button
RCC I/F unit
Teach pendant
Main board
Enable/disable switch
Door fan
Power su
l unit
Option slot
E-stop unit
Fig. 2.1 (g) R-30iA (B-c abi net ) in ter io r (Fr on t)(M-900iA/400L, M-900iA/600)
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2-axis servo amplifier (AMP2)-M-430iA/2F
3-axis servo amplifier (AMP2)-M-430iA/2P
6-axis servo amplifier(AMP1)
Mode switch
Fan motor
External
fan unit
Emergency stop button
Panel board
Breaker
Battery
Back plane
Emergency stop button
RCC I/F unit
Main board
Enable/disable switch
Door fan
Teach pendant
Power su
Option slot
l unit
E-stop unit
Fig. 2.1 (h) R-30iA B-c abi net in ter io r (Fr on t)(M-430iA)
Regenerative
resistor
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FAULT
RESET
CYCLE
MANUTENÇÃO
ROBO FANUC.pdf
EMERGENCY
STOP
START
FAULT
POWER
Fig.2.1 (j) R-30iA pan el o verview
2 mode switch
3 mode switch
Fig.2.1 (k) Mode swi tch o peration
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Table 2.1 (a) Servo ampli fier sp ecificati onsMANUTENÇÃO ROBO FANUC.pdf
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ROBOT
REGENERATIVE REGISTOR
SERVO AMPLIFIER
A-CAB INET
M-900iA/400L
A06B-6107-H001 (AMP1)
A05B-2502-C100
A06B-6117-H209 (AMP2)
M-900iA/600
B-CAB INET
A06B-6117-H105 (AMP3)
R-2000iB/200T
M-900iA/260L
M-900iA/350
A06B-6107-H001
A05B-2502-C100
M-410iB
A05B-2501-C102
R-2000iB (Except /200T)
R-1000iA/80F
M-710iC
A05B-2501-C103
M-16iB
M-20iA
A06B-6107-H002
A05B-2502-C100
A05B-2501-C100
ARC Mate 120iB
(Except ARC Mate 120iBe.)
ARC Mate 120iC
M-420iA, M-421iA
A05B-2501-C102
M-6iB
ARC Mate 100iB
ARC Mate 120iBe
A05B-2501-C101
A06B-6107-H003
F-200iB
A05B-2502-C101
A05B-2501-C105
ARC Mate 100iC
M-10iA
M-430iA/2F
M-430iA/2P
M-900iA/200P
A06B-6107-H004
A05B-2501-C101
A05B-2502-C101
A05B-2501-C105
A05B-2502-C101
A06B-6107-H007 (AMP 1)
A06B-6117-H201 (AMP 2)
A06B-6107-H007 (AMP 1)
A06B-6117-H301 (AMP 2)
A06B-6107-H001 (Main, AMP 1)
A05B-2502-C100
A06B-6107-H001 (2nd, AMP 1)
A05B-2502-C100
A06B-6107-H001 (Main, AMP 1)
A06B-6117-H105 (Main, AMP 2)
M-2000iA
A06B-6107-H001 (2nd, AMP 1)
A06B-6117-H105 (2nd, AMP 2)
Table 2.1(b) fan type list f or A-cabinet
ROBOT
FAN TYPE
REAR FAN
SIDE FAN
―
○
―
○
M-410iB
M-710iC
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•
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COMPONENT FUNCTIONS
MANUTENÇÃO ROBO FANUC.pdf
Main board
The main board contains a microprocessor, its peripheral circuits, memory, and operator's panel
control circuit. The main CPU controls servo mechanism positioning.
I/O printed circuit board, FANUC I/O Unit MODEL-A
Various types of printed circuit boards are provided for applications including process I/O. The
FANUC I/O unit MODEL-A can also be installed. When it is used, various I/O types can be
selected. These are connected with FANUC I/O Link.
E-stop
unit
and MCC
unit
This unit
controls
the emergency
stop system for both of the magnetic contactor and the precharge of
the servo amplifier.
Power supply unit
The power supply unit converts the AC power to various levels of DC power.
Backplane printed circuit board
The various control printed circuit boards are mounted on the backplane printed circuit board.
Teach pendant
All
including
robot programming
performed
this unit. The controller status and
dataoperations
are indicated
on the liquid-crystal
displayare
(LCD)
on thewith
pendant.
Servo amplifier
The servo amplifier controls servomotor, pulsecoder signal, brake control, overtravel and hand
broken.
Operator's panel
Buttons and LEDs on the operator's panel are used to start the robot and to indicate the robot status.
The panel has a port and an USB interface for the serial interface to an external device and an
interface
circuit. to connect the memory card for data backup. It also controls the emergency stop control
Transformer
The supply voltage is converted to an AC voltage required for the controller by the transformer.
Fan unit, heat exchanger
These components cool the inside of the controller.
Circuit breaker
If the electric system in the controller malfunctions, or if abnormal input power causes high current
in the system, the input power is connected to the circuit breaker to protect the equipment.
Regenerative resistor
To discharge the counter electromotive force from the servomotor, connect a regenerative resistor to
the servo amplifier.
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2.3
PREVENTIVE MAINTENANCE
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Daily maintenance and periodic maintenance/inspection ensure reliable robot performance for extended
periods of time.
(1) Daily maintenance
Before operating the system each day, clean each part of the system and check the system parts for
any damage or cracks. Also, check the following:
(a)
Before operation
Check the cable connected to the teach pendant for excessive twisting. Check the controller
and peripheral devices for abnormalities.
(b) After operation
At the end of operation, return the robot to the specified position, and then turn off the
controller. Clean each part, and check for any damage or cracks. If the ventilation port of the
controller is dusty, clean it.
(2) Check after one month
Check that the fan is rotating normally. If the fan has dirt and dust built up, clean the fan according
to step (d) described below for inspection to be performed every 6 months.
(3) Periodic inspection performed every six months
Remove the top cover, louver, and back panel (if possible), and then remove any dirt and dust from
the inside of the transformer compartment. Wipe off dirt and dust from the fan and transformer.
(4) Battery daily check
Replace the battery on the front panel of the main board every 4 years. Please refer to the section
7.15.
(5) Maintenance tools
The following maintenance tools are recommended:
(a)
Measuring instruments
AC/DC voltmeter (A digital voltmeter is sometimes required.)
Oscilloscope with a frequency range of 5 MHz or higher, two channels
(b) Tools
Phillips screwdrivers: Large, medium, and small
Standard screwdrivers:
Nut driver set (Metric)
Pliers
Needle-nose pliers
Diagonal cutting pliers
Large, medium, and small
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3.TROUBLESHOOTING
MAINTENANCE
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3
TROUBLESHOOTING
3.1
POWER CANNOT BE TURNED ON
This chapter describes the checking method and corrective action for each error code indicated if a
hardware alarm occurs. Refer to the operator's manual to release program alarms.
Check and Corrective action
(Check 1)
Check that the circuit
breaker is on and has not
tripped.
(Corrective Turn on the circuit breaker.
action)
Figure
Circuit breaker
Circuit breaker
(Check 2)
(Corrective
action)
Check whether the LED
(PIL: green) on the power
supply unit is on.
If the LED is not on, 200
VAC is not supplied to the
power supply unit. It is
likely that fuse F1 in the
power supply unit has blown.
- If 200 VAC is not
supplied:
Find the cause by
referencing the general
schematic diagram
presented in the
DB1: Diode stack
F1(8.0A): Fuse for AC input
CP1: Connector for AC input
CP1A: Connector for AC output
VS1: Surge absorber
H1: Auxiliary power module
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CP2, CP3: Connector for AC output
F3(7.5A): Fuse for +24E
F4(7.5A): Fuse for +24V
PIL: LED (green)
CP5: Connector for +24E
CP6: Connector for +24V
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Check and Corrective action
(Corrective Causes of blown fuses F1
action (1))
(Check 3)
(Corrective
action)
Figure
MANUTENÇÃO ROBO FANUC.pdf
and corrective action
a) Check the units (fans),
printed-circuit board and
cables connected to the
CP2 and CP3
connectors of the power
supply unit to see if there
is any short circuit.
b) Replace the power
supply unit.
Check whether the EXON1
and EXON2 signals and the
EXOFF1 and EXOFF2
signals are connected on the
terminal block on the panel
board.
If the external ON/OFF
Short–circuit plate :
Between EXON1 and
-EXON2
Short–circuit plate :
Between EXOFF1
and EXOFF2
function
not used,
connect
terminal is
EXON1
to EXON2
and terminal EXOFF1 to
EXOFF2. If the external
ON and OFF lines are
already used, check the
mating contacts and the
cable.
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Check and Corrective action
(Check 4)
Check whether the
connector (JRS15) on the
main board or the connector
(JRS15) on the panel board
is connected properly.
Another probable cause is
that the cable connected to
either of these connectors is
faulty.
Confirm that the 200VAC
power is supplied to
connector CP1 by reverifying
Checks 1 - 3, and verifying
that the ON/OFF switch is
functioning properly.
If the red ALM (Alarm) LED
on the power supply unit is
on, verify that the +24V
external connection cable is
connected to 0V or ground.
If the problem still exists,
check the power supply unit
using the following
procedure:
a) Check Fuse F4.
- If the fuse is blown,
see Corrective action
Figure
MANUTENÇÃO ROBO FANUC.pdf
DB1: Diode stack
F1(8.0A): Fuse for AC input
CP1: Connector for AC input
CP1A: Connector for AC output
CP2, CP3:Connector for AC output
VS1: Surge absorber
H1: Auxiliary power module
F3(7.5A): Fuse for +24E
F4(7.5A): Fuse for +24V
PIL: LED (green)
CP5: Connector for +24E
CP6: Connector for +24V
ALM: LED (red)
CP4: Connector for control
2.
b) Fuse F4 is not blown.
- A printed circuit board
or unit that uses a DC
supply (+2.5V, +3.3V,
+5V, +24V, or +15V)
is faulty.
- Verify that 200VAC is
being supplied to
connector CP1. If the
power is supplied,
replace the power
supply unit.
(Corrective
If the power supply unit is
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3.2
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ALARM OCCURRENCE SCREEN
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The alarm occurrence screen displays only the alarm conditions that are currently active. If an alarm reset
signal is input to reset the alarm conditions, the alarm occurrence screen displays the message "PAUSE or
more serious alarm has not occurred."
The alarm occurrence screen displays only the alarm conditions (if any) that occur after the most recently
entered alarm reset signal. To erase all alarm displays from the alarm occurrence screen. Press the
CLEAR key (+ shift) on the alarm history screen.
The alarm occurrence screen is intended to display PAUSE or alarms that are more serious. It will not
display WARN, NONE, or a reset. It is possible to disable PAUSE and some of more serious alarms from
being displayed by setting the $ER_NOHIS system variable appropriately.
If two or more alarms have occurred, the display begins with the most recent alarm.
Up to 100 lines can be displayed.
If an alarm has a cause code, it is displayed below the line indicating the alarm.
Press the alarm key.
Press the screen
selection key to select
[4 ALARM].
Automatic alarm display
upon occurrence
Alarm occurrence screen display
Press F3 [ACTIVE].
Press F3 [HIST].
Alarm history screen display
Fig.3.2 Alarm occurrence screen and alarm history screen display procedure
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Displaying
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the alarm histor y/alarm detail info rmation
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Step
(1) Press the MENUS key to display the screen menu.
(2) Select [ALARM].
You will see a screen similar to the following.
If an alarm has occurred, however, the alarm screen appears automatically.
3
4 ALARM
INTP-224 (SAMPLE1, 7) Jump label is fail
5 I/O
Alarm
MENUS
JOINT 30 %
1/1
MEMO-027 Specified line does not exist
[ TYPE ]
ALARM detail code
HIST
(3) To display the alarm history screen, press F3, [HIST].
Press F3 [ACTIVE] again, the alarm screen appears.
3
4 ALARM
5 I/O
MENUS
INTP-224 (SAMPLE1, 7) Jump label is fail
MEMO-027 Specified line does not exist
Alarm
JOINT 30 %
1/25
1 INTP-224 (SAMPLE1, 7) Jump label is
2
3
4
5
SRVO-002 Teach pendant E-stop
R E S E T
SRVO-027 Robot not mastered(Group:1)
SYST-026 System normal power up
[ TYPE ]
CLEAR
HELP
NOTE
The latest alarm is assigned number 1. To view messages that are currently
not on the screen, press the F5, HELP, and then press the right arrow key.
(4) To display the alarm detail screen, press F5, [HELP].
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(5) To return to the alarm history screen, press the PREV key.
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PREV
(6) To delete all the alarm histories, press and hold down the SHIFT key, then press F4, [CLEAR].
CLEAR
SHIFT
HELP
F4
NOTE
When system variable $ER_NOHIS = 1, NONE alarms or WARN alarms are not
recorded. When $ER_NOHIS=2, resets are not recorded in the alarm history.
When $ER_NOHIS=3, resets, WARN alarms, and NONE alarms are not
recorded.
The following map indicates teach pendant operations used to check an alarm.
4 ALARM
F1 [TYPE]
Alarm : Active
F1 [TYPE]
F3 HIST
Alarm : HIST
F1 [TYPE]
F3 [ACTIVE]
F4 CLEAR
F5 HELP
DETAIL Alarm
F1 [TYPE]
F3 [ACTIVE]
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3.3
SAFETY SIGNALS
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The safety signal screen indicates the state of signals related to safety.
To be specific, the screen indicates whether each safety signal is currently on. On this screen, it is
impossible to change the state of any safety signal.
Table 3.3 Safety sig nals
Safety signal
Description
Operator’s panel
emergency stop
Teach pendant
emergency stop
External emergency stop
This item indicates the state of the emergency stop button on the operator’s panel. If
the EMERGENCY STOP button is pressed, the state is indicated as “TRUE”.
This item indicates the state of the emergency stop button on the teach pendant. If the
EMERGENCY STOP button is pressed, the state is indicated as “TRUE”.
This item indicates the state of the external emergency stop signal. If the
EMERGENCY STOP signal is asserted, the state is indicated as “TRUE”.
This item indicates the state of the safety fence. If the safety fence is open, the state is
indicated as “TRUE”.
This item indicates whether the DEADMAN switch on the teach pendant is grasped. If
the teach pendant is operable, and the DEADMAN switch is grasped correctly, the
Fence open
DEADMAN switch
Teach pendant operable
Hand broken
Robot overtravel
Abnormal air pressure
state is indicated as “TRUE”. If the DEADMAN switch is released or is grasped tightly
when the teach pendant is operable, an alarm occurs, causing the servo power to be
switched off.
This item indicates whether the teach pendant is operable. If the teach pendant is
operable, the state is indicated as “TRUE”.
This item indicates the state of the hand safety joint. If the hand interferes with a
workpiece or anything like this, and the safety joint is opened, the state is indicated as
“TRUE”. In this case, an alarm occurs, causing the servo power to be switched off.
This item indicates whether the current position of the robot is out of the operation
range. If any robot articulation goes out of the operation range beyond the overtravel
switch, the state is indicated as “TRUE”. In this case, an alarm occurs, causing the
servo power to be switched off.
This item indicates the state of the air pressure. The abnormal air pressure signal is
connected to the air pressure sensor. If the air pressure is not higher than the
specified value, the state is indicated as “TRUE”.
Step
(1)
(2)
(3)
(4)
Press the MENUS key to display the screen menu.
Select STATUS on the next page.
Press F1, [TYPE] to display the screen switching menu.
Select Safety Signal. You will see a screen similar to the following.
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3.4
MASTERING
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Mastering is needed if:
(1) The SRVO-062 BZAL or SRVO-038 pulse mismatch alarm occurs, or
(2) The Pulsecoder is replaced.
Item (1) requires quick mastering, while item (2) requires zero-degree or fixture position mastering.
(Zero-degree position mastering is just for quick-fix purposes. After zero-degree position mastering is
used, fixture position mastering should be performed later.)
The mastering procedure is described below. For details, refer to an applicable maintenance manual of
mechanical unit or operator's manual of control unit.
Condition
System variable $MASTER_ENB must be set to 1 or 2.
SYSTEM Variables
JOINT 10%
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1
57 $MASTER_ENB
Step
(1)
(2)
(3)
(4)
Press <MENUS>.
Select SYSTEM.
Press F1, TYPE.
Select Master/Cal you will see a screen similar to the following.
9
0 -- NEXT --
MENUS
5 POSITION
6 SYSTEM
7
SYSTEM Master/Cal
1
2
3
4
5
6
JOINT 30%
FIXTURE POSITION MASTER
ZERO POSITION MASTER
QUICK MASTER
SINGLE AXIS MASTER
SET QUICK MASTER REF
CALIBRATE
Press 'ENTER' or number key to select.
Master
TYPE
[TYPE]
LOAD RES_PCA
DONE
F1
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(6) Select 1 FIXTURE POSITION MASTER and press the F4 key (yes). Mastering data is set.
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SYSTEM Master/Cal
SYSTEM Master/Cal
1 FIXTURE POSITION MASTER ENTER
2 ZERO POSITION MASTER
Master at master position?
Master at master position?
[ TYPE ]
YES
JOINT
30 %
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALIBRATE
Robot Mastered! Mastering Data:
<0> <11808249> <38767856>
<9873638> <122000309> <2000319>
NO
F4
[ TYPE ]
LOAD
RES_PCA
DONE
(7) Select "6 CALIBRATE" and press the F4 key (yes). Calibration is performed.
Alternatively, to perform positioning, turn the power off, and then turn it on again. Calibration is
performed whenever the power is turned on.
5 SET QUICK MASTER REF
6 CALIBRATE
Calibrate? [NO]
ENTER
Calibrate? [NO]
[ TYPE ]
SYSTEM Master/Cal
JOINT
30 %
1 FIXTURE POSITION MASTER
2 ZERO POSITION MASTER
3 QUICK MASTER
4 SINGLE AXIS MASTER
5 SET QUICK MASTER REF
6 CALIBRATE
Robot Calibrated! Cur Jnt Ang(deg):
<10.000> <-25.000> <40.000>
<5.000> <-15.000> <0.000>
[ TYPE ] LOAD RES_PCA
DONE
YES
F4
(8) Press F5 "DONE", after mastering.
DONE
F5
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3.5
TROUBLESHOOTING USING THE ERROR CODE
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(1) SRVO-001 Operator panel E-stop
(Explanation) The emergency stop button on the operator's panel is pressed.
(Action 1)
Release the emergency stop button pressed on the operator's panel.
(Action 2)
Check the wires connecting between the emergency stop button and the panel board
(CRT16) for continuity. If an open wire is found, replace the entire harness.
(Action 3)
Check the wires connecting between the teach pendant and the panel board (CRS20)
for continuity. If an open wire is found, replace the entire harness.
(Action 4)
With the emergency stop in the released position, check for continuity across the
terminals of the switch. If continuity is not found, the emergency stop button is
broken. Replace the switch unit or the operator's panel.
(Action 5)
Replace the teach pendant.
(Action 6)
Replace the panel board.
Before executing the (Action 7), perform a complete controller back-up to save all your programs
and settings.
(Action 7)
Replace the main board.
NOTE
If SRVO-001 is issued together with SRVO-213, a fuse may have blown. Take
the same actions as for SRVO-213.
Emergency stop
button
Emergency stop
button
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CRS20
CRT16
(Panel b oard)
Fig.3.5 (b) SRVO-001 Operator panel E-stop
(2) SRVO-002 Teach pendant E-stop
(Explanation) The emergency stop button on the teach pendant was pressed.
(Action 1)
Release the emergency stop button on the teach pendant.
(Action 2)
Replace the teach pendant.
Emergency stop
button
Fig.3.5 (c) SRVO-002 Teach pendant E-stop
(3) SRVO-003 DEADMAN switch released
(Explanation) The teach pendant is enabled, but the DEADMAN switch is not pressed.
Alternatively, the DEADMAN switch is pressed strongly.
(Action 1)
Check the intermediate position of the DEADMAN switch on the teach pendant.
(Action 2)
(Action 3)
(Action 4)
Check
that
the mode
on thepositions.
operator's panel and the enable/disable switch on
the teach
pendant
are switch
at the correct
Replace the teach pendant.
Check the mode switch connection and operation. If trouble is found, replace the
mode switch.
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(4) SRVO-004 Fence open
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(Explanation) In the automatic operation mode, the safety fence contact connected to EAS1-EAS11
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(Action 1)
(Action 2)
(Action 3)
(Action 4)
(Action 5)
or EAS2-EAS21
of TBOP4
is open.
When
a safety fence
is connected,
close the safety fence.
Check the cables and switches connected between EAS1 and EAS11 and between
EAS2 and EAS21 of the terminal block TBOP4 on the panel board.
If the safety fence signal is not used, make a connection between EAS1 and EAS11
and between EAS2 and EAS21 of the terminal block TBOP4 on the panel board.
Check the mode switch. If trouble is found, replace the mode switch.
Replace the panel board.
NOTE
If SRVO-004 is issued together with SRVO-213, a fuse may have blown. Take
the same actions as for SRVO-213.
EAS1
EAS11
EAS2
EAS22
(Panel b oard)
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(5) SRVO-005 Robot overtravel
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(Explanation) The robot has moved beyond a hardware limit switch on the axes.
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(Action 1)
(Action 2)
(Action 3)
(Action 4)
(Action 5)
(Action 6)
MANUTENÇÃO ROBO FANUC.pdf
1)
Select
OT release]
axis
from [System
the overtravel
state. on the overtravel release screen to release each robot
2) Hold down the shift key, and press the alarm release button to reset the alarm
condition.
3) Still hold down the shift key, and jog to bring all axes into the movable range.
Replace the limit switch.
Check the FS2 fuse on the servo amplifier. If the SRVO-214 fuse blown alarm is also
generated, the FS2 fuse has blown.
Check the end effector connector.
Replace the servo amplifier.
Verify the following for connector RP1 at the base of the robot:
1) There are no bent or dislocated pins in the male or female connectors.
2) The connector is securely connected.
Then verify that connectors CRF8 and CRM68 on the servo amplifier are securely
connected. Also verify that the RP1 cable is in good condition, and there are no cuts
or kinks visible. If no limit switch is in use, jumper connector must be attached in the
mechanical unit. Check for the jumper connector.
NOTE
It is factory-placed in the overtravel state for packing purposes.
If the Overtravel signal is not in use, it may have been disabled by
short-circuiting in the mechanical unit.
(6) SRVO-006 Hand broken
(Explanation) The
safetyconnection
joint (if incable
use) might
been broken.
the HBK signal on
the robot
might have
be a ground
fault orAlternatively,
a cable disconnection.
(Action 1)
Hold down the shift key, and press the alarm release button to reset the alarm
condition. Still hold down the shift key, and jog the tool to the work area.
1) Replace the safety joint.
2) Check the safety joint cable.
(Action 2)
Replace the servo amplifier.
(Action 3)
Verify the following for connector RP1 at the base of the robot:
1) There are no bent or dislocated pins in the male or female connectors.
2) The connector is securely connected.
Then verify that connector CRF8 on the servo amplifier is securely connected.
Also verify that the RP1 cable is in good condition, and there are no cuts or
kinks visible. Check the robot connection cable (RP1) for a ground fault or a
cable disconnection
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Servo amplifier
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Servo amplifier
(A-cabinet)
(B-cabinet)
Connector (CRF8)
Connector (CRM68)
FS2
(Servo ampli fier)
Fig. 3.5 (f) SRVO-005 Robot overtravel
SRVO-006 Hand broken
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(7) SRVO-007 External E-stop
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(Explanation) On the terminal block TBOP4 of the panel board, no connection of external
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(Action 1)
(Action 2)
(Action 3)
(Action 4)
MANUTENÇÃO ROBO FANUC.pdf
emergency
stop
is made between
EES1
and EES11,release
EES2 and
EES21.
If
an external
emergency
stop switch
is connected,
the switch.
Check the switch and cable connected to EES1-EES11 and EES2-EES21 on TBOP4.
When this signal is not used, make a connection between EES1 and EES11, EES2
and EES21.
Replace the panel board.
NOTE
If SRVO-007
is issued
with SRVO-213, a fuse may have blown. Take
the
same actions
as fortogether
SRVO-213.
EES1
EES11
EES2
EES22
(Panel b oard)
Fig.3.5 (g) SRVO-007 External E-stop
WARNING
In a system using the external emergency stop signal, it is very dangerous to
disable the signal when a connection is made between EES1 and EES11 and
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(8) SRVO-009 Pneumatic pressure abnormal
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(Explanation) An abnormal air pressure was detected.
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(Action 1)
(Action 2)
(Action 3)
(Action 4)
(Action 5)
The input signal is located on the end
MANUTENÇÃO ROBO FANUC.pdf
effector
of the robot.
Refer
the manual
of the
your
robot.
If
an abnormal
air pressure
is to
detected,
check
cause.
Check the end effector connector.
Check the robot connection cable (RP1) for a ground fault or a cable disconnection.
If a fault or a disconnection is detected, replace the cable.
Replace the servo amplifier.
Replace the internal cables of the robot.
NOTE
Pneumatic pressure alarm input is on the end effector.
Please refer to the
manual of your robot.
Servo amplifier
Servo amplifier
(A-cabinet)
(B-cabinet)
Fig.3.5 (h) SRVO-009 Pneumatic pressure alarm
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(9) SRVO-014 Fan motor abnormal
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(Explanation) When a fan motor stops on backplane unit, TP shows the following message. In one
minutes from occurring of alarm, robot stops and cannot be operated from TP. The
MANUTENÇÃO ROBO FANUC.pdf
robot can be recovered by replacing a fan motor. Number
in the bracket indicates
which fan is abnormal.
(1): fan above the slot1
(2): fan above slot2
(3): both fans
(Action 1)
Check the fan motor and its cables. Replace them if necessary.
(Action 2)
Replace the backplane unit.
Before executing the (Action 3), perform a complete controller back-up to save all
your programs and settings.
(Action 3)
Replace the main board.
Fan motor
Main board
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(10) SRVO-015 SYSTEM OVER HEAT (Group:
3.TROUBLESHOOTING
i Axis: j)
(Explanation) The temperature in the control unit exceeds the specified value.
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(Action 1)
(Action 2)
°
If
the ambient temperature is higher than specifiedMANUTENÇÃO
(45 C), coolROBO
downFANUC.pdf
the ambient
temperature.
If the fan motor is not running, check it and its cables. Replace them if necessary.
Before executing the (Action 3), perform a complete controller back-up to save all your programs
and settings.
(Action 3)
Replace the main board. (The thermostat on the main board may be faulty.)
Fan motor
Fan
Main board
Heat exchanger
A-cab in et (Fron t)
Rear fan unit
Side fan unit
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Fan motor
Servo amplifier
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Main board
Door fan
B-cabinet (Front)
External
fan unit
B-cabinet (Rear)
Fig.3.5 (j) SRVO-015 SYSTEM OVER HEAT
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(11) SRVO-018 Brake abnormal
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(Explanation) An excessive brake current is detected.
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The ALM LED on the servo amplifier is lit.
(Action 1)
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(Action 2)
(Action 3)
Check the robot connection cable (RM1) and cables internal to the mechanical
section for a short-circuit and connection to the ground.
If a faultROBO
or a disconnection
MANUTENÇÃO
FANUC.pdf
is detected, replace the cable.
This alarm may occur if the brake connector is not attached.
Make sure that connector CRM88 is securely attached to the servo amplifier.
Replace the servo amplifier.
CAUTION
This
can be caused
the optional
brake
if theTo
on/off
switch
is
left inerror
on position
while thebyoperator
attempts
torelease
jog the unit
robot.
recover,
turn
the brake release unit off and cycle the controller power.
(12) SRVO-021 SRDY off (Group: i Axis: j)
(Explanation) The HRDY is on and the SRDY is off, although there is no other cause of an alarm.
(HRDY is a signal with which the host detects the servo system whether to turn on or
off the servo amplifier magnetic contactor. SRDY is a signal with which the servo
(Action 1)
(Action 2)
(Action 3)
(Action 4)
system
informs
the host
whethercontactor
the magnetic
contactor
is turned
on.)directed so, it is
If the servo
amplifier
magnetic
cannot
be turned
on when
most likely that a servo amplifier alarm has occurred. If a servo amplifier alarm has
been detected, the host will not issue this alarm (SRDY off). Therefore, this alarm
indicates that the magnetic contactor cannot be turned on for an unknown reason.
Make sure that the emergency stop board connectors CP2, CRM96, CNMC3, and
servo amplifier SRM96 are securely attached to the servo amplifier.
It is possible that an instant disconnection of power source causes this alarm. Check
whether an instant disconnection occurred.
Replace the E-stop unit.
Replace the servo amplifier.
(13) SRVO-022 SRDY on (Group: i Axis: j)
(Explanation) When the HRDY is about to go on, the SRDY is already on. (HRDY is a signal
with which the host directs the servo system whether to turn on or off the servo
amplifier magnetic contactor. SRDY is a signal with which the servo system
informs the host whether the magnetic contactor is turned on.)
(Action 1)
Replace the servo amplifier as the alarm message.
3.TROUBLESHOOTING
(14) SRVO-023 Stop error excess (Group:
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MAINTENANCE
i Axis: j)
(Explanation) When the servo is at stop, the position error is abnormally large.
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Check whether the brake is released through the clack sound of the brake or
vibration.
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In case that the brake is not released.
(Action 1)
If the brake is not released, check the continuity of the brake line in the robot
connection cable and the robot internal cable.
(Action 2)
If the disconnection is not found, replace the servo amplifier or the servo motor.
In case that the brake is released.
(Action 1)
Check whether the obstacle disturbs the robot motion.
(Action 2)
Make sure that connectors CNJ1A-CNJ6 are securely attached to the servo amplifier.
(Action 3)
Check the continuity of the robot connection cable and the internal robot power
cable.
(Action 4)
Check to see if the load is greater than the rating. If greater, reduce it to within the
rating. (If the load is too great, the torque required for acceleration / deceleration
becomes higher than the capacity of the motor.
As a result, the motor becomes unable to follow the command, and an alarm is
(Action 5)
(Action 6)
(Action 7)
issued.)
Check the input voltage to the controller is within the rated voltage and no phase is
lack. And check the setting of the transformer is correct.
Check each phase voltage of the CRR38A or CRR38B connector of the three-phase
power (200 VAC) input to the servo amplifier. If it is 210 VAC or lower, check the
line voltage. (If the voltage input to the servo amplifier becomes low, the torque
output also becomes low. As a result, the motor may become unable to follow the
command, hence possibly causing an alarm.).
Replace the servo amplifier.
Replace the motor of the alarm axis.
NOTE
Incorrect setting of the brake number causes this alarm.
Servo amplifier
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MAINTENANCE
(15) SRVO-024 Move error excess (Group:
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3.TROUBLESHOOTING
i Axis: j)
(Explanation) When the robot is running, its position error is greater than a specified value
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(Action 1)
($PARAM_GROUP. $MOVER _ OFFST ).
the speed specified by program.
Take the same actions as SRVO-023.
It is likely that the robot cannot follow
MANUTENÇÃO ROBO FANUC.pdf
(16) SRVO-027 Robot not mastered (Group: i)
(Explanation) An attempt was made to calibrate the robot, but the necessary adjustment had not
been completed.
(Action)
Check whether the mastering is valid. If the mastering is invalid, master the robot.
WARNING
If the position data is incorrect, the robot or additional axis can operate
abnormally, set the position data correctly. Otherwise, you could injure personnel
or damage equipment.
(17) SRVO-030 Brake on hold (Group:i)
(Explanation) If the temporary halt alarm function is enabled ($SCR.$BRKHOLD ENB=1),
(Action)
SRVO-030
is issued when a temporary halt occurs. When this function is not used,
disable the setting.
Disable [Servo-off in temporary halt] on the general item setting screen [6 General
Setting Items].
(18) SRVO-033 Robot not calibrated (Group: i)
(Explanation) An attempt was made to set up a reference point for quick mastering, but the robot
had not been calibrated.
(Action)
Calibrate the robot.
1. Supply power.
2. Set up a quick mastering reference point using [Positioning] on the positioning menu.
(19) SRVO-034 Ref pos not set (Group: i)
(Explanation) An attempt was made to perform quick mastering, but the reference point had not
been set up.
(Action)
Set up a quick mastering reference point on the positioning menu.
(20) SRVO-036 Inpos time over (Group: i Axis: j)
(Explanation) The robot did not get to the effective area ($PARAM _ GROUP.$ STOPTOL) even
after the position check monitoring time ($PARAM _ GROUP. $INPOS _ TIME)
elapsed.
(Action)
Take the same actions as for SRVO 023 (large position error at a stop)
3.TROUBLESHOOTING
MAINTENANCE
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(22) SRVO-038 Pulse mismatch (Group: i Axis: j)
(Explanation) The pulse count obtained when power is turned off does not match the pulse count
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obtained when power is applied. This alarm is asserted after exchange the
Pulsecoder or battery for back up of the PulsecoderMANUTENÇÃO
data or loading
back up data to
ROBO FANUC.pdf
the Main Board.
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Check the alarm history.
(Action 1)
If the brake number is set to the non-brake motors, this alarm may occur. Check the
software setting of the brake number.
(Action 2)
In case the robot has been moved by using the brake release unit while the power is
off or when restoring the back-up data to the main board, this alarm may occur.
Remaster the robot.
(Action 3)
If the robot has been moved because the brake failed, this alarm may occur. Check
the cause of the brake trouble. Then remaster the robot.
(Action 4)
Replace the Pulsecoder and master the robot.
(23) SRVO-042 MCAL alarm (Group: i Axis: j)
(Explanation) This alarm means that the contacts of the magnetic contactor have stuck to each other.
The alarm condition occurs if the magnetic contactor turns out to be already on when
(Action 1)
(Action 2)
an attempt is made to turn it on. The alarm condition is detected between the time
contact sticking occurs and the time an attempt is made to turn on the magnetic
contactor.
Replace the E-stop unit.
Replace the servo amplifier.
Servo amplifier
E-stop unit
Magnetic con
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(24)
MAINTENANCE
3.TROUBLESHOOTING
SRVO-043 DCAL alarm (Group: i Axis: j)
(Explanation) The regenerative discharge energy was too high to be dissipated as heat.
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(To run
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(Action 1)
(Action 2)
(Action 3)
(Action 4)
(Action 5)
(Action 6)
the robot, the servo amplifier supplies energy to the robot. When going down the
vertical axis, the robot operates from the potential energy. If a reduction in the
MANUTENÇÃO ROBO FANUC.pdf
potential energy is higher than the energy needed for acceleration, the servo amplifier
receives energy from the motor. A similar phenomenon occurs even when no
gravity is applied, for example, at deceleration on a horizontal axis. The energy that
the servo amplifier receives from the motor is called the regenerative energy. The
servo amplifier dissipates this energy as heat. If the regenerative energy is higher
than the energy dissipated as heat, the difference is stored in the servo amplifier,
causing an alarm.)
This alarm may occur if the axis is subjected to frequent acceleration/deceleration or
if the axis is vertical and generates a large amount of regenerative energy.
If this alarm has occurred, relax the service conditions.
Check fuse FS3 in the servo amplifier. If it has blown, remove the cause, and replace
the fuse. One of the probable causes of a blown fuse is a ground fault in the servo
amplifier for the auxiliary axis.
The ambient temperature is excessively high. Or the regenerative resistor can't be
cooled effectively. Check the external fan unit, and replace it if it stops. Clean up the
fun unit, the regenerative resistor and the louver if they are dirty.
Measure the input voltage between each phase at the main breaker, and make sure
that each voltage satisfy the input voltage rating. If each voltage does not satisfy the
input voltage rating, check the power supply facility.
Measure the secondary voltage of transformer at breaker terminal of E-stop unit, and
make sure that the measured voltage is approximately 210V. If phase loss is
detected, replace the transformer.
Replace the E-stop unit.
(Action 7)
Make
that
the servo
amplifier
tightly.sure
Then
detach
the cable
fromCRR63A
CRR63Aand
andCRR63B
CRR63Bconnectors
connectorsare
on connected
the Servo
amplifier, and check for continuity between pins 1 and 2 of the cable-end connector.
If there is no continuity between the pins, replace the regenerative resistor.
Make sure that the servo amplifier CRR45A and CRR45B are connected tightly, then
detach the cables from CRR45A and CRR45B on the servo amplifier and check the
resistance between pins 1 and 2 of each cable end connector. If the resistance is not
9-16Ω, replace the regenerative resistor. CRR45B may not be used depending on
(Action 8)
the robotthe
model.
Replace
servo amplifier.
3.TROUBLESHOOTING
E-stop unit
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MAINTENANCE
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Servo amplifier
A-cab in et (Fr on t)
egenera ve res s or
Regenerative resistor
Transformer
Transformer
Side fan type
Rear fan type
A-cab in et (Rear)
Servo amplifier
Regenerative
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3.TROUBLESHOOTING
(25) SRVO-044 HVAL alarm (Group: i Axis: j)
link voltage) of the main circuit power supply is abnormally
high.
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(Explanation) The DC voltage (DC
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(Action 3)
high.
Check the three-phase input voltage at the servo amplifier. If it is 240 VAC or
FANUC.pdf
higher, check the line voltage. (If the three-phase MANUTENÇÃO
input voltageROBO
is higher
than 240
VAC, high acceleration/deceleration can cause in this alarm.)
Check that the load weight is within the rating. If it is higher than the rating, reduce
it to within the rating. (If the machine load is higher than the rating, the
accumulation of regenerative energy might result in the HVAL alarm even when the
three-phase input voltage is within the rating.)
Check that the CRR63A and CRR63B connectors of the servo amplifier are attached
(Action 4)
firmly. Next, detach the cables then check the continuity between pins 1 and 2 of
the cable-side connectors. If a disconnection is found, replace the regenerative
resistor.
Replace the servo amplifier.
(Action 1)
(Action 2)
(26) SRVO-045 HCAL alarm (Group: i Axis: j)
(Explanation) Abnormally high current flowed in the main circuit of the servo amplifier.
(Action 1)
Turn off the power, and disconnect the power cable from the servo amplifier
(Action 2)
(Action 3)
indicated by the alarm message. (And disconnect the brake cable (CRR88 on the
servo amplifier) to avoid the axis falling unexpectedly.) Supply power and see if the
alarm occurs again. If the alarm occurs again, replace the servo amplifier.
Turn off the power and disconnect the power cable from the servo amplifier
indicated by the alarm message, and check the insulation of their U, V, W and the
GND lines each other. If there is a short-circuit, replace the power cable.
Turn off the power and disconnect the power cable from the servo amplifier by the
alarm message, and measure the resistance between their U and V, V and W and W
and
with anare
ohmmeter
haseach
a very
lowthe
resistance
If thecable
resistances
at the
threeUplaces
differentthat
from
other,
motor, range.
the power
is defective.
Check each item in detail and replace it if necessary.
3.TROUBLESHOOTING
MAINTENANCE
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(27) SRVO-046 OVC alarm (Group: i Axis: j)
to prevent the motor from thermal damage that might occur
when the root meant square current calculated within the servo system is out of the
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(Explanation) This alarm is issued
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(Action 1)
(Action 2)
(Action 3)
(Action 4)
(Action 5)
(Action 6)
(Action 7)
(Action 8)
(Action 9)
allowable range.
ROBO FANUC.pdf
Check the operating condition for the robot and relaxMANUTENÇÃO
the service condition
if possible.
If the load or operating condition has exceeded the rating, reduce the load or relax
the operating condition to meet the rating.
Check whether the voltage input to the controller is within the rated voltage and also
check whether the voltage set for the transformer of the controller is correct.
Check whether the brake of the corresponding axis is released.
Check whether there is a factor that has increased the mechanical load on the
corresponding axis.
Replace the servo amplifier.
Replace the motor of the corresponding axis.
Replace the E-stop unit
Replace the motor power line (robot connection cable) of the corresponding axis.
Replace the motor power line and brake line (inside the mechanical section) of the
corresponding axis.
Servo amplifier
Servo amplifier
(A-cabinet)
(B-cabinet)
Fig.3.5 (n) SRVO-044 HVAL alarm
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Reference
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Relationships among the OVC, OHAL, and
HC alarms
3.TROUBLESHOOTING
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-
Overview
-
Alarm detection section
ROBO FANUC.pdf
This section points out the differences among the OVC, OHAL, and HC MANUTENÇÃO
alarms and describes
the purpose
of each alarm.
Abb revi ati on
Design ati on
Detect io n s ect io n
OVC
Overcurrent alarm
Servo software
OHAL
Overheat alarm
HC
High current alarm
Thermal
the servo
motor amplifier
Thermal relay
relay in
in the
Thermal relay in the separate regenerative discharge
unit
Servo amplifier
-
Purpose of each alarm
1)
HC alarm (high current alarm)
If high current flow in a power transistor momentarily due to abnormality or noise in the control
circuit, the power transistor and rectifier diodes might be damaged, or the magnet of the motor might
be degaussed. The HC alarm is intended to prevent such failures.
OVC and OHAL alarms (overcurrent and overload alarms)
The OVC and OHAL alarms are intended to prevent overheat that may lead to the burnout of the
motor winding, the breakdown of the servo amplifier transistor, and the separate regenerative
resistor.
The OHAL alarm occurs when each built-in thermal relay detects a temperature higher than the rated
value. However, this method is not necessarily perfect to prevent these failures. For example, if
the motor frequently repeats to start and stop, the thermal time constant of the motor, which has a
large mass, becomes higher than the time constant of the thermal relay, because these two
components are different in material, structure, and dimension. Therefore, if the motor continues to
start and stop within a short time as shown in Fig. 3.5 (o), the temperature rise in the motor is steeper
than that in the thermal relay, thus causing the motor to burn before the thermal relay detects an
abnormally high temperature.
2)
Temperature
Start
Stop
Start
Start
Thermal time constant of the
motor is high.
Temperature at
3.TROUBLESHOOTING
Stop
MAINTENANCE
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To sum up, a double protection method is used; the OVC alarm is used for protection from a short-time
for protection from long-term overload. The relationship
between the OVC and OHAL alarms is shown in Fig.3.5 (p).
overcurrent, and the OHAL alarm is used
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Current
Protection area for
the motor and servo
amplifier
Protection by the OHAL
Limit current
Protection by
the OVC
Rated continuous current
Time
Fig.3.5 (p) Relationshi p betw een the OVC and OHAL alarms
NOTE
The relationship shown in Fig.3.5 (p) is taken into consideration for the OVC
alarm. The motor might not be hot even if the OVC alarm has occurred. In
this case, do not change the parameters to relax protection.
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MAINTENANCE
3.TROUBLESHOOTING
(28) SRVO-047 LVAL alarm (Group: i Axis: j)
(Explanation) The control power supply voltage (+5 V, etc.) supplied from the power supply circuit
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in the servo amplifier is abnormally low.
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(Action 1)
(Action 2)
Replace the servo amplifier.
Replace the power supply unit.
MANUTENÇÃO ROBO FANUC.pdf
Servo amplifier
Servo amplifier
Power supply unit
Power supply unit
(A-cabinet)
(B-cabinet)
Fig.3.5 (q) SRVO-047 LVAL al arm
(29) SRVO-049 OHAL1 alarm (Group: i Axis: j)
(Explanation) The thermostat in the transformer worked. Alternatively, fuse F1 or F2 in the servo
amplifier has blown.
(Action 1)
Check whether the fan is stopped and also check whether the vent hole is clogged.
If necessary, clean or replace them.
(Action 2)
If SRVO-049 is issued when the robot operating condition is severe, check the robot
operating condition then relax the condition when possible.
(Action 3)
Check that a connection is made between the transformer connector CPOH and the
E-stop CRM73.
(Action 4)
Replace the servo.
(Action 5)
Replace the transformer.
3.TROUBLESHOOTING
MAINTENANCE
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E-stop unit
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Servo amplifier
A-cab in et (Fron t)
egenera ve res s or
Regenerative resistor
Transformer
Transformer
Side fan type
Rear fan type
A-cab in et (Rear)
Servo amplifier
regenerative
resistor unit
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MAINTENANCE
3.TROUBLESHOOTING
(30) SRVO-050 CLALM alarm (Group: i Axis: j)
(Explanation) The disturbance torque estimated by the servo software is abnormally high.
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collision has been detected.)
(A
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(Action 1)
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(Action 2)
(Action 3)
(Action 4)
(Action 5)
(Action 6)
(Action 7)
(Action 8)
(Action 9)
(Action 10)
Check whether the robot has collided and also check whether there is a factor that
has increased the mechanical load on the corresponding axis.
MANUTENÇÃO ROBO FANUC.pdf
Check whether the load settings are valid.
Check whether the brake of the corresponding axis is released.
If the load weight exceeds the rated range, decrease it to within the limit.
Check whether the voltage input to the controller is within the rated voltage and also
check whether the voltage set for the transformer of the controller is correct.
Replace the servo amplifier.
Replace the motor of the corresponding axis.
Replace the E-stop unit.
Replace the motor power line (robot connection cable) of the corresponding axis.
Replace the motor power line and brake line (inside the mechanical section) of the
corresponding axis.
(31)SRVO-051 CUER alarm (Group: i Axis: j)
(Explanation) The offset of the current feedback value is abnormally high.
(Action)
Replace the servo amplifier.
Servo amplifier
Servo amplifier
3.TROUBLESHOOTING
MAINTENANCE
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(33) SRVO-056 FSSB com error 2 (Group: i Axis: j)
(Explanation) A communication error has occurred between the main board and servo amplifier.
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(Action 1)
Check the communication cable (optical fiber) between the main board and servo
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(Action 2)
(Action 3)
amplifier. Replace it if it is faulty.
Replace the axis control card on the main board.
Replace the servo amplifier.
MANUTENÇÃO ROBO FANUC.pdf
(34) SRVO-057 FSSB disconnect (Group: i Axis: j)
(Explanation) Communication was interrupted between the main board and servo amplifier.
(Action 1)
Check whether fuse F4 in the power supply unit has blown. If the fuse has blown,
replace the servo amplifier including the fuse.
(Action 2)
(Action 3)
(Action 4)
(Action 5)
Replace the optical cable between the axis control card and servo amplifier.
Replace the axis control card on the main board.
Replace the servo amplifier.
Check for a point where the robot connection cable RP1 or an internal cable running
to each Pulsecoder through the robot mechanical section is grounded.
Before continuing to the next step, perform a complete controller back-up to save all your programs
and settings.
(Action 6)
Replace the main board.
(35) SRVO-058 FSSB init error (Group: i Axis: j)
(Explanation) Communication was interrupted between the main board and servo amplifier.
(Action 1)
Check whether fuse F4 in the power supply unit has blown. If the fuse has blown,
check and correct the cause then replace the fuse.
(Action 2)
Check whether fuse FS1 on the servo amplifier has blown. If the fuse has blown,
replace the servo amplifier including the fuse.
(Action 3)
(Action 4)
(Action 5)
Turn off
the power
disconnect
the CRF8
connector
on the
servo amplifier.
Then
check
whether
this and
alarm
occurs again.
(Ignore
the alarm
SRVO-068
because
of
disconnecting the CRF8 connector.)
If this alarm does not occur, the RP1 cable of the robot connection cable or the
internal cable of the robot may be short-circuited to the ground. Check the cables and
replace it if necessary.
Check whether the LED (P5V and P3.3V) on the servo amplifier is lit. If they are not
lit, the DC power is not supplied to the servo amplifier.
Make sure the connector CRP24 and CRM96 on the E-stop unit and the connector
CRM96 on the servo amplifier are connected tightly. If they are connected tightly,
replace the servo amplifier.
Check the communication cable (optical fiber) between the axis control board and
servo amplifier. Replace it if it is faulty.
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Servo amplifier
Main board
(A-cabinet)
Servo amplifier
Axis control card
Main board
(B-cabinet)
(Main board)
Fig.3.5 (t) SRVO-055 FSSB com er ror 1
3.TROUBLESHOOTING
MAINTENANCE
(36) SRVO-059 Servo amp init error
(Explanation) Servo amplifier initialization is failed.
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(Action 1)
Check the wiring of the servo amplifier.
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(Action 2)
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Replace the servo amplifier.
MANUTENÇÃO ROBO FANUC.pdf
(37) SRVO-062 BZAL alarm (Group: i Axis: j)
(Explanation) This alarm occurs if battery for Pulsecoder absolute-position backup is empty.
A probable cause is a broken battery cable or no batteries in the robot.
(Action 1)
Replace the battery in the battery box of the robot base.
(Action 2)
Replace the Pulsecoder with which an alarm has been issued.
(Action 3)
Check whether the robot internal cable for feeding power from the battery to the
Pulsecoder is not disconnected and grounded.
the cable.
If an abnormality is found, replace
CAUTION
After correcting the cause of this alarm, set the system variable
($MCR.$SPC_RESET) to TRUE then turn on the power again. Mastering is
needed.
(38) SRVO-064 PHAL alarm (Group: i Axis: j)
(Explanation) This alarm occurs if the phase of the pulses generated in the Pulsecoder is abnormal.
(Action)
Replace the Pulsecoder.
NOTE
This alarm might accompany the DTERR, CRCERR, or STBERR alarm. In this
case, however, there is no actual condition for this alarm.
(39) SRVO-065 BLAL alarm (Group: i Axis: j)
(Explanation) The battery voltage for the Pulsecoder is lower than the rating.
(Action)
Replace the battery.
(If this alarm occurs, turn on the power and replace the battery as soon as possible. A
delay in battery replacement may result in the BZAL alarm being detected. In this
case, the position data will be lost. Once the position data is lost, mastering will
become necessary.
(40) SRVO-067 OHAL2 alarm (Group: i Axis: j)
(Explanation) The temperature inside the Pulsecoder or motor is abnormally high, and the built-in
thermostat has operated.
(Action 1)
Check the robot operating conditions. If a condition such as the duty cycle and load
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MAINTENANCE
(42) SRVO-069 CRCERR alarm (Group: i Axis: j)
(Explanation) The serial data has disturbed during communication.
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(Action)
See actions on SRVO-068
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(43) SRVO-070 STBERR alarm (Group: i Axis: j)
MANUTENÇÃO ROBO FANUC.pdf
(Explanation) The start and stop bits of the serial data are abnormal.
(Action)
See actions on SRVO-068
Servo amplifier
Servo amplifier
(A-cabinet)
(B-cabinet)
Fig.3.5 (u) SRVO-059 Servo amp init error
SRVO-070 STBERR alarm
(44) SRVO-071 SPHAL alarm (Group: i Axis: j)
(Explanation) The feedback speed is abnormally high.
(Action)
Action as same as the SRVO-068.
NOTE
If this alarm occurs together with the PHAL alarm (SRVO-064), this alarm does
not correspond to the major cause of the failure.
(45) SRVO-072
PMAL
Axis: j) is abnormal.
(Explanation)
It is alarm
likely (Group:
that the iPulsecoder
(Action)
Replace the Pulsecoder and remaster the robot.
(46) SRVO-073 CMAL alarm (Group: i Axis: j)
3.TROUBLESHOOTING
MAINTENANCE
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(48) SRVO-075 Pulse not established (Group: i Axis: j)
(Explanation) The absolute position of the Pulsecoder cannot be established.
(Action)
Reset the alarm, and jog the axis on which the alarm has occurred until the same
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alarm will not occur again.
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(49) SRVO-076 Tip Stick Detection (Group: i Axis: j)
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(Explanation) An excessive disturbance was assumed in servo software at the start of operation.
(An abnormal load was detected. The cause may be welding.)
(Action 1)
Check whether the robot has collided. Or check whether the machinery load of the
corresponding axis is increased.
(Action 2)
Check whether the load settings are valid.
(Action 3)
(Action 4)
(Action 5)
(Action 6)
(Action 7)
(Action 8)
(Action 9)
(Action 10)
Check whether the brake of the corresponding axis is released.
Check whether the load weight is within the rated range. If the weight exceeds the
upper limit, decrease it to the limit.
Check whether the voltage input to the controller is within the rated voltage and also
check whether the voltage set for the transformer of the controller is correct.
Replace the servo amplifier.
Replace the corresponding servo motor.
Replace the E-stop unit.
Replace
the power cable of the robot connection cable in which the corresponding
axis is connected.
Replace the power cable of the robot interconnection cable in which the
corresponding axis is connected.
Servo amplifier
E-stop unit
B-82595EN-2/04
MAINTENANCE
3.TROUBLESHOOTING
(50) SRVO-081 EROFL alarm (Track enc: i)
(Explanation) The pulse counter for line tracking has overflowed.
(Action 1)
Check whether the condition of the line tracking exceeds the limitation.
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(Action 2)
Replace the Pulsecoder.
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(Action 3)
Replace the line tracking interface board.
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MANUTENÇÃO ROBO FANUC.pdf
(51) SRVO-082 DAL alarm (Track ebc: i)
(Explanation) The line tracking Pulsecoder has not been connected.
(Action 1)
Check the connection cable at each end (the line tracking interface board and the
motor side)
(Action 2)
Check whether the shielding of the connection cable is connected securely to the
(Action 3)
(Action 4)
(Action 5)
grounding plate.
Replace the line tracking cable.
Replace the Pulsecoder.
Replace the line tracking interface board.
(52) SRVO-084 BZAL alarm (Track enc: i)
(Explanation) This alarm occurs if the backup battery for the absolute position of the Pulsecoder
has not been connected. See the description about the BZAL alarm (SRVO-062).
(53) SRVO-087 BLAL alarm (Track enc: i)
(Explanation) This alarm occurs if the voltage of the backup battery for the absolute position of the
Pulsecoder is low. See the description about the BLAL alarm (SRVO-065).
(54) SRVO-089 OHAL2 alarm (Track enc: i)
(Explanation) The motor has overheated. When power is supplied to the Pulsecoder after it has
become sufficiently cool, if the alarm still occurs. See the description about the
OHAL2 alarm (SRVO-067).
(55) SRVO-090 DTERR alarm (Track ebc: i)
(Explanation) Communication between the Pulsecoder and line tracking interface board is
abnormal. See the SRVO-068 DTERR alarm.
(Action 1)
Check the connection cable at each end (the line tracking interface board and the
Pulsecoder)
(Action 2)
Check whether the shielding of the connection cable is connected securely to the
grounding plate.
(Action 3)
Replace the Pulsecoder.
(Action 4)
Replace the line tracking cable.
(Action 5)
Replace the line tracking interface board.
3.TROUBLESHOOTING
MAINTENANCE
(59) SRVO-094 PMAL alarm (Track enc: i)
(Explanation) It is likely that the Pulsecoder is abnormal.
alarm (SRVO-072).
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B-82595EN-2/04
See the description about the PMAL
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(60) SRVO-095 CMAL alarm (Track enc: i)
(Explanation) It is likely that the Pulsecoder is abnormal or the Pulsecoder
hasROBO
malfunctioned
MANUTENÇÃO
FANUC.pdf due
to noise. See the description about the CMAL alarm (SRVO-073).
(Action 1)
Reinforce the earth of the flange of the Pulsecoder.
(Action 2)
Replace the Pulsecoder.
(61) SRVO-096 LDAL alarm (Track enc: i)
(Explanation) The LED in the Pulsecoder is broken.
(SRVO-074).
See the description about the LDAL alarm
(62) SRVO-097 Pulse not established (enc: i)
(Explanation) The absolute position of the Pulsecoder cannot be established. See the description
about (SRVO-075). Pulse not established.
(Action 1)
Reset the alarm, and jog the axis on which the alarm has occurred until the same
alarm does not occur again. (Jog one motor revolution)
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MAINTENANCE
(63) SRVO-105 Door open or E-stop
(Explanation) The cabinet door is open.
When the door switch is mounted.
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(Action 1)
When the door is open, close it.
3.TROUBLESHOOTING
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(Action 2)
(Action 4)
(Action 5)
Check the door switch and door switch connection cable. If the switch or cable is
faulty, replace it.
MANUTENÇÃO ROBO FANUC.pdf
When the door switch is not mounted.
Check that the CRM72, CRM95, and CRM96 connectors on the E-STOP unit are
connected securely.
Replace the E-stop unit.
Replace the servo amplifier.
(Action 6)
(Action 7)
Replace the panel board.
Replace the connection cable between the panel board and the E-stop unit.
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(Action 3)
E-stop unit
Servo amplifier
Main board
Door switch
(A-cabinet)
Fig.3.5 (w) SRVO-105 Door open or E-stop
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
(64) SRVO-136 DCLVAL alarm (Group: i Axis: j)
(Explanation) The servo the DC current of amplifier (DC link voltage) of the main power supply is
abnormally low.
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-
This alarm occurred during robot operation.
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(Action 1)
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Check the input voltage to the controller is within the rated voltage and no phase is
lack. And check the setting of the transformer is correct.
MANUTENÇÃO ROBO FANUC.pdf
It is possible that an instant disconnection of power source causes this alarm. Check
whether an instant disconnection occurred.
Modify the program in order that robot and the auxiliary axis do not accelerate
simultaneously in the system with the auxiliary axis.
Replace the E-stop unit.
(Action 2)
(Action 3)
(Action 4)
(Action 5)
(Action 3)
Replace the servo amplifier.
If this alarm occurred before the magnetic contactor is turned on:
Check whether the circuit breaker in the E-stop unit is OFF. If it is OFF, check the
servo amplifier and the wiring between the servo amplifier and the E-stop unit. If
anything is abnormal, replace it. Else, turn on the breaker.
Check the input voltage to the controller is within the rated voltage and no phase is
lack. And check the setting of the transformer is correct.
Replace the E-stop unit.
(Action 4)
Replace the servo amplifier.
(Action 1)
(Action 2)
-
(65) SRVO-156 IPMAL alarm (Group: i Axis: j)
(Explanation) Abnormally high current flowed through the main circuit of the servo amplifier.
(Action 1)
Turn off the power, and disconnect the power cable from the servo amplifier
indicated by the alarm message. (And disconnect the brake cable (CRR88 on the
servo amplifier) to avoid the axis falling unexpectedly.) Turn on the power, and if the
alarm occurs again, replace the servo amplifier.
(Action 2)
Turn off the power and disconnect the power cable from the servo amplifier
indicated by the alarm message, and check the insulation of their U, V, W and the
GND lines each other. If there is a short-circuit, replace the power cable.
(Action 3)
Turn off the power and disconnect the power cable from the servo amplifier by the
alarm message, and measure the resistance between their U and V, V and W and W
and U with an ohmmeter that has a very low resistance range. If the resistances at the
three places are different from each other, the motor, the power cable is defective.
Check each item in detail and replace it if necessary.
MAINTENANCE
B-82595EN-2/04
3.TROUBLESHOOTING
(66) SRVO-157 CHGAL alarm (Group: i Axis: j)
(Explanation) The capacitor for the condenser voltage of the servo amplifier was not charged
within the specified time when the servo power is on.
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(Action 1)
Replace the E-stop unit.
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(Action 2)
(Action 3)
Replace the servo amplifier.
Replace the auxiliary amplifier for system of the auxiliary axis.
MANUTENÇÃO ROBO FANUC.pdf
Servo amplifier
E-stop unit
Servo amplifier
E-stop unit
(A-cabinet)
(B-cabinet)
Fig.3.5 (x) SRVO-136 DCLVAL alar m
SRVO-156 IPMAL alar m
SRVO-157 CHGAL alarm
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
(67) SRVO-194 Servo disconnect
(Explanation) The external contact connected to SD4-SD41 or SD5-SD51 of the terminal block
TBOP3 on the panel board is open.
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(Action 1)
If external circuitry is connected to SD4-SD41 or SD5-SD51 of the terminal block
TBOP3 on the panel board, check the external circuitry.
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(Action 2)
(Action 3)
TBOP3 on the panel board, check the external circuitry.
If this signal is not used, make a connection between SD4 and SD41 and between
MANUTENÇÃO
SD5 and SD51 of the terminal block TBOP3 on the panel
board. ROBO FANUC.pdf
Replace the panel board.
Panel board
Panel board
(A-cabinet)
(B-cabinet)
Fig.3.5 (y) SRVO-194 Servo disconnect
WARNING
In a system using the servo disconnect signal, it is very dangerous to disable the
signal when a connection is made between SD4 and SD41 and between SD5
and SD51 of the terminal block TBOP3 on the panel board. Never make such
an attempt. If a temporary connection is needed for operation, separate safety
measures must be taken.
MAINTENANCE
B-82595EN-2/04
3.TROUBLESHOOTING
(68) SRVO-201 Panel E-stop or SVEMG abnormal
(Explanation) The EMERGENCY STOP button on the operator’s panel was pressed, but the
EMERGENCY STOP line was not disconnected.
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(Action 1)
(Action 2)
Replace the panel board.
Replace the E-stop unit.
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(Action 3)
Replace the servo amplifier.
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MANUTENÇÃO ROBO FANUC.pdf
(69) SRVO-202 TP E-stop or SVEMG abnormal
(Explanation) The EMERGENCY STOP button on the teach pendant was pressed, but the
EMERGENCY STOP line was not disconnected.
(Action 1)
Replace the teach pendant.
(Action 2)
(Action 3)
(Action 4)
(Action 5)
Check the teach pendant cable.
Replace the operator's panel.
Replace the E-stop unit.
Replace the servo amplifier.
If this inferior, replace the cable.
NOTE
This alarm might occur if the EMERGENCY STOP button is pressed slowly.
(70) SRVO-204 External (SVEMG abnormal) E-stop
(Explanation) The switch connected across EES1 – EES11 and EES2 – EES21 on the TBOP4
terminal board on the panel board was pressed, but the EMERGENCY STOP line
was not disconnected.
(Action 1)
Check the switch and cable connected to EES1 – EES11 and EES2 – EES21 on
TBOP4 terminal board. If the cable is abnormal, replace it.
(Action 2)
Replace the panel board.
(Action 3)
Replace the E-stop unit.
(Action 4)
Replace the servo amplifier.
Panel board
3.TROUBLESHOOTING
E-stop unit
MAINTENANCE
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Panel board
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Servo amplifier
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MANUTENÇÃO ROBO FANUC.pdf
Teach pendant
E-stop unit
(B-cabinet)
EES1
EES11
EES2
EES21
MAINTENANCE
B-82595EN-2/04
3.TROUBLESHOOTING
(71) SRVO-205 Fence open (SVEMG abnormal)
(Explanation) The switch connected across EES1 – EES11 and EES2 – EES21 on the TBOP4
terminal board on the panel board was pressed, but the EMERGENCY STOP line
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was not disconnected.
(Action 1)
Check the switch and cable connected to EES1 – EES11 and EES2 – EES21.
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If the
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(Action 2)
(Action 3)
(Action 4)
cable is abnormal, replace it.
Replace the panel board.
Replace the E-stop unit.
Replace the servo amplifier.
MANUTENÇÃO ROBO FANUC.pdf
Panel board
Servo amplifier
(A-cabinet)
Servo amplifier
Panel board
(B-cabinet)
EAS1
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
(72) SRVO-206 DEADMAN switch (SVEMG abnormal)
(Explanation) When the teach pendant was enabled, the DEADMAN switch was released or
pressed strongly, but the emergency stop line was not disconnected.
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(Action 1)
Replace the teach pendant.
(Action 2)
Check the teach pendant cable.
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If it is inferior, replace the cable.
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(Action 3)
(Action 4)
(Action 5)
(Action 6)
Replace the panel board.
When the NTED signal is used, check whether the cabling
of the ROBO
signalFANUC.pdf
connected to
MANUTENÇÃO
CRM65 on the panel board is correct.
Replace the E-stop unit.
Replace the servo amplifier.
E-stop unit
Panel board
Servo amplifier
(A-cabinet)
Servo amplifier
Panel board
Teach pendant
B-82595EN-2/04
MAINTENANCE
3.TROUBLESHOOTING
(73) SRVO-213 Fuse blown (Panel PCB)
(Explanation) A fuse (FUSE1 or FUSE2) on the panel board has blown, or no voltage is supplied to
EXT24V.
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(Action 1)
Check whether the fuse
(FUSE1) on the panel board has blown. If the fuse has
blown, +24EXT may be short-circuited to 0EXT. Take Action 2. If FUSE1 has not
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(Action 2)
(Action 3)
(Action 4)
(Action 5)
(Action 6)
blown, take Action 3 and up.
Disconnect the connection destinations of +24EXTMANUTENÇÃO
that can cause
grounding then
ROBO FANUC.pdf
check that FUSE1 does not blow. Disconnect the following on the panel board then
turn on the power:
- CRS20
- CRT16
-- TBOP4:
EES1,
EES11, EAS1, EAS11, EGS1, EGS11
TBOP3:
SD4, SD41
If FUSE1 does not blow in this state, +24EXT and 0EXT may be short-circuited at
any of the connection destinations above. Isolate the faulty location then take
action.
If FUSE1 blows even when the connection destinations above are detached, replace
the panel board.
Check whether 24 V is applied to between EXT24V and EXT0V of TBOP6. If not,
check the external power supply circuit.
If no external power supply is used, check whether the terminals above are connected
to the INT24V and INT0V terminals, respectively.
Replace the panel board.
Replace the teach pendant cable.
Replace the teach pendant.
JRS15
LED (green)
3.TROUBLESHOOTING
MAINTENANCE
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Panel board
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MANUTENÇÃO ROBO FANUC.pdf
(A-cabinet)
Panel board
M i b
d
MAINTENANCE
B-82595EN-2/04
3.TROUBLESHOOTING
(74) SRVO-214 Fuse blown (Servo amplifier)
(Explanation) A fuse in the servo amplifier has blown.
In case that FS1 is blown
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(Action 1)
Replace the servo amplifier.
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In case that FS2 or FS3 is blown
MANUTENÇÃO ROBO FANUC.pdf
(Action 1)
A fuse is blown, eliminate the cause, and then replace the fuse. (See Section 3.6 in
the Part II, “MAINTENANCE”.)
(Action 2)
Replace the servo amplifier.
(75) SRVO-216
OVC
(total)
(Robot:
(Explanation)
The
current
(totali)current for six axes) flowing through the motor is too large.
(Action 1)
Slow the motion of the robot where possible. Check the robot operation conditions. If
the robot is used with a condition exceeding the duty or load weight robot rating,
reduce the load condition value to the specification range.
(Action 2)
Check the input voltage to the controller is within the rated voltage and no phase is
lack. And check the setting of the transformer is correct.
(Action 3)
Replace the servo amplifier.
(76) SRVO-221 Lack of DSP (Group: i Axis: j)
(Explanation) A controlled axis card corresponding to the set number of axes is not mounted.
(Action 1)
Check whether the set number of axes is valid. If the number is invalid, set the
correct number.
(Action 2)
Replace the axis control card with a card corresponding to the set number of axes.
(77) SRVO-223 DSP dry run (a b)
(Explanation) Servo system initialization was stopped because of a hardware failure or improver
software setting. The controller has been started in the DSP dry run mode.
(Action 1)
When the value is 1, 5, or 6: An incorrect setting is made. Check whether the dry
run mode is set and also check whether the setting of the hard start axis is correct.
(Action 2)
When the value is 2, 3, 4, or 7: Replace the servo card.
(Action 3)
When the value is 8 or 10: Take action for an FSSB initialization error that has
occurred at the same time.
(Action 4)
When the value is 9: Take the following action:
Check whether the servo amplifier is connected.
Replace the optical cable used for servo amplifier connection.
Replace the servo amplifier
3.TROUBLESHOOTING
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MAINTENANCE
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Servo amplifier
Main board
(A-cabinet)
A is control card
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MAINTENANCE
3.TROUBLESHOOTING
(78) SRVO-230 Chain 1 (+24V) abnormal
SRVO-231 Chain 2 (0V) abnormal
(Explanation) A mismatch occurred between duplicate safety signals.
SRVO-230 is issued if such
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(between EES1 and EES11,
a mismatch that a contact connected on the chain 1 side
between EAS1 and EAS11, between EGS1 and EGS11,
between SD4 and SD41, and so forth) is closed, and a contact on the chain 2 side
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(between EES2 and EES21, between EAS2 and EAS21, between EGS2 and EGS21,
MANUTENÇÃO
ROBO
FANUC.pdf
between SD5 and SD51, and so forth) is open occurs.
SRVO-231
is issued
if such a
mismatch that a contact on the chain 1 side is open, and a contact on the chain 2 sides
is closed occurs.
If a chain error is detected, correct the cause of the alarm then reset the alarm
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(Action)
(Caution 1)
(Caution 2)
according
the method
later.
Check
the to
alarms
issued described
at the same
time in order to identify with which signal the
mismatch occurred.
SRVO-266 through SRVO-275 and SRVO-370 through SRVO-385 are issued at the
same time. Take the action(s) described for each item.
After correcting the cause of the hardware chain error according to the work
described above, set "YES" for chain error resetting on the system setting screen.
Finally, press the reset key on the teach pendant. For details, see "Chain error reset
procedure" described later.
If this alarm is issued, do not reset the chain error alarm until the failure is identified
and repaired. If robot use is continued with one of the duplicate circuits being
faulty, safety may not be guaranteed when the other circuit fails.
Panel board
E-stop unit
Servo amplifier
(A-cabinet)
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
Servo amplifier
Panel board
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E-stop unit
(B-cabinet)
Fig.3.5 (ae) SRVO-230 Chain 1 (+24V) abno rmal / SRVO-231 Chain 2 (0V) abno rmal
CAUTION
1 The state of this alarm is preserved by software. After correcting the cause of the
alarm, reset the chain error alarm according to the chain error reset procedure
described later.
2 Until a chain error is reset, no ordinary reset operation must be performed. If
an ordinary reset operation is performed before chain error resetting, the
message "SRVO-237 Chain error cannot be reset" is displayed on the teach
pendant.
B-82595EN-2/04
MAINTENANCE
3.TROUBLESHOOTING
Al arm his tor y d ispl ay m etho d
1.
2.
Press the screen selection key on the teach pendant.
Select [4 ALARM] on the teach pendant.
3.
Press F3 [HIST] on the teach pendant.
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Chain error reset procedure
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CAUTION
MANUTENÇÃO ROBO FANUC.pdf
Do not perform this operation until the cause of the alarm is corrected.
<Method 1>
1. Press the emergency stop button.
2. Press the screen selection key on the teach pendant.
3. Select [0 NEXT PAGE] on the teach pendant.
4. Press [6 SYSTEM] on the teach pendant.
5. Press [7 SYSTEM SETTING] on the teach pendant.
6. Find "28" Chain Error Reset Execution.
7. Press F3 on the teach pendant to reset "Chain Error".
<Method 2>
1. Press the screen selection key on the teach pendant.
2. Select [4 ALARM] on the teach pendant.
3. Press F4 [CHAIN RESET] on the teach pendant.
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
(79) SRVO-232 NTED input
(Explanation) In the teach mode, the NTED signal connected to CRM65 on the panel board was
placed in the open state.
(Action 1)
Check the operation of the device connected to NTED.
(Action 3)
Replace the teach pendant cable.
(Action 2)
Replace the teach pendant.
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(Action 4)
(Action 5)
Replace the panel board
Check the mode switch and its cable. Replace them if
a defect is found.
MANUTENÇÃO
ROBO FANUC.pdf
(80) SRVO-233 TP disabled in T1, T2/Door open
(Explanation) Teach pendant is disabled when the mode switch is T1 or T2.
Or controller door is opened.
(Action 1)
Enable the teach pendant in teaching operation. In other case the mode switch should
be AUTO mode.
(Action 2)
Close the controller door, if open.
(Action 3)
Replace the teach pendant.
(Action 4)
Replace the teach pendant cable.
(Action 5)
Replace the mode switch.
(Action 6)
Replace the panel board.
(Action 7)
Replace the E-stop unit.
(Action 8)
Replace the servo amplifier.
(81) SRVO-235 Short term Chain abnormal
(Explanation) Short term single chain failure condition is detected.
Cause of this alarm is;
- Half release of DEADMAN switch
- Half operation of emergency stop switch.
(Action 1)
Cause the same error to occur again, and then perform resetting.
(Action 2)
(Action 3)
(Action 3)
Replace the panel board.
Replace the E-stop unit.
Replace the servo amplifier.
(82) SRVO-251 DB relay abnormal
(Explanation) An abnormality was detected in the internal relay (DB relay) of the servo amplifier.
(Action)
Replace the servo amplifier.
(83) SRVO-252 Current detect abnl
(Explanation) An abnormality was detected in the current detection circuit inside the servo
amplifier.
(Action)
Replace the servo amplifier.
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Panel board
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3.TROUBLESHOOTING
MAINTENANCE
E-stop unit
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MANUTENÇÃO ROBO FANUC.pdf
Servo amplifier
(A-cabinet)
Servo amplifier
Panel board
E-stop unit
(B-cabinet)
3.TROUBLESHOOTING
Enable/disable
switch
Deadman switch
(Teach pendant)
MAINTENANCE
B-82595EN-2/04
(85) SRVO-266 FENCE1 status abnormal a, b
SRVO-267 FENCE2 status abnormal a, b
(Explanation) A chain alarm was detected with the EAS (FENCE) signal.
(Action
(Action 1)
2)
Check
to the
dual signal
input signal
is faulty.
Check whether
whetherthe
thecircuitry
timing connected
of the dual
input
(EAS)(EAS)
satisfies
the timing
specification
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(Action 3)
(See Section 3.2.5, Table 3.2.5 of Part III CONNECTIONS).
Replace the panel board.
MANUTENÇÃO ROBO FANUC.pdf
CAUTION
1 For the procedure of recovery from this alarm, see the descriptions of SRVO-230
and SRVO-231.
2 If this alarm is issued, do not reset the chain error alarm until the failure is
checked and corrected. If robot use is continued with one of the duplicate
circuits being faulty, safety may not be guaranteed when the other circuit fails.
EAS1
EAS11
EAS2
EAS21
Fig.3.5 (ag) SRVO-266 FENCE1 statu s abn orm al a, b / SRVO-267 FENCE2 stat us ab no rmal a, b
MAINTENANCE
B-82595EN-2/04
3.TROUBLESHOOTING
(86) SRVO-268 SVOFF1 status abnormal a, b
SRVO-269 SVOFF2 status abnormal a, b
(Explanation) A chain alarm was detected with the EGS (SVOFF) signal.
(Action
(Action 1)
2)
Check
to the
dual signal
input signal
is faulty.
Check whether
whetherthe
thecircuitry
timing connected
of the dual
input
(EGS)(EGS)
satisfies
the timing
specification (See Section 3.2.5, Table 3.2.5 of Part III CONNECTIONS).
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(Action 3)
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Replace the panel board.
MANUTENÇÃO ROBO FANUC.pdf
CAUTION
1 For the procedure of recovery from this alarm, see the descriptions of SRVO-230
and SRVO-231.
2 If this alarm is issued, do not reset the chain error alarm until the failure is
checked and corrected. If robot use is continued with one of the duplicate
circuits being faulty, safety may not be guaranteed when the other circuit fails.
EGS1
EGS11
EGS2
EGS21
Fig.3.5 (ah) SRVO-268 SVOFF1 statu s abn orm al a, b / SRVO-269 SVOFF2 stat us ab nor mal a, b
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
(87) SRVO-270 EXEMG1 status abnormal a, b
SRVO-271 EXEMG2 status abnormal a, b
(Explanation) A chain alarm was detected with the EES (EXEMG) signal.
(Action
(Action 1)
2)
Check
to the
dual signal
input signal
is faulty.
Check whether
whetherthe
thecircuitry
timing connected
of the dual
input
(EES)(EES)
satisfies
the timing
specification (See Section 3.2.5, Table 3.2.5 of Part III CONNECTIONS).
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(Action 3)
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Replace the panel board.
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CAUTION
1 For the procedure of recovery from this alarm, see the descriptions of SRVO-230
and SRVO-231.
2 If this alarm is issued, do not reset the chain error alarm until the failure is
checked and corrected. If robot use is continued with one of the duplicate
circuits being faulty, safety may not be guaranteed when the other circuit fails.
EES1
EES11
EES2
EES21
Fig.3.5 (ai) SRVO-270 EXEMG1 statu s abn orm al a, b / SRVO-271 EXEMG2 statu s abn orm al a, b
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MAINTENANCE
3.TROUBLESHOOTING
(88) SRVO-272 SVDISC1 status abnormal a, b
SRVO-273 SVDISC2 status abnormal a, b
(Explanation) A chain alarm was detected with the SD4 or SD5 (SVDISC) signal.
(Action
(Action 1)
2)
Check
circuitry
to theinput
dual input
is faulty.
Check whether
whetherthethe
timingconnected
of the dual
signalsignal
(SD)(SD)
satisfies
the timing
3.2.5, Table 3.2.5 of Part III CONNECTIONS).
Replace the panel board.
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specification (See Section
(Action 3)
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CAUTION
1 For the procedure of recovery from this alarm, see the descriptions of SRVO-230
and SRVO-231.
2 If this alarm is issued, do not reset the chain error alarm until the failure is
checked and corrected. If robot use is continued with one of the duplicate
circuits being faulty, safety may not be guaranteed when the other circuit fails.
SD4
SD41
SD5
SD51
Fig.3.5 (aj) SRVO-272 SVDISC1 status abno rmal a, b / SRVO-273 SVDISC2 statu s abn orm al a, b
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
(89) SRVO-274 NTED1 status abnormal a, b
SRVO-275 NTED2 status abnormal a, b
(Explanation) A chain alarm was detected with the NTED signal.
(Action 1)
This
alarm
be issued
when theInDEADMAN
switch the
is pressed
to a switch
proper
position
or ismay
operated
very slowly.
such a case, release
DEADMAN
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once completely then press the DEADMAN switch again.
(Action 2)
Check whether the circuitry connected to the dual input signal (NTED) is faulty.
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(Action 3)
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(Action 4)
(Action 5)
(Action 6)
(Action 7)
Check whether the timing of the dual input signal (NTED) satisfies the timing
MANUTENÇÃO
ROBO FANUC.pdf
specification (See Section 3.2.5, Table 3.2.5 of Part III
CONNECTIONS).
Replace the panel board.
Replace the teach pendant cable.
Replace the teach pendant.
Replace the mode switch on the operator's panel.
CAUTION
1 For the procedure of recovery from this alarm, see the descriptions of SRVO-230
and SRVO-231.
2 If this alarm is issued, do not reset the chain error alarm until the failure is
checked and corrected. If robot use is continued with one of the duplicate
circuits being faulty, safety may not be guaranteed when the other circuit fails.
Panel board
Panel board
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MAINTENANCE
3.TROUBLESHOOTING
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Enable/disable
switch
Deadman switch
CRM65
Fig.3.5 (ak) SRVO-274 NTED1 statu s abn orm al a, b / SRVO-275 NTED2 status abno rmal a, b
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
(90) SRVO-277 Panel E-stop (SVEMG abnormal)
(Explanation) The emergency stop line was not disconnected although the emergency stop button
on the operator's panel was pressed.
(Action
Replace
(Action 1)
2)
Replace the
the panel
E-stopboard.
unit
(Action 3)
Replace the servo amplifier.
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E-stop unit
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Panel board
Servo amplifier
(A-cabinet)
Servo amplifier
Panel board
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MAINTENANCE
3.TROUBLESHOOTING
(91) SRVO-278 TP E-stop (SVEMG abnormal)
(Explanation) The emergency stop line was not disconnected although the emergency stop button
on the teach pendant was pressed.
(Action 2)
1)
Replace the
the teach
teach pendant
pendant.cable.
(Action
Replace
(Action
3)
Replace
the
panel
board.
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(Action 4)
Replace the E-stop unit
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(Action 5)
Replace the servo amplifier.
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NOTE
This alarm may be issued if the emergency stop button is pressed very slowly.
(92) SRVO-280 SVOFF input
(Explanation) The external contact connected to EGS1-EGS11 or EGS2-EGS21 of the terminal
block TBOP4 on the panel board is open.
(Action 1)
If external circuitry is connected to EGS1-EGS11 or EGS2-EGS21 of the terminal
block TBOP4 on the panel board, check the external circuitry.
(Action 2)
If this signal is not used, make a connection between EGS1 and EGS11 and between
EGS2 and EGS21 of the terminal block TBOP4 on the panel board.
(Action 3)
Replace the panel board.
WARNING
In a system using the SVOFF signal, it is very dangerous to disable the signal
when a connection is made between EGS1 and EGS11 and between EGS2 and
EGS21 of TBOP4. Never make such an attempt. If a temporary connection is
needed for operation, separate safety measures must be taken.
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
(93) SRVO-281 SVOFF input (SVEMG abnormal)
(Explanation) The emergency stop line was not disconnected although the contact connected
between EGS1 and EGS11 or between EGS2 and EGS21 of the terminal block
TBOP4 on the panel board was open. The emergency stop circuit is faulty.
(Action 1)
Check the switch and cable connected to EGS1-EGS11and EGS2-EGS21 on TBOP4.
If the cable is abnormal, replace it.
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(Action 2)
Replace the panel board.
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(Action 3)
(Action 4)
(Action 5)
Replace the E-stop unit.
Replace the servo amplifier.
MANUTENÇÃO ROBO FANUC.pdf
Replace the connection cable between the panel board and the E-stop unit.
E-stop unit
Panel board
Servo amplifier
(A-cabinet)
Servo amplifier
Panel board
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MAINTENANCE
3.TROUBLESHOOTING
EGS1
EGS11
EGS2
EGS21
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Fig.3.5 (am) SRVO-278 TP E-stop (SVEMG abno rmal )
SRVO-280 SVOFF inp ut
SRVO-281 SVOFF inpu t (SVEMG abno rmal )
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
(94) SRVO-291 IPM over heat (G:i A:j)
(Explanation) IPM on the servo amplifier is overheated.
(Action 1)
Check whether the fan for cabinet ventilation is stopped and also check whether the
vent hole is clogged. If necessary, clean or replace them.
(Action 2)
If SRVO-291 is issued when the robot operating condition is severe, check the robot
operating condition then relax the condition when possible.
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(Action 3)
If SRVO-291 is issued frequently, replace the servo amplifier.
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Servo amplifier
A-cab in et (Fron t)
Side fan unit
Rear fan unit
Side fan type
Rear fan type
A-cab in et (Rear)
MAINTENANCE
B-82595EN-2/04
3.TROUBLESHOOTING
Servo amplifier
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External
fan unit
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B-cabinet (Front)
B-cabinet (Rear)
Fig.3.5 (an) SRVO-291 IPM over heat (G: i A: j )
(95) SRVO-300 Hand broken/HBK disabled
SRVO-302 Set Hand broken to ENABLE
(Explanation) Although HBK was disabled, the HBK signal was input.
(Action 1)
Press RESET on the teach pendant to release the alarm.
(Action 2)
Check whether the hand broken signal is connected to the robot. When the hand
broken signal circuit is connected, enable hand broken. (See Subsection 5.5.3 in Part
III, “CONNECTIONS”.)
(96) SRVO-335 DCS OFFCHK alarm a, b
(Explanation) A failure was detected in the safety signal input circuit.
(Action)
Replace the panel board.
(97) SRVO-348 DCS MCC OFF alarm a, b
(Explanation) A command was issued to turn off the magnetic contactor, but the magnetic contactor
was not turned off.
(Action 1)
Replace the E-stop unit.
(Action 2)
Replace the panel board.
(Action 3)
If a signal is connected to the E-stop unit CRM72, check whether there is a problem
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
(99) SRVO-370 SVON1 status abnormal a, b
SRVO-371 SVON2 status abnormal a, b
(Explanation) A chain alarm was detected with the panel board internal signal (SVON).
(Action)
Replace the panel board.
CAUTION
1 For the procedure of recovery from this alarm, see the descriptions of SRVO-230
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and SRVO-231.
2 If this alarm is issued, do not reset the chain error alarmMANUTENÇÃO
until the failure
is
ROBO FANUC.pdf
checked and corrected. If robot use is continued with one of the duplicate
circuits being faulty, safety may not be guaranteed when the other circuit fails.
E-stop unit
Panel board
Servo amplifier
(A-cabinet)
Servo amplifier
Panel board
B-82595EN-2/04
MAINTENANCE
3.TROUBLESHOOTING
(100)SRVO-372 OPEMG1 status abnormal a, b
SRVO-373 OPEMG2 status abnormal a, b
(Explanation) A chain alarm was detected with the emergency stop switch on the operator's panel.
(Action 1)
Replace the panel board.
(Action 2)
Replace the teach pendant cable.
(Action 3)
Replace the teach pendant.
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(Action 4)
Replace the emergency stop button on the operator's panel.
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CAUTION
MANUTENÇÃO ROBO FANUC.pdf
1 For the procedure of recovery from this alarm, see the descriptions
of SRVO-230
and SRVO-231.
2 If
this alarm
issued, do not
resetuse
theischain
error alarm
until
is
checked
andiscorrected.
If robot
continued
with one
ofthe
thefailure
duplicate
circuits being faulty, safety may not be guaranteed when the other circuit fails.
(101)SRVO-374 MODE11 status abnormal a, b
SRVO-375 MODE12 status abnormal a, b
SRVO-376 MODE21 status abnormal a, b
SRVO-377 MODE22 status abnormal a, b
(Explanation) A chain alarm was detected with the mode switch signal.
(Action 1)
Check the mode switch and its cable. Replace them if a defect is found.
(Action 2)
Replace the panel board.
CAUTION
1 For the procedure of recovery from this alarm, see the descriptions of SRVO-230
and SRVO-231.
2 If this alarm is issued, do not reset the chain error alarm until the failure is
checked and corrected. If robot use is continued with one of the duplicate
circuits being faulty, safety may not be guaranteed when the other circuit fails.
Emergency
stop button
Panel board
Mode s witch
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
Mode switch
EMERGENCY STOP button
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Panel board
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Teach pendant
(B-cabinet)
Fig.3.5 (ap) SRVO-372 OPEMG1 status abno rmal a, b / SRVO-373 OPEMG2 statu s abn orm al a, b
SRVO-374 MODE11 statu s abn orm al a, b / SRVO-375 MODE12 statu s abn orm al a, b
SRVO-376 MODE21 statu s abn orm al a, b / SRVO-377 MODE22 statu s abn orm al a, b
B-82595EN-2/04
MAINTENANCE
(102)SRVO-378 OPSFTY11 status abnormal a, b
SRVO-379 OPSFTY12 status abnormal a, b
SRVO-380 OPSFTY21 status abnormal a, b
SRVO-381 OPSFTY22 status abnormal a, b
SRVO-382 OPSFTY31 status abnormal a, b
SRVO-383 OPSFTY32 status abnormal a, b
SRVO-384 OPSFTY41 status abnormal a, b
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SRVO-385 OPSFTY42 status abnormal a, b
3.TROUBLESHOOTING
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(Explanation) A chain alarm was detected with the OPSFTY signal.
(Action 1)
Check whether the circuitry connected to the dual input
signal (OPSFTY)
is faulty.
MANUTENÇÃO
ROBO FANUC.pdf
(Action 2)
Check whether the timing of the dual input signal (OPSFTY) satisfies the timing
specification (See Section 3.2.5, Table 3.2.5 of Part III CONNECTION).
(Action 3)
Replace the panel board.
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CAUTION
1 For the procedure of recovery from this alarm, see the descriptions of SRVO-230
and SRVO-231.
2 If this alarm is issued, do not reset the chain error alarm until the failure is
checked and corrected. If robot use is continued with one of the duplicate
circuits being faulty, safety may not be guaranteed when the other circuit fails.
CRMA8
3.TROUBLESHOOTING
3.6
MAINTENANCE
B-82595EN-2/04
FUSE-BASED TROUBLESHOOTING
This section describes the alarms and symptoms generated and actions required when the fuses installed
on the printed circuit boards and units have blown.
(1) When the fuses of the power supply unit have blown
F1: Fuse for AC input
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F3: Fuse for +24 E
F4: Fuse for +24 V
MANUTENÇÃO ROBO FANUC.pdf
Name
Symptom observed when fuse has blown
F1
The LED (PIL: Green) of the power supply unit
does not light, and the power cannot be turned on.
Action
1
2
1
F3
The teach pendant is turned off.
F4
The power, when turned on, is immediately turned
off. At this time, the LED (ALM: Red) lights.
2
1
2
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MAINTENANCE
Check the units (fans) , printed-circuit board and
cables connected to the CP2 and CP3
connectors of the power supply unit to see if
there is any short circuit.
Replace the power supply unit.
Check the printed circuit boards, units, servo
amplifier, and cables using +24 E according to
the power supply system diagram. Replace a
faulty printed circuit board, unit, servo amplifier
or cable if any.
Replace the power supply unit.
Check the printed circuit boards, units, and
cables using +24 V according to the power
supply system diagram. Replace a faulty
printed circuit board, unit, or cable if any. The
LED of ALM is turned off by pressing the OFF
button once.
Replace the power supply unit.
3.TROUBLESHOOTING
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Servo amplifier
Power supply unit
(A-cabinet)
Servo amplifier
F1(8.0A): Fuse for AC input
F3(7.5A): Fuse for +24E
F4(7.5A): Fuse for +24V
PIL: LED (green)
ALM: LED (red)
Power supply unit
(B-cabinet)
3.TROUBLESHOOTING
(Power supp ly uni t)
MAINTENANCE
B-82595EN-2/04
(2) Main board fuse
FU1:For protection of the +12V output for the vision sensor
(This fuse is mounted on the main board of the total edition “06B” or later.)
Name
FU1
Symptom observed when fuse has
blown
+12V is not output.
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Act io n
1
2
Check +12V used by the vision sensor for a ground fault.
Check the vision sensor and the connection cable.
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3
Replace the main board.
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MANUTENÇÃO ROBO FANUC.pdf
75173 (Receiver)
Total edition 09B
or earlier
75172 (Driver)
Total edition 09B
or earlier
CPU card
FROM/SRAM module
(Behind the axis control card)
Axis control card
FU1
Fuse(0.5A)
(Total edition “06B” or later)
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
(3) Servo amplifier fuse
FS1: For generation of the power to the amplifier control circuit
FS2: For protection of the 24V output to the end effector, XROT, and XHBK
FS3: For protection of the 24V output to the regenerative resistance and the additional axis amplifier
Name
Symptom observed when fuse has
blown
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FS1
All LEDs on the servo amplifier go out.
Act io n
Replace the servo amplifier.
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The FSSB disconnection or initialization
alarm is displayed on the teach pendant.
The Fuse Blown (Amp) alarm
(SRVO-214), Hand broken (SRVO-006),
FS2
and ROBOT OVER TRAVEL are displayed
on the teach pendant.
The Fuse Blown (Amp) alarm (SRVO-214)
and DCAL are displayed on the teach
pendant.
FS3
1
2
3
1
2
3
ROBO FANUC.pdf
Check +24VF used byMANUTENÇÃO
the end effector
for a ground fault.
Check the robot connection cable and the robot’s internal
cable.
Replace the servo amplifier.
Check the regenerative resistance, and replace it if
required.
Check the additional axis amplifier and it’s wiring, and
replace them if required.
Replace the servo amplifier.
CRR88
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
(4) Panel board fuses
FUSE1: For +24EXT line (emergency stop line) protection
FUSE2: For protection of the teach pendant emergency stop line
Name
FUSE1
Symptom observed when fuse has
blown
The teach pendant displays external
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emergency stop, fence open, or SVOFF
input fuse blown (panel PCB).
Act io n
1 If an alarm is issued when the fuse has not blown,
check the voltages of EXT24V and EXT0V (TBOP6).
If external 24V or 0V is not used, check the jumper pin
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between EXT24V and INT24V or between EXT0V and
MANUTENÇÃO ROBO FANUC.pdf
INT0V.
2 Check the +24EXT line (emergency stop line) for a
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FUSE2
B-82595EN-2/04
short circuit or connection to ground.
3 Replace the panel board.
1 Check the teach pendant cable for a fault, and replace
it if required.
2 Check the teach pendant for a fault, and replace it if
required.
3 Replace the panel board.
The display on the teach pendant
disappears.
MAINTENANCE
3.TROUBLESHOOTING
(5) Fuse on the process I/O printed circuit board
FUSE1: Fuse for +24E
Name
FUSE1
Symptom observed when fuse has blown
The LED (ALM-2 or FALM) on the process I/O
printed circuit board lights, and an alarm such
as IMSTP input is output on the teach pendant.
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(The display data depends on state of
peripheral equipment connection.)
Action
1 Check if the cables and peripheral equipment
connected to the process I/O printed circuit board
are normal.
2 Replace the process I/O printed circuit board.
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Process
MANUTENÇÃO ROBO FANUC.pdf
I/O board CA
Process I/O board EA, EB
Fuse location is common to EA and EB. The following is figure of EA.
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
Process I/O board FA
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Process I/O board GA
Process I/O board HA
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MAINTENANCE
3.TROUBLESHOOTING
Process I/O board JA , JB
Fuse location is common to JA and JB. The following is figure of JA.
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Process I/O board K A, KB, KC
Fuse location is common to KA, KB and KC. The following is figure of KA.
LED
FUSE
A16B-2204-0050
3.TROUBLESHOOTING
3.7
MAINTENANCE
B-82595EN-2/04
TROUBLESHOOTING BASED ON LED INDICATIONS
The printed circuit boards and servo amplifier are provided with alarm LEDs and status LEDs.
The
LED status and corresponding troubleshooting procedures are described below.
Process I/O
Panel
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Main board
board
Power supply unit
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Servo amplifier
(A-cabinet)
Servo amplifier
Panel board
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MAINTENANCE
3.TROUBLESHOOTING
TROUBLESHOOTING USING THE LEDS ON THE MAIN BOARD
(Total edition 09B or earlier)
(1) Troubleshooting using the status display LED
To
troubleshoot
arises
before theAfter
teachpower-on,
pendant isthe
ready
to light
display,
check theinstatus
LEDs
(green) on an
thealarm
main that
board
at power-on.
LEDs
as described
steps
1 to end, in the order described. If an alarm is detected, the step in which the alarm occurred can be
determined from which LEDs are lit.
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●:Turn on
○:Turn off
☆:Blink
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Step
LED
Action to be taken
1:
After power-on, all
LEDs are lit.
[Action1] Replace the CPU card.
* [Action2] Replace the main board.
2:
Software operation
start-up.
[Action1] Replace the CPU card.
* [Action2] Replace the main board.
3:
The initialization of
dram on the CPU
card is completed.
[Action1] Replace the CPU card.
* [Action2] Replace the main board.
4:
The initialization of
[Action1] Replace the CPU card.
DPRAM on the
communication IC is
completed.
* [Action2] Replace the main board.
* [Action3] Replace the FROM/SRAM module.
5:
The initialization of
the communication
IC is completed.
[Action1] Replace the CPU card.
* [Action2] Replace the main board.
* [Action3] Replace the FROM/SRAM module.
6:
The loading of the
basic software is
completed
* [Action1] Replace the main board.
* [Action2] Replace the FROM/SRAM module.
3.TROUBLESHOOTING
Step
9:
MAINTENANCE
LED
The loading of
optional software is
completed.
10: DI/DO initialization
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B-82595EN-2/04
Action to be taken
* [Action1] Replace the main board.
[Action2] Replace the process I/O board.
* [Action1] Replace the FROM/SRAM module.
* [Action2] Replace the main board.
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11: The preparation of
the SRAM module is
completed.
[Action1] Replace the axis control card.
* [Action2] Replace the main board.
[Action3] Replace the servo amplifier.
12: Axis control card
initialization
[Action1] Replace the axis control card.
* [Action2] Replace the main board.
[Action3] Replace the servo amplifier.
13: Calibration is
completed.
[Action1] Replace the axis control card.
* [Action2] Replace the main board.
[Action3] Replace the servo amplifier.
14: Start-up of power
application for the
* [Action1] Replace the main board.
servo system
15: Program execution
* [Action1] Replace the main board.
[Action2] Replace the process I/O board.
16: DI/DO output
start-up.
* [Action1] Replace the main board.
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MAINTENANCE
3.TROUBLESHOOTING
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CPU card
FROM/SRAM module
Axis control card
(Total edition 09B or earlier)
3.TROUBLESHOOTING
MAINTENANCE
B-82595EN-2/04
TROUBLESHOOTING USING THE LEDS ON THE MAIN BOARD
(Total edition 10B or later)
(1) Troubleshooting using the status display LED
To troubleshoot an alarm that arises before the teach pendant is ready to display, check the status
LEDs (green) on the main board at power-on. After power-on, the LEDs light as described in steps
1 to end, in the order described. If an alarm is detected, the step in which the alarm occurred can be
determined from which LEDs are lit.
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●:Turn on
○:Turn off
☆:Blink
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Step
1:
LED
After power-on, all
LEDs are lit.
Action to be taken
D1
D2
[Action1] Replace the CPU card.
* [Action2] Replace the main board.
D3
D4
2:
Software operation
start-up.
D1
D2
[Action1] Replace the CPU card.
* [Action2] Replace the main board.
D3
D4
3:
The initialization of
dram on the CPU card
is completed.
D1
D2
[Action1] Replace the CPU card.
* [Action2] Replace the main board.
D3
D4
4:
The initialization of
DPRAM on the
D1
D2
communication IC is
completed.
D3
[Action1] Replace the CPU card.
* [Action2] Replace the main board.
* [Action3] Replace the FROM/SRAM module.
D4
5:
The initialization of the
communication IC is
completed.
D1
D2
D3
[Action1] Replace the CPU card.
* [Action2] Replace the main board.
* [Action3] Replace the FROM/SRAM module.
D4
D1
6:
The
of the
basicloading
software
is
completed.
D2
D3
MAINTENANCE
B-82595EN-2/04
Step
9:
The loading of
optional software is
completed.
*
[Action1] Replace
board. module.
* [Action2]
Replace the
the main
FROM/SRAM
LED
3.TROUBLESHOOTING
Action to be taken
D1
D2
* [Action1] Replace the main board.
[Action2] Replace the process I/O board.
D3
D4
10: DI/DO initialization
D1
D2
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D3
* [Action1] Replace the FROM/SRAM module.
* [Action2] Replace the main board.
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D4
7/17/2019 11: The preparation of the
SRAM module is
completed.
D1
D2
D3
[Action1] Replace theMANUTENÇÃO
axis control card.
ROBO FANUC.pdf
* [Action2] Replace the main board.
[Action3] Replace the servo amplifier.
D4
12: Axis control card
initialization
D1
D2
D3
[Action1] Replace the axis control card.
* [Action2] Replace the main board.
[Action3] Replace the servo amplifier.
D4
13: Calibration is
completed.
D1
D2
D3
[Action1] Replace the axis control card.
* [Action2] Replace the main board.
[Action3] Replace the servo amplifier.
D4
14: Start-up of power
application for the
servo system
D1
* [Action1] Replace the main board.
D2
D3
D4
15: Program execution
D1
D2
* [Action1] Replace the main board.
[Action2] Replace the process I/O board.
D3
D4
16: DI/DO output start-up.
D1
* [Action1] Replace the main board.
D2
D3
D4
17: Initialization is
D1
3.TROUBLESHOOTING
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Initialization has ended normally
MAINTENANCE
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D1
D2
Status LEDs
D3
D4
(Total Edition 10B or later)
(2) TROUBLESHOOTING BY 7-SEGMENT LED INDICATOR
7-segment LED
indicator
Description
[Description] A parity alarm condition has occurred in DRAM on the CPU card installed on
the main board.
[Action1]
Replace the CPU card.
* [Action2]
Replace the main board.
[Description] A parity alarm condition has occurred in SRAM on the FROM/SRAM module
installed on the main board.
[Action1]
Replace the FROM/SRAM module.
Replace the main board.
* [Action2]
MAINTENANCE
B-82595EN-2/04
7-segment LED
indicator
3.TROUBLESHOOTING
Description
[Description] The SYSFAIL alarm has occurred.
[Action1]
Replace the axis control card.
[Action2]
Replace the CPU card.
Replace the main board.
[Description] 5V is supplied to Main board. Above alarms do not occur.
* [Action3]
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*
If the main board or FROM/SRAM module is replaced, the contents of memory (parameters,
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specified data, etc.) will be lost. Before you replace the unit, therefore, make a backup copy of the
data.
ROBO FANUC.pdf
If an alarm is issued, data backup may be disabled. So, back up theMANUTENÇÃO
contents of memory
routinely.
Troubleshooting b y LEDs on pow er supply unit
LED indication
Failure description and required measure
[Description] When ALM LED (red) turned on, power supply alarm has occurred.
[Action1]
Check fuse F4 (+24V) on the power supply unit, and replace it if it has
blown.
[Action2]
Check the printed-circuit boards powered by the DC power supplies
(+5V, 15V, and +24V), the relevant units, and cables, and replace
them if defective.
[Action3]
Replace the power supply unit.
3.TROUBLESHOOTING
MAINTENANCE
LED indication
B-82595EN-2/04
Failure description and required measure
[Description] If the PIL LED (Green) does not light, the power supply unit has not
been supplied with 200 VAC.
[Action1]
Check fuse F1 on the power supply unit, and replace it if it has blown.
[Action2]
For detailed causes of fuse blown out, please refer to section 3.6.
Replace the power supply unit.
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F1 (8.0A) : Fuse for AC input
F3 (7.5A) : Fuse for +24E
F4 (7.5A) : Fuse for +24V
PIL : LED (green)
ALM :LED (red)
B-82595EN-2/04
MAINTENANCE
3.TROUBLESHOOTING
Troubleshoo ting b y LED on th e panel board
-
A20B-2101-0370
LED indication
Failure description and required measure
ALM1
ALM2
[Description] When the ALM1 and ALM2 (red) turned on, communication with the
main board does not execute.
[Action1]
Check the communication cable between the main and panel boards,
and replace it if necessary.
[Action2]
Replace the main board.
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[Action3]
Replace the panel board.
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5V
[Description] When the LED does not light. The power supply inside the panel board
does not generate +5 V normally.
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[Action1]
[Action2]
*
Check the CRM96 connector and check that 24 V is supplied.
Replace the panel board.
If the main board or FROM/SRAM module is replaced, the contents of memory (parameters,
specified data, etc.) will be lost. Before you replace the unit, therefore, make a backup copy of the
data.
If an alarm is issued, data backup may be disabled. So, back up the contents of memory routinely.
(Panel b oard)
Troubleshoo ting b y alarm LEDs on the proc ess I/O prin ted circui t board
3.TROUBLESHOOTING
MAINTENANCE
LED
[Action2]
ALM0
[Action3]
B-82595EN-2/04
Descripti on and action to be taken
Examine the cables and peripheral devices
connected to the process I/O PC board.
Replace any failed components.
Replace the process I/O PC board.
FALM
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Process I/O CA/HA
Process I/O EA/EB/FA/GA/KA/KB/KC
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Fuse
Fuse
Fuse specification: A60L-0001-0046#2.0
Process I/O JA/JB
MAINTENANCE
B-82595EN-2/04
3.TROUBLESHOOTING
Troubleshoot ing by LEDs on servo amplifier
The servo amplifier has alarm LEDs. Troubleshoot the alarm indicated by the LEDs, referring also to
the alarm indication on the teach pendant.
Check that the voltage is not higher than 50V.
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CAUTION
Before touching the servo amplifier, check the DC link voltage with the screws
located above the LED "D7". By using a DC voltage tester, check that the
voltage is 50 V or less.
LED
Color
P5V
Green
Description
Lights when the power supply circuit inside the servo amplifier outputs a voltage of +5 V
normally.
If the LED does not light:
3.TROUBLESHOOTING
LED
Color
ALM
Red
MAINTENANCE
B-82595EN-2/04
Description
Lights when the servo amplifier detects an alarm.
If the LED lights when there is no alarm condition in the machine:
[Measure] Replace the servo amplifier.
If the LED does not light when there is an alarm condition in the machine:
[Measure] Replace the servo amplifier.
DRDY
Green
Lights when the servo amplifier is ready to drive the servo motor.
If the LED does not light when the motor is activated:
[Measure] Replace the servo amplifier.
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OPEN
Green
Lights when the communication between the servo amplifier and the main board is normal.
If the LED does not light:
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D7
3.8
(Check 1)
(Check 2)
(Check 3)
(Check 4)
Red
[Measure 1] Check for the connection of the FSSB optical cable.
[Measure 2] Replace the servo card.
MANUTENÇÃO ROBO FANUC.pdf
[Measure 3] Replace the servo amplifier.
Lights when the DCLINK circuit inside the servo amplifier is charged to reach the specified
voltage.
If the LED does not light after pre-charge is finished:
[Measure 1] It is likely that the DC Link may be short-circuited. Check for connection.
[Measure 2] It is likely that the charge current control resistor may be defective. Replace
the E-stop unit.
[Measure 3] Replace the servo amplifier.
POSITION DEVIATION FOUND IN RETURN TO THE
REFERENCE POSITION (POSITIONING)
On the status screen, check the position deviation in the stopped state. To display
the position deviation, press the screen selection key, and select STATUS from the
menu. Press F1, [TYPE], select AXIS from the menu, then press the F4, PULSE.
(Corrective action)
Correct the parameters related to return to the reference position (positioning).
Check whether the motor axis can be positioned normally.
(Corrective action)
If the motor axis can be positioned normally, check the mechanical unit.
Check the mechanical unit for backlash.
(Corrective action)
Replace a faulty key of motor shaft or other faulty parts.
If
checks 1 to
3 show normal results
(Corrective
action)
Replace the Pulsecoder and main board.
MAINTENANCE
B-82595EN-2/04
3.9
3.TROUBLESHOOTING
MANUAL OPERATION IMPOSSIBLE
The following explains checking and corrective action required if the robot cannot be operated manually
after the controller is turned on:
(1) Check and corrective action to be made if manual operation is impossible
(Check 1)
Check whether the teach pendant is enabled.
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(Corrective action)
Turn on the teach pendant "enable".
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(Check 2)
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(Check 3)
(Check 4)
(Check 5)
(Check 6)
Check whether the teach pendant is handled correctly.
MANUTENÇÃO ROBO FANUC.pdf
(Corrective action)
To move an axis by manual operation, press the axis selection key and shift key at
the same time.
Set the override for manual feed to a position other than the FINE and VFINE
positions.
Check whether the ENBL signal of the peripheral device control interface is set to
on.
(Corrective action)
Place the peripheral device control interface in the ENBL status.
Check whether the HOLD signal of the peripheral device control interface (hold
status). (Check whether the hold lamp on the teach pendant is on.)
(Corrective action)
Turn off the HOLD signal of the peripheral device control interface.
Check whether the previous manual operation has been completed.
(Corrective action)
If the robot cannot be placed in the effective area because of the offset of the speed
command voltage preventing the previous operation from being completed, check the
position deviation on the status screen, and change the setting.
Check whether the controller is in the alarm status.
(Corrective action)
Release the alarm.
(2) Check and corrective action to be taken if the program cannot be executed
(Check 1)
Check whether the ENBL signal for the peripheral-device control interface is on.
(Check 2)
(Corrective action)
Put the peripheral-device control interface in the ENBL state.
Check whether the HOLD signal for the peripheral-device control interface is on.
Al
h k h h h HOLD l
h
h
d
i
4.PRINTED CIRCUIT BOARDS
4
MAINTENANCE
B-82595EN-2/04
PRINTED CIRCUIT BOARDS
The printed circuit boards are factory-set for operation. Usually, you do not need to set or adjust them.
This chapter describes the standard settings and adjustment required if a defective printed circuit board is
replaced. It also describes the test pins and the LED indications.
The control unit printed circuit board includes the main unit printed circuit board and one or more cards
or modules installed horizontally to the main-unit printed-circuit board.
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These PC boards have interface connectors, LED indicators, and a plastic panel at the front. At the rear,
there is a backplane connector.
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4.1
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MAIN BOARD (A16B-3200-0600, -0601)
75173 (receiver)
* Total edition 09B or earlier
75172 (driver)
* Total edition 09B
or earlier
CPU card
FROM/SRAM module
(under the axis control card)
Axis control card
Fuse (0.5 A)
* Total edition 06B or later
Fig 4 1 Main b oard
B-82595EN-2/04
Name
FROM/SRAM module
MAINTENANCE
4.PRINTED CIRCUIT BOARDS
Ordering Specificati on
Board Specificatio n
A05B-2500-H060
A20B-3900-0163
A20B-3900-0223
A20B-3900-0164
A05B-2500-H061
A05B-2500-H062
A05B-2500-H063
A05B-2500-H064
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A20B-3900-0224
A20B-3900-0165
A20B-3900-0225
A20B-3900-0166
A20B-3900-0226
A20B-3900-0167
A20B-3900-0227
Note
FROM 32M/ SRAM 1M
FROM 32M/ SRAM 2M
FROM 32M/ SRAM 3M
FROM 64M/ SRAM 1M
FROM 64M/ SRAM 2M
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(1) Test pins
Name
Use
GND1
GND2
GND3
CACHOFF
LOAD
For testing the printed circuit board
(2) LEDs
Seven segment LED
Descriptio n
A parity alarm occurred in a DRAM of the CPU card on the main board.
A parity alarm occurred in a SRAM of the FROM/SRAM module on the main board.
Bus error occurred on the communication controller.
A parity alarm occurred in DRAM controlled by communication controller.
A servo alarm occurred on the main board.
4.PRINTED CIRCUIT BOARDS
MAINTENANCE
Status LED
B-82595EN-2/04
Descripti on
Operating status of the system.
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ETHERNET LED
Color
Descriptio n
TX
L/RX
Green
Green
Flashes during data transmission.
Lights when a link is established and blinks when data is received.
(3) Communication IC
If the teach pendant cannot display anything because of, for example, a broken wire in the teach
pendant connection cable, it is likely that the communication driver or receiver may be defective.
Name
Drawing number
75172 (Driver)
75173 (Receiver)
A76L-0151-0098
A76L-0151-0099
MAINTENANCE
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4.2
4.PRINTED CIRCUIT BOARDS
EMERGENCY STOP CONTROL B OARD (A20B-1008-0740)
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Fig.4.2 Emergency stop control board
4.PRINTED CIRCUIT BOARDS
4.3
MAINTENANCE
B-82595EN-2/04
BACKPLANE BOARD
(A20B-2003-0890)
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MAINTENANCE
4.PRINTED CIRCUIT BOARDS
(A20B-2004-0040)
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4.PRINTED CIRCUIT BOARDS
4.4
MAINTENANCE
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PANEL BOARD (A20B-2101-0370)
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Fig.4.4 Panel Board
(1) Meanings of LEDs
Name
Colo r
5V
Green
ALM1
ALM2
Red
Use
Lights when +5 V is output normally from the internal power supply of the panel
board.
Lights when communication with the main board is interrupted.
MAINTENANCE
B-82595EN-2/04
4.5
4.PRINTED CIRCUIT BOARDS
PROCESS I/O BOARD CA (A16B-2201-0470)
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Fig. 4.5 Process I/O Board CA
(1) Test pins
Name
Use
+24V
+5V
+15V
-15V
GND
GND
+10V
+15V
P24V
P5V
P15VC
M15VC
GND1
GND2
P10V
P15VF
4.PRINTED CIRCUIT BOARDS
For measuring the DC supply voltage
For measuring the reference voltage of the digital/analog converter
MAINTENANCE
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(2) Setting
Name
ICOM1
UDI1 to UDI20
(Connector CRM2A)
ICOM2
UDI21 to UDI40
(Connector CRM2B)
ICOM3
WI01 to WI08
(Connector CRW1)
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SP1
Channel 1
SP2
Channel 2
Standard
setting
Description
Side A
Set this jumper according to the common
voltage of input devices.
Side A: +24V common
Side: 0V common
Open
The polarity of the output voltage is switched to:
Strapped: Negative (-)
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Open: Positive (+)
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(3) Adjustment
VR1: Adjust the gain of channel 1.
Execute a robot program and set AOUT [1] to 4095 on the teach pendant. Connect a
digital voltmeter to test pin AOUT1 and rotate VR1 until the meter reads 12.0V.
Connect the negative (-) lead of the digital voltmeter to test pin GNDF. (The GNDF test
pin is different from the common GND test pin.)
VR2: Adjust the gain of channel 2.
Execute a robot program and set AOUT [2] to 4095 on the teach pendant. Connect the
digital voltmeter to test pin AOUT2 and rotate VR2 until the meter reads 12.0V.
Connect the negative (-) lead of the digital voltmeter to test pin GNDF. (The GNDF test
pin is different from the common GND test pin.)
VR3: Adjust the reference supply voltage of the digital/analog converter.
Connect the digital voltmeter to test pin P10V and rotate VR3 until the meter reads
10.0±0.1V.
(4) LEDs
Color
Description
Red
A communication alarm occurred between the
main CPU and process input/output.
MAINTENANCE
B-82595EN-2/04
Driver IC
DV6
DV7
DV8
DV9
DV10
DV11
DV12
RESERVED
DO sign al
DO01, DO02, DO03, DO04
DO05, DO06, DO07, DO08
DO09, DO10, DO11, DO12
DO13, DO14, DO15, DO16
DO17, DO18, DO19, DO20
WO01, WO02, WO03, WO04
WO05, WO06, WO07, WO08
For replacement
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4.6
4.PRINTED CIRCUIT BOARDS
PROCESS I/O BOARD EA (A16B-3200-0230)
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Fig. 4.6 Process I/O Board EA
(1) Test pins
Name
P24V
P5V
P15VC
M15VC
GND1
GND2
Use
+24V
+5V
+15V
-15V
GND
GND
4.PRINTED CIRCUIT BOARDS
For measuring the DC supply voltage
MAINTENANCE
B-82595EN-2/04
(2) Setting
Name
ICOM1
UDI1 to UDI20
(Connector CRM2A)
ICOM2
UDI21 to UDI40
(Connector CRM2B)
ICOM3
WI01 to WI08
(Connector CRW1)
SP1
Channel 1
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SP2
Channel 2
Standard
setting
Description
Side A
Set this jumper according to the common voltage of
input devices.
Side A: +24V common
Side: 0V common
Open
Output voltage is adjusted to:
Short: Output voltage minus (-)
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Open: Output voltage plus (+)
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(3) Adjustment
VR1: Adjust the gain of channel 1.
Execute a robot program and set AOUT [1] to 4095 on the teach pendant. Connect a
digital voltmeter to test pin AOUT1 and rotate VR1 until the meter reads 12.0V.
Connect the negative (-) lead of the digital voltmeter to test pin GNDF. (The GNDF test
pin is different from the common GND test pin.)
VR2: Adjust the gain of channel 2.
Execute a robot program and set AOUT [2] to 4095 on the teach pendant. Connect the
digital voltmeter to test pin AOUT2 and rotate VR2 until the meter reads 12.0V.
Connect the negative (-) lead of the digital voltmeter to test pin GNDF. (The GNDF test
pin is different from the common GND test pin.)
VR3: Adjust the standard voltage for the digital/analog converter.
Connect the digital voltmeter to test pin P10V and rotate VR3 until the meter reads
10.0±0.1V
VR4, VR5: Adjust the internal power supply
This volume is adjusting the internal power supply.
Adjusting when shipping from the factory, so you need not to adjust.
(4) LEDs
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Color
Description
Red
A communication alarm occurred between the main CPU
and process I/O board.
MAINTENANCE
4.PRINTED CIRCUIT BOARDS
(5) Correspondence between driver IC and DO signals
Ordering code for the driver IC: A76L-0151-0062
Driver IC
DO sign al
DV1
CMDENBL, SYSRDY, PROGRUN, PAUSED
DV2
HELD, FALT, ATPERCH, TPENBL
DV3
BATALM, BUSY, ACK1/SNO1, ACK2/SNO2
DV4
ACK3/SNO3, ACK4/SNO4, ACK5/SNO5, ACK6/SNO6
DV5
ACK7/SNO7, ACK8/SNO8, SNACK, RESERVED
DV6
DO01, DO02, DO03, DO04
DV7
DO05, DO06, DO07, DO08
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DV8
DO09, DO10, DO11, DO12
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DV9
DV10
DV11
DV12
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4.7
DO13, DO14, DO15, DO16
DO17, DO18, DO19, DO20
WO01, WO02, WO03, WO04
WO05, WO06, WO07, WO08
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PROCESS I/O BOARD EB (A16B-3200-0231)
Fig. 4.7 PROCESS I/O BOARD EB (A16B-3200-0231)
(1) Test pins
4.PRINTED CIRCUIT BOARDS
MAINTENANCE
Name
ICOM2
Standard
setting
UDI21 to UDI40
(Connector CRM2B)
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Description
Side A: +24V common
Side B: 0V common
(3) LEDs
Color
Description
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A communication alarm occurred between the main
Red
CPU and process I/O board.
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Red
A fuse (FUSE 1) in the process I/O board blew.
(4) Correspondence between driver IC and DO signals
Ordering code for the driver IC: A76L-0151-0062
Driver IC
DO sign al
DV1
DV2
DV3
DV4
DV5
DV6
DV7
CMDENBL, SYSRDY, PROGRUN, PAUSED
HELD, FALT, ATPERCH, TPENBL
BATALM, BUSY, ACK1/SNO1, ACK2/SNO2
ACK3/SNO3, ACK4/SNO4, ACK5/SNO5, ACK6/SNO6
ACK7/SNO7, ACK8/SNO8, SNACK, RESERVED
DO01, DO02, DO03, DO04
DO05, DO06, DO07, DO08
DV8
DV9
DV10
DO09, DO10, DO11, DO12
DO13, DO14, DO15, DO16
DO17, DO18, DO19, DO20
MAINTENANCE
B-82595EN-2/04
4.8
4.PRINTED CIRCUIT BOARDS
PROCESS I/O BOARD FA (A16B-3200-0420)
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Fig. 4.8 Process I/O Board FA
(1) Test pins
Name
P24V
P5V
GND1
GND2
Use
+24V
+5V
GND
GND
For measuring the DC supply voltage
(2) Setting
Name
ICOM1
ICOM2
ICOM3
Standard
setting
Description
UDI1 to UDI20
(Connector CRM2A)
UDI21 to UDI40
(Connector CRM2B)
UDI41 to UDI60
(Connector CRM2C)
4.PRINTED CIRCUIT BOARDS
Set this jumper according to the common
voltage of input devices.
Side A
MAINTENANCE
B-82595EN-2/04
(3) LEDs
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Color
Description
Red
A communication alarm occurred between the main
CPU and process I/O board.
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Red
A fuse (FUSE 1) in the process I/O board blew.
(4) Correspondence between driver IC and DO signals
Ordering code for the driver IC: A76L-0151-0062
Driver IC
DO sign al
DV1
DV2
DV3
DV4
CMDENBL, SYSRDY, PROGRUN, PAUSED
HELD, FALT, ATPERCH, TPENBL
BATALM, BUSY, ACK1/SNO1, ACK2/SNO2
ACK3/SNO3, ACK4/SNO4, ACK5/SNO5, ACK6/SNO6
DV5
DV6
DV7
DV8
DV9
DV10
DV11
DV12
ACK7/SNO7, ACK8/SNO8, SNACK, RESERVED
DO01, DO02, DO03, DO04
DO05, DO06, DO07, DO08
DO09, DO10, DO11, DO12
DO13, DO14, DO15, DO16
DO17, DO18, DO19, DO20
DO21, DO22, DO23, DO24
DO25, DO26, DO27, DO28
DV13
DV14
DV15
DO29, DO30, DO31, DO32
DO33, DO34, DO35, DO36
DO37, DO38, DO39, DO40
MAINTENANCE
B-82595EN-2/04
4.9
4.PRINTED CIRCUIT BOARDS
PROCESS I/O BOARD GA (A16B-2203-0520)
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(1) Test pins
Name
Use
P24V
P5V
GND1
+24V
+5V
GND
GND2
GND3
P24VF
P5VF
GNDF
AOUT1
AOUT2
GND
GND
+24V
+5V
GND
Channel 1
Channel 2
For measuring the DC supply voltage
Power for the digital/analog converter
For measuring the voltage of the analog output signal (digital/analog)
(2) Setting
Name
Standard
4.PRINTED CIRCUIT BOARDS
Description
MAINTENANCE
B-82595EN-2/04
Execute a robot program and set AOUT [2] to 3413 on the teach pendant. Connect the
digital voltmeter to test pin AOUT2 and rotate VR3 or VR4 until the meter reads 15.0V.
Connect the negative (-) lead of the digital voltmeter to test pin GNDF. (The GNDF test
pin is different from the common GND test pin.)
(4) LEDs
Color
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Red
Description
A communication alarm occurred between the main CPU
and process I/O board.
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Red
A fuse (FUSE 1) in the process I/O board blew.
(5) Correspondence between driver IC and DO signals
Ordering code for the driver IC: A76L-0151-0062
Driver IC
DO sign al
DV1
DV2
DV3
DV4
DV5
DV6
DV7
DV8
CMDENBL, SYSRDY, PROGRUN, PAUSED
HELD, FALT, ATPERCH, TPENBL
BATALM, BUSY, ACK1/SNO1, ACK2/SNO2
ACK3/SNO3, ACK4/SNO4, ACK5/SNO5, ACK6/SNO6
ACK7/SNO7, ACK8/SNO8, SNACK, RESERVED
DO01, DO02, DO03, DO04
DO05, DO06, DO07, DO08
DO09, DO10, DO11, DO12
DV9
DV10
DO13, DO14, DO15, DO16
DO17, DO18, DO19, DO20
MAINTENANCE
B-82595EN-2/04
4.10
4.PRINTED CIRCUIT BOARDS
PROCESS I/O BOARD HA (A16B-2203-0760)
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Fig. 4.10 Process I/O Board HA
(1) Test pins
Name
P24V
P5V
GND1
GND2
GND3
P24VF
P5VF
Use
+24V
+5V
GND
GND
GND
+24V
+5V
4.PRINTED CIRCUIT BOARDS
For measuring the DC supply voltage
Power for the digital/analog converter
MAINTENANCE
B-82595EN-2/04
(3) Adjustment
VR1/VR2: Adjust the gain and the offset of channel 1.
Execute a robot program and set AOUT [1] to 3413 on the teach pendant. Connect a
digital voltmeter to test pin AOUT1 and rotate VR1 or VR2 until the meter reads 15.0V.
Connect the negative (-) lead of the digital voltmeter to test pin GNDF. (The GNDF test
pin is different from the common GND test pin.)
VR3/VR4: Adjust the gain and the offset of channel 2.
Execute a robot program and set AOUT [2] to 3413 on the teach pendant. Connect the
digital voltmeter to test pin AOUT2 and rotate VR3 or VR4 until the meter reads 15.0V.
Connect the negative (-) lead of the digital voltmeter to test pin GNDF. (The GNDF test
pin is different from the common GND test pin.)
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(4) LEDs
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MANUTENÇÃO
Description ROBO FANUC.pdf
Color
Red
A communication alarm occurred between the main CPU
and process I/O board.
Red
A fuse (FUSE 1) in the process I/O board blew.
(5) Correspondence between driver IC and DO signals
Ordering code for the driver IC: A76L-0151-0062
Driver IC
DV1
DV2
DV3
DV4
DO sign al
CMDENBL, SYSRDY, PROGRUN, PAUSED
HELD, FALT, ATPERCH, TPENBL
BATALM, BUSY, ACK1/SNO1, ACK2/SNO2
ACK3/SNO3 ACK4/SNO4 ACK5/SNO5 ACK6/SNO6
4.11
4.PRINTED CIRCUIT BOARDS
MAINTENANCE
B-82595EN-2/04
PROCESS I/O BOARD JA (A16B-2204-0010)
P24V
P5V
ICOM2
GND1
ICOM1
ICOM5
LED
CRMA6A
CRMA6B
ICOM6
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TBSRC3
TBSRC1
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CRMA5A
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MANUTENÇÃO ROBO FANUC.pdf
GND2
CRMA5B
CRMA5C
CRMA5D
ICOM3
TBSRC2
ICOM4
I/O-LK
JD1B
I/O-LK
JD1A
FUSE (2A)
Fig.4.11 Process I/O Board JA
(1) Test pins
Name
P24V
P5V
GND1
GND2
Use
+24V
+5V
GND
GND
4.PRINTED CIRCUIT BOARDS
For measuring the DC supply voltage
MAINTENANCE
B-82595EN-2/04
(2) Settings
Name
ICOM1
UDI1
to 20 CRMA5A)
(Connector
ICOM2
UDI21 to 40
(Connector CRMA5B)
ICOM3
UDI41 to 60
(Connector CRMA5C)
ICOM4
UDI61 to 80
(Connector CRMA5D)
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ICOM5
UDI81 to 88
Standard
setting
Side A
Description
Set
the A:
common
voltage
Side
+24 V common
Side B: 0 V common
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ICOM6
(Connector CRMA6A)
UDI89 to 96
(Connector CRMA6B)
MANUTENÇÃO ROBO FANUC.pdf
(3) LEDs
Color
Description
Red
A communication alarm occurred between the main CPU and process
I/O.
Red
A fuse (FUSE 1) in the process I/O blew.
MAINTENANCE
B-82595EN-2/04
4.12
4.PRINTED CIRCUIT BOARDS
PROCESS I/O BOARD JB (A16B-2204-0011)
ICOM1
ICOM2
P5V
P24V
GND1
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LED
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GND2
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TBSRC1
MANUTENÇÃO ROBO FANUC.pdf
CRMA5A
CRMA5B
I/O-LK
JD1B
FUSE (2A)
I/O-LK
JD1A
Fig.4.12 Process I/O Board JB
(1) Test pins
Name
Use
P24V
+24V
P5V
GND1
GND2
+5V
GND
GND
For measuring the DC supply voltage
4.PRINTED CIRCUIT BOARDS
MAINTENANCE
B-82595EN-2/04
(3) LEDs
Color
Description
Red
A communication alarm occurred between the main CPU and process
I/O.
Red
A fuse (FUSE 1) in the process I/O blew.
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4.13
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PROCESS I/O BOARD KA (A16B-2204-0050,
A20B-2101-0560)
MANUTENÇÃO
ROBO FANUC.pdf
Total edition
GND2
GND3
P24V
P5V
VR5
VR6
GNDF
GND1
VR4
DV1
P5VF
VR3
VR2
LED
AOUT3
VR1
AOUT2
P24VF
N15V
GND4
ICOM2
AOUT1
DRV1
P15V
AI2
AI1
DRV2
ICOM1
ICOM3
MAINTENANCE
B-82595EN-2/04
P24V
GND4 GNDF
4.PRINTED CIRCUIT BOARDS
P5VF P24VF
VR5
VR6
VR4
VR3
GND1
VR2
VR1
LED
P5V
DV1
P15V
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N15V
DRV1
7/17/2019
AOUT3
DRV2
MANUTENÇÃO ROBO FANUC.pdf
GND3
AI1 AI2 AOUT1
AOUT2
GND2
ICOM3
ICOM2
ICOM1
Total edition
A20B-2101-0560
(1) Meanings of check pins
Name
Use
P24V
+24V
P5V
P15V
N15V
GND1
GND2
GND3
GND4
P5VF
P24VF
+5V
+15V
-15V
GND
GND
GND
GND
+5V
+24V
GNDF
AI1
AI2
GND
Channel 1
Channel 2
4.PRINTED CIRCUIT BOARDS
For DC power measurement
D/A converter power supply
For analog input signal (A/D) voltage measurement
MAINTENANCE
B-82595EN-2/04
(3) Adjustment
VR1/VR2: Channel 1 gain and offset adjustment
Connect the "+" and "-" terminals of a digital voltmeter, respectively, to the AOUT1
check pin and the GNDF check pin (not a general ground point). From the teach
pendant, execute AOUT [1]=3413, using a robot program. While observing the voltage
at the AOUT1 check pin with the digital voltmeter, adjust potentiometers VR1 and VR2
for 15.0 V.
VR3/VR4: Channel 2 gain and offset adjustment
Connect the "+" and "-" terminals of a digital voltmeter, respectively, to the AOUT2
check pin and the GNDF check pin (not a general ground point). From the teach
pendant, execute AOUT [2]=3413, using a robot program. While observing the voltage
at the AOUT2 check pin with the digital voltmeter, adjust potentiometers VR3 and VR4
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for 15.0 V.
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VR5/VR6: Channel 3 gain and offset adjustment
Connect the "+" and "-" terminals of a digital voltmeter, respectively, to the AOUT3
MANUTENÇÃO
ROBO
FANUC.pdf
check pin and the GNDF check pin (not a general ground
point).
From
the teach
pendant, execute AOUT [3]=3413, using a robot program. While observing the voltage
at the AOUT3 check pin with the digital voltmeter, adjust potentiometers VR5 and VR6
for 15.0 V.
(4) Meaning of LEDs
Color
Meaning
Red
A communication alarm occurred between the main CPU and the
process I/O board.
Red
The fuse (FUSE1) on the process I/O board has blown.
(5) Correspondence between driver ICs and DO signals
Driver IC specification:
DRV1, DRV2: A76L-1151-0167
DV1
A76L 1151 0070
MAINTENANCE
B-82595EN-2/04
4.14
4.PRINTED CIRCUIT BOARDS
PROCESS I/O BOARD KB (A16B-2204-0051, A20B-2101-0561)
Total edition
GND2
GND3
P24V
P5V
GNDF
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VR4
VR3
GND1
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DV1
P5VF
LED
VR2
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VR1
AOUT2
P24VF
GND4
ICOM2
AOUT1
DRV1
DRV2
ICOM1
ICOM3
A16B-2204-0051
P24V GND4 GNDF
P5VF P24VF
VR4
VR3
GND1
VR2
LED
VR1
P5V
DV1
P15V
4.PRINTED CIRCUIT BOARDS
MAINTENANCE
B-82595EN-2/04
(1) Meanings of check pins
Name
P24V
P5V
GND1
GND2
GND3
GND4
P5VF
P24VF
GNDF
Use
+24V
+5V
GND
GND
GND
GND
+5V
+24V
GND
For DC power measurement
D/A converter power supply
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AOUT1
Channel 1
For analog output signal (D/A) voltage
AOUT2
Channel 2
measurement
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(2) Setting
Name
ICOM1
ICOM2
ICOM3
Standard
setting
UDI1 20
(Connector CRMA5A)
UDI21 40
(Connector CRMA5B)
WI01 08
(Connector CRW10)
Side A
~
~
Use
For common voltage setting
Side A: +24 V common
Side B: 0 V common
~
(3) Adjustment
VR1/VR2: Channel 1 gain and offset adjustment
Connect the "+" and "-" terminals of a digital voltmeter, respectively, to the AOUT1
check pin and the GNDF check pin (not a general ground point). From the teach
pendant, execute AOUT [1]=3413, using a robot program. While observing the voltage
at the AOUT1 check pin with the digital voltmeter, adjust potentiometers VR1 and VR2
for 15.0 V.
VR3/VR4: Channel 2 gain and offset adjustment
Connect the "+" and "-" terminals of a digital voltmeter, respectively, to the AOUT2
check pin and the GNDF check pin (not a general ground point). From the teach
pendant, execute AOUT [2]=3413, using a robot program. While observing the voltage
at the AOUT2 check pin with the digital voltmeter, adjust potentiometers VR3 and VR4
for 15.0 V.
MAINTENANCE
B-82595EN-2/04
4.PRINTED CIRCUIT BOARDS
Color
Red
Meaning
The fuse (FUSE1) on the process I/O board has blown.
(5) Correspondence between driver ICs and DO signals
Driver IC specification:
DRV1, DRV2: A76L-1151-0167
DV1:
A76L-1151-0070
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Driver IC name
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DO sign al name
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DRV1
DRV2
DV1
CMDENBL, SYSRDY, PROGRUN, PAUSED
MANUTENÇÃO ROBO FANUC.pdf
HELD, FAULT, ATPERCH, TPENBL
BATALM, BUSY, ACK1/SNO1, ACK2/SNO2
ACK3/SNO3, ACK4/SNO4, ACK5/SNO5, ACK6/SNO6
ACK7/SNO7, ACK8/SNO8, SNACK, RESERVED
DO01, DO02, DO03, DO04
DO05, DO06, DO07, DO08
DO09, DO10, DO11, DO12
DO13, DO14, DO15, DO16
DO17, DO18, DO19, DO20
4.PRINTED CIRCUIT BOARDS
4.15
MAINTENANCE
B-82595EN-2/04
PROCESS I/O BOARD KC (A16B-2204-0052, A20B-2101-0562)
Total edition
GND2
GND3
P24V
P5V
GND1
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DV1
LED
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GND4
ICOM2
DRV1
DRV2
ICOM1
A16B-2204-0052
P24V
GND4
GND1
LED
P5V
DV1
P15V
DRV
MAINTENANCE
B-82595EN-2/04
DRV
4.PRINTED CIRCUIT BOARDS
(1) Meanings of check pins
Name
P24V
P5V
GND1
GND2
GND3
GND4
Use
+24V
+5V
GND
GND
GND
GND
For DC power measurement
(2) Setting
Name
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Standard
setting
Use
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UDI1 20
(Connector CRMA5A)
UDI21 40
(Connector CRMA5B)
ICOM1
Side A
~
7/17/2019
ICOM2
~
For common voltage setting
Side A: MANUTENÇÃO
+24 V commonROBO FANUC.pdf
Side B: 0 V common
(3) Meaning of LEDs
Color
Meaning
Red
A communication alarm occurred between the main CPU and the
process I/O board.
Red
The fuse (FUSE1) on the process I/O board has blown.
(4) Correspondence between driver ICs and DO signals
Driver IC specification:
DRV1, DRV2: A76L-1151-0167
DV1:
A76L-1151-0070
5.SERVO AMPLIFIERS
5
MAINTENANCE
B-82595EN-2/04
SERVO AMPLIFIERS
The servo amplifiers are factory-set for operation. Usually, you do not need to set or adjust them.
This chapter describes the standard settings and adjustment required if a defective servo amplifier is
replaced. It also describes the use of test pins and meanings of the LED indications.
Table 5 Servo amplifier specifications
ROBOT
SERVO AMPLIFIER
A06B-6107-H001 (AMP1)
M-900iA/400L
A06B-6117-H209 (AMP2)
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M-900iA/600
A06B-6117-H105 (AMP3)
REGENERATIVE REGISTOR
A-CABINET
B-CAB INET
A05B-2502-C100
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R-2000iB/200T
M-900iA/260L
M-900iA/350
M-410iB
R-2000iB (Except
/200T)
MANUTENÇÃO
ROBO FANUC.pdf
A05B-2502-C100
A06B-6107-H001
A05B-2501-C102
R-1000iA/80F
i
M-710 C
M-16iB
M-20iA
ARC Mate 120iB
(Except ARC Mate
120iBe.)
ARC Mate 120iC
M-420iA, M-421iA
M-6iB
ARC Mate 100iB
ARC Mate 120iBe
F-200iB
ARC Mate 100iC
M-10iA
A05B-2501-C103
A06B-6107-H002
A05B-2502-C100
A05B-2501-C100
A05B-2501-C102
A05B-2501-C101
A06B-6107-H003
A05B-2501-C105
A06B-6107-H004
A06B-6107-H007 (AMP 1)
A06B-6117-H201 (AMP 2)
M-430iA/2F
A06B-6107-H007 (AMP 1)
M-430iA/2P
A05B-2502-C101
A05B-2501-C101
A05B-2502-C101
A05B-2501-C105
A05B-2502-C101
A06B-6117-H301 (AMP 2)
M-900iA/200P
A06B-6107-H001 (Main, AMP 1)
A06B-6107-H001 (2nd AMP 1)
MAINTENANCE
B-82595EN-2/04
A05B-2502-C100
5.SERVO AMPLIFIERS
Check that the voltage is not higher than 50V.
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NOTE
Before touching the servo amplifier, for example, for maintenance purposes,
check
theremaining
voltage at voltage
the screw
above
the than
LED 50V.
“D7” with a DC voltage tester to
see if the
is not
higher
5.SERVO AMPLIFIERS
5.1
MAINTENANCE
B-82595EN-2/04
LED OF SERVO AMPLIFIER
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Fig.5.1 LED of servo ampli fier
LED
Color
P5V
Green
P3.3V
Green
SVEM
G
SVALM
Red
Lights when the power supply circuit inside the servo amplifier outputs a voltage of +5 V
normally.
Lights when the power supply circuit inside the servo amplifier outputs a voltage of +3.3 V
normally.
Lights when an emergency stop signal is input to the servo amplifier.
Descriptio n
Red
Lights when the servo amplifier detects an alarm.
DRDY
OPEN
D7
Green
Green
Red
Lights when the servo amplifier is ready to drive the servo motor.
Lights when the communication between the servo amplifier and the main board is normal.
Lights when the DCLINK circuit inside the servo amplifier is charged to reach a specific
5.2
5.SERVO AMPLIFIERS
MAINTENANCE
B-82595EN-2/04
SETTING OF SERVO AMPLIFIER
Table 5.2 Settin gs
Name
COM1
Standard setting
Side A
Descripti on
Robot Digital Input (RDI) device common voltage.
Side A: +24V common
Side B: 0V common
Total edition of
servo amplifier
control board
When total edition of servo amplifier
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control board is 11E or earlier
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COM1
A
B
When total edition of servo amplifier
control board is 12F or later
A si de
RI
6.SETTING THE POWER SUPPLY
6
MAINTENANCE
B-82595EN-2/04
SETTING THE POWER SUPPLY
Setting and adjustment of the power supply is factory-set for operation.
or adjust it.
6.1
Usually, you do not need to set
BLOCK DIAGRAM OF THE POWER SUPPLY
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210VAC
Transformer
3φ
E-stop unit
Servo amplifier
Breaker
(6-axis amplifier)
210VAC
FS3
Regenerative
res. aux. axis
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Breaker
CRR38
DC/DC
FS1
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AC
AC
AC
AC
AC
AC
+24V
CRM96
power supply unit
200 ~ 230 V
380 ~ 400 V
380 ~ 415 V
440 ~ 500 V
500 ~ 575 V
+15V,
-15V
MANUTENÇÃO
ROBO
FANUC.pdf
C
R
R
6
4
C
N
J
FS2
C
R
F
8
200VAC
1φ
+
5
V
Power supply
Backplane
+5V, +3.3V
CRM96
Power
supply
unit
F1
+
2
4
V
F
I/O unit
CP1
CP1A
P
o
w
e
r
Fan
200VAC
1φ
CP2
CP2
B
ra
k
e
P
u
ls
e
c
o
rd
e
r
Robot
Motor
CP3
DC/DC
F3
CP6
F4
CP5
+5V, +3.3V
+2.5V,
+15V, -15V
+24E
CRP24
End effector
CP5A
C
R
M
9
5
+24V
+24V, +24E
Main board
+
2
4
E
Battery
CP8B
C
R
M
9
5
CRS20
+24E
+24T
Teach pendant
FUSE2
DC/DC
+5V
E-stop
circuit
JRS16
RS-232-C
JD1A
MAINTENANCE
B-82595EN-2/04
6.2
Panel board
I/O LINK
6.SETTING THE POWER SUPPLY
TRANSFORMER
Select a transformer and tap according to the supply voltage.
voltage.
Select a transformer tap among the rated
A-cab in et
Rated
voltage
Transformer specification
13.0KVA
10.5KVA
7.5KVA
3KVA
A80L-0028-0024#A
A80L-0026-0040#
A
A80L-0024-0028
500 to 575
TYPE E
440 to 500
380 to 415
TYPE D
200 to 230
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380 to 400
A80L-0028-0027#A
A80L-0026-0041#
A
A80L-0024-0029
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B-cabinet
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Transformer specification
Rated
voltage
13.0KVA
10.5KVA
7.5KVA
3KVA
500 to 575
TYPE E
440 to 500
A80L-0028-0025
A80L-0028-0024
A80L-0026-0040
A80L-0024-0028
A80L-0028-0028
A80L-0028-0027
A80L-0026-0041
A80L-0024-0029
380 to 415
TYPE D
200 to 230
380 to 400
Transformer
Side fan type
Rear fan type
A-cab in et (Rear)
6.SETTING THE POWER SUPPLY
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Transformer
MAINTENANCE
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B-cabinet (Rear)
MAINTENANCE
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6.SETTING THE POWER SUPPLY
Cabinet side connector
4. TYPE D (380V-400V)
1. TYPE E (500V-575V)
Circuit
Dummy plug
Dummy plug
breaker
2. TYPE E (440V-500V)
Y connection
cable
Circuit
breaker
5. TYPE D (200V-230V)
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Dummy plug
Circuit
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Circuit
breaker
Dummy plug
breaker
connection
cable
Δ
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(B-cabinet)
3. TYPE E (380V-415V)
Dummy plug
Dummy plug
Y - Δ connection
unit
Circuit
breaker
Circuit
breaker
Operation box
Connection cable
(A-cabinet)
Fig. 6.2(b) Setting the input voltage
1
Type E: 500V-575V
2
Type E: 440-500V
3
Type E: 380-415V
4
T pe D 380 400V
Insert the connector connected to the circuit breaker into connector LA
and the dummy plug into connectors LB and LC.
Insert the connector connected to the circuit breaker into connector LB
and the dummy plug into connectors LA and LC.
Insert the connector connected to the circuit breaker into connector LC
and the dummy plug into connectors LA and LB.
Insert the Y connection cable connected to the circ it breaker into
6.SETTING THE POWER SUPPLY
6.3
MAINTENANCE
B-82595EN-2/04
CHECKING THE POWER SUPPLY UNIT (A16B-2203-0910)
The power supply unit need not be set or adjusted.
Output
Table 6.3 Rating of the Power supply unit
Rated voltage
+5V
+3.3V
+2.5V
+24V
+24E
+15V
+5.1V
+3.3V
+2.5V
+24V
+24V
+15V
-15V
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-15V
Tolerance
±3%
±3%
±3%
±5%
±5%
±10%
±
10%
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DB1 : Diode stack
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F1 (8.0A) : Fuse for AC input
CP1 : Connector for AC input
CP1A : Connector for AC output
CP2, CP3 : Connector for AC output
VS1 : Surge absorber
F3 (7.5A) : Fuse for +24E
F4 (7.5A) : Fuse for +24V
PIL : LED (green)
H1 : Auxiliary power module
CP5 : Connector for +24V
CP6 : Connector for +24E
ALM : LED (red)
CP4 : Connector for control
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7
MAINTENANCE
7.REPLACING A UNIT
REPLACING A UNIT
This section explains how to replace each unit in the control section.
WARNING
1 Before you start to replace a unit, turn off the control unit main power. Also, keep
all machines in the area of the control unit switched. Otherwise, you could injure
personnel or damage equipment.
2 Before replacing components, read the maintenance manual to understand the
replacement procedure. Performing an incorrect replacement procedure can
lead
to an unpredictable accident,
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injury.
resulting in breakage in the robot or personal
3 When a heavy component or unit is to be handled, support the workers with a
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3 When a heavy component or unit is to be handled, support the workers with a
crane or the like not to apply excessive loads to the workers. Note that
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incorrect handling can cause serious injury to the workers.
CAUTION
Components in the control unit heat up, so care should be taken. When you
have to touch a heated component, prepare a protector such as heat-resistant
gloves.
7.REPLACING A UNIT
7.1
MAINTENANCE
B-82595EN-2/04
A-CABINET
The following components of the A-cabinet can be removed.
7.1.1
Replacing the A-cabinet Top Panel
Remove three M4 screws from the upper edge of the rear surface.
Pull the top panel slightly backward, and then lift it off.
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M4 screws (3 places)
Fig.7.1.1 Replacin g t he Top Panel
NOTE
In case of the Rear fan type, replace the Top panel after remove the Rear louver.
B-82595EN-2/04
7.1.2
MAINTENANCE
7.REPLACING A UNIT
Replaci ng t he A-cabinet Rear Panel
Remove the retaining M4 screws and four M10 bolts from the rear panel.
M4 screws (7 places)
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M10 bolts (4 places)
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Fig.7.1.2 Replacin g t he Top Panel
NOTE
In case of the Rear fan type, replace the Rear Panel after remove the Rear
louver.
7.1.3
Replacing the A-cabinet Louver
(a) Side fan type
Loosen four retaining M4 screws from the louver, and then remove the louver.
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7.2
MAINTENANCE
7.REPLACING A UNIT
REPLACING THE PRINTED-CIRCUIT BOARDS
CAUTION
When you replace printed-circuit boards, observe the following cautions:
1 Keep the controller power switched off.
2 When you remove a printed-circuit board, do not touch the semiconductor
devices on the board with your hand or make them touch other components.
3 Make sure that the replacement printed-circuit board has been set up
appropriately. (Setting plug etc.)
4 After replacing a printed-circuit board, make adjustments correctly if the board
needs to be adjusted.
5 If the backplane board, power supply
unit,parameters
or main board
cards
that robot
and(including
taught data
areand
lost. Before you start to replace these components, save a backup copy of the
modules) is replaced, it is likely
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robot parameters and taught data to an external memory device.
ROBO FANUC.pdf
6 Before you disconnect a cable, note its location. If a MANUTENÇÃO
cable is detached
for
replacement, reconnect it exactly as before.
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Replacing the Backpl ane Board (Unit)
7.2.1
When replacing the backplane board, do so together with the plastic rack.
(1) Detach the cables from the power unit and boards on the backplane board.
CAUTION
When you remove the main PC Board, be sure that the battery is good
(3.1-3.3VDC) and it is installed correctly. USE STATIC PROTECTION.
(2) Remove the power unit and boards from the rack. (See Section 7.2.2.)
(3) Detach the grounding cable from the backplane unit.
(4) Loosen the retaining screws in the upper section of the rack. Remove the retaining screws from the
lower section of the rack.
(5) Side rack up and out.
(6) To replace the backplane and rack, reverse steps (1) - (6).
CAUTION
There is a possibility of data loss when a backplane- mounted printed circuit
7.REPLACING A UNIT
7.2.2
MAINTENANCE
B-82595EN-2/04
Replacing the Power Unit and Printed-Circuit B oards on the
Backplane Unit
The backplane unit incorporates the power unit, main board, and option boards. There are two types of
option
boards:
Full-size
board and mini-size board. A full-size board occupies one slot. A mini-size board
uses part
of a full-size
board.
CAUTION
Before starting replacement, turn off the control unit main power. The main
board is equipped with battery-backed memory devices for holding robot
parameters and taught data, for example. When the main board is replaced, the
data in the memory devices is lost.
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(1) Detach the cable from the power supply
replaced.
unit or the printed-circuit board, whichever is to be
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(2) Pinch the barbed handles on the upper and lower sections of the board to unlatch it, and then pull it
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toward you.
(3) Place the replacement board on the rail in the appropriate slot of the rack, then push it in gently by
the handles until it is latched.
(4) There are two rails in the main board SLOT (slot 1). When inserting the main board, align it to the
right-side rail.
(5) There are two rails in slots 3 (slots for a full-size option board). When you insert a full-size option
board, align it to the left-side rail.
Backplane board
Left rail
7.REPLACING A UNIT
MAINTENANCE
B-82595EN-2/04
Right rail
SLOT 1
SLOT 3
SLOT 2
PSU (Power su ppl y SLOT)
Handles
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Handles
SLOT 1
7.REPLACING A UNIT
7.2.3
MAINTENANCE
B-82595EN-2/04
Replacing the Panel B oard
The panel board is at the back of the operator panel.
(1) Detach all cables from the panel board. The terminal blocks (TBOP3, TBOP4, and TBOP6) are of a
connector type. Pull out the upper terminal block sections.
(2) Remove four retaining screws from the panel board, and replace the panel board.
(3) Remove two M3 screws from the fixing sheet metal of the panel board, and remove the sheet metal.
(4) Attach the fixing sheet metal to a new panel board, and attach the new panel board to the operator
panel.
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A-cab in et
MAINTENANCE
B-82595EN-2/04
7.2.4
7.REPLACING A UNIT
Replaci ng t he Process I/O Board EA, EB, FA, GA, KA, KB , KC
(A-cabinet)
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M4 screws (4 places)
Fig. 7.2.4 Replacing t he Process I/O Board
7.3
REPLACING CARDS AND MODULES ON THE MAIN
BOARD
CAUTION
Before you start to replace a card or module, make a backup copy of robot
parameters and taught data. If the FROM/SRAM module is replaced, SRAM
memory contents are lost.
Demoun ting a Card
(1) Pull outward the clip of each of the two spacers used to secure the card PCB, and then release each
latch.
(2) Extract the card upward.
7.REPLACING A UNIT
MAINTENANCE
B-82595EN-2/04
(2)
Card
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Spacer
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Connector
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Fig. 7.3 (a) Demount ing t he card on the main bo ard
Mounting a Card
(1) Check that the clip of each of the two spacers is latched outward, then insert the card into the
connector.
(2) Push the clip of each spacer downward to secure the card PCB.
Be sure to hold this part to push the card.
MAINTENANCE
B-82595EN-2/04
7.REPLACING A UNIT
Be sure to hold this part to
push the card.
Connector
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Fig. 7.3 (b) Mount ing t he card on the main bo ard
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Demoun ting
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a modul e
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CAUTION
When replacing the module, be careful not to touch the module contact. If you
touch the contact inadvertently, wipe out dirt on the contact with a clean cloth.
(1) Move the clip of the socket outward. (a)
(2) Extract the module by raising it at a 30 degree slant and pulling outward.
Mounting a module
(1) Insert the module at a 30 degree slant into the module socket, with side B facing upward. (b)
(2) Push the module inward and downward until it is locked. (c)
(a)
A
Details of section A
7.REPLACING A UNIT
MAINTENANCE
B-82595EN-2/04
(c)
Fig.7.3 (c) Demounting/mounting a module
Figure 7.3 (d) shows the locations of the cards and modules.
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CPU card
FROM/SRAM module
(Behind the axis control card)
MAINTENANCE
B-82595EN-2/04
7.4
7.REPLACING A UNIT
REPLACING THE TRANSFORMER
WARNING
The transformer is heavy.
cause injury.
When replacing the transformer, be careful not to
(The transformer weighs 45 to 60 kg.)
In case of A-cabinet
Following (1) to (3) are not necessary for the remote type A-cabinet.
For the remote type A-cabinet, start from (4).
If the A-cabinet is connected to the robot, it will need to be separated.
Cabinet separation
(1) Disconnect the cable connectors and ground clamps coming from the robot. These cables are
generally at the following connectors on the Servo amplifier: CRF8, CNJ1 to 6, and CNJGA to
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CNJGC, and the ground cables.
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Motor power cable
Grounding cable
Pulsecoder cable
7.REPLACING A UNIT
Cable clamp
MAINTENANCE
B-82595EN-2/04
(2) Remove the four M10 robot retaining bolts that hold the cabinet to a robot.
Robot retaining bolts
M10 (4 places)
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(3) Being careful not to strain or break any cables, gently separate the cabinet from the robot and it’s
cables.
(4) Disconnect the power cable from the transformer input connector panel. (The power cable comes
from the operation box.)
Transformer input
connector’s panel
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MAINTENANCE
7.REPLACING A UNIT
(7) Unscrew and Remove the plate on the top of the transformer.
Screw
Washer
Screw
(M5)
3 places
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(8) Remove four screws from a metal plate of connector’s panel, and remove the metal plate.
A metal plate of
connector’s panel
7.REPLACING A UNIT
MAINTENANCE
B-82595EN-2/04
(9) Remove the two M6 screws holding the transformer in place and remove the transformer.
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Screws (2-M6)
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(10) Install a replacement transformer by reversing steps 1 through 9.
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MAINTENANCE
7.REPLACING A UNIT
In case of B-cabinet
(1) Remove the screws and detach the back panel.
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7.REPLACING A UNIT
MAINTENANCE
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(2) Detach the connectors of LA, LB, LC, OUT, and CPOH.
If a cable is fastened with nylon ties, cut them with a diagonal cutter to release the cable.
careful not to damage the cable.
Be
In case of TYPE E
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In case of TYPE D
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(3) Remove the retaining screws from the transformer terminal board and remove the metal plate.
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MAINTENANCE
7.REPLACING A UNIT
(4) Remove the two retaining M6 screws from the transformer, then remove the transformer.
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7.REPLACING A UNIT
7.5
MAINTENANCE
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REPLACING THE REGENERATIVE RESISTOR UNIT
WARNING
Before you start, turn off the controller main power.
Be careful not to get
burned, because the regenerative resistor unit is very hot immediately after
operation.
In case of A-cabinet
(1) Remove the top panel from the A-cabinet. Remove the Louver plate and the lower plate on the right
side of the cabinet.
(In case of the Rear fan type, remove the rear panel or fan unit.)
(2) Unplug connector CRR45 and CRR63 at the Servo amplifier.
(3) Unscrew the cord grip nut inside the transformer compartment and pull the cables through, being
careful not to damage the connectors or cables.
(4)
Unscrew
the retaining screws on the regenerative resistor unit and remove it.
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(5) Install the replacement unit by reversing this procedure (1) to (4).
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CRR45
CRR63
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7.REPLACING A UNIT
MAINTENANCE
The type of the regenerative
resistor varies with the model of
the robot.
The cable is retained using a cord grip. Remove the
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cord grip, and pull out the cable. The cord grip is
retained with nuts on the rear side. Remove the lower
Transformer
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right plate beforehand.
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(Side fan type)
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The type of the regenerative
resistor varies with the model of
the robot.
Screw
(M4)
2 places
Transformer
The cable is retained using a cord grip. Remove the
cord
grip,
and
pullonout
The cord
is
retained
with
nuts
the the
rearcable.
side. Remove
thegrip
lower
right plate beforehand.
7.REPLACING A UNIT
MAINTENANCE
B-82595EN-2/04
In case of B-cabinet
(1) Remove the servo amplifier. (See Section 7.6)
(2) Remove the metal plate securing the cable of the regenerative resistor.
If a cable is fastened with nylon ties, cut them with a diagonal cutter to release the cable.
careful not to damage the cable.
Be
A
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Details of section A
Fig. 7.5 (a) Cable part o f th e regenerative resister
(3) Of the two nuts fastening the regenerative resistor, remove the upper nut, loosen the lower nut, and
then remove the regenerative resistor.
A
MAINTENANCE
B-82595EN-2/04
7.6
7.REPLACING A UNIT
REPLACING THE E-STOP UNIT
In case of A-cabinet
NOTE
The magnetic contactor mounted in the E-stop unit is turned on when the
conditions are satisfied. While the controller is turned on, do not press the
button on the magnetic contactor in any case. Otherwise, the contactor may be
damaged.
Note) Do not press this switch in any case.
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E-stop unit (A-cabinet)
(1) Detach the cables from the E-stop unit.
(2) Remove retaining screws (M4 4 places) from the E-stop unit, and replace the E-stop unit.
(3) Reconnect the cables.
7.REPLACING A UNIT
MAINTENANCE
B-82595EN-2/04
In case of B-cabinet
NOTE
The magnetic contactor mounted in the E-stop unit is turned on when the
conditions are satisfied. While the controller is turned on, do not press the
button on the magnetic contactor in any case. Otherwise, the contactor may be
damaged.
Note) Do not press this switch in any case.
Note) Do not press this switch in any case.
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E-stop unit (B-cabinet)
(1) Detach the cables from the E-stop unit.
(2) Of the four screws fastening the E-stop unit, remove the upper two screws, loosen the lower two
screws, then replace the E-stop unit.
(3) Reconnect the cables.
MAINTENANCE
B-82595EN-2/04
7.7
7.REPLACING A UNIT
REPLACING SERVO AMPLIFIERS
WARNING
Because the servo amplifier is heated immediately after operation, leave the
servo amplifier until it cools down thoroughly, before replacing it.
In case of A-cabinet
A servo amplifier can be dismounted by pulling it out from the side, using its rail. Only a flat-head
screwdriver is required, provided that servo amplifier SHIPPING screws have been removed. These
screws are intended to prevent damage to the servo amplifier during shipment.
(1) Make sure that servo amplifier shipping screws (2 phillips head) have been removed. Retain screws
for shipping purposes.
(2) Check the voltage at the screw above the LED "D7" with a DC voltage tester to see if the remaining
voltage is not higher than 50V.
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Check that the voltage is not higher than 50V.
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7.REPLACING A UNIT
MAINTENANCE
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(4) Unlock the servo amplifier by rotating the quarter-turn screws on the outside surface of the plate
using a coin or the like.
Unlock
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Lock
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Servo amplifier shipping screws
(M5, 2 places)
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Quarter-turn screws
(4 places)
(5) Hold the upper and lower handles, and pull out the servo amplifier slowly. Be sure that all cables are
unplugged from the servo amplifier before you try to remove the servo amplifier. After pulling the
servo amplifier a little, check again that it is all right to continue to pull the servo amplifier. Be
careful not to let the servo amplifier slide off the rail.
(6) Place a replacement servo amplifier on the rail, slide it in gently until it is hooked on the guide pins.
(7) Rotate the quarter-turn screws on the outside surface of the plate to lock the servo amplifier.
(8) Reconnect the cables.
Guide pin
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MAINTENANCE
7.REPLACING A UNIT
In case of B-cabinet
(1) Detach the amplifier cover, and pull out the cable.
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Details of section A
(2) Check the voltage at the screw above the LED "D7" with a DC voltage tester to see if the remaining
voltage is not higher than 50 V.
Check that the voltage is not higher than 50V.
7.REPLACING A UNIT
MAINTENANCE
B-82595EN-2/04
(3) Turn the retaining pin at the top of the amplifier 90 degrees counterclockwise. (At the middle of
the top of the amplifier, there is an M5 screw that fastens the amplifier during transport of the
cabinet. After the installation of the cabinet, remove the screw.
This improves maintainability.)
Fixation screw
for transport
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(4) Holding the handles located at the top and bottom of the amplifier, pull out the amplifier toward you.
B-82595EN-2/04
MAINTENANCE
7.REPLACING A UNIT
(5) Pull the amplifier up while keeping it slanted.
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7.REPLACING A UNIT
MAINTENANCE
7.8
REPLACING I/O UNIT-MODEL A
7.8.1
Replaci ng the Base Unit of I/O Unit-MODEL A
B-82595EN-2/04
First,
dismount
modules
from
base2unit
of I/O
A. The
base unit
retainedthe
with
4
screws.
Of thesethe
screws,
loosen
thethe
upper
screws
andUnit-MODEL
remove the lower
2 screws,
thenisreplace
base
unit.
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Details of section A
Fig.7.8.1 Replacing the base unit of I/O unit mo del A
MAINTENANCE
B-82595EN-2/04
7.8.2
7.REPLACING A UNIT
Replacing a Module
An interface module and input/output module can be easily installed in and removed from the base unit,
as described below.
Installing a module
(1) Put the upper hook of the module into the upper hole of the base unit.
(2) Fit the connectors of the module and the base unit to each other.
(3) Push the module until the lower stopper of the module is caught in the lower hole of the base unit.
Remov ing a modul e
(1) Press the lever at the bottom of the module to release the stopper.
(2) Lift the module up.
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7.REPLACING A UNIT
7.9
MAINTENANCE
B-82595EN-2/04
REPLACING THE TEACH PENDANT AND i PENDANT
The specifications of the teach pendant vary with its use. When you replace the teach pendant, check its
specifications carefully.
(1) Be sure that the power of a robot controller is off.
(2) Detach the cable from the teach pendant.
(3) Replace the teach pendant.
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Detach or attach the cable by rotating the
connector retaining ring.
Fig.7.9 Replacing th e teach pendant
7.10
7.REPLACING A UNIT
MAINTENANCE
B-82595EN-2/04
REPLACING THE CONTROL SECTION FAN MOTOR
The control section fan motor can be replaced without using a tool. The fan motor is mounted on the fan
unit rack.
(1) Be sure that the power of a robot controller is off.
(2) Put your finger in the dent in the upper section of the fan unit, and pull the fan unit until it is
unlatched.
(3) Lift the fan unit slightly, and dismount it from the rack.
(4) Place a replacement fan on the upper section of the rack, and slide it gently until it is latched.
Fan motor
Dent
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Pull the fan motor
unit toward you to
unlatch it.
Fan motor connector
Fig.7.10 Replacing t he control section fan motor
7.REPLACING A UNIT
7.11
MAINTENANCE
B-82595EN-2/04
REPLACING THE AC FAN MOTOR
WARNING
Do not touch the fan motor when it is rotating, or you could be injured.
7.11.1
Replacing the Heat Exchanger and Door Fan Unit (A-cabinet)
The heat exchanger of the A-cabinet is inside its door. To replace the heat exchanger, it is necessary to
remove the door fan unit in advance.
Door fan unit
(1) Remove retaining screws (M4, 4 places).
(2) Detach the cable from the heat exchanger.
(3) Mount the replacement fan unit by reversing the removal procedure. Be careful not to let the cable
get caught in the fan.
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(1) Dismount the fan unit from the door. (See the above procedure.)
(2) Open the A-cabinet door, and detach cables.
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(3) Remove retaining nuts (M5, 4 places), and dismount the unit.
MANUTENÇÃO ROBO FANUC.pdf
(4) Mount the replacement heat exchanger by reversing the dismounting procedure.
Door fan
Screws (4-M4)
7.11.2
7.REPLACING A UNIT
MAINTENANCE
B-82595EN-2/04
Replacing External Air Fan Unit (A-cabinet)
The external air fan unit has two fans mutually connected with a cable. When the fan unit is replaced, the
cable is replaced together with the fan unit.
(1)
thethe
retaining
of the louver,
(see
Section
7.1.3) with the louver.)
(2) Loosen
In case of
Side fanscrews
type, detach
the fan then
unit.remove
(The fanit is
fastened
together
In case of the Rear fan type, loosen four retaining M4 screws from the Rear fan unit, and then detach
the fan unit.
(3) Detach the fan unit lead-out cable and grounding wire. (The cable is terminated with a connector.
The grounding wire is fastened with a screw.)
(4) Replace the fan unit with a new one.
Screws (4-M4)
used to fasten both the
fan unit and louver.
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The fan cable is
attached using an
in-line connector.
(Side fan type)
Screws M4
(4 places)
7.REPLACING A UNIT
7.11.3
MAINTENANCE
B-82595EN-2/04
Replacing External Fan Unit and Door Fan (B-cabinet)
Door fan
(1) Detach the cable from the fan unit.
(2) Remove the retaining screws from the fan unit, then dismount it.
(3) Install a new fan unit by reversing the dismounting procedure.
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(Replacin g the Door Fan Unit )
External fan uni t
(1) Detach the cable connecting the fan unit.
(2) Remove the screws and pull out the fan unit toward you.
(3) Install a new fan unit by reversing the dismounting procedure.
MAINTENANCE
B-82595EN-2/04
7.12
7.REPLACING A UNIT
REPLACE THE MODE SWITCH
(1) Remove the cable from the mode switch.
(2) Remove the screws fastening the mode switch, and replace the mode switch.
NOTE
1 When mounting the mode switch, do not overtighten the screws. (Tightening
torque: 0.3 N⋅m)
2 Tighten the screws evenly so that the mode switch flat surface becomes parallelto the sheet metal.
Mode switch
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Fig. 7.12 (a) Replacin g t he mod e swit ch (1/3)
7.REPLACING A UNIT
MAINTENANCE
B-82595EN-2/04
A
(Back plane of operator’s panel)
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Details of section A
Tightening torque:
0.3N⋅m
Fig. 7.12 (b) Replacin g th e mode sw itch (2/3)
MAINTENANCE
B-82595EN-2/04
7.13
7.REPLACING A UNIT
REPLACING FUSES
If a fuse in the control unit has blown, find the cause and take an appropriate measure before replacing the
fuse.
7.13.1
Replacing Fuses in the Servo A mpli fier
The following fuses are in the servo amplifier.
FS1: For generation of the power to the amplifier control circuit (A60L-0001-0290#LM32C)
FS2: For protection of the 24 V output to the end effector, XROT, and XHBK
(A60L-0001-0290#LM32C)
FS3: For protection of the 24 V output to the regenerative resistance and the additional axis amplifier
(A60L-0001-0290#LM50C)
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CRR88
5A
3 2A
3 2A
7.REPLACING A UNIT
7.13.2
MAINTENANCE
B-82595EN-2/04
Replacing Fuses in t he Power Unit
The following fuses are in the power unit.
F1: Fuse for the AC input, A60L-0001-0450#8RO
F3: Fuse for protecting the +24E output, A60L-0001-0046#7.5
F4: Fuse for protecting the +24V output, A60L-0001-0046#7.5
F1 8.0A
Fuse for AC input
Details of section A
F3 7.5A
Fuse for +24E
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F4 7.5A
Fuse for +24V
Details of section B
Fig.7.13.2 Replacing fuses in the power unit
MAINTENANCE
B-82595EN-2/04
7.13.3
7.REPLACING A UNIT
Replacing Fuses in t he Main board
The following fuses are in the power unit.
FU1: For protection of the +12V output for the vision sensor, A60L-0001-0175#0.5A
75173 (receiver)
* Total edition
09B or earlier
75172 (driver)
* Total edition
09B or earlier
CPU card
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FROM/SRAM module
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(under the axis control card)
Axis control card
Fuse (0.5 A)
* Total edition 06B or later
Fig.7.13.3 Replacing fu ses in the main bo ard
7.REPLACING A UNIT
7.13.4
MAINTENANCE
B-82595EN-2/04
Replacing the Fuse on t he Process I/O Boards
The following fuse is on each process I/O board.
FUSE1: Fuse for protecting the +24V output for peripheral equipment interfaces. A60L-0001-0046#2.0
Process I/O board CA
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Fig. 7.13.4 (a) Process I/O board CA
Process I/O board EA, EB
Fuse location is common to EA and EB. The following is figure of EA.
MAINTENANCE
B-82595EN-2/04
7.REPLACING A UNIT
Process I/O board FA
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Fig. 7.13.4 (c) Process I/O board FA
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Process
I/O board GA
7.REPLACING A UNIT
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MAINTENANCE
B-82595EN-2/04
Process I/O board HA
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Fig. 7.13.4 (e) Process I/O board HA
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Process I/O board JA , JB
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Fuse location is common to JA and JB. The following is figure of JA.
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MAINTENANCE
7.REPLACING A UNIT
Process I/O board K A, KB, KC
Fuse location is common to KA, KB and KC. The following is figure of KA.
LED
FUSE1
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Fig. 7.13.4 (g) Proc ess I/O Bo ard K A (A16B-2204-0050)
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LED
FUSE1
7.REPLACING A UNIT
7.13.5
MAINTENANCE
B-82595EN-2/04
Replacing the Fuse on t he Panel Board
The following fuse is on the panel board.
FUSE1: For protection of the +24EXT line (emergency stop line)
FUSE2: For protection of the teach pendant emergency stop line A60L-0001-0046#1.0
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FUSE2 (1A)
FUSE1 (1A)
(Panel b oard)
Fig.7.13.5 Replacing th e fuse on t he panel board
7.14
REPLA CING RELAYS
Prolonged use of a relay might result in its contacts failing to make a secure connection or sticking to
each other permanently. If such a failure occurs, replace the relay.
7.14.1
Replacing Relays on the Panel Board
KA21, KA22: Relay for emergency stop circuit A58L-0001-0192#1997R
7.REPLACING A UNIT
MAINTENANCE
B-82595EN-2/04
KA22
Fig.7.14.1 Replacing relays o n the panel b oard
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KA21
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7.15
REPLA CING B ATTERY
7.15.1
Battery f or Memory Backu p (3 VDC)
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The programs and system variables are stored in the SRAM in the main board. The power to the SRAM
memory is backed up by a lithium battery mounted on the front panel of the main board. The above data
is not lost even when the main power of controller is turned off. A new battery can maintain the
contents of memory for about 4 years (Note).
When the voltage of the battery becomes low, the low-voltage battery alarm (system-035) is displayed on
the teach pendant. When this alarm is displayed, replace the battery as soon as possible. In general, the
battery can be replaced within one or two weeks, however, this depends on the system configuration.
If the battery voltage gets lower, it becomes impossible to back up the content of the SRAM. Cycling
power to the controller in this state causes system not to start, and LED located on the main board
displays "1" because the contents of memory have been lost. Clear the entire SRAM memory and
reenter data after replacing the battery. Important data should be saved to the memory card or other
external device beforehand in case of emergency.
NOTE
In a newly introduced robot the battery is factory installed Battery replacement
7.REPLACING A UNIT
MAINTENANCE
B-82595EN-2/04
(3) Turn the robot controller off.
(4) Remove the old battery from the top of the main board.
First, unlatch the battery, remove it from the battery holder, and detach its connector.
Lithium battery
Battery connector
Battery latch
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(5) Remove the old battery, insert a new one into the battery holder, and attach the connector. Confirm
that the battery is latched firmly.
WARNING
Using other than the recommended battery may result in the battery explosion.
Replace the battery only with the specified battery (A02B-0200-K102).
Dispose of the replaced battery as an industrial waste, according to the laws and other rules in the country
wherejurisdiction
the controller
installed
and the
those
established
by the municipality and other organizations that
have
overisthe
area where
controller
is installed
B-82595EN-2/04
8
MAINTENANCE
8.HOW TO USE THE PLATE TO FIX THE
COMPACT FLASH MEMORY CARD
HOW TO USE THE PLATE TO FIX THE
COMPACT FLASH MEMORY CARD
Optional plate to fix the compact flash memory card (CF card) can make it possible to perform a back-up
on fixing the CF card on the main board.
Parts
Fixing plate
Adapter for CF card (made by Fanuc)
1. Adapter for CF card
(Made by Fanuc)
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Compact flash memory card
(The card is not included.
It must be supplied by the customer.)
2. Fixing plate
Main board
8.HOW
TO USE
THE
PLATE CARD
TO FIX THE
COMPACT
FLASH
MEMORY
MAINTENANCE
B-82595EN-2/04
- Install ation of the CF card
1. Insert the CF card into the
Adapter.
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2.
Lock the latch, and drive the
screw.
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- Removal of the CF card
1.
Loosen the screw, and unlock
the latch.
2.
Pull the CF card out of the
Adapter.
III. CONNECTIONS
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CONNECTIONS
B-82595EN-2/04
1
1.GENERAL
GENERAL
This section describes the electrical interface connections in the R-30iA. It also includes information
about installation of the R-30 iA.
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2.BLOCK DIAGRAM
2
CONNECTIONS
B-82595EN-2/04
BLOCK DIAGRAM
Fig.2 is a block diagram of electrical interface connections with the R-30 iA.
R-30i A
(A-cabinet)
Pneumatic
pressure source
Mechanical unit
End effect or
USB memory (Note2)
Teach pendant
Operation box
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RS-232-C (Note3)
Peripheral device
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Welding machine
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ROBO FANUC.pdf
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Memory card
(PCMCIA)
Ethernet
AC power supply
Fig.2 (a) Block Diagram of Electrical Int erface Conn ection (A-cabinet)
NOTE
1
: Indicates electrical connection.
-------- : Indicates mechanical connection.
2 In case the length of the connection cable between A-cabinet and Operation box
is 10m or longer, there is the USB interface panel and RS-232-C interface on the
CONNECTIONS
B-82595EN-2/04
R-30iA
(B-cabinet)
2.BLOCK DIAGRAM
Pneumatic
pressure source
Mechanical unit
End effector
USB memory
Memory card
(PCMCIA)
Teach pendant
RS-232-C
Peripheral device
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Welding machine
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Ethernet
AC power supply
Fig.2 (b) Block Diagram of Electr ical Interface Connectio n (B-cabinet)
NOTE
1
: Indicates electrical connection.
-------- : Indicates mechanical connection.
2 For more information, contact our service section.
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
3
ELECTRICAL CONNECTIONS
3.1
CONNECTION DIAGRAM BETWEEN MECHANICAL UNITS
R-30iA
Robot
Servo amplifier
CRF8
RP1
(Pulsecoder, RI/RO,
(Pulsecoder, RI/RO
, XHBK, XROT)
XHBK, XROT)
RCC I/F UNIT
(M-900iA,M-2000iA ONLY)
CNJx
(Motor power)
CNGx
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(Ground)
RM1
(Motor power/brake)
RM2
(Motor power)
End effector
EE
(Note1)
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CRR88
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Fig.3.1 (a) Mechanical conn ection diagram
NOTE
1 This cable is not included. It must be supplied by the customer.
CONNECTIONS
B-82595EN-2/04
3.ELECTRICAL CONNECTIONS
R-30iA
Teach pendant
(Panel board)
Peripheral device
(Process I/O)
Port A
(Operator's panel)
Note 2
(Main board)
Note 2
(Main board)
External device
Ethernet
Circuit breaker
Input power
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Panel board
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Note 2
External power
External power
(TBOP3)
ON/OFF switch
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Note 2
Panel board
(TBOP4)
External emergency
stop switch
Note 2
Panel board
(TBOP4)
Note 2
Panel board
(TBOP4)
Fence
Servo off switch
USB memory
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
3.2
EXTERNAL CABLE WIRING DIAGRAM
3.2.1
Robot Connectio n Cables
CAUTION
Before operating the robot, uncoil the interconnection cables from their shipping
position to prevent excessive heat, which may damage the cables.
(Coiled part should be shorter than 10 meter.)
There are two types of the robot connection cable;
Non-flex type: usage is restricted to fixed laying
Flex type: possible to use in the cable track
Specif ication of c able
Non-flex type
Robot
Diameter
(mm)
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Weight
(kg/m)
Flex type
Minimum
bending
radius
(mm)
Diameter
(mm)
Weight
(kg/m)
Minimum
bending
radius
(mm)
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RP1
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RM1
RM2
RP1
RM1
RMP1
RP1
RM1
EARTH
All models
Group 1
Group 2
Group 3
Group 4
Group 5
Group 6
Group 3
Group 4
15.7
26.1
20.0
26.1
26.1
26.1
20.0
26.1
26.1
0.45
1.22
0.7
1.22
1.22
1.22
0.7
1.22
1.22
200
200
200
200
200
200
200
200
200
20.5
0.71
200
25.4
1.2
200
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18.4
0.7
200
25.4
1.2
200
25.4
1.2
200
25.4
1.2
200
25.4
1.2
200
25.4
1.2
200
Group 5
26.1
15.7
20.0
14.2
20.0
4.7
1.22
0.45
0.7
0.31
0.7
0.065
200
200
200
200
200
200
25.4
20.5
18.4
4.7
Group 7
Group 8
All models
1.2
0.71
0.7
0.065
Group1
R-2000iB (except /200T), M-420iA, M-421iA, M-710iC, R-1000iA
Group2
G
3
ARC Mate 100iB, ARC Mate 120iB, M-6iB, M-16iB, F-200iB
R 2000iB/200T M 410iB
B-82595EN-2/04
CONNECTIONS
200
200
200
200
3.ELECTRICAL CONNECTIONS
Robot Model Group1:
R-2000iB (expect /200T), M-420iA, M-421iA, M-710iC, R-1000iA
Robot Model Group2:
ARC Mat e 100iB, ARC Mate 120iB, M-6iB, M-16iB, F-200iB
In case of A-cabinet
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RI/RO,XHBK,XROT
(Connection A-cabinet and Robot)
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
In case of B-cabinet
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RI/RO,XHBK,XROT
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(Connection B-cabinet and Robot)
R-30iA (Servo amplifier)
CRR88
CNGA
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Robot
CNJ3A
CNJ6
CNGC
RP1
CRF8
(Pulsecoder, RI/RO, XHBK, XROT)
RM1
Motor power/brake
(J1M, J2M, J3M, J4M, J5M, J6M, BK)
CNJ1A
CNJ2A
CNJ4
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CNJ5
CONNECTIONS
3.ELECTRICAL CONNECTIONS
Robot Model Group 3: R-2000iB/200T, M-410iB
In case of A-cabinet
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RI/RO,XHBK,XROT
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(Connection A-cabinet and Robot)
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
In case of B-cabinet
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RI/RO,XHBK,XROT
(Connection B-cabinet and Robot)
R-30iA (Servo amplifier)
CRR88
Robot
CNGA
CNJ3A
CNGC
CNJ3B
CNJ6
CNGB
RP1
CRF8
(Pulsecoder, RI/RO, XHBK, XROT)
RM1
Motor power/brake
(J1M, J2M, J3M, J4M, J5M, J6M, BK)
B-82595EN-2/04
CONNECTIONS
3.ELECTRICAL CONNECTIONS
Robot Model Group 4: M-900iA/260L, M-900iA/350
In case of B-cabinet
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RI/RO,XHBK,XROT
(Connection B-cabinet and Robot)
R-30iA (Servo amplifier)
CRR88
Robot
CNGA
CNJ3A
CNGC
CNJ3B
CNJ6
RCC I/F UNIT
A
1
M
R
B
1
M
R
A
2
M
R
B
2
M
R
CNGB
RP1
CRF8
(Pulsecoder, RI/RO, XHBK, XROT)
RM1
Motor power/brake
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
Robot Model Group 5: M-900iA/400L, M-900iA/600
In case of B-cabinet
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RI/RO,XHBK,XROT
(Connection B-cabinet and Robot)
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
R-30iA
Robot
6-Axis Servo amplifier (AMP1)
CRR88
CNGA
CNJ3A
CNJ3B
CNGB
RP1
CRF8
(Pulsecoder, RI/RO, XHBK, XROT)
RM1
Motor power/brake
(J1M, J2M, J3M, J4M, J5M, J6M, BK)
RM2
Motor power
CNJ1B
CNJ2B
CNJ1A
CNJ2A
(J1M, J2M, J3M, J4M, J5M, J6M)
2-Axis Servo amplifier (AMP2)
JF1
CZ2L
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A
1
M
R
B
1
M
R
A
2
M
R
B
2
M
R
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JF2
RCC I/F UNIT
CZ2M
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1-Axis Servo amplifier (AMP3)
JF
CZ2
(Detail of cable connection to servo amplifier)
Fig. 3.2.1 (d) Robot co nnecti on cabl e (Group 5)
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
Robot Model Group 6: M-430iA/2F
In case of A-cabinet
RI/RO,XHBK,XROT
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(Connection A-cabinet and Robot)
B-82595EN-2/04
CONNECTIONS
3.ELECTRICAL CONNECTIONS
In case of B-cabinet
RI/RO,XHBK,XROT
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(Connection B-cabinet and Robot)
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R-30iA (Servo amplifier)
CRR88
CNGA
Robot
CNJ3A
CNJ6
CNGC
CRF8
RP1
(Pulsecoder, RI/RO, XHBK, XROT)
RM1
Motor power/brake
CNJ1A
CNJ2A
CNJ4
CNJ5
J1MA
J1MB
J2MA
J2MB
J3MA
Servo amplifier
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
Robot Model Group 7: M-430iA/2P
In case of A-cabinet
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RI/RO,XHBK,XROT
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(Connection A-cabinet and Robot)
In case of B-cabinet
CONNECTIONS
B-82595EN-2/04
3.ELECTRICAL CONNECTIONS
Detail of cable connection to s ervo amplifier
R-30iA (Servo amplifier)
CRR88
CNGA
Robot
CNJ3A
RMP1
CRF8
(Pulsecoder, RI/RO, XHBK, XROT)
Motor power/brake
CNJ1A
CNJ5
Servo amplifier
JF1
JF2
JF3
CZ2L
CZ2M
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CZ2N
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CZ2N
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Fig. 3.2.1(f) Robot Conn ection Cable (GroupMANUTENÇÃO
7)
Robot Model Group 8: ARC Mate 100iC, ARC Mate 120iC, M-10iA, M-20iA
In case of A-cabinet
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
In case of B-cabinet
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RI/RO,XHBK,XROT
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(Connection B-cabinet and Robot)
R-30iA (Servo amplifier)
Robot
CRR88
CNGA
CNJ3A
CNJ6
RMP1
CRF8
(Pulsecoder, RI/RO, XHBK, XROT)
Motor power/brake
CONNECTIONS
B-82595EN-2/04
3.2.2
3.ELECTRICAL CONNECTIONS
Teach Pendant Cable
Panel board
Teach pendant
Teach pendant cable
Operator panel box typ eB (A-cabinet)
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Panel board
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Teach pendant
Teach pendant cable
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
Teach pendant cable
Panel board
Teach pendant
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(B-cabinet)
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Fig.3.2.2 Teach p endant c able
CONNECTIONS
B-82595EN-2/04
3.2.3
Connecting t he Input Power
3.2.3.1
Connecting the input power cable
3.ELECTRICAL CONNECTIONS
(1) Fig3.2.3 shows the method of connecting the input power supply cable.
(2) Use the input power cable according to the following Table 3.2.3.1. However, the input power cable
according to the breaker or the fuse of the input power supply (power distribution panel) connected
to the robot controller must be used.
(3) Provide a class-D or better ground.
There shall be no switches or disconnects in the grounding conductor.
The resistance to the ground must not exceed 100 Ω.
Use a thick wire to withstand the maximum current used.
Table 3.2.3.1 Condu ctor size and Terminal size of AC power su ppl y
Input
Voltage
Input power source
capacity
(Refer t o
CONNECTIONS 5.3)
Conductor
size of AC
Power supply
cable
Terminal size of
AC po wer supp ly
cable
Conductor size
of earth cable
Terminal size of
earth cable
All robot
AWG10 or
more (Note 1)
M5
Note 2
M5
15KVAor more
AWG8 or more
(Note 1)
M8
Note 2
M5
12KVAmore less
AWG10 or
more (Note 1)
M5
Note 2
M5
400V
200V
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200V
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12KVAmore less
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more (Note 1)
M5
Note 2
M5
MANUTENÇÃO ROBO FANUC.pdf
WARNING
1 The input power cable according to the breaker or the fuse of the input power
supply (power distribution panel) connected to the robot controller must be used.
2 Use conductor of earth cable size is as well as the AC power supply cable size.
3 Disconnection of protective earth ground may impair the protection provided by
the system.
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
Need to Code grip.
(hole sizeφ35)
Input power cable
Main Breaker
Earth cable (M5)
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Note)Always replace the cover after
completing.
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Fig3.2.3 (b) Integrated o peration box (A-cabinet)
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Fix the cable.
I
CONNECTIONS
B-82595EN-2/04
3.2.3.2
t
bl
3.ELECTRICAL CONNECTIONS
Leakage breaker
(1) The motor is driven by the PWM inverter system using a power transistor bridge.
A
high-frequency leakage current flows through the stray capacitance between the ground and the
motor coils, power cable, and amplifier. This might cause the leakage-current circuit breaker or
leakage-protection relay installed in the path of the power supply to cut out.
the following
leakage
current
circuit
breaker
for electric
inverterscurrent
to prevent
incorrect operation.
(2) Use
Leakage
breaker using
robot
controller
has
sensitive
of 30mA.
Table 3.2.3.2 Example of l eakage current circu it br eaker for inverters
Manufacture
Fuji Electric Co., Ltd.
Hitachi, Ltd.
Matsushita Electric Works, Ltd.
3.2.3.3
Type
EG A series or later
SG A series or later
ES100C type
ES225C type
Leakage current circuit breaker, C type
Leakage current circuit breaker, KC type
Check input voltage
Setting of transformer tap is necessary depending on the input voltage.
The tap is set to the specified voltage before shipment. However, check it referring to section 6.2 in
"Maintenance" before supplying power (before the breaker switch is turned on).
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3.2.3.4
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On/off t iming by the breaker
MANUTENÇÃO ROBO FANUC.pdf
If the power supply is turned on, turned off, and then turned on again repeatedly in a short time, the
controller may not be started up. If the power is turned off before the controller is completely started up
(it takes about 30 seconds), wait for at least 10 seconds before turning on the power again.
TON-OFF ≦ 30 sec
TOFF-ON ≥ 10 sec
ON
OFF
Fig.3.2.3.4 The power is turned off within 30 seconds after it has been turned on
3.ELECTRICAL CONNECTIONS
3.2.4
CONNECTIONS
B-82595EN-2/04
Connecting the External Power Suppl y ON/OFF Switch
Panel board
TBOP3
Operator panel box typeB (A-cabinet)
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Panel board
TBOP3
CONNECTIONS
B-82595EN-2/04
3.ELECTRICAL CONNECTIONS
Panel board
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(B-cabinet)
MANUTENÇÃO
Fig.3.2.4 (a) Connecti on o f the external p ower su ppl y ON/OFF
swi tch ROBO FANUC.pdf
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3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
Dual-check speci ficati on (panel bo ard A20B-2101-0370)
Short–circuit plate :
between EXON1 and EXON2
EXON1
EXON2
EXOFF1
EXOFF2
When using the external ON/OFF switch, remove
the short-circuit plate between EXOFF1 and
EXOFF2, and attach the cable to these terminals.
Contact specifications
Withstand voltage: 50VDC (across contacts)
Current: 100mA min. (min. load 2mA)
EXOFF1-2
Close
Open
POWER
ON
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TOFF-ON ≥ 5 sec
OFF
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NOTE
1 When the external power supply ON/OFF switch is set to ON (closed), the
controller can be turned on and off by using the circuit breaker.
2 When the external power supply ON/OFF switch is set to OFF (open), the
controller cannot be turned on and off by using the circuit breaker.
Fig.3.2.4 (b) Connectio n of th e external power sup ply sw itch ON and OFF
3.2.5
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
Connecting the External Emergency Stop
Panel board
TBOP4
TBOP3
TBOP6
Operator panel box typeB (A-cabinet)
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Panel boardMANUTENÇÃO ROBO FANUC.pdf
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TBOP4
TBOP3
TBOP6
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
Panel board
(B-cabinet)
Fig.3.2.5 (a) Conn ection of th e external emergency stop
External emergency stop output
Dual-check specification (panel board A20B-2101-0370)
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E
S
P
B
4
1
D
l h
i fi
ti
(
lb
TP emergency
stop button
E
S
P
B
3
1
E
S
P
B
3
E
S
P
B
2
1
E
S
P
B
2
E
S
P
B
1
1
E
S
P
B
1
d A20B 2101 0370)
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
Internal
circuit
k
E
S
P
B
4
Operator panel
emergency stop button
+24EXT
KA21
0EXT
0EXT
WARNING
KA22 +24EXT
ESPB1
ESPB11
ESPB2
In
case of using
contact
of the
emergency
stop the
output
signal,
be
sure to pair ESPB1 with ESPB2,
and ESPB3 with ESPB4.
Robot controller does not detect
the breakdown of the contact of
the emergency stop output signal.
Take countermeasures such as
ESPB21
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inspecting
the
duplicated
ESPB41
contacts, or using a safety relay
ESPB3
ESPB31
ESPB4
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circuit that
breakdown.
can
detect
the
MANUTENÇÃO ROBO FANUC.pdf
Example of the connection with the safety relay unit
Robot controller
Safety relay unit
ESPB1
ESPB11
Control
ESPB2
circuit
ESPB21
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
External emergency sto p input
External emergency stop switch
Fence
These terminals are
factory-jumpered. When using
external emergency stop inputs,
remove the short-circuit plate.
Servo ON/OFF
input switch
E
E
S
1
E
E
S
1
1
E
E
S
2
E
E
S
2
1
E
A
S
1
E
A
S
1
1
E
A
S
2
E
A
S
2
1
E
G
S
1
E
G
S
1
1
E
G
S
2
Servo disconnect
switch signal
E
G
S
2
1
SD4
SD41
SD5
SD51
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Signal
Descripti on
Current, voltage
EES1
EES11
EES2
EES21
Connect the contacts of the external emergency stop switch to these
terminals. When a contact is open, the servo power supply is turned off,
and the robot is immediately placed in the emergency stop state. When
using the contacts of a relay or contactor instead of the switch, connect a
spark killer to the coil of the relay or contactor, to suppress noise. When
these terminals are not used, jumper them.
Open and close of
24VDC 0.1A
(Note 1)
EAS1
Th
O
i
l
dt
t
th
f l
h
th
Signal
f t f
t
d l
f
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
SD4
SD41
SD5
SD51
b t
Descripti on
Current, voltage
Connect the contacts of the servo disconnect switch to these terminals.
When a contact is open, the servo power supply is turned off, and the robot
stops immediately.
When using the contacts of a relay or contactor instead of the switch,
connect a spark killer to the coil of the relay or contactor, to suppress
noise. When these terminals are not used, jumper them.
Open and close of
24VDC 0.1A
(Note 1)
NOTE
1 Use a contact which minimum load is 5 mA less.
Examples of connection of duplicate safety signals
Correct connection
Wrong connection
External emergency stop switch
EES1
EES11
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EES2
External emergency stop switch
EES1
EES11
EES2
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EES21
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EES21
MANUTENÇÃO ROBO FANUC.pdf
Discrepancy in duplicate inputs results in an alarm.
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
Input timing of dup licate safety signals
Duplicate inputs are used for signals such as the external emergency stop signal, safety fence signal, and
servo off signal so that a response is made even when a single failure occurs. The statuses of these
duplicate input signals must always be changed at the same timing according to the timing specifications
provided in this section. The robot control unit always checks that the statuses of the duplicate inputs
are the same, and if the control unit finds a discrepancy, it issues an alarm. If the timing specifications
are not satisfied, an alarm may be issued because of a signal discrepancy.
EES1
EAS1
EGS1
SD4
Close
EES2
EAS2
EGS2
SD5
Close
Open
Open
TDIF
TDIF
TOPEN
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TOPEN
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TDIF (input time difference)< 200msec
TOPEN (input hold period) > 2sec
Fig. 3.2.5(b) Input timing of duplicate safety signals
CONNECTIONS
B-82595EN-2/04
3.ELECTRICAL CONNECTIONS
External power connection
0V
24V
INT
EXT0V
EXT24V
EXT


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
External power source
+24V(±10%)
more than 300mA
EMC Compliant
The relays for emergency stop input and output can be separated from controller’s power. Please connect
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external +24V instead of internal +24V,if emergency stop output must not be effected controller’s power.
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Example of the connection
In case of using the external power source
In case of not using the external
power source
External power source
EXT24V
EXT24V
24V
INT24V
INT24V
INT0V
INT0V
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
Connecting external on/off and external emergency st op sign al input/outpu t
wires
8-pole terminal block
(TBOP3)
12-pole terminal block
(TBOP4, 6)
Jumper pin
Operation lever
1.
2.
3.
4.
5.
FANUC' s sp ec if icat io n
Man uf ac tu rer 's
specification (WAGO)
Remark
A63L-0001-0783#308
231-311/026-000
External emergency stop
A63L-0001-0783#312
231-304/026-000
External ON/OFF
A63L-0001-0783#902
A63L-0001-0783#131-M
231-902
231-131
2 pieces of 231-131 and operation
manual are included in FANUC's
specification
Detach the plug connector block from the panel board.
Insert the tip of a flat-blade screwdriver into the manipulation slot and push down its handle.
Insert the end of the signal wire into the wire slot.
Pull out the screwdriver.
Attach the plug connector block to the panel board.
Do not insert a wire into the wire hole of a plug connector or pull it out with the plug connector
block mounted on the panel board; otherwise, the panel board may be damaged.
FANUC recommends the lever (A05B-2400-K030) for connecting the signal wire to the plug connector
block instead of Flat-blade screwdriver.
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Signal wire
CONNECTIONS
B-82595EN-2/04
3.ELECTRICAL CONNECTIONS
Wiring
(1) Pull down the lever.
(2) Push in the conductor while
holding the lever.
(3) Set the lever free.
* And pull the conductor softly to
check the clamping.
*
Don't pull strongly.
Re lace the lever
(1) Pull off the lever.
to lose the lever.
Be careful not (2) Hook the lever to the rectangle
hole.
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(3) Push down the lever until click in.
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Fit to header
(1) Push in the connector to header.
(2) Please check if the latch is hooked to header.
* Be careful to fit the
3.ELECTRICAL CONNECTIONS
CONNECTIONS
B-82595EN-2/04
Installation of "Jum er"
(1) Attach levers to connector.
(2) Hold down levers at the same
time, then put the jumper into
connector.
*
Please check the direction of the
jumper.
-
-
With two jumpers
Availabilit of wires
-
Without jumpers
* Max wire size 0 2.0mm2 (AWG14)
(with "Ferrule")
With jumper
- Additional wire is available under the http://slidepdf.com/reader/full/manutencao-robo-fanucpdf
jumper.
Additional wire is not available
under the jumper.
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2
* Max wire size 0 0.5mm (AWG20)
(with "Ferrule")
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Installation of "Ferrules"
(3) Squeeze handles until
ratchet mechanism is
released.
(1) Put the wire through the
hole of ferrules.
(4) Please check if
the wire crimped
correctly.
(2) Introduce wire with ferrule
into cramping station.
CONNECTIONS
B-82595EN-2/04
3.2.6
3.ELECTRICAL CONNECTIONS
Connecting the Non-Teaching Enabling (NTED) Signal
(CRM65)
CRM65 (NTED)
Fig. 3.2.6 Connectin g t he NTED Signal
NTED signal is the signal to be able to connect with the switch that is same function as deadman switch
on the teach pendant. In the auto mode, robot moves without reference to the state of the switch
connected with NTED signal.
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Refer to “APPENDIX A, Total connection
Diagram Fig.A (e)” about NTED circuit.
Input timing of NTED signal must comply with rules in the section “Input timing of duplicate safety
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signals”.
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NOTE
After connecting NTED switch, be sure to check the operation of those switches,
the emergency stop button on the operator’s panel/operation box, and the
emergency stop button on the teach pendant.
Enabling Device
NTED1
NTED11
NTED2
3.ELECTRICAL CONNECTIONS
3.2.7
CONNECTIONS
B-82595EN-2/04
Connecting the Aux iliary A xis Brake (CRR65 A/B)
CRR65
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Fig.3.2.7 6-axis servo amplif ier
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CRR65 A/B
A1
A2
A3
BKA1
B1
B2
B3
COMMON
BKA2
COMMON
CRR65 A/B connector manufactured by Tyco Electronics AMP k.k.
(Specification Rece-housing 1-178129-6, Rece-contact 175218-2)
Specification
Tyco Electroni cs AMP
Rece-housing
Rece-contact
1-178129-6
175218-2
FANUC
A63L-0001-0460#032KSX
A63L-0001-0456#ASL
B-82595EN-2/04
CONNECTIONS
3.2.8
3.ELECTRICAL CONNECTIONS
Connecting the A uxil iary A xis Over Travel (CRM68)
CRM68
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Fig.3.2.8 6-axis servo amplif ier
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CRM68
A1
A2
A3
AUXOT1
AUXOT2
CRM68 connector manufactured by Tyco Electronics AMP k.k.
Specification
Tyco Electroni cs AMP
Rece-housing
Rece-contact
FANUC
1-1318120-3
1318107-1
A63L-0001-0812#R03SX
A63L-0001-0812#CRM
CONNECTIONS
B-82595EN-2/04
3.ELECTRICAL CONNECTIONS
3.2.9
Connecting t he Operation Box
The operation box is not connected to the controller in shipment in some robot models. In this case,
connect the operation box connection cable to the operation box as following drawings. Also connect the
input power cable and the teach pendant cable as described in section 3.2.2 and 3.2.3.
JD1B
Port (M4 NUT 3 Places)
JRS15
CRM95
Signal Line
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Cable clamp
Power Line
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4.
CONNECTIONS
B-82595EN-2/04
4
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
PERIPHERAL DEVICE, ARC WELDING,
AND END EFFECTOR INTERFACES
R-30iA I/O peripheral device interfaces include printed circuit boards and a unit selected according to the
applications. Table 4 lists details of the printed-circuit boards and units.
of these boards and units.
Figure 4 shows the locations
Table 4 Peripheral Device Interface Types
No
.
Name
Drawing
number
DI
Number of I/O points
DO
D/A
1
2
Process I/O board CA
Process I/O board EA
A05B-2500-J003
A05B-2500-J012
40
40
40 (sink type)
40 (sink type)
3
4
5
6
7
8
9
10
11
12
Process I/O board EB
Process I/O board FA
Process I/O board GA
Process I/O board HA
Process I/O board JA
Process I/O board JB
Process I/O board KA
Process I/O board KB
Process I/O board KC
I/O Unit-MODEL A
A05B-2500-J013
A05B-2500-J014
A05B-2500-J015
A05B-2500-J006
A05B-2500-J001
A05B-2500-J002
A05B-2500-J010
A05B-2500-J011
A05B-2500-J016
A05B-2502-J090
(Base and
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interface unit)
2
2
A/D
6
3
40
40 (sink type)
0
0
96
96 (sink type)
0
0
40
40 (sink type)
2
0
40
40 (sink type)
2
0
96 96 (source type)
0
0
40 40 (source type)
0
0
40 40 (source type)
3
2
40 40 (source type)
2
0
40 40 (source type)
0
0
Depending on selected I/O module.
Remarks
Installed in back plane
Installed in operation box
Installed in operation box
Installed in operation box
Installed in operation box
Installed in back plane
Installed in back plane
Installed in back plane
Installed in operation box
Installed in operation box
Installed in operation box
Common to both A and
B-cabinet (five slots)
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NOTE
1 General purpose I/O (DI/DO) is a number which subtract an exclusive signal
from the table value.
Example:
Process
I/ODI;
board40
JB(Table value) – 18 (Exclusive DI)= 22 points
General
purpose
General purpose DO; 40 (Table value) – 20 (Exclusive DO) = 20 points
2 When there are slave units on the I/O Link and the power for control to these
slave units is supplied from other than the robot control unit, the power to the
controller and the power to the slave units must be turned on and off at the
following timings:
a) The power to the slave units must be turned on before or when the power to
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
B-82595EN-2/04
Process I/O board
(A-cabinet)
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4.
CONNECTIONS
B-82595EN-2/04
4.1
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
PERIPHERAL DEVICE INTERFACE BLOCK DIAGRAM
Following are a block diagram of the peripheral device interface and the specifications.
4.1.1
When Process I/O Board EA/EB/GA is Used (A-cabinet)
A-cabinet
Operation box
Main
Process I/O
board
board
(1)
JD1A
JD1B
EA/EB/GA
CRM2A
Panel board
CP5A
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CRM2B
(3)
Peripheral
device
(4)
(2)
CP5
CRW1
or CRW7
(NOTE 2)
CRW2
(5)
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Fig.4.1.1 Block di agram of th e process I/O board EA,MANUTENÇÃO
EB and GA ROBO FANUC.pdf
NOTE
1 CRW1 and CRW2 are not provided for process I/O board EB
2 In case of process I/O board EA: CRW1
In case of process I/O board GA: CRW7
Number
(1)
4.
Name
Operation box connection cable
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Number
(5)
Remarks
A05B-2501-H460
A05B-2501-H461
A05B-2501-H462
Connected length: 5m
Connected length: 10m
Connected length: 2m
CONNECTIONS
Name
Welding device connection cable
(Process I/O EA)
(Fanuc interface / elbow)
B-82595EN-2/04
Drawing number
Remarks
A05B-2501-J279
A05B-2501-J280
A05B-2501-J281
A05B-2501-J229
A05B-2501-J230
A05B-2501-J231
Connected length: 10m (one) CRW1
Connected length: 20m (one) CRW1
Connected length: 30m (one) CRW1
Connected length: 10m (one) CRW1
Connected length: 20m (one) CRW1
Connected length: 30m (one) CRW1
Welding device connection cable
(Process I/O GA)
A05B-2501-J282
A05B-2501-J283
A05B-2501-J284
A05B-2501-J232
A05B-2501-J233
A05B-2501-J234
A05B-2501-J285
A05B-2501-J286
Connected length: 10m (one) CRW7
Connected length: 20m (one) CRW7
Connected length: 30m (one) CRW7
Connected length: 10m (one) CRW7
Connected length: 20m (one) CRW7
Connected length: 30m (one) CRW7
Connected length: 10m (one) CRW7
Connected length: 20m (one) CRW7
(Fanuc interface / elbow)
Welding device connection cable
(Process I/O GA)
(Fanuc interface / straight)
A05B-2501-J287
A05B-2501-J235
A05B-2501-J236
A05B-2501-J237
Connected length: 30m (one) CRW7
Connected length: 10m (one) CRW7
Connected length: 20m (one) CRW7
Connected length: 30m (one) CRW7
Welding device connection cable
(Process I/O EA)
(Fanuc interface / straight)
Welding device connection cable
(Process I/O GA)
(General-purpose interface / elbow)
Welding device connection cable
(Process I/O GA)
(General-purpose interface / straight)
4.1.2
Drawing number
When Process I/O Board FA is Used (A-cabinet)
A-cabinet
Operation box
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Main
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board
(1)
JD1A
JD1B
Process I/O
board
FA
MANUTENÇÃO ROBO FANUC.pdf
Peripheral
device
CRM2A
Panel board
CRM2B
(2)
CP5A
CRM2C
CP5
CRM2D
CRM4A
4.
CONNECTIONS
B-82595EN-2/04
Number
(3) (4)
(5) (6)
Name
Peripheral device connection cable
(7)
(8)
Peripheral device connection cable
4.1.3
Drawing number
A05B-2501-J203
A05B-2501-J204
A05B-2501-J205
A05B-2501-J253
A05B-2501-J254
A05B-2501-J255
(3)
(4)
(5)
(6)
(7)
(8)
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Remarks
Connected length: 10m (one)
Connected length: 20m (one)
Connected length: 30m (one)
Connected length: 10m (one)
Connected length: 20m (one)
Connected length: 30m (one)
When Process I/O Board CA/HA is Used (B-cabinet)
Process I/O board
CA/HA
Main
board
JD1A
(1)
Peripheral
JD1B
(JD4A)
CRM2A
CRM2B
JD1A
(JD4B)
(2)
CRW1
or CRW7
(NOTE)
(3)
device
(4)
(5)
CRW2
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CA/HA
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JD1B
(JD4A)
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CRM2A
CRM2B
JD1A
(JD4B)
CRW1
or CRW7
(NOTE)
CRW2
Fig.4.1.3 Block d iagram of the pro cess I/O board CA/HA
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Number
(5)
CONNECTIONS
Name
Welding device connection cable
(Process I/O CA)
(Fanuc interface / elbow)
Welding device connection cable
(Process I/O CA)
(Fanuc interface / straight)
Welding device connection cable
(Process I/O HA)
(General-purpose interface / elbow)
Welding device connection cable
(Process I/O HA)
(General-purpose interface / straight)
Welding device connection cable
(Process
I/O HA)/ elbow)
(Fanuc interface
Welding device connection cable
(Process I/O HA)
(Fanuc interface / straight)
4.1.4
Drawing
number
B-82595EN-2/04
Remarks
A05B-2502-J200
A05B-2502-J201
A05B-2502-J202
A05B-2502-J203
A05B-2502-J204
Connected length: 10m (one) CRW1
Connected length: 20m (one) CRW1
Connected length: 30m (one) CRW1
Connected length: 10m (one) CRW1
Connected length: 20m (one) CRW1
A05B-2502-J205
A05B-2502-J206
A05B-2502-J207
A05B-2502-J208
A05B-2502-J210
A05B-2502-J211
A05B-2502-J212
A05B-2502-J213
Connected length: 30m (one) CRW1
Connected length: 10m (one) CRW7
Connected length: 20m (one) CRW7
Connected length: 30m (one) CRW7
Connected length: 10m (one) CRW7
Connected length: 20m (one) CRW7
Connected length: 30m (one) CRW7
Connected length: 10m (one) CRW7
A05B-2502-J214
A05B-2502-J215
A05B-2502-J216
A05B-2502-J217
A05B-2502-J218
Connected length: 20m (one) CRW7
Connected length: 30m (one) CRW7
Connected length: 10m (one) CRW7
Connected length: 20m (one) CRW7
Connected length: 30m (one) CRW7
When Process I/O Board JA/JB i s Used (B-cabinet)
Process I/O board
Main
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board
JA/JB
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JD1A
(1)
Peripheral
device
JD1B
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ROBO FANUC.pdf
(3)
CRMA5A
(4)
CRMA5B
JD1A
(5)
(6)
CRMA5C
CRMA5D
(7)
CRMA6A
(2)
(8)
CRMA6B
Process I/O board
JA/JB
4.
CONNECTIONS
B-82595EN-2/04
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
NOTE
The process I/O board JB has none of CRMA5C, CRMA5D, CRMA6A, and
CRMA6B.
Number
(1)
Name
Drawing number
Remarks
I/O Link cable
A05B-2502-J130
Between main board and process I/O
(2)
(3) (4)
(5) (6)
I/O Link cable
Peripheral device connection cable
(Process I/O JA, JB)
(7)
(8)
Peripheral device connection cable
(Process I/O JA)
A05B-2502-J131
A05B-2502-J160
A05B-2502-J161
A05B-2502-J162
A05B-2502-J180
A05B-2502-J181
A05B-2502-J182
Between process I/O and process I/O
Connected length: 10m (one)
Connected length: 20m (one)
Connected length: 30m (one)
Connected length: 10m (one)
Connected length: 20m (one)
Connected length: 30m (one)
4.1.5
When Process I/O Board KA/KB/KC is Used (A-cabinet)
A-cabinet
Operation box
Main board
JD1A
(1)
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JD1B
Process I/O
board
KA/KB/KC
Peripheral
(3)
device
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CRMA5A
(4)
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CRMA5B
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Panel board
(2)
CP5A
(5)
CP5
CRW10
Fig. 4.1.5 Block di agram of th e process I/O board KA/KB/KC
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Number
CONNECTIONS
Name
Drawing number
(3)
(4)
Peripheral device connection cable
(5)
B-82595EN-2/04
Remarks
Welding machine connection cable
(For process I/O board KB)
(General interface/elbow type)
A05B-2501-J050
A05B-2501-J051
A05B-2501-J052
A05B-2501-J053
A05B-2501-J054
A05B-2501-J055
Connection length of 10 m (one)
Connection length of 20 m (one)
Connection length of 30 m (one)
Connection length of 3 m (one), CRW10
Connection length of 7 m (one), CRW10
Connection length of 14 m (one), CRW10
Welding machine connection cable
(For process I/O board KA, KB)
(FANUC interface/elbow type)
A05B-2501-J056
A05B-2501-J057
A05B-2501-J058
Connection length of 3 m (one), CRW10
Connection length of 7 m (one), CRW10
Connection length of 14 m (one), CRW10
Integrated type
Number
Name
Drawing number
Remarks
(1)
Operator panel box connection
cable
A05B-2501-H481
(2)
(3)
(4)
Process I/O board supply cable
Peripheral device connection cable
(5)
Welding machine connection cable
(For process I/O board KB)
(General interface/elbow type)
Welding machine connection cable
A05B-2501-J151
A05B-2501-J080
A05B-2501-J081
A05B-2501-J082
A05B-2501-J083
A05B-2501-J084
A05B-2501-J085
A05B-2501-J086
Connection length of 10 m (one)
Connection length of 20 m (one)
Connection length of 30 m (one)
Connection length of 3 m (one), CRW10
Connection length of 7 m (one), CRW10
Connection length of 14 m (one), CRW10
Connection length of 3 m (one), CRW10
(For process I/O board KA, KB)
(FANUC interface/elbow type)
A05B-2501-J087
A05B-2501-J088
Connection length of 7 m (one), CRW10
Connection length of 14 m (one), CRW10
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4.
CONNECTIONS
B-82595EN-2/04
4.1.6
When I/O Unit -MODEL A is Used
4.1.6.1
In case of B-cabinet
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
B-cabinet
E-Stop
unit CP5A
CP5A
K26
Main
board
JD1A
K25
J
D
1
A
B
a
c
k
p
la
n
e
(f
iv
e
-l
s
o
t)
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J
D
1
B
C
P
3
2
Peripheral
device
Interface module
K54
K54
K54
K54
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K54
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Fig.4.1.6.1 Block diagram o f I/O Unit -A (In case of B-cabinet)
Cable numb er
K25
K26
K54
4.
Drawing
number
Name
I/O Link cable
I/O Link cable
Peripheral device
connection cable
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
-
Remarks
Included in A05B-2502-J090
Included in A05B-2502-J090
Must be supplied by the customer.
-
CONNECTIONS
B-82595EN-2/04
B-cabinet
Main
board
Process I/O board
A05B-2502-J130
JD1A
JD1B
JD1A
DC power is supplied
from the back plane.
Process I/O board
A05B-2502-J131
JD1B
Included in model A base
unit
A05B-2502-J090
E-stop unit
JD1A
I/O Unit-A
Interface module
JD1B
JD1A
CP5A
CP32
Back plane (five-slot)
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Fig.4.1.7.1 Block di agram of tw o or mo re process I/O printed cir cuit boards and I/O unit-MODEL A
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4.2
PERIPHERAL DEVICE INTERFACE COMBINATION
Peripheral device interfaces can be used by using process I/O boards and the I/O Unit-MODEL A.
4.2.1
In Case of A-cabinet
Only one of the following peripheral device interfaces can be used in A-cabinet.
-
Process I/O board EA
Process I/O board EB
4.
CONNECTIONS
B-82595EN-2/04
4.2.2
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
In Case of B-cabinet
One board or o ne unit is u sed
Combination C
Combination D
Combination E
Process I/O board CA/HA/JB (40 points/40 points)
Process I/O board JA (96 points/96 points)
I/O Unit-MODEL A
Two boards/units are used in comb ination
Combination CE
Process I/O board CA/HA/JB (40 points/40 points)
+
I/O Unit-MODEL A
Combination DC
Process I/O board JA (96 points/96 points)
+
Process I/O board CA/HA/JB (40 points/40 points)
Combination DD
Combination DE
Process I/O board JA (96 points/96 points)
+
Process I/O board JA (96 points/96 points)
Process I/O board JA (96 points/96 points)
+
I/O Unit-MODEL A
Three boards/units are used in combination
Process I/O board JA (96 points/96 points)
+
Combination DCE
Process I/O board CA/HA/JB (40 points/40 points)
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+
I/O Unit-MODEL A
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Process I/O board JA (96 points/96 points)
+
Process I/O board JA (96 points/96 points)
+
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Combination DDE
MANUTENÇÃO ROBO FANUC.pdf
I/O Unit-MODEL A
4.3
PROCESS I/O BOARD SIGNALS
There are 18 exclusive data inputs (DI) and 20 exclusive data outputs (DO) for a process I/O board.
These signals are allocated to the process I/O board connected first when two or more printed boards are
combined. (General signals DI/DO are allocated to the second and the following process I/O boards.)
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Connector numb er
CRMA5A- 7
CRMA5A- 8
CRMA5A- 9
CRMA5A-10
CRMA5A-11
CRMA5A-12
CRMA5A-13
CRMA5A-14
CRMA5A-15
CRMA5A-16
CRMA5A-29
CRMA5A-30
CRMA5A-31
CRMA5A-32
CRMA5B- 1
CONNECTIONS
Signal name
B-82595EN-2/04
Descriptio n
Remarks
HOME
ENBL
RSR1
PNS1
RSR2
PNS2
Return to home position
Operation enabled
Robot service request
Program number selection
Robot service request
Program number selection
RSR3
PNS3
RSR4
PNS4
RSR5
PNS5
RSR6
PNS6
Robot service request
Program number selection
Robot service request
Program number selection
Robot service request
Program number selection
Robot service request
Program number selection
RSR7
PNS7
RSR8
PNS8
PNSTROBE
PROD START
DI01
DI02
DI03
Robot
service
request
Program
number
selection
Robot service request
Program number selection
PNS strobe
Start of automatic operation
Peripheral device status
Peripheral device status
Peripheral device status
Option
Peripheral device status
Peripheral device status
Peripheral device status
Peripheral device status
General signal
General signal
General signal
General signal
CRMA5B- 2
DI04
CRMA5B- 3
DI05
CRMA5B- 4
DI06
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CRMA5B- 5
DI07
Option
Option
Option
Option
Option
Option
Option
General signal
General signal
General signal
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CRMA5B- 6
CRMA5B- 7
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CRMA5B- 8
CRMA5B- 9
CRMA5B-10
CRMA5B-11
CRMA5B-12
CRMA5B-13
CRMA5B-14
CRMA5B-15
CRMA5B-16
CRMA5B-29
CRMA5B-30
DI08
DI09
DI10
DI11
Peripheral device status
Peripheral device status
Peripheral device status
Peripheral device status
DI12
DI13
DI14
DI15
DI16
DI17
DI18
DI19
DI20
Peripheral device status
Peripheral device status
Peripheral device status
Peripheral device status
Peripheral device status
Peripheral device status
Peripheral device status
Peripheral device status
Peripheral device status
General signal
General signal
MANUTENÇÃO ROBO FANUC.pdf
General signal
General signal
General signal
General signal
General signal
General signal
General signal
General signal
General signal
General signal
General signal
4.
CONNECTIONS
B-82595EN-2/04
Connector numb er
CRMA5A-46
CRMA5A-19
CRMA5A-20
CRMA5A-21
CRMA5A-22
CRMA5A-24
CRMA5A-25
CRMA5A-26
CRMA5A-27
CRMA5B-33
CRMA5B-34
CRMA5B-35
CRMA5B-36
CRMA5B-38
CRMA5B-39
Signal name
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Descriptio n
Remarks
SNO1
ACK2
SNO2
ACK3
SNO3
ACK4
Selected program number
Option
Robot service request acceptance
Selected program number
Option
Robot service request acceptance
Selected program number
Option
Robot service request acceptance
SNO4
ACK5
SNO5
ACK6
SNO6
ACK7
SNO7
ACK8
SNO8
SNACK
RESERVED
DO01
DO02
DO03
DO04
DO05
DO06
Selected program number
Robot service request acceptance
Selected program number
Robot service request acceptance
Selected program number
Robot service request acceptance
Selected program number
Robot service request acceptance
Selected program number
Response signal to PNS
Option
Peripheral device control signal
Peripheral device control signal
Peripheral device control signal
Peripheral device control signal
Peripheral device control signal
Peripheral device control signal
General signal
General signal
General signal
General signal
General signal
General signal
Peripheral device control signal
Peripheral device control signal
Peripheral device control signal
Peripheral device control signal
General signal
General signal
General signal
General signal
CRMA5B-40
DO07
CRMA5B-41
DO08
CRMA5B-43
DO09
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CRMA5B-44
DO10
Option
Option
Option
Option
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CRMA5B-45
CRMA5B-46
7/17/2019
CRMA5B-19
CRMA5B-20
DO11
DO12
DO13
DO14
Peripheral device control signal
General signal
Peripheral device control signal
General signal
MANUTENÇÃO ROBO FANUC.pdf
Peripheral device control signal
General signal
Peripheral device control signal
General signal
CRMA5B-21
CRMA5B-22
CRMA5B-24
CRMA5B-25
CRMA5B-26
CRMA5B-27
DO15
DO16
DO17
DO18
DO19
DO20
Peripheral device control signal
Peripheral device control signal
Peripheral device control signal
Peripheral device control signal
Peripheral device control signal
Peripheral device control signal
4.4
4.
INTERFACE FOR PERIPHERAL DEVICES
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Control
unit
General signal
General signal
General signal
General signal
General signal
General signal
CONNECTIONS
B-82595EN-2/04
Peripheral device control interface A1
(Source type DO)
CRMA5A
01
02
XIMSTP
XHOLD
03
04
05
06
07
08
09
10
11
12
XSFSPD
CSTOPI
13
14
15
16
17
18
RSR5/PNS5
RSR6/PNS6
RSR7/PNS7
RSR8/PNS8
0V
0V
FAULT RESET
START
HOME
ENBL
RSR1/PNS1
RSR2/PNS2
RSR3/PNS3
RSR4/PNS4
19
ACK3/SNO3
33
34
CMDENBL
SYSRDY
20
21
22
23
24
25
26
27
28
29
ACK4/SNO4
ACK5/SNO5
ACK6/SNO6
DOSRC1
ACK7/SNO7
ACK8/SNO8
SNACK
RESERVED
DOSRC1
PNSTROBE
35
36
37
38
39
40
41
42
43
44
PROGRUN
PAUSED
DOSRC1
HELD
FAULT
ATPERCH
TPENBL
DOSRC1
BATALM
BUSY
30
31
32
PROD START
DI01
DI02
45
46
47
48
49
50
ACK1/SNO1
ACK2/SNO2
DOSRC1
Peripheral
device A1
+24E
+24E
Peripheral device control interface A2
(Source type DO)
CRMA5B
01
DI03
02
DI04
19
DO13
03
DI05
20
DO14
http://slidepdf.com/reader/full/manutencao-robo-fanucpdf
04
DI06
21
DO15
05
DI07
22
DO16
33
34
35
36
37
DO01
DO02
DO03
DO04
DOSRC1
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06
07
08
09
DI08
DI09
DI10
DI11
23
24
25
26
DOSRC1
DO17
DO18
DO19
38
39
40
41
DO05
DO06
DO07
DO08
10
11
12
13
14
15
16
17
18
DI12
DI13
DI14
DI15
DI16
DI17
DI18
0V
0V
27
28
29
30
31
32
DO20
DOSRC1
DI19
DI20
DI21
DI22
42
43
44
45
46
47
48
49
50
DOSRC1
DO09
DO10
DO11
DO12
DOSRC1
MANUTENÇÃO ROBO FANUC.pdf
Peripheral
device A2
+24E
+24E
4.
CONNECTIONS
B-82595EN-2/04
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Control unit
Peripheral device control interface A3
(Source type DO)
CRMA5C
01
02
DI23
DI24
19
DO33
33
34
DO21
DO22
03
04
05
06
07
08
09
10
11
12
DI25
DI26
DI27
DI28
DI29
DI30
DI31
DI32
DI33
DI34
20
21
22
23
24
25
26
27
28
29
DO34
DO35
DO36
DOSRC2
DO37
DO38
DO39
DO40
DOSRC2
DI39
35
36
37
38
39
40
41
42
43
44
DO23
DO24
DOSRC2
DO25
DO26
DO27
DO28
DOSRC2
DO29
DO30
13
14
15
16
17
18
DI35
DI36
DI37
DI38
0V
0V
30
31
32
DI40
DI41
DI42
45
46
47
48
49
50
DO31
DO32
DOSRC2
Peripheral
device A3
+24E
+24E
Peripheral device control interface A4
(Source type DO)
CRMA5D
01
DI43
02
DI44
19
DO53
03
DI45
20
DO54
http://slidepdf.com/reader/full/manutencao-robo-fanucpdf
04
DI46
21
DO55
33
34
35
36
DO41
DO42
DO43
DO44
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4.
05
06
07
08
09
10
11
12
13
14
15
16
17
18
DI47
DI48
DI49
DI50
DI51
DI52
DI53
DI54
DI55
DI56
DI57
DI58
0V
0V
22
23
24
25
26
27
28
29
30
31
32
DO56
DOSRC2
DO57
DO58
DO59
DO60
DOSRC2
DI59
DI60
DI61
DI62
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
37
38
39
40
41
42
43
44
45
46
47
48
49
50
DOSRC2
DO45
DO46
DO47
DO48
DOSRC2
DO49
DO50
DO51
DO52
DOSRC2
MANUTENÇÃO ROBO FANUC.pdf
Peripheral
device A4
+24E
+24E
CONNECTIONS
B-82595EN-2/04
Control unit
Peripheral device control interface B1
(Source type DO)
CRMA6A
01
02
DI63
DI64
08
09
DO65
DO66
14
15
DO61
DO62
03
04
05
06
07
DI65
DI66
DI67
DI68
DI69
10
11
12
13
DO67
DO68
DOSRC3
DI70
16
17
18
19
20
DO63
DO64
DOSRC3
+24E
0V
Peripheral
device B1
Peripheral device control interface B2
(Source type DO)
CRMA6B
01
02
03
04
05
06
07
DI71
DI72
DI73
DI74
DI75
DI76
DI77
Terminal block
08
09
10
11
12
13
DO73
DO74
DO75
DO76
DOSRC3
DI78
http://slidepdf.com/reader/full/manutencao-robo-fanucpdf
TBSRC3
14
15
16
17
18
19
20
DO69
DO70
DO71
DO72
DOSRC3
+24E
0V
Peripheral
device B2
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1
2
7/17/2019
DOSRC3
0V
MANUTENÇÃO ROBO FANUC.pdf
NOTE
1 The peripheral device connection cables are optional.
2 The DOSRC3 pins of the CRMA6A and CRMA6B are pins for supplying power to
drivers. (None of these pins can be left open.)
3 When the level of the voltage applied to the load is insufficient for a cause such
as a too long peripheral device connection cable, supply power from the
4.
CONNECTIONS
B-82595EN-2/04
Control unit (peripheral device control interface A1)
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Peripheral device
+24E Connector pin No.
CRMA5A (49,50)
Receiver circuit
RV
3.3k
*HOLD
RV
*IMSTP
*SFSPD
0V
RV
START
RV
HOME
RV
ENBL
RV
RSR1/PNS1
RV
RSR2/PNS2
RV
RSR3/PNS3
RV
RV
RSR4/PNS4
RSR5/PNS5
RV
RSR6/PNS6
RV
RSR7/PNS7
RV
CRMA5A (2)
CRMA5A (3)
RV
Set this jumper according
to the common
CSTOPI
RV voltage of
input devices. (ICOM1)
FAULT RESET
CRMA5A (1)
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CRMA5A (4)
CRMA5A (5)
CRMA5A (6)
CRMA5A (7)
CRMA5A (8)
CRMA5A (9)
CRMA5A (10)
CRMA5A (11)
CRMA5A (12)
CRMA5A (13)
CRMA5A (14)
CRMA5A (15)
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CRMA5A (16)
RSR8/PNS8
RV
PNSTROBE
RV
PROD START
DI01
RV
RV
CRMA5A (31)
DI02
RV
CRMA5A (32)
CRMA5A (29)
MANUTENÇÃO ROBO FANUC.pdf
CRMA5A (30)
COM-1
RV
+24E
CRMA5A (17,18)
B
A
0V
Set this jumper according to the
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
Control unit (peripheral device control interface A1) DOSRC1(1)
B-82595EN-2/04
Peripheral device
DOSRC1
Connector pin No.
CRMA5A (23,28,37,42,47)
+24V
0V
+24V regulated
power supply
Driver circuit
DV
LOAD
CMDENBL
CRMA5A (33)
SYSRDY
PROGRUN
PAUSED
HELD
FAULT
ATPERCH
TPENBL
DV
DV
DV
DV
DV
DV
DV
DV
BATALM
BUSY
DV
ACK1/SNO1
DV
ACK2/SNO2
DV
CRMA5A (34)
CRMA5A (35)
CRMA5A (36)
CRMA5A (38)
CRMA5A (39)
CRMA5A (40)
CRMA5A (41)
CRMA5A (43)
CRMA5A (44)
CRMA5A (45)
http://slidepdf.com/reader/full/manutencao-robo-fanucpdf CRMA5A (46)
RELAY
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
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ACK3/SNO3
7/17/2019
ACK4/SNO4
DV
DV
CRMA5A (19)
CRMA5A (20)
LOAD
MANUTENÇÃO ROBO FANUC.pdf
LOAD
CRMA5A (21)
ACK5/SNO5
ACK6/SNO6
DV
DV
ACK7/SNO7
DV
ACK8/SNO8
SNACK
RESERVED
DV
DV
DV
LOAD
LOAD
CRMA5A (22)
CRMA5A (24)
LOAD
CRMA5A (25)
LOAD
CRMA5A (26)
LOAD
CRMA5A (27)
LOAD
4.
CONNECTIONS
B-82595EN-2/04
Control unit (peripheral device control interface A2)
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Peripheral device
+24E Connector pin No.
CRMA5B (49,50)
Receiver circuit
DI03
RV
3.3k
DI04
RV
DI05
RV
DI06
RV
DI07
RV
DI08
RV
DI09
RV
DI10
RV
DI11
RV
DI12
RV
DI13
RV
DI14
RV
RV
DI15
DI16
RV
RV
DI17
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RV
DI18
CRMA5B (1)
CRMA5B (2)
CRMA5B (3)
CRMA5B (4)
CRMA5B (5)
CRMA5B (6)
CRMA5B (7)
CRMA5B (8)
CRMA5B (9)
CRMA5B (10)
CRMA5B (11)
CRMA5B (12)
CRMA5B (13)
CRMA5B (14)
CRMA5B (15)
CRMA5B (16)
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DI19
RV
DI20
RV
DI21
DI22
RV
RV
CRMA5B (29)
CRMA5B (30)
MANUTENÇÃO ROBO FANUC.pdf
CRMA5B (31)
COM-2
CRMA5B (32)
RV
+24E
CRMA5B (17,18)
B
A
0V
Set this jumper according to the
common voltage of input devices.
(ICOM2)
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
0V
CONNECTIONS
Control unit (peripheral device control interface A2)
DOSRC1(1)
B-82595EN-2/04
Peripheral device
DOSRC1
Connector pin No.
CRMA5B (23,28,37,42,47)
+24V
0V
+24V regulated
power supply
Driver circuit
DV
LOAD
DO01
CRMA5B (33)
DO02
DO03
DO04
DO05
DO06
DO07
DO08
DV
DV
DV
DV
DV
DV
DV
DV
DO09
DO10
DO11
DV
DV
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DO12
DV
CRMA5B (34)
CRMA5B (35)
CRMA5B (36)
CRMA5B (38)
CRMA5B (39)
CRMA5B (40)
CRMA5B (41)
CRMA5B (43)
CRMA5B (44)
CRMA5B (45)
CRMA5B (46)
RELAY
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
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CRMA5B (19)
DV
DO14
DV
DO15
DO16
DV
DV
DO17
DV
CRMA5B (20)
LOAD
MANUTENÇÃO
ROBO FANUC.pdf
LOAD
CRMA5B (21)
DO18
DO19
DO20
LOAD
LOAD
CRMA5B (22)
CRMA5B (24)
LOAD
CRMA5B (25)
DV
LOAD
CRMA5B (26)
DV
LOAD
CRMA5B (27)
DV
LOAD
4.
CONNECTIONS
B-82595EN-2/04
Control unit (peripheral device control interface A3)
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Peripheral device
+24E Connector pin No.
CRMA5C (49,50)
Receiver circuit
DI23
RV
DI24
RV
DI25
RV
DI26
RV
DI27
RV
DI28
RV
DI29
RV
DI30
RV
DI31
RV
DI32
RV
DI33
RV
DI34
RV
DI35
RV
DI36
RV
CRMA5C (1)
3.3k
RV
DI37
http://slidepdf.com/reader/full/manutencao-robo-fanucpdf
RV
DI38
CRMA5C (2)
CRMA5C (3)
CRMA5C (4)
CRMA5C (5)
CRMA5C (6)
CRMA5C (7)
CRMA5C (8)
CRMA5C (9)
CRMA5C (10)
CRMA5C (11)
CRMA5C (12)
CRMA5C (13)
CRMA5C (14)
CRMA5C (15)
CRMA5C (16)
CRMA5C (29)
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DI39
RV
DI40
RV
DI41
DI42
RV
RV
CRMA5C (29)
CRMA5C (30)
MANUTENÇÃO ROBO FANUC.pdf
CRMA5C (31)
COM-3
RV
+24E
CRMA5C (32)
CRMA5C (17,18)
B
A
0V
Set this jumper according to
the common voltage of input
d i
(ICOM3)
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
0V
CONNECTIONS
Control unit (peripheral device control interface A2)
TBSRC2(1)
B-82595EN-2/04
Peripheral device
DOSRC2
Connector pin No.
CRMA5C (23,28,37,42,47)
+24V
0V
+24V regulated
power supply
Driver circuit
DV
LOAD
DO21
CRMA5C (33)
DO22
DV
DO23
DV
DO24
DV
DO25
DO26
DO27
DO28
DO29
DO30
DO31
DV
DV
DV
DV
DV
DV
DV
CRMA5C (34)
CRMA5C (35)
CRMA5C (36)
CRMA5C (38)
CRMA5C (39)
CRMA5C (40)
CRMA5C (41)
CRMA5C (43)
CRMA5C (44)
CRMA5C (45)
CRMA5C (46)
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DV
DO32
CRMA5C (19)
RELAY
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
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DO33
7/17/2019
DO34
DV
LOAD
CRMA5C (20)
DV
MANUTENÇÃO
ROBO FANUC.pdf
LOAD
CRMA5C (21)
DO35
DO36
DV
DV
DO37
DV
DO38
DO39
DO40
LOAD
LOAD
CRMA5C (22)
CRMA5C (24)
LOAD
CRMA5C (25)
DV
LOAD
CRMA5C (26)
DV
LOAD
CRMA5C (27)
DV
LOAD
4.
CONNECTIONS
B-82595EN-2/04
Control unit (peripheral device control interface A4)
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Peripheral device
+24E Connector pin No.
CRMA5D (49,50)
Receiver circuit
DI43
RV
DI44
RV
DI45
RV
DI46
RV
DI47
RV
DI48
RV
DI49
RV
DI50
RV
DI51
RV
DI52
RV
DI53
RV
DI54
RV
DI55
RV
DI56
RV
DI57
RV
CRMA5D (1)
3.3k
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RV
DI58
CRMA5D (2)
CRMA5D (3)
CRMA5D (4)
CRMA5D (5)
CRMA5D (6)
CRMA5D (7)
CRMA5D (8)
CRMA5D (9)
CRMA5D (10)
CRMA5D (11)
CRMA5D (12)
CRMA5D (13)
CRMA5D (14)
CRMA5D (15)
CRMA5D (16)
CRMA5D (29)
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DI59
RV
DI60
RV
CRMA5D (30)
MANUTENÇÃO ROBO FANUC.pdf
CRMA5D (31)
DI61
DI62
COM-4
RV
RV
CRMA5D (32)
RV
+24E
CRMA5D (17,18)
B
A
0V
Set this jumper according to the
common voltage of input devices.
(ICOM4)
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
0V
CONNECTIONS
Control unit (peripheral device control interface A4) DOSRC2(1)
B-82595EN-2/04
Peripheral device
DOSRC2
Connector pin No.
CRMA5D (23,28,37,42,47)
+24V
0V
+24V regulated
power supply
Driver circuit
DV
LOAD
DO41
CRMA5D (33)
DO42
DO43
DO44
DO45
DO46
DO47
DO48
DO49
DO50
DO51
DV
DV
DV
DV
DV
DV
DV
DV
DV
DV
DV
http://slidepdf.com/reader/full/manutencao-robo-fanucpdf
DO52
CRMA5D (34)
CRMA5D (35)
CRMA5D (36)
CRMA5D (38)
CRMA5D (39)
CRMA5D (40)
CRMA5D (41)
CRMA5D (43)
CRMA5D (44)
CRMA5D (45)
CRMA5D (46)
CRMA5D (19)
RELAY
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
307/483
DV
DO53
DV
DO54
7/17/2019
LOAD
CRMA5D (20)
LOAD ROBO FANUC.pdf
MANUTENÇÃO
CRMA5D (21)
DO55
DO56
DV
DV
DO57
DV
CRMA5D (24)
DO59
LOAD
CRMA5D (26)
DV
DO60
LOAD
CRMA5D (25)
DV
DO58
LOAD
LOAD
CRMA5D (22)
LOAD
CRMA5D (27)
DV
LOAD
4.
CONNECTIONS
B-82595EN-2/04
Control unit (peripheral device control interface B1)
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Peripheral device
+24E Connector pin No.
CRMA6A (19)
Receiver circuit
DI63
RV
DI64
RV
DI65
RV
DI66
RV
DI67
RV
DI68
RV
DI69
RV
DI70
RV
COM-5
RV
+24E
CRMA6A (1)
3.3k
CRMA6A (2)
CRMA6A (3)
CRMA6A (4)
CRMA6A (5)
CRMA6A (6)
CRMA6A (7)
CRMA6A (13)
B
A
Set this jumper according
to the common voltage of
input devices. (ICOM5)
0V
DOSRC3(1)
DOSRC3
Connector pin No.
CRMA6A (12,18)
+24V
0V
+24V regulated
ower su
l
Driver circuit
DV
LOAD
DO61
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CRMA6A (14)
RELAY
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CRMA6A (15)
DO62
DO63
DV
DV
DO64
DV
DO65
LOAD
CRMA6A (8)
LOAD
CRMA6A (9)
LOAD
CRMA6A (10)
DV
DO68
4.
CRMA6A (17)
DV
DO67
LOAD
LOAD
CRMA6A (16)
DV
DO66
MANUTENÇÃO ROBO FANUC.pdf
LOAD
CRMA6A (11)
DV
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
LOAD
CONNECTIONS
Control unit (peripheral device control interface B2)
B-82595EN-2/04
Peripheral device
+24E Connector pin No.
CRMA6B (19)
Receiver circuit
DI71
RV
DI72
RV
DI73
RV
DI74
RV
DI75
RV
DI76
RV
DI77
RV
DI78
RV
COM-6
RV
+24E
CRMA6B (1)
3.3k
CRMA6B (2)
CRMA6B (3)
CRMA6B (4)
CRMA6B (5)
CRMA6B(6)
CRMA6B (7)
CRMA6B (13)
B
A
Set this jumper according
to the common voltage of
input devices. (ICOM6)
0V
DOSRC3(1)
DOSRC3
Connector pin No.
CRMA6B (12,18)
+24V
0V
+24V regulated
ower su
Driver circuit
l
DV
DO69
http://slidepdf.com/reader/full/manutencao-robo-fanucpdf
LOAD
CRMA6B (14)
RELAY
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CRMA6B (15)
DO70
DO71
DV
DV
DO72
DV
DO73
DV
DO74
DV
DO75
DV
DO76
DV
MANUTENÇÃO ROBO FANUC.pdf
LOAD
LOAD
CRMA6B (16)
CRMA6B (17)
LOAD
CRMA6B (8)
LOAD
CRMA6B (9)
LOAD
CRMA6B (10)
LOAD
CRMA6B (11)
LOAD
4.
CONNECTIONS
B-82595EN-2/04
4.4.2
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Peripheral Device and Contr ol Unit Connection
(Sink Type DO)
Control unit Peripheral device control interface A1 Sink type DO
Peripheral
device A1
0V
Peripheral device control interface A2 Sink type DO
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4.
MANUTENÇÃO
device A2 ROBO FANUC.pdf
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
B-82595EN-2/04
Control unit Peripheral device control interface A3 Sink type DO
Peripheral
device A3
Peripheral device control interface A4 Sink type DO
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Peripheral
7/17/2019
MANUTENÇÃO
FANUC.pdf
device ROBO
A4
4.
CONNECTIONS
B-82595EN-2/04
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Control unit Peripheral device control interface B1 Sink type DO
Peripheral
device B1
Control unit Peripheral device control interface B2 Sink type DO
Peripheral
device B2
NOTE
1 The peripheral device connection cables are optional.
2 All of COM-∗∗ are connected to 0V.
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App li cab le p ro cess I/O boar d t ype
FA
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4.
MANUTENÇÃO ROBO FANUC.pdf
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
Peripheral device
Control unit (peripheral device interface A1)
+24E
B-82595EN-2/04
Connector pin No.
CRM2A (49,50)
Receiver circuit
*IMSTP
*HOLD
RV
RV
*SFSPD
RV
CSTOPI
RV
FAULT RESET
RV
START
RV
HOME
RV
ENBL
RV
RSR1/PNS1
RV
RSR2/PNS2
RV
RSR3/PNS3
RV
RSR4/PNS4
RV
RSR5/PNS5
RV
RSR6/PNS6
RV
3.3k
CRM2A (1)
CRM2A (2)
CRM2A (3)
CRM2A (4)
0V
CRM2A (5)
CRM2A (6)
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RV
RSR7/PNS7
CRM2A (7)
CRM2A (8)
CRM2A (9)
CRM2A (10)
CRM2A (11)
CRM2A (12)
CRM2A (13)
CRM2A (14)
CRM2A (15)
CRM2A (16)
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RSR8/PNS8
RV
PNSTROBE
RV
PROD START
RV
DI01
RV
DI02
RV
COM-1
CRM2A (29)
CRM2A (31)
CRM2A (32)
RV
+24E
MANUTENÇÃO ROBO FANUC.pdf
CRM2A (30)
CRM2A (17,18)
B
A
0V
4.
B-82595EN-2/04
http://slidepdf.com/reader/full/manutencao-robo-fanucpdf
CONNECTIONS
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
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MANUTENÇÃO ROBO FANUC.pdf
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
Control unit (peripheral device interface A2)
B-82595EN-2/04
Peripheral device
+24E Connector pin No.
CRM2B (49,50)
Receiver circuit
DI03
RV
3.3k
DI04
RV
DI05
RV
DI06
RV
DI07
RV
DI08
RV
DI09
RV
DI10
RV
DI11
RV
DI12
RV
DI13
RV
DI14
RV
DI15
RV
DI16
RV
DI17
RV
CRM2B (1)
CRM2B (2)
CRM2B (3)
CRM2B (4)
CRM2B (5)
CRM2B (6)
CRM2B (7)
CRM2B (8)
CRM2B (9)
CRM2B (10)
CRM2B (11)
CRM2B (12)
CRM2B (13)
RV
DI18
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RV
CRM2B (14)
CRM2B (15)
CRM2B (16)
CRM2B (29)
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DI19
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DI20
RV
DI21
RV
DI22
RV
COM-2
CRM2B (30)
MANUTENÇÃO ROBO FANUC.pdf
CRM2B (31)
CRM2B (32)
CRM2B (17,18)
RV
+24E
B
A
0V
Set this jumper according to the
common voltage of input devices.
0V
4.
CONNECTIONS
B-82595EN-2/04
Control unit (peripheral device interface A2)
Driver circuit
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Peripheral device
Connector pin No.
DV
CRM2B (33)
DO01
LOAD
RELAY
0V
DO02
DO03
DO04
DO05
DV
DV
DV
DV
CRM2B (34)
CRM2B (35)
CRM2B (36)
CRM2B (38)
LOAD
LOAD
LOAD
LOAD
CRM2B (39)
DO06
DV
DO07
DV
DO08
DO09
DO10
DO11
DV
DV
DV
DV
CRM2B (40)
CRM2B (41)
CRM2B (43)
CRM2B (44)
CRM2B (45)
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
CRM2B (46)
DO12
DO13
DO14
DV
DV
DV
DV
DO15
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DO16
DV
LOAD
CRM2B (19)
CRM2B (20)
CRM2B (21)
CRM2B (22)
LOAD
LOAD
LOAD
LOAD
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DO17
DV
DO18
DV
DO19
CRM2B (24)
CRM2B (25)
LOAD
CRM2B (26)
DV
DO20
LOAD
MANUTENÇÃO ROBO FANUC.pdf
LOAD
CRM2B (27)
DV
CRM2B (23,28,37,42,47)
LOAD
0V
+24V
0V
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
Control unit (peripheral device interface A3)
B-82595EN-2/04
Peripheral device
+24E Connector pin No.
CRM2C (49,50)
Receiver circuit
DI23
RV
DI24
RV
DI25
RV
DI26
RV
DI27
RV
DI28
RV
DI29
RV
DI30
RV
DI31
RV
DI32
RV
DI33
RV
DI34
RV
DI35
RV
DI36
RV
DI37
RV
3.3k
CRM2C (1)
CRM2C (2)
CRM2C (3)
CRM2C (4)
CRM2C (5)
CRM2C (6)
CRM2C (7)
RV
DI38
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DI39
RV
CRM2C (8)
CRM2C (9)
CRM2C (10)
CRM2C (11)
CRM2C (12)
CRM2C (13)
CRM2C (14)
CRM2C (15)
CRM2C (16)
CRM2C (29)
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DI40
RV
DI41
RV
DI42
RV
COM-3
CRM2C (30)
MANUTENÇÃO ROBO FANUC.pdf
CRM2C (31)
CRM2C (32)
RV
CRM2C (17,18)
+24E
B
A
0V
Set this jumper according to the
common voltage of input devices.
0V
4.
CONNECTIONS
B-82595EN-2/04
Control unit (peripheral device interface A3)
Driver circuit
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Peripheral device
Connector pin No.
DV
CRM2C (33)
DO21
LOAD
RELAY
0V
DO22
DO23
DO24
DO25
DV
DV
DV
DV
CRM2C (34)
CRM2C (35)
CRM2C (36)
CRM2C (38)
LOAD
LOAD
LOAD
LOAD
CRM2C (39)
DO26
DV
DO27
DV
DO28
DO29
DO30
DO31
DV
DV
DV
DV
CRM2C (40)
CRM2C (41)
CRM2C (43)
CRM2C (44)
CRM2C (45)
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
CRM2C (46)
DO32
DO33
DO34
DO35
DV
DV
DV
DV
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DO36
DV
LOAD
CRM2C (19)
CRM2C (20)
CRM2C (21)
CRM2C (22)
LOAD
LOAD
LOAD
LOAD
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DO37
DV
DO38
DV
DO39
CRM2C (24)
CRM2C (25)
LOAD
CRM2C (26)
DV
DO40
LOAD
MANUTENÇÃO ROBO FANUC.pdf
LOAD
CRM2C (27)
DV
LOAD
CRM2C (23,28,37,42,47)
0V
+24V
0V
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
Control unit (peripheral device interface A4)
B-82595EN-2/04
Peripheral device
+24E Connector pin No.
CRM2D (49,50)
Receiver circuit
DI43
CRM2D (1)
RV
3.3k
DI44
RV
DI45
RV
DI46
RV
DI47
RV
DI48
RV
DI49
RV
DI50
RV
DI51
RV
DI52
RV
DI53
RV
DI54
RV
DI55
RV
DI56
RV
DI57
RV
DI58
RV
DI59
RV
CRM2D (2)
CRM2D (3)
CRM2D (4)
CRM2D (5)
CRM2D (6)
CRM2D (7)
CRM2D (8)
CRM2D (9)
CRM2D (10)
CRM2D (11)
CRM2D (12)
CRM2D (13)
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CRM2D (14)
CRM2D (15)
CRM2D (16)
CRM2D (29)
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DI60
RV
DI61
RV
DI62
RV
COM-4
CRM2D (30)
CRM2D (31)
MANUTENÇÃO ROBO FANUC.pdf
CRM2D (32)
CRM2D (17,18)
RV
+24E
B
A
0V
Set this jumper according to the common
voltage of input devices.
0V
4.
CONNECTIONS
B-82595EN-2/04
Control unit (peripheral device interface A4)
Driver circuit
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Peripheral device
Connector pin No.
DV
CRM2D (33)
DO41
LOAD
RELAY
0V
DO42
DO43
DO44
DO45
DV
DV
DV
DV
CRM2D (34)
CRM2D (35)
CRM2D (36)
CRM2D (38)
LOAD
LOAD
LOAD
LOAD
CRM2D (39)
DO46
DV
DO47
DV
DO48
DO49
DO50
DO51
DV
DV
DV
DV
CRM2D (40)
CRM2D (41)
CRM2D (43)
CRM2D (44)
CRM2D (45)
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
CRM2D (46)
DO52
DO53
DO54
DO55
DV
DV
DV
DV
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DO56
DV
LOAD
CRM2D (19)
CRM2D (20)
CRM2D (21)
CRM2D (22)
LOAD
LOAD
LOAD
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LOAD
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CRM2D (24)
DV
DO57
CRM2D (25)
DV
DO58
DO59
LOAD
CRM2D (26)
DV
DO60
LOAD
MANUTENÇÃO ROBO FANUC.pdf
LOAD
CRM2D (27)
DV
CRM2D (23,28,37,42,47)
LOAD
0V
+24V
0V
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
Peripheral device
Control unit (peripheral device interface B1)
+24E
B-82595EN-2/04
Connector pin No.
CRM4A (19)
Receiver circuit
DI63
RV
DI64
RV
DI65
RV
DI66
RV
DI67
RV
DI68
RV
CRM4A (1)
3.3k
CRM4A (2)
CRM4A (3)
CRM4A (4)
CRM4A (5)
CRM4A (6)
CRM4A (7)
DI69
RV
DI70
RV
COM-5
CRM4A (13)
RV
CRM4A (20)
+24E
B
A
0V
Set this jumper according to the
common voltage of input devices. 0V
(ICOM5)
Driver circuit
Connector pin No.
DV
CRM4A (14)
DO61
LOAD
RELAY
0V
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DO62
DV
CRM4A (15)
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LOAD
CRM4A (16)
DV
DO63
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CRM4A (17)
DV
DO64
DO67
LOAD
CRM4A (10)
DV
DO68
LOAD
CRM4A (9)
DV
DO66
LOAD
CRM4A (8)
DV
DO65
LOAD
MANUTENÇÃO ROBO FANUC.pdf
LOAD
CRM4A (11)
DV
LOAD
4.
CONNECTIONS
B-82595EN-2/04
Control unit (peripheral device interface B2)
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Peripheral device
Connector pin No.
+24E
CRM4B (19)
Receiver circuit
DI71
RV
DI72
RV
DI73
RV
DI74
RV
DI75
RV
DI76
RV
DI77
RV
DI78
RV
CRM4B (1)
3.3k
CRM4B (2)
CRM4B (3)
CRM4B (4)
CRM4B (5)
CRM4B (6)
CRM4B (7)
COM-6
CRM4B (13)
CRM4B (20)
RV
+24E
B
A
0V
Set this jumper according to the
common voltage of input devices. 0V
(ICOM6)
Driver circuit
Connector pin No.
DV
CRM4B (14)
DO69
LOAD
RELAY
0V
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DO70
DV
CRM4B (15)
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LOAD
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CRM4B (17)
DV
DO72
CRM4B (8)
DV
DO73
CRM4B (9)
DV
DO74
DO75
CRM4B (10)
DV
DO76
4.
CRM4B (16)
DV
DO71
CRM4B (11)
DV
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
LOAD
MANUTENÇÃO ROBO FANUC.pdf
LOAD
LOAD
LOAD
LOAD
LOAD
CONNECTIONS
B-82595EN-2/04
4.5
INTERFACE FOR WELDER
4.5.1
Connection between the Cont rol Unit and Welder
Control unit
Welding machine interface
WO1
WO2
WO3
WO4
WI1
WI2
WO5
WO6
WI3
WI4
WO7
Welding
machine
WO8
WI5
WI6
WI7
WI8
Analog input interface
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Peripheral
device
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MANUTENÇÃO ROBO FANUC.pdf
NOTE
4.
B-82595EN-2/04
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CONNECTIONS
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
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4.
MANUTENÇÃO ROBO FANUC.pdf
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
Welding machine
Control unit (welding machine interface)
Process I/O boards CA and EA
Driver circuit
DV
Welding start signal
B-82595EN-2/04
Connector pin No.
CRW1 (23)
R
WO01
LOAD
RELAY
0V
Gas signal
WO02
WO03
Wire inching (+)
signal
Wire inching (-)
signal
WO04
WO05
WO06
DV
DV
DV
DV
DV
WO07
DV
WO08
DV
Receiver circuit
WI01
RV
Arc regeneration
WI02
RV
detection signal
Out-of-gas
WI03
RV
detection signal
Broken-wire
WI04
RV
detection signal
Out-of-coolingWI05
RV
water detection
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signal
WI06
RV
Abnormal-welding
CRW1 (24)
S
CRW1 (25)
T
CRW1 (26)
U
CRW1 (27)
V
CRW1 (28)
W
CRW1 (29)
X
CRW1 (30)
Z
CRW1 (19,20)
a,m
CRW1 (21,22)
b,n
LOAD
LOAD
LOAD
LOAD
LOAD
LOAD
0V
+24V
+24 V regulated
power
0V
Connector pin No.
3.3k
LOAD
CRW1 (5)
c
CRW1 (6)
d
CRW1 (7)
e
CRW1 (8)
f
CRW1 (9)
g
CRW1 (10)
h
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power signal
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WI07
RV
WI08
RV
COM-3
CRW1 (11)
j
CRW1 (12)
k
MANUTENÇÃO
ROBO FANUC.pdf
RV
+24E
B
A
Set this jumper according to the
common voltage of input devices. 0V
(ICOM3)
+24V
4.
CONNECTIONS
B-82595EN-2/04
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CRW2 connector analog connection (analog in put)
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MANUTENÇÃO ROBO FANUC.pdf
(Relationships between process I/O points and analog inp uts)
Anal og in pu ts
P
4.
ADCH1
COMAD1
I/O
ADCH2
COMAD2
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Control unit
ADCH3
COMAD3
ADCH4
COMAD4
CONNECTIONS
ADCH5
COMAD5
ADCH6
COMAD6
B-82595EN-2/04
Welding machine interface
WO1
WO5
WO2
WI1
WI2
WI3
Welding
machine
XWST
WO4
WI4
WI5
WI6
WI7
WI8
NOTE
Welder and peripheral device connection cable are optional.
App li cab le p ro cess I/O boar d t ype
GA, HA
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MANUTENÇÃO ROBO FANUC.pdf
4.
CONNECTIONS
B-82595EN-2/04
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
General-purpose interface
Welding machine
MS connector pin No.
Control unit (welding machine interface)
Process I/O boards GA, HA, and HB
Connector pin No.
CRW7 (1)
DACH1
Welding voltage
specification signal
Wire speed
specification signal
Arc detection signal
Out-of-gas
detection signal
Broken-wire
detection signal
Arc-off detection
signal (power
supply abnormal)
CRW7 (2)
COMDA1
CRW7 (3)
DACH2
CRW7 (4)
COMDA2
Receiver circuit
WI02
RV
WI03
RV
WI04
RV
WI06
RV
COM-3
Welding start signal
WCOM1
CRW7 (7)
T
CRW7 (8)
S
CRW7 (10)
R
CRW7 (33,34)
E
A
0V
CRW7 (23)
CRW7 (24)
CRW7 (29)
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WCOM4
D
+24E
B
WO01
Wire inching (+)
C
P
Set this jumper according to the
common voltage of input devices.
(ICOM3)
WO04
B
Connector pin No.
3.3k
CRW7 (6)
RV
+24E
A
CRW7 (30)
L
K
F
G
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WCOM4
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G
CRW7 (13)
WO05
Wire inching (-)
CRW7 (14)
WCOM5
WDI+
Wire deposition
detection signal
4.
MANUTENÇÃO
ROBO FANUC.pdf
H
WDI-
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
J
R = 100 Ω or
higher
CRW1 (31)
M
+
CRW1 (32)
N
-
CONNECTIONS
B-82595EN-2/04
FANUC interface
Control unit (welding machine interface)
Process I/O boards GA, HA, and HB
Welding machine
MS connector pin No.
Connector pin No.
CRW7 (1)
DACH1
Welding voltage
specification signal
CRW7 (2)
COMDA1
CRW7 (3)
DACH2
Wire speed
specification signal
CRW7 (4)
COMDA2
Receiver circuit
WI01
RV
Arc detection signal
WI02
RV
WI03
RV
WI04
RV
WI05
RV
WI06
RV
WI07
RV
WI08
RV
COM-3
RV
Out-of-gas
detection signal
Broken-wire
detection signal
Out-of-coolingwater detection
Arc-off detection
signal (power
su l abnormal
+24E
B
A
B
E
F
Connector pin No.
3.3k
CRW7 (5)
c
CRW7 (6)
d
CRW7 (7)
e
CRW7 (8)
f
CRW7 (9)
g
CRW7 (10)
h
CRW7 (11)
j
CRW7 (12)
k
CRW7 (33,34)
r
CRW7 (19,20)
m
+24E
A
Set this jumper according to the
common voltage of input devices.
(ICOM3)
CRW7 (21,22)
0V
WO01
Welding start signal
WCOM1
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WO02
0V
CRW7 (23)
n
R
CRW7 (24)
CRW7 (25)
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S
Gas signal
CRW7 (26)
WCOM2
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a
CRW7 (29)
WO04
Wire inching (+)
MANUTENÇÃO ROBO FANUC.pdf
U
CRW7 (30)
WCOM4
CRW7 (13)
WO05
Wire inching (-)
V
CRW7 (14)
WCOM5
b
4.
CONNECTIONS
B-82595EN-2/04
Control unit
R = 100 Ω or
higher
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Welding machine interface
CRW10
01
02
03
04
05
06
07
08
09
10
11
12
13
14
DACH1
COMDA1
DACH2
COMDA2
DACH3
COMDA3
WI1
WI2
WI3
WI4
WI5
WI6
WI7
WI8
15
16
17
18
0V
0V
0V
0V
19
20
21
22
23
24
25
26
27
28
29
30
31
ADCH1
COMAD1
ADCH2
COMAD2
WDI+
WDI-
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
WO1
WCOM1
WO2
WCOM12
WO3
WCOM3
WO4
WCOM4
WO5
WCOM5
WO6
WCOM6
WO7
WCOM7
47
48
49
50
WO8
WCOM8
+24E
+24E
Welding machine
NOTE
The welding machine connection cables are options.
App li cab le p ro cess I/O boar d t ype
KA
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4.
MANUTENÇÃO ROBO FANUC.pdf
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
B-82595EN-2/04
Pin-to-pin connection between CRW10 connector and welding machine connector (general interface)
(Analog ou tput, welding wire deposition detection, WI/WO connection, for connections wi th +24 V common)
Welding machine
MS connector pin No.
Control unit(Welding machine interface)
Process I/O board KB
Connector pin No.
CRW10 (1)
DACH1
Welding voltage
A
CRW10 (2)
specification signal
COMDA1
B
CRW10 (3)
DACH2
Wire speed
specification signal
CRW10 (4)
COMDA2
WI02
RV
Out-of-gas
detection signal
WI03
RV
WI04
RV
WI06
RV
Broken-wire
detection signal
Arc-off detection
signal (power
supply abnormal)
COM-3
3.3k
RV
+24E
D
Connector pin No.
Receiver circuit
Arc detection signal
C
CRW10 (8)
P
CRW10 (9)
S
CRW10 (10)
T
CRW10 (12)
R
CRW10 (49,50)
E
+24E
B
A
Set this jumper according to the
common voltage of input devices. 0V
(ICOM3)
WO01
Welding start signal
WCOM1
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WO04
Wire inching (+)
CRW10 (33)
CRW10 (34)
CRW10 (39)
L
K
F
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CRW10 (40)
WCOM4
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G
CRW10 (41)
WO05
Wire inching (-)
H
CRW10 (42)
WCOM5
Wire deposition
MANUTENÇÃO ROBO FANUC.pdf
J
CRW10 (25)
WDI+
M
4.
+
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
B-82595EN-2/04
R=100Ωor
higher
Pin-to-pin connection between CRW10 connector and welding machine connector: FANUC interface
(Analog i nput/output, w elding w ire deposition detection, WI/WO connection, for connections w ith +24 V
common)
Control unit (welding machine interface)
Process I/O boards KA, KB
Welding machine
MS connector pin No.
Connector pin No.
CRW10 (1)
DACH1
Welding voltage
specification signal
CRW10 (2)
COMDA1
CRW10 (3)
DACH2
Wire speed
specification signal
CRW10 (4)
COMDA2
Welding voltage
detection signal
CRW10 (19)
ADCH1
CRW10 (20)
COMAD1
Welding current
CRW10 (21)
ADCH2
detection signal
0V
Receiver circuit
Arc detection signal
RV
WI02
Out-of-gas
detection signal
Broken-wire
detection signal
Out-of-coolingwater detection
WI03
RV
WI04
RV
RV
WI06
Arc-off detection
signal (power
supply abnormal)
RV
WI08
RV
COM-3
RV
B
F
J
K
L
Ripples must
have been
removed
from the
output
signals.
CRW10 (7)
c
CRW10 (8)
d
CRW10 (9)
e
CRW10 (10)
f
CRW10 (11)
g
CRW10 (12)
h
CRW10 (13)
j
CRW10 (14)
k
CRW10 (49,50)
r
RV
WI07
+24E
E
Connector pin No.
3.3k
RV
WI05
B
CRW10 (22)
COMAD2
WI01
A
+24E
A
CRW10 (15,16)
Set this jumper according to the
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common voltage of input devices. 0V
(ICOM3)
CRW10 (17,18)
0V
CRW10 (33)
m
n
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WO01
Welding start signal
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R
CRW10 (34)
WCOM1
CRW10 (35)
WO02
Gas signal
CRW10 (37)
WO03
CRW10 (39)
WO04
CRW10 (40)
WCOM4
4.
T
CRW10 (38)
WCOM3
Wire inching (+)
S
CRW10 (36)
WCOM2
-
MANUTENÇÃO ROBO FANUC.pdf
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
U
a
B-82595EN-2/04
4.6
INTERFACE FOR END EFFECTOR
4.6.1
Connection between th e Mechanical Unit and End Effector
Mechanical unit
EE
1
RO1
5
RO5
10
RI2
2
RO2
6
RO6
7
XHBK
11
RI3
16
RI6
3
RO3
12
RI4
17
24VF
21
RO7
8
0V
13
RI8
18
24VF
22
RO8
4
RO4
9
RI1
14
R19(XPPABN)
19
24VF
23
0V
15
RI5
End effector
20
24VF
24
RI7
Fig.4.6.1 In case of the R-2000 iB, M-710iC (For other ro bots , refer to the each operators manual.)
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MANUTENÇÃO ROBO FANUC.pdf
4.
CONNECTIONS
B-82595EN-2/04
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Peripheral device
Mechanical unit (end-effector interface)
+24VF
Connector pin No.
EE(17,18,19,20)
Receiver circuit
Wrist breakage XHBK
detection signal
RV
RI1
RV
RI2
RV
RI3
RV
RI4
RV
RI5
RV
RI6
RV
RI7
RV
RI8
RV
EE (7)
3.3k
0V
EE (9)
EE (10)
EE (11)
EE (12)
EE (15)
EE (16)
EE (24)
EE (13)
RI9
RV
‘(Pneumatic pressure XPPABN) +24E
abnormal signal)
EE (14)
B
Set this jumper or switch according
to the common voltage of input
devices. (COM1)
A
0V
+24VF
Driver circuit
DV
LOAD
RO1
EE (1)
RO2
DV
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RO3
DV
EE (2)
EE (3)
RELAY
LOAD
LOAD
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EE (4)
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RO4
DV
RO5
DV
RO6
DV
RO7
RO8
LOAD
EE (5)
MANUTENÇÃO
LOAD ROBO FANUC.pdf
EE (6)
EE (21)
DV
EE (22)
DV
LOAD
LOAD
LOAD
EE (8,23)
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
4.7
CONNECTIONS
B-82595EN-2/04
DIGITAL I/O SIGNAL SPECIFICATIONS
This section describes the specifications of the digital I/O signals interfaced with the peripheral device,
end effector, and arc welder.
4.7.1
Peripheral Device Interface A
(1) Output signals in peripheral device interface A (Source type DO)
(a) Example of connection
Spark killer diode
0.2A or less
(b) Electrical specifications
Maximum load current when driver is on:
Saturation voltage when driver is on:
Dielectric strength:
Leakage current when driver is off:
200 mA (including momentary level)
1.0 V max.
24 V ±20% (including momentary level)
100 μA
(c)
The external power supply to output signals must satisfy the following:
Power supply voltage:
+24 V ±10%
Power supply current:
For each printed circuit board of this type
(Total sum of maximum load currents including
momentary levels + 100 mA or more)
Power-on timing:
At the same time when the control unit is turned on
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or earlier
Power-off timing:
At the same time when the control unit is turned
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off or later
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(d) Spark killer diode
Rated peak reverse voltage:
Rated effective forward current:
(e)
MANUTENÇÃO ROBO FANUC.pdf
100 V or more
1 A or more
Driver for output signals
4.
CONNECTIONS
B-82595EN-2/04
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
(g) Applicable signals
Output signals of process I/O board CRMA5 and CRMA6
CMDENBL, SYSRDY, PROGRUN, PAUSED, HELD, FAULT, ATPERCH, TPENBL,
BATALM, BUSY,
ACK1 to ACK8, SNO1 to SNO8, SNACK, DO1 to DO76
(2) Output signals in peripheral device interface A (Sink type DO)
(a) Example of connection
Spark killer diode
+24V
0.2A
or le ss
0V
(b) Electrical specifications
Rated voltage:
Maximum applied voltage:
Maximum load current:
Transistor type:
Saturation voltage at connection:
(c)
24VDC
30VDC
0.2A
Open collector NPN
1.0V (approx.)
Spark killer diode
Rated peak reverse voltage:
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Rated effective forward current:
100V or more
1A or more
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(d) Note on use
MANUTENÇÃO ROBO FANUC.pdf
Do not use the +24V power supply of the robot.
When adding a relay, solenoid, or the like directly to the circuit, connect a diode for counter
electromotive voltage protection in parallel to the load.
(e)
4.
Applicable signals
O
i
l f
I/O b
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
d CRM2
d CRM4
CONNECTIONS
B-82595EN-2/04
(3) Input signals in peripheral device interface A
(a) Example of connection
+24V
RV
3.3kΩ
+24V
B A
ICOM
(b) Electrical specifications of the receiver
Type:
Grounded voltage receiver
Rated input voltage:
Contact close
+20V to +28V
Contact open
0V to +4V
Maximum applied input voltage: +28VDC
Input impedance:
3.3kΩ(approx.)
Response time:
5ms to 20ms
(c)
Specifications of the peripheral device contact
Voltage and Current:
DC24V, 0.1A
(Use a contact which minimum load is 5mA less.)
Input signal width:
200ms or more (on/off)
Chattering time:
5ms or less
Closed circuit resistance:100Ω or less
Opened circuit resistance:
100kΩ or more
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(Signal)
TB
TB
(Signal)
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TB
MANUTENÇÃO ROBO FANUC.pdf
Peripheral device
contact signal
4.
CONNECTIONS
B-82595EN-2/04
4.7.2
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
End Effecto r Control Interface
(1) Output signals in end effector interface
(a) Example of connection
Spark killer diode
+24V
0.2A or less
0V
(b) Electrical specifications
Maximum load current when driver is on:
Saturation voltage when driver is on:
Dielectric strength:
Leakage current when driver is off:
(c)
200 mA (including momentary level)
1.0 V max.
24 V ±20% (including momentary level)
100 μA
Power supply to output signals
The +24 V power supply on the robot side can be used if the total current level, including the
current of the welding interface, is 0.7 A or less.
(d) Driver for output signals
In the driver device, the current of each output signal is monitored, and when an overcurrent is
detected, the relevant output is turned off. After an output has been turned off by overcurrent,
the overcurrent state is released because the output is off, so the output on state is restored.
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Therefore, in the ground fault or overcurrent state, the output is turned on and off repeatedly.
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Such
a condition
found
also when
a load with
a high circuit,
surge current
connected.
The driver
deviceisalso
includes
an overheat
detection
which is
turns
off all outputs of the
MANUTENÇÃO
ROBO
device when the internal temperature of the device has increased
as a result
ofFANUC.pdf
a continued
overcurrent state due to a ground fault of an output and so on. The outputs are held off, but
their normal states can be restored by turning the power to the control unit on and off after the
internal temperature of the device has lowered.
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(e)
4.
Note on use
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
4.7.3
CONNECTIONS
B-82595EN-2/04
I/O Signal Specification s for ARC-Welding Interface
(1) Digital Output signals specifications for an arc welding interface
In case of proc ess I/O CA, EA
(a)
Example of connection
Spark killer diode
+24V
0.2A
or le ss
0V
(b) Electrical specifications
Rated voltage:
Maximum applied voltage:
24VDC
30VDC
Maximum load current:
0.2A
Transistor type:
Open collector NPN
Saturation voltage at connection: 1.0V (approx.)
(c)
Spark killer diode
Rated peak reverse voltage:
Rated effective forward current:
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100V or more
1A or more
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(d) Note
onuse
usethe +24V power supply of the robot.
Do not
MANUTENÇÃO
FANUC.pdf
When adding a relay, solenoid, or the like directly to the circuit,
connect aROBO
diode
for counter
electromotive voltage protection in parallel to the load.
(e)
Applicable signals
Output signals of process I/O board CRW1
WO1 to WO8
4.
CONNECTIONS
B-82595EN-2/04
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Spark killer diode
+24V
0.3A
or less
0V
(b) Electrical specifications
Rated voltage:
Maximum applied voltage:
(c)
24VDC
30VDC
Maximum load current:
Transistor type:
0.3A
Relay connect output
Spark killer diode
Rated peak reverse voltage:
Rated effective forward current:
100V or more
1A or more
(d) Note on use
Do not use the +24V power supply of the robot.
When adding a relay, solenoid, or the like directly to the circuit, connect a diode for counter
electromotive voltage protection in parallel to the load.
(e)
Applicable signals
Output signals of process I/O board CRW7
WO1, WO2, WO 4 and WO 5
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(2) Digital
inputsignals
signalsare
specifications
an arc of
welding
The input
the same for
as those
other interface
I/O boards. (Refer to Subsection 4.5.1 in
CONNECTIONS.)
7/17/2019
MANUTENÇÃO ROBO FANUC.pdf
(a) Applicable signals
Input signals of process I/O board CRW1, CRW7
WI1 to WI8
(3) Analog output signal specifications for an arc welding interface
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
B-82595EN-2/04
(b) Note on use
Input impedance: 3.3kΩ or more
Connect a high-pass filter
(2) Analog input signal specifications for an arc welding interface
(Welding-voltage detection, welding-current detection)
(a)
Example of connection
Welder
-10V~+10V
0V
(b) Note on use
Input impedance: 2kΩ
The analog input signal should have no ripple for the circuit to operate properly.
(Wire deposit detection: WDI+ and WDI-)
(a) Example of connection
Welder
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+
max.
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MANUTENÇÃO ROBO FANUC.pdf
+15V 85mA
‐
4.
CONNECTIONS
B-82595EN-2/04
4.8
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
SPECIFICATIONS OF THE CABLES USED FOR
PERIPHERAL DEVICES AND WELDERS
If the customer manufactures cables, make sure they conform to the FANUC standard cables described in
this section.
(See the description in "Peripheral Device Interface" in this manual for the specifications of the FANUC
standard cables.)
4.8.1
Peripheral Device Int erface A Cable (CRM2, CRMA5: Honda
Tsushin , 50 pins)
Honda Tsushin
MR50LWF01
(MR50LF)
Honda Tsushin
MR50LM01
(MR50LM)
Peripheral
device
Process I/O
CRMA5*
Honda Tsushin
MR50RMA
Honda Tsushin's MR50RF
Supplied with an ordered cable
4.8.2
Peripheral Device Int erface B Cable (CRM4, CRMA6: Honda
Tsushin , 20 pins)
Honda Tsushin
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MR20LWF01
Honda Tsushin
MR20LM01
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(MR20LF)
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(MR20LM)
Peripheral
MANUTENÇÃO
ROBO FANUC.pdf
Process I/O
device
CRMA6*
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
4.8.3
CONNECTIONS
B-82595EN-2/04
ARC Weld Con nectio n Cable (CRW1, CRW7: Ho nd a Tsushin ,
34pins)
Be sure to use our cable to connect the welder.
4.8.4
ARC Weld Con nectio n Cabl e
(CRW10: Honda Tsushin , 50 pin s)
Be sure to use our cable to connect the Welder.
ARC Welder
Honda Tsushin
MR-50LWMH
Process I/O
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CRW10
Japan Aviation Electronics
Industry Ltd.
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MANUTENÇÃO ROBO FANUC.pdf
Japan Aviation Electronics
Industry Ltd.
Honda Tsushin
MRH-50RFD
4.
CONNECTIONS
B-82595EN-2/04
Standard position of guide
key
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
4.9
CAB LE CONNECTION FOR THE PERIPHERAL DEVICES,
END EFFECTORS, AND ARC WELDERS
4.9.1
Peripheral Device Connection Cable
Fig.4.9.1 shows the connection of the peripheral device cable in the cabinet.
CRW1, CRW7, or CRW10
Process I/O board
CRM2B or CRMA5B
CRM2A or CRMA5A
Process I/O board
CRM2B or CRMA5B
CRM2A or CRMA5A
CRW1, CRW7, or CRW10
Operation box typeA (A-cabinet)
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Integrated operatio n box (A-cabinet)
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4.
MANUTENÇÃO ROBO FANUC.pdf
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
4.9.2
CONNECTIONS
B-82595EN-2/04
Peripheral Device Cable Connector
(1) Fig.4.9.2 shows the connector for peripheral device cables A and B.
Connector
specifications
App li cab le
interface
A
MR50LM
CRMA5
67.9
MR20LM
CRMA6
39.3
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Dimensions
(B)
C
(D)
73.5
44.9
18
17
44.8
39.8
Remark
Honda Tsushin Kogyo, 50 pins
Honda Tsushin Kogyo, 20 pins
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Symbol
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1
2
3
4
5
Name
MANUTENÇÃO ROBO FANUC.pdf
Connector cover
Cable clamp screw
Connector clamp spring
Connector clamp screw
Connector
50 pins (male) MR50M
4.
CONNECTIONS
B-82595EN-2/04
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
(2) Peripheral device connector
,
Connector
specifications
App li cab le
interface
MR50RF
(CRM2)
(CRMA5)
61.4
56.4
Honda Tsushin Kogyo, 50 pins
MR20RF
(CRM4)
(CRMA6)
39.3
44.9
Honda Tsushin Kogyo, 20 pins
Symbol
1
2
3
Dimensions
A
B
Remark
Name
Connector clamp screw
Screw M2.6 x 8
Connector
(MR50RF)
(MR20RF)
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Fig.4.9.2 (b) Perip heral device connecto r (Honda Tsushin Ko gyo)
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4.
MANUTENÇÃO ROBO FANUC.pdf
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
4.9.3
CONNECTIONS
B-82595EN-2/04
End Effector Cable Connecto r
(1) Connector external view (For R-2000iB and M-710iC. Refer to the each operators manual for other
robots.)
A:
B:
C:
D:
E:
F:
G:
M30 x 1
63.0
54.5
9.6 to 15.0 (Inside diameter)
φ33
11.2
24.7
Manufactured by Fujikura
JMLP2524M
Fig.4.9.3 (a) Connecto r (Elbo w Type)
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A:
M30 x 1
4.
CONNECTIONS
B-82595EN-2/04
4.9.4
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Recommended Cables
(1) Peripheral device connection cable
Connect a peripheral device using a completely shielded, heavily protected cable conforming to the
specifications in Table 4.9.4 (a).
Allow an extra 50 cm for routing the cable in the control unit.
The maximum cable length is 30 m.
Table 4.9.4 (a) Recommended Cable (for Peripheral Device Connecti on)
Conductor
Effective Electrical characteristics
Wire specifications
Sheath
outside Conductor
Number of wires
(FANUC
thicknes
Diameter
All ow abl e
diameter resistance
Configuration
specifications)
s (mm)
(mm)
current (A)
(mm)
( /km)
50
20
A66L-0001-0042
A66L-0001-0041
φ1.05
φ1.05
7/0.18 AWG24
7/0.18 AWG24
1.5
1.5
φ12.5
φ10.5
106
106
1.6A
1.6A
(2) End
effector
connection
Connect
an end
effectorcable
using a heavily protected cable with a movable wire conforming to the
specifications in Table 4.9.4 (b).
The cable length is determined so that the cable will not interfere with the end effector and the wrist
can move through its full stroke.
Table 4.9.4 (b) Recommended Cable (for End Effector Connectio n)
Conductor
Effective Electrical characteristics
Wire specifications
Sheath
outside Conductor
Number of wires
(FANUC
thicknes
Diameter
Configuration
diameter
resistance current
All ow abl
e
specifications)
s (mm)
(mm)
(A)
(mm)
( /km)
6
20
24
A66L-0001-0143
A66L-0001-0144
A66L-0001-0459
φ1.1
φ1.1
φ0.58
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40/0.08 AWG24
40/0.08 AWG24
40/0.08 AWG24
1.0
1.0
1.0
φ5.3
φ8.6
φ8.3
91
91
93
3.7
2.3
2.3
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4.
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PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
4.10
CONNECTION OF HDI
4.10.1
Connecting HDI
The HDI signals are used in combination with special application software.
used as general-purpose DIs.
B-82595EN-2/04
The HDI signals cannot be
R-30iA
Main board
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JRL5
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1
HDI0
11
2
0V
12
HDI1
0V
3
HDI2
13
HI3
4
0V
14
0V
HDI5
5
0V
15
6
HDI4
16
0V
17
HDI6
7
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4.
CONNECTIONS
B-82595EN-2/04
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Cable connections
JRL5
HDI0
0V
HDI1
0V
1
2
11
12
3
HDI2
0V
HDI3
0V
HDI4
0V
HDI5
4
13
14
6
5 or 10
15
16
0V
HDI6
0V
HDI7
0V
17
18
19
20
7
8
9
10
Shield
Ground plate
Recommended cable connector:
PCR-E20FA (Honda Tsushin Kogyo)
FI30-20S (Hirose Electric)
FCN-247J020-G/E (Fujitsu)
52622-2011 (Molex Japan)
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PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
4.10.2
CONNECTIONS
B-82595EN-2/04
Input Signal Rules for the High-speed Skip (HDI)
Circuit configuration
R-30iA
liL/liH FILTER
RECEIVER
DRIVER
VH/VL
SHIELD
Absolute
maximum
rating -3.6 to +10 V
Input voltage
range Vin:
Input characteristics
Unit
Symbol
High level input voltage
Low level input voltage
High level input current
VH
VL
liH
Low level input current
Input signal pulse duration
Input signal delay or variations
liL
Specificatio n
3.6 to 7
0 to 1.0
2 max
11 max
-8.0 max
20 min
0.02(max)
Unit
V
V
mA
mA
mA
m s
ms
Remark
Vin=5 V
Vin = 10 V
Vin = 0 V
NOTE
1 The plus (+) sign of IiH/IiL represents the direction of flow into the receiver.
minus (-) sign of IiH/IiL represents the direction of flow out of the receiver.
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The
2 The high-speed skip signal is assumed to be 1 when the input voltage is at the
low level and 0 when it is at the high level.
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4.
CONNECTIONS
B-82595EN-2/04
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
4.11
CONNECTING THE COMMUNICATION UNIT
4.11.1
RS-232-C Interface
4.11.1.1
Interface
This interface can be connected to a communication unit from FANUC.
In case of the length of operation box
connection cable that is 10m or longer.
RS-232-C port
RS-232-C port
(A-cabinet)
RS-232-C port
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PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
B-82595EN-2/04
R-30iA
Operator's panel
Connector
(DBM-25S)
Main board
>
>
<
1
2
3
4
FG
5
6
7
8
9
10
11
12
13
CS
DR
SG
SD
RD
RS
14
15
16
17
18
19
20
ER
21
22
23
24
25
+24V
NOTE
1 +24 V can be used as the power supply for FANUC RS-232-C equipment.
2 Do not connect anything to those pins for which signal names are not indicated.
4.11.1.2
RS-232-C interface si gnals
Generally signals as follows are used in RS-232-C interface.
R-30iA
Output
Input
SD (Send data)
RD (Receive data)
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RS (Request to Send)
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CS (Enable to send)
When CS is not used short
CS and RS.
MANUTENÇÃO ROBO FANUC.pdf
When DR is not
used short DR and
ER.
ER (Ready)
4.
CONNECTIONS
B-82595EN-2/04
4.11.1.3
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Connect ion between RS-232-C interface and I/O device
The figure below shows a connection with the handshaking of the ER/DR, RS/CS signals.
R-30iA
•
I/O device side
SD
SD
RD
RD
RS
RS
CS
CS
ER
ER
DR
DR
CD
CD
SG
SG
FG (Frame ground)
FG
FG
The figure below shows a connection without the handshaking of the RS/CS, ER/DR signals.
R-30iA
SD
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RD
SD
RD
External device
side
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4.
RS
RS
CS
CS
ER
ER
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
MANUTENÇÃO ROBO FANUC.pdf
CONNECTIONS
B-82595EN-2/04
R-30iA
SD
RD
RS
CS
SG
ER
DR
Cable : twist 10 pairs
2
0.18mm , with shield
Pair each signal with SG.
4.11.2
Ethernet Interf ace
This section describes information relating to the physical Ethernet connection.
CAUTION
1 Before connecting or disconnecting the cable to or from the FAST
Ethernet/FAST Data Server, make sure that the power to the CNC is turned off.
2 Please inquire of each manufacturer about the construction of network or the
condition of using the equipment except the FAST Ethernet/FAST Data Server
(hub, transceiver, cable etc.). When configuring your network, you must take
other sources of electrical noise into consideration to prevent your network from
being influenced by electrical noise. Make sure that network wiring is sufficiently
separated from power lines and other sources of electrical noise such as motors,
and ground each of the devices as necessary. In addition, high and insufficient
ground impedance may cause interference during communications. After
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installing the machine, conduct
operating the machine.
a communications test before you actually start
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We cannot ensure operation that is influenced by network trouble caused by a
MANUTENÇÃO ROBO FANUC.pdf
device other than the FAST Ethernet or FAST Data Server.
4.11.2.1
Connection to Ethernet
4.
CONNECTIONS
B-82595EN-2/04
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
HUB
:
:
:
Twisted pair
cable
CNC
FAST
Ethernet or
FAST Data
Server
Max. 100m
4.11.2.2
Leading out the Ethernet Cable
For this type of control unit, the cable is drawn out only from the front of the control unit. See the outline
drawing of each type of board for the location of the connector.
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The radius of the cable
must be 70 mm or more.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
4.11.2.3
CONNECTIONS
B-82595EN-2/04
100BASE-TX Connect or (CD38R) Pin Assignm ents
CD38R
Pin No.
Signal name
Descripti on
1
2
3
4
TX+
TXRX+
Send +
Send Receive +
Not used
5
6
7
8
4.11.2.4
Not used
Receive Not used
Not used
RX-
Twisted-pair Cable Specification
(1) Cable Connection
The cable used for connection between the 100BASE-TX interface, CD38R, of the Ethernet
board/Data Server board and the hub is connected as follows:
Ethernet board
/ Data Server board
CD38
1
TX+
2
TX3
RX+
4
5
6
7
8
TX+
HUB
RJ-45
modular connector
RXMAX.100m
(1)
TX(2)
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RX+
(3)
1
2
3
TX+
TXRX+
4
5
6
7
8
RX-
(1)
TX+
(2)
TX-
(3)
RX+
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(6)
(6)
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Shielded cable
4.
CONNECTIONS
B-82595EN-2/04
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
(2) Cable Materials
CAUTION
Unshielded cable (UTP cable) is commercially available as 100BASE-TX
twisted-pair cable: You should, however, use shielded Category 5 twisted-pair
cable (STP cable) to improve the resistance to electrical noise in an FA
environment.
Recommended Cables
Manufacturer
Specificatio n
FURUKAWA ELECTRIC CO., LTD.
NISSEI ELECTRIC CO., LTD.
DTS5087C-4P
F-4PFWMF
Remarks
Twisted-pair cable
Single-conductor cable
Inquiries
Manufacturer
Contact address
FURUKAWA ELECTRIC CO., LTD.
Sales Headquarters
Remarks
2-6-1 Marunouchi, Chiyoda-ku. Tokyo 100-8322
TEL: 03-3286-3126 FAX: 03-3286-3979
NISSEI ELECTRIC CO., LTD.
Machida Branch
Overseas Sales Office
3F MU Bldg., 1-9-1 Minami-narise,
Machida City, Tokyo 194-0045
TEL: 0427-29-2531 FAX: 0427-29-3375
IWATANI International Corporation
Tokyo Head Office
21-8 Nishi-shinbashi 3-chome, Minato-ku, TOKYO,
105-8458, JAPAN
TEL: 03-5405-5810 FAX: 03-5405-5666
Telex: 2524256 IWATYO J
A finished cable with connectors at both ends can be
offered.
Remarks
NOTE
The recommended cables cannot be connected to moving parts.
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Recommended cable (for movable parts)
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Manufacturer
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Specificatio n
Oki Electric Cable Co., Ltd.
Shinko Electric Industrial Co., Ltd.
Remarks
AWG26 4P TPMC-C5-F (SB)
Dedicated to
MANUTENÇÃO ROBO FANUC.pdf
FANUC
FNC-118
Specification
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
•
CONNECTIONS
B-82595EN-2/04
UL style No.
AWM 20276 (80°C/30V/VW-1)
NOTE
Be sure to use the connector TM21CP-88P (03) manufactured by HIROSE
ELECTRIC CO., LTD. for this cable.
Inquiries
Manufacturer
Oki Electric Cable Co., Ltd.
Remarks
Contact address
Nagano Sales Office TEL:0266-27-1597
Shinko Electric Industrial Co., Ltd.
Remarks
Tokyo Sales Office TEL:03-3492-0073
Cable assembly
Oki Electric Cable Co., Ltd. can also supply the cable assembly mentioned above.
Contact Oki Electric directly to determine the specifications (length, factory test, packing, and so
forth) for purchase.
(3) Connector Specification
Use an 8-pin modular connector (RJ-45) with the twisted-pair cable for the Ethernet connection. The
following connectors or equivalents must be used.
For general use
Specificatio n
Manufact urer
Solid wire
5-569530-3
Tyco Electronics AMP K.K..
Solid wire
MS8-RSZT-EMC
SK KOHKI CO., LTD.
Twisted-pair cable
5-569552-3
Tyco Electronics AMP K.K..
Twisted-pair cable
TM11AP-88P
HIROSE ELECTRIC CO., LTD.
For movable parts
For cable AWG26 4P TPMC-C5-F
Specificatio n
TM21CP-88P (03)
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(SB) or FNC-118
Remarks
Special tools
required
Special tools
required
Manufacturer
HIROSE ELECTRIC CO., LTD.
Remarks
Note
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NOTE
Information about TM21CP-88P (03):
Connector (standard product of the manufacturer)
Drawing number: A63L-0001-0823#P
MANUTENÇÃO ROBO FANUC.pdf
4.
CONNECTIONS
B-82595EN-2/04
4.11.2.5
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Electr ical Noise Countermeasures
(1) Separating Signal Lines
For signal line separation, refer to the description of noise protection in the Connection Manual
(Hardware) (B-63943EN) of CNC. The wiring for the Ethernet cable is of group C.
(2) Clamping and Shielding Cables
Clamp an Ethernet twisted pair cable according to the method described below, as with cables that
need
to be
shielded.
Clamping
and shielding and is extremely important to
the safe
operation
of the
system.cables
Neverprovides
overlooksupport
cable clamping.
Peel off part of the jacket as shown in the figure to expose the outer coating of the shield, and press
this outer coating against the ground plate with the clamp fixture.
The machine manufacturer must prepare the ground plate and install it as follows:
Ground plate
Cable
Cable clamp
Ground plate
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Shield
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NOTE
To ensure the safe operation of the system, clamp and shield the cables.
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
B-82595EN-2/04
A-c abi net
B-cabinet
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4.
CONNECTIONS
B-82595EN-2/04
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
(3) Grounding the Network
Even if the grounding condition on the machine side is satisfied, the communication line can pick up
noise from the machine, depending on the machine installation condition and environment, thus
resulting in a communication error. To protect against such noise, the machine should be separated
and insulated from the Ethernet trunk cable and personal computer. Examples of connection are
given below.
Personal computer
Switching HUB
Note 2
Note 1
Hub power supply
Note 2
Personal computer /
Note 2
HUB
HUB
HUB side
Electrically separated
by 100BASE-TX cable
connection
STP cable
STP
cable
Machine system
Machine
Ethernet
Note 1
Note 1
Machine
Note 1
Machine
Note 1
Note 1
Note 1
Large-Scale Network
Personal computer
Hub power supply
Note 2
HUB
Note 1
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Personal computer/Ethernet trunk side
Note 1
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Electrically separated
by 100BASE-TX
cable connection
STP cable
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Machine system
Ethernet
4.
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
CONNECTIONS
B-82595EN-2/04
NOTE
1 The ground between PC/HUB side and machine system side must be separated.
If it is impossible to separate the ground because there is only one grounding
point, connect the ground cable for each system to the grounding point
independently. (See figure below.)
The resistance for grounding must be less than 100-ohm (Class D). The
thickness of the ground cable is the same as the thickness of AC power cable or
more. At least thickness of 5.5mm2 is necessary.
2 Note that the number of allowable hub-to-hub connections depends on the type
of hub.
3 There is possibility that noise makes the obstacle of communication even if the
ground is separated using the 100BASE-TX. In the case of using the FAST
Ethernet/FAST Data Server under the worst environment, please separate
between the PC/Trunk line side and machine system side completely using the
100BASE-FX (Optical fiber media).
FG
Note 2
HUB
Ground wire on personal
computer and trunk sides
Ground wire on
machine system
Ground wire on machine system
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FG
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Ground point
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Wiring on a single ground point
4.
CONNECTIONS
B-82595EN-2/04
4.11.2.6
PERIPHERAL DEVICE,
ARC WELDING, AND END
EFFECTOR INTERFACES
Check Items at Installation
The following table lists check items at installation.
Check item
Descriptio n
Check
Ethernet cable
Use cables which satisfies all the following conditions:
1) With shielding
Type
2) Twisted-pair cable
3) Category 5
The cable length shall be within 100 m (50 m for a movable cable recommended
by FANUC).
Length
Connection
Separation
Shielding
Clamping
For a twisted-pair cable, the following pins shall be paired:
1) Pin No. 1 (TX+) – pin No. 2 (TX-)
2) Pin No. 3 (RX+) – pin No. 6 (RX-)
The Ethernet cables shall be bound separately from the following cables or
covered with an electromagnetic shield:
1) Group A: AC power lines, power lines for motors, and others
2) Group B: Current DC (24 VDC) and others
For a shielded cable, the part of which outer coating is peeled off and exposed
shall be fixed to the ground plate with a clamp fixture.
The ground plate shall be located as nearest to the CNC as possible (to make the
cable between the ground plate and CNC hard to be affected by noise).
Connectors
Wiring
Any cable connector shall not be pulled (to prevent poor contact of the connector).
No cable shall be laid under a heavy object.
Bending radius
The bending radius shall be at least four times as long as the diameter of the
cable.
For
part
For a movable part, a cable for a movable part shall be used.
movable
CNC and cabinet
Ground plate
The CNC ground (frame ground) shall be connected properly and the length of the
ground wire shall be within 300 mm.
The ground plate shall be connected to the AC ground of the cabinet with wire.
Mounting
The Ethernet board shall be inserted in a CNC slot properly.
CNC grounding
HUB
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The "cautions on use" of the hub shall be observed (A terminating resistor shall be
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Use conditions
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Grounding
Cabinet
mounted properly if required).
The hub shall be grounded.
The hub shall be installed in an enclosed cabinet.
Vibration
The hub shall be installed so that it is not affected by vibration.
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5.TRANSPORTATION AND INSTALLATION
5
CONNECTIONS
B-82595EN-2/04
TRANSPORTATION AND INSTALLATION
This chapter describes the transportation and installation for the controller.
5.1
TRANSPORTATION
The controller is transported by a crane.
Attach a strap to eye bolts at the top of the control unit.
Crane capacity: Minimum 300kg
Sling capacity: Minimum 300kg
Eye bolt (M12)
Eye bolt (M10)
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(A-cabinet)
B-82595EN-2/04
CONNECTIONS
5.2
INSTALLATION
5.2.1
Installation Method
(B-cabinet)
5.TRANSPORTATION AND INSTALLATION
Following is the installation method for cabinet.
When installing the controller, allow the space for maintenance shown in the following
figure.
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Munsell
Color
5GY3.5/0.5
Gray
5.TRANSPORTATION AND INSTALLATION
Munsell
Color
5GY3.5/0.5
Gray
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CONNECTIONS
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CONNECTIONS
B-82595EN-2/04
Body
Door
Op.panel
5.TRANSPORTATION AND INSTALLATION
Munsell
Color
5GY3.5/0.5
3.0GY8.2/0.9
N1.5
Gray
White
Black
Fig. 5.2.1 (c) External d imensio n (B-cabinet)
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5.TRANSPORTATION AND INSTALLATION
CONNECTIONS
B-82595EN-2/04
Fixing bolt location
Bolt specification
The A-cabinet uses
M10 x 16
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CONNECTIONS
B-82595EN-2/04
100
Controller
5.TRANSPORTATION AND INSTALLATION
100
Controller
Controller
NOTE
Keep this area for maintenance and the radiation of heat.
Fig. 5.2.1 (e) Install ation d imensio n (B-cabinet)
Munsell
Color
Body
5GY3.5/0.5
Gray
Door
3.0GY8.2/0.9
White
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5.TRANSPORTATION AND INSTALLATION
CONNECTIONS
B-82595EN-2/04
Munsell
Color
Body
5GY3.5/0.5
Gray
Door
3.0GY8.2/0.9
White
Fig. 5.2.1 (g) External di mension (Integrated operation b ox)
5.2.2
Assemb le at Install ation
Operation box
R-30 iA co ntr oll er
Robot connection cable
Teach pendant
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Peripheral device connection cable
B-82595EN-2/04
CONNECTIONS
5.TRANSPORTATION AND INSTALLATION
Integrated operation box
Teach pendant
Peripheral device
connection cable
Robot connection cable
Fig.5.2.2 (b) Assemble at installation (Integrated operation box)
Teach pendant
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R-30iA controller
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5.TRANSPORTATION AND INSTALLATION
5.3
CONNECTIONS
B-82595EN-2/04
INSTALLATION CONDITION
Item
Model
Specification/conditio n
Rated Voltage
All models
Trans. Type E 380-415, 440-500, 500-575VAC
Trans. Type D 380-400, 200-230VAC
50/60Hz 3phases
Tolerant fluctuation
All models
Tolerant voltage fluctuation: +10% -15%
Tolerant frequency fluctuation: ±1Hz
Input power source
capacity
M-900iA/400L, M-900iA/600
M-900iA/200P, M-2000iA
R-2000iB/200T,M-410iB,
M-900iA/260L,M-900iA/350
R-2000iB (except /200T), R-1000iA
M-420iA /M-421iA, M-710iC
F-200iB
M-16iB, M-20iA
ARC Mate 120iB, ARC Mate 120iC
M-6iB, ARC Mate 100iB
M-430iA/2F, M-430iA/2FH,
M-430iA/2PH,M-430iA/4FH
M-430iA/2P
ARC Mate 100iC, M-10iA
M-900iA/400L, M-900iA/600
M-900iA/200P
M-2000iA
18KVA
30KVA
15KVA
R-2000iB/200T,M-410iB,
M-900iA/260L,M-900iA/350
R-2000iB (except /200T), R-1000iA
M-420iA /M-421iA, M-710iC
M-6iB, M-16iB, M-20iA
ARC Mate100iB, ARC Mate120iB
ARC Mate120iC, F-200iB
M-430iA/2F, M-430iA/2FH,
M-430iA/2PH,M-430iA/4FH
M-430iA/2P
ARC Mate 100iC, M-10iA
3KW
Average power
consumption
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Permissible ambient
All models
12KVA
5KVA
3KVA
2.5KVA
3.5KVA
3.5KVA
2.0KVA
5KW
10KW
8KW
2.5KW
1.0KW
1.0KW
1.0KW
1.0KW
Operating C to 45 C
°
°
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Storage, Transport -20 C to 60 C
Temperature change 0.3 C/minute or less
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Normal: 75%RH or less,
d
ti
°
Permissible ambient
h idit
All models
CONNECTIONS
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Item
5.TRANSPORTATION AND INSTALLATION
Model
Ionized and
non-ionized radiation
Common to all models
Mass of control unit
A-cabinet
operator box
A-cabinet
B-cabinet
Specification/conditio n
TYPE B
Integrated type
All models (Except
below models)
A shielding provision is necessary if the machine is
installed in an environment in which it is exposed to
radiation (microwave, ultraviolet rays, laser beams,
and/or X-rays).
25kg
20kg
120kg
M-410iB
140kg
All models (Except 180kg
below models)
M-900iA, M-410iB, 200kg
R-2000iB/200T,
M-900iA/200P,
M-2000iA
NOTE
The power rating indicated above is sufficient as the continuous rating. However,
when the robot is rapidly accelerating, the instantaneous requirement may
increase to several times the continuous rating.
If the acceleration/deceleration override(ACC) greater than 100% is set in the
robot program, the extreme current may flow to the robot controller
instantaneously and the input voltage of robot controller will drop.
In this case, if the supply voltage is decreased 10% or more per rated voltage,
Power supply alarm, Move error excess alarm, DCLV alarm of servo amplifier
may occur.
5.4
ADJUSTMENT AND CHECK S AT INSTALLATION
Adjust the robot according to the following procedure at installation.
No.
1
Description
Visually check the inside and outside of the control unit.
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2
Check the screw terminals for proper connection.
3
Check that the connectors and printed circuit boards are firmly connected.
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5
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Check transformer tap setting. (See II MAINTENANCE section 6.2)
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The breaker off and connect the input power cable.
Check the input power voltage and transformer outputs
5.TRANSPORTATION AND INSTALLATION
CONNECTIONS
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RESETTING OVERTRAVEL AND EMERGENCY STOP AT
INSTALLATION
5.5
An overtravel and emergency stop occur when the robot is operated for the first time after it is installed
and the mechanical and control units are wired. This section describes how to reset the overtravel and
emergency stop.
Remove the red plate fastening the swiveling axis beforehand.
The J2 and J3 axes are pressed against the hard stops at shipment. Therefore, an overtravel alarm occurs
when the power is turned on after installation.
The robot can also be in an emergency stop state if the peripheral device control interface is not
connected.
5.5.1
Peripheral Device Interf ace Processing
Take the following actions if signals *IMSTP, *HOLD, *SFSD, and ENBL are not used.
CRM2A
+24F
49, 50
*IMSTP
1
*HOLD
2
*SFSD
3
ENBL
4
RV
RV
RV
RV
5.5.2
Resetting Overtr avel
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1)
Select [OT release] on the overtravel release screen to release each robot axis from the overtravel
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3)
state.
Hold down the shift key, and press the alarm release button to reset the alarm condition.
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Still hold down the shift key, and jog to bring all axes into the movable
range.
CONNECTIONS
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5.TRANSPORTATION AND INSTALLATION
Status
Hand Broken
enable/disable
setting
HBK (*1)
HBK
detection
Robot operatio n
Message
1
2
3
4
Enable
Enable
Disable
Disable
CLOSE
OPEN
CLOSE
OPEN
Yes
Yes
Yes (*2)
No
Possible
Impossible
Possible
Possible
None
SRVO-006
None
At cold start,
SRVO-300
NOTE
1 Robot end effector connector
CLOSE
OPEN
24V
24V
XHBK
XHBK
2 The moment the HBK circuit is closed, HBK detection becomes enabled.
When the HBK circuit is opened again, alarm "Servo 300" or "Servo 302" occurs,
causing the robot to stop.
3 If the power is turned off and on again under the condition stated in *2, status 4
is entered, so the alarm condition is removed.
5.5.4
1)
2)
3)
4)
5)
How to Disable/Enable Pneumatic Pressure Alarm (PPABN)
Press [MENUS] on the teach pendant.
Select [NEXT].
Select [SYSTEM].
Press "F1" (TYPE) on the teach pendant.
Select "Config" to disable/enable PPABN.
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1
A
2 3
A A
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B
:
2
B
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A
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2 3
A A
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1
B
:
2
B
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3
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1
A
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Fig. A (z) RI/RO Connection Diagram (Group8; ARC Mate 100iC, ARC Mate 120iC)
There are many type EE conn ector of m echanical uni t.
The detail is sho wn o n the mechanical unit manual.
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Fig. A (aa) Pulsecoder sig nal connection d iagram
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Fig. A (ab) Pulsecod er Signal Connecti on Diagram (Group5; M-900iA/600)
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Fig. A (af) Pulsecoder Signal Con nectio n Diagram (Group8; ARC Mate 100iC, ARC Mate 120iC)
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B.SPECIFICATIONS OF PERIPHERAL DEVICE INTERACE
B
SPECIFICATIONS OF PERIPHERAL
DEVICE INTERACE
B.1
SIGNAL
The following table lists the I/O signals used for the peripheral device interface in the R-30 iA controller.
Table B.1 (a) Input sign als (Refer to B .3.1)
Signal
Description
*IMSTP
*HOLD
*SFSPD
CSTOPI
FAULT_RESET
START
HOME
ENBL
RSR1/PNS1
RSR2/PNS2
RSR3/PNS3
RSR4/PNS4
RSR5/PNS5
RSR6/PNS6
Instantaneous stop signal
Hold signal
Safety speed signal
Cycle stop signal
Alarm release signal
Cycle start signal
Robot service request/program number select signal (*1)
Enabling signal
Robot service request/program number select signal (*1)
Robot service request/program number select signal (*1)
Robot service request/program number select signal (*1)
Robot service request/program number select signal (*1)
Robot service request/program number select signal (*1)
Robot service request/program number select signal (*1)
RSR7/PNS7
RSR8/PNS8
PNSTROBE
PROD_START
DI01
DI02
Robot service request/program number select signal (*1)
Robot service request/program number select signal (*1)
PNS strobe signal
Automatic operation start signal
General-purpose input signal
General-purpose input signal
DI03
DI04
General-purpose input signal
General-purpose input signal
DI05
DI06
DI07
DI08
DI09
DI10
General-purpose input signal
General-purpose input signal
General-purpose input signal
General-purpose input signal
General-purpose input signal
General-purpose input signal
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Table B.1 (b) Outp ut si gnals (Refer to B.3.2)
Signal
Description
CMDENBL
SYSRDY
PROGRUN
PAUSED
HELD
FAULT
ATPERCH
TPENBL
Command acceptance enabled signal
System ready signal
Program run signal
Program paused signal
Held signal
Alarm signal
Reference point signal
Teach pendant enabled signal
BATALM
BUSY
ACK1/SNO1
ACK2/SNO2
ACK3/SNO3
ACK4/SNO4
ACK5/SNO5
ACK6/SNO6
ACK7/SNO7
Battery alarm signal
Operating signal
RSR acknowledge/Selected program number signal
RSR acknowledge/Selected program number signal
RSR acknowledge/Selected program number signal
RSR acknowledge/Selected program number signal
RSR acknowledge/Selected program number signal
RSR acknowledge/Selected program number signal
RSR acknowledge/Selected program number signal
ACK8/SNO8
SNACK
______
RSR acknowledge/Selected program number signal
PNS acknowledge signal
Not used (for future expansion)
DO01
DO02
DO03
DO04
DO05
DO06
DO07
DO08
DO09
DO10
DO11
DO12
DO13
General-purpose output signal
General-purpose output signal
General-purpose output signal
General-purpose output signal
General-purpose output signal
General-purpose output signal
General-purpose output signal
General-purpose output signal
General-purpose output signal
General-purpose output signal
General-purpose output signal
General-purpose output signal
General-purpose output signal
DO14
DO15
DO16
DO17
DO18
DO19
General-purpose output signal
General-purpose output signal
General-purpose output signal
General-purpose output signal
General-purpose output signal
General-purpose output signal
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B.SPECIFICATIONS OF PERIPHERAL DEVICE INTERACE
SETTING COMMON VOLTAGE
All process I/O printed boards have a jumper to set the common voltage of input signals to 0 V or 24 V.
The system automatically adjusts the polarity by software according to the status of this pin. Therefore,
you can operate the system without being concerned about the setting of the common voltage.
To ensure safety, the common reference voltage of the following four signals, is remains at +24V.
*IMSTP
*HOLD
*SFSPD
CSTOPI
B.3
I/O SIGNALS
B.3.1
Input Signals
This section describes the specifications of each input signal.
(1) Instantaneous stop signal (input) *IMSTP
Effective:
At any time
Function:
Use the normally closed switch because it is a reverse signal. The system turns off
power to the servo unit when the *IMSTP is open (turned off). This signal has the
same effect as that of the emergency stop signal, but it is controlled by software.
For this reason, use the emergency stop external interface on the emergency stop
control
boardFAULT
for wiring
of the emergency stop signal. Do not use *IMSTP.
(2) Alarm release signal
(input)
RESET
Effective:
In the alarm status
Function:
The FAULT RESET signal releases the alarm status. If the servo unit has been
turned off, it also turns on the unit. At the same time, the alarm display on the teach
pendant (the top line) is cleared.
Description: This signal releases only the alarm status. It does not re-start execution of the
program. The robot will keep running if the signal is triggered "ON" during
operation.
(3) Hold signal (input) *HOLD
Effective:
At any time
Function:
Use the normally closed switch because it is a reverse signal. The *HOLD signal has
the same function as the hold button on the teach pendant. It halts the current
program and stops the operation of the robot. While this signal is being input, the
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Effective:
Function:
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At any time
-
If parameter $SHELL_CFG.$USE_ABORT is set to DISABLED, the CSTOPI
signal releases the program from the wait status caused by an RSR. It does not stop
the execution of the current program and allows it to continue processing (by
default).
- If parameter $SHELL_CFG.$USE_ABORT is set to ENABLED, the CSTOPI signal
immediately cancels the execution of the current program. The program returns to
the status in which it was before execution, and the information for the subprogram
to return to the main program is lost. At the same time, this signal also releases the
program from the wait status caused by RSR.
(6) Enabling signal (input) ENBL
Effective:
At any time
Function:
If the ENBL signal is turned off, the operation of the robot or the activation of a
program is inhibited, and the execution of the current program is suspended.
(7) Safety speed signal (input) *SFSPD
Effective:
At any time
Function:
-
-
-
Use the normally closed switch because it is a reverse signal. Usually this switch
should be connected to safety fence. It must be set normally on.
Since the *SFSPD signal is counted as a remote condition, such input signals as RSR
and START to the peripheral device interface cannot take effect unless this signal is
turned on.
If this signal is turned from on to off during robot operation, the execution of the
current program is suspended. At the same time, the overriding value is switched to
a preset value (parameter $SCR. $FENCEOVER.)
As
long
as this
signal is off, the overriding
value
cannot
be increased beyond
the
preset
value
($SCR.$SFJOGOVLIM:
For jog,
$SCR.
$SFRUNOVLIM
: For test
execution.)
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MANUTENÇÃO
ROBO INTERACE
FANUC.pdf
B.SPECIFICATIONS OF PERIPHERAL
DEVICE
(8) Robot service request signal (input) RSR1/RSR2/RSR3/RSR4
Effective:
When the command acceptance enabled signal (output) CMDENBL is turned on. See
the description of CMDENBL in Section B.3.2 (1) for details.
Function:
- The user can choose between RSR and PNS (optional), although they cannot be used
simultaneously.
- Four input signals, RSR1 to RSR4, are used.
- If a signal is input to an RSR input, a specified program is started. The program
number can be set by a menu.
- If another program has already started processing, the newly activated program
enters the wait status. As soon as the current program terminates, the waiting
program starts processing.
- By using an RSR instruction, each RSR in a program can be enabled or disabled.
- A menu is provided to register the program number of a specified program when
each RSR is input. (Refer to the application manual for details of the menu).
-
When an RSR is input, the program whose program name consists of the specified
program number plus a base value is started. For example, if a signal is input to
RSR2 when program number 23 is registered in RSR2, the program to be started is
the one with the program name calculated from the expression RSR + (RSR2
program number + base number), i.e., RSR0123.
The base number is stored in parameter $SHELL_CFG.$JOB_BASE, and can be
changed in a program with a parameter instruction. (For example, $SHELL_ CFG.
$JOB_BASE =100). In this way, the combination of programs which can be started
by RSRs can be changed.
Wh th th
t
h ld t t
k
l d
i
lt
RSR
b
l t d
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(9) PNS/PNSTROBE (input)
Signal name: PNS: Program number select
PNSTROBE: Strobe input for PNS
Effective:
When the command acceptance enabled signal (output) CMDENBL is turned on. See
the description of CMDENBL in Section B.3.2 (1) for details.
Function:
- The PNS/PNSTROBE signal selects whether the RSR function is used or the PNS
function (optional) is used. If the PNS function is enabled, the RSR function cannot
be used.
- The eight signals PNS1 to PNS8 are used to specify a program at the instant the
-
-
-
strobe signal PNSTROBE rises.
A menu is provided to specify the information about PNS.
If a number other than zero is entered to PNS input, a program is selected whose
program number is the entered value plus the base number. For example, if the
PNS value is 23, the program to be started has the program name calculated from the
expression
PNS + (entered PNS value + base number), i.e., PNS0123.
If zero is entered to PNS input, it is cleared as if no selection has been made.
A PNS signal, which can only select a program, cannot execute the selected program.
The execution of the selected program can only be started after input of automatic
operation start signal PROD_START.
For safety, the selected program cannot be changed from the teach pendant unless
PNSTROBE is turned off.
If a program is selected by PNS, the program number is output to selected program
number signal (output) SNO, and a pulse is output to program selection acknowledge
signal SNACK. Using these signals, peripheral devices can confirm the correct
h
b
l t d F th ti i
f th
i
l
th
ti
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B.3.2
APPENDIX
MANUTENÇÃO
ROBO INTERACE
FANUC.pdf
B.SPECIFICATIONS OF PERIPHERAL
DEVICE
Output Signals
This section describes the specifications of output signals for the peripheral device interface.
(1) Command acceptance enabled signal (output) CMDENBL
Turned on:
When the remote conditions are satisfied and the system is not in the alarm status
Turned off:
When the remote conditions are not satisfied or the system is in the alarm status the
remote conditions are satisfied when all of the following are satisfied.
(2)
(3)
(4)
(5)
- The teach pendant is in the DISABLED status.
- The remote/local setting is set to REMOTE.
- Parameter $RMT_MASTER is set to 0 (external interface).
- Signal *SFSPD is set to on, or in the normal status.
System ready signal (output) SYSRDY
Turned on:
When power is applied to the motor of the robot.
Turned off:
When power is not applied to the motor of the robot.
Program run signal (output) PROGRUN
Turned on:
When the program is being executed.
Turned off:
When the program is not being executed.
Held signal (output) HELD
This signal is used to check the status of the hold input.
Turned on:
When the hold button on the teach pendant (or input) is being pressed down (or
turned on).
Turned off:
When the hold button on the teach pendant (or input) is not being pressed down (or is
turned off).
Program paused signal (output) PAUSED
This signal is used together with output signal PROGRUN to determine whether a program can be
restarted while it is being held.
Turned on:
When a program is held and has not been restarted yet. While this signal is on, the
program can be restarted and retains information such as that to return from a
subprogram to the main program.
Turned off:
When a program is being executed or is ready to start. If signal PROGRUN is on, the
program is being executed. If signal PROGRUN is off, the program has not been
executed and can be started from this status.
(6) Alarm status signal (output) FAULT
Turned on:
When the system is in the alarm status (or an alarm which can stop a program
execution is detected.) The indicator lamp does not go on in warning.
Turned off:
When the alarm status is released by an alarm release operation.
(7) Reference point signal (output) ATPERCH
Turned on:
When the robot is in the reference position specified in the parameter. (The reference
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MANUTENÇÃO
Turned on:
When a program is being executed or is being processed from operation panels such
as the teach pendant. (This has the same function as that of the BUSY lamp on the
teach pendant.)
Turned off:
When a program is not being executed nor is being processed from operation panels
such as the teach pendant.
(11) RSR acknowledge signals (output) ACK1/ACK2/ACK3/ACK4
These signals are used together with the RSR function. They can be specified to be enabled or
disabled from the RSR setup menu.
Turned on:
When one of the signals from RSR1 to RSR4 is input and accepted. A pulse whose
width is specified from the menu is output to acknowledge the signal.
Turned off:
Normally.
off status.
Since these signals are always output as pulses, they are normally in the
The following chart shows the timing of the RSR input and ACK output.
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B.SPECIFICATIONS OF PERIPHERAL
DEVICE
MANUTENÇÃO
ROBO INTERACE
FANUC.pdf
(12) PNS acknowledge signal (output) SNO/SNACK
These signals are used together with the PNS function.
Turned on:
Whenever the PNS function is enabled. The selected program number is displayed in
binary code (SN01 to SN08) on the teach pendant. If the number cannot be
represented as an eight-bit number, it becomes zero. After selecting a program by
PNS, a pulse is output from signal SNACK as a part of the PNS operation. The
width of the pulse can be specified from the menu. See the timing chart below.
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B.4
SPECIFICATIONS OF DIGITAL INPUT/OUTPUT
B.4.1
Overview
This section describes the external specifications of digital and analog input/output in the R-30 iA
controller.
B.4.2
Input/Output Hardware Usable in the R-30iA Con trol ler
The R-30iA controller can use up to 512 digital input and output points or an equivalent number of
analog input and output points. One analog input/output point uses the resources equivalent to those
used by 16 digital I/O points.
The R-30iA can use a total of up to 512 I/O points.
The R-30iA controller can use the following I/O hardware.
Process I/O printed circuit board
-
I/O unit model A
The process I/O printed circuit board and the I/O unit model A can be used together.
B.4.3
Software Specifications
(1) RI/RO
These are signals sent to the connector at the wrist of the robot.
They
cannot be
assigned
(redefined)
andeight
are fixed.
The standard
format
is eight
inputs and
outputs. The number of points that can be used for the
connector at the wrist depends on the individual robot.
(2) DI/DO
The signal No. that is determined at hardware can be changed by software operation.
(3) Analog I/O
An analog I/O signal can access the analog I/O port (optional) on the process I/O printed circuit
board or the I/O port on the analog I/O module (used together with the I/O unit model A).
It reads and writes the digital value converted from the analog value of the I/O voltage. It means
that the value does not always represent the real I/O voltage.
(4) Group I/O
Group I/O is a function, which can input or output multiple DI/DO signals as binary codes. Any
number of continuous signals of up to 16 bits can be set for its use. It can be set in the menu
DETAILS on the group I/O screen.
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C
C.OPTICAL FIBER CABLE
MANUTENÇÃO ROBO FANUC.pdf
OPTICAL FIBER CABLE
The R-30iA uses fiber optic cables for communication between the main board and servo amplifiers.
Observe the following cautions when handling these fiber optic cables. Handle fiber optic cables with
utmost care, especially when installing the unit.
(1) Protection during storage
When the electrical/optical conversion module (mounted on the printed) circuit board and the fiber
optic cable are not in use, their mating surfaces must be protected with the lid and caps with which
they are supplied. If left uncovered, the mating surfaces are likely to become dirty, possibly
resulting in a poor cable connection.
Fig.C (a) Protection o f electrical/optical conversion module and fiber opt ic cable (when not in u se)
(2) Fiber optic cable
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Minimum bending radius of cable with reinforced cover: 50 mm
Bending resistance (cable with reinforced cover):
10 million bending cycles at room
temperature (when the bending radius
is 100 mm)
Flame resistance:
Equivalent to UL VW-1
Operating temperature:
-20 to 70ºC
Fig.C (b) External dimensions of external optical cable Unit: mm
-
-
After it is connected, the optical connector is automatically locked by the lock levers on its top.
To remove the connector, release the lock levers and pull the connector.
Although optical connectors cannot be connected in other than the correct orientation, always
take note of the connector's orientation before making the connection.
Take care to keep both parts of the optical connector (cable side and PCB side) clean. If they
become dirty, wipe them with tissue paper or absorbent cotton to remove dirt. The tissue paper
or
absorbent
cotton may be moistened with ethyl alcohol. Do not use any organic solvent other
than
ethyl alcohol.
Fix the reinforcing cover by using a cable clamp, as shown in Fig. C(c), to prevent the weight
of the fiber optic cable from being applied directly to the connecting part of the optical
connector.
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C.OPTICAL FIBER CABLE
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External cable:
Do not clamp the uncovered portion of the cable with a nylon band. When clamping the cable
by the reinforcing cover, the clamping force is not an important factor to consider. However,
ensure that the clamping force is as small as possible to ensure that the reinforcing cover is not
deformed by the clamping.
If possible, the clamping force should be 5kg (111bs) or less.
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D.BRAKE RELEASE UNIT
APPENDIX
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MANUTENÇÃO ROBO FANUC.pdf
D
D.1
BRAKE RELEASE UNIT
SAFETY PRECAUTIONS
WARNING
Support the robot arm by mechanical means to prevent it from falling down or
rising up when brake is released. Before using the brake release unit, read the
Operator’s manual of the robot that tries to release the brake.
Confirm that the robot is fixed tightly to the floor to prevent the falling down and
unexpected movement of robot.
Confirm that the outlet with earth is used for the power supply of brake release
unit and earth of brake release unit is surely connected to earth of power supply.
There is danger of getting an electric shock if earth is not connected.
D.2
CONFIRMATIONS BEFORE OPERATION
Confirm the followings before operation.
(1) Confirm the exterior of the brake release unit and the power cable. Do not use it when there are
damages in the unit and the cable.
(2) Confirm that the power supply of the robot controller is disconnected.
(3) There are Two types of brake release units according to the input voltage as shown in Table D.2 (a).
Confirm the input voltage of the unit to refer to the input voltage label put to the unit (Fig.D.4).
(4) Confirm that the voltage of power supply before connecting the power supply to the brake release
unit. There is possibility to give the damaging to the brake or the brake release unit when the
incorrect power supply is connected to the unit.
Table D.2 (a) Specificati on o f Br ake release uni t
Brake release uni t
Remarks
Brake release unit (AC 100V)
Brake release unit (AC 200V)
Input voltage AC100-115V, single phase
Input voltage AC200-240V, single phase
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(5) The brake release unit connection cable is different in each robot. Confirm the cable specification
corresponding to the robot referring to Table D.2 (b).
Robot
Brake release
unit side(CRR56A)
Robot side
RM1
Auxiliary Axis
The applicable robot
types are shown.
Cable specification
Inside robot
controller
(CRR65A/B)
Brake release
unit side(CRR56A)
Fig.D.2 Brake release unit connection cable
Table D.2 (b) Specification of brake release unit connection cable
Controller
R-30iA
Stand alone type
Applicable robot types
Specification of cable
R-2000iB, R-2000iB/200T,
M-710iC, M-410iB,
M-420iA, M-421iA,
M-900iA/350, M900iA/400L, M900iA/600,
M-900iA/200P,M-2000iA, R-1000iA
M-6iB, M-16iB,
ARC Mate 100iB,
ARC Mate 120iB,
F-200iB
M-10iA, M-20iA,
ARC Mate 100iC,
ARC Mate 120iC
i
i
i
A660-2005-T559
A660-2005-T871
A660-2006-T881
i
M-430 A/2F, M-430 A/2FH, M-430 A/2PH,M-430 A/4FH
M-430iA/2P
R-30iA
Integrated type
C-flex, F-100iA
Aux. Axis
A660-2006-T888
A660-2006-T887
A660-2006-T474
A660-2005-T711
M-410iB
A660-2006-T803
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D.3
OPERATION
In case of operating t o the robot
Operate the brake release unit according to the following procedures.
(1) Support the robot arm by mechanical means to prevent it from falling down or rising up when brake
is released. Refer to the Operator’s manual for each robot.
(2) Connect the Brake Release Unit connection cable to Brake Release Unit.
(3) Disconnect the RM1 connector from Robot, and connect the Brake Release Unit connection cable to
the Robot. Keep the connection of Robot connection cable except RM1 cable.
(4) Connect the power cable of Brake release unit to power supply.
(5) Press and hold the deadman switch in the middle position.
(6) Press the brake switch ‘1’..’6’ according to the axis that tries to release the brake, then brake will be
released. (Refer to Table D.3) Two axes or more cannot be operated at the same time.
Deadman switch
Brake Release Unit
1
2
3
4
5
6
Brake switch
Power cable
Brake Release Unit
connection cable
Fig.D.3 (a) Brake Release Unit
Table D.3 The relation b etween brake switc h and rob ot axis
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Except M-410iB (Integrated r obot )
D.BRAKE RELEASE UNIT
MANUTENÇÃO ROBO FANUC.pdf
Remove RM1 connector
Robot controller
RM1
Robot
Brake Release Unit
connection cable
Power Cable
Brake Release Unit
Fig.D.3 (b) How to conn ect Brake Release Unit (In case of except M-410iB)
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APPENDIX
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In case of M-410iB (Integrated ro bot)
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Connect Brake release unit cable to servo motor brake connector. Only J1 switch is available.
Servo motor brake corrector
Robot
Controller
Brake
Release
Unit
connection
cable
Power Cable
Brake Release Unit
(Press the brake switch‘1’, then brake will be released)
Fig.D.3 (c) How t o co nnect Brake Release Unit (In case of M-410iB)
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In case of operating t o the auxiliary Axis
Operate the brake release unit according to the following procedures.
(1) Support the auxiliary Axis by mechanical means to prevent it from falling down or rising up when
the brake is released.
(2) Connect the Brake Release Unit connection cable to Brake Release Unit.
(3) Disconnect the aux. axis brake connector (CRR65A/B), and connect the CRR65A/B connector to the
Brake Release Unit connection cable. Keep the connection of all cables of aux. axis motor (power,
Pulsecoder, brake).
(4) Connect the power cable of Brake release unit to power supply.
(5) Press and hold the deadman switch in the middle position.
(6) Press the brake switch‘1’, then brake will be released.
Robot controller
Disconnect the brake
connection cable(CRR65A/B)
Brake cable for Aux. Axis
Do not disconnect
motor cables.
Motor for Aux. Axis
Brake Release Unit
connection cable
Power cable
Break Release Unit
Fig.D.3 (d) How t o con nect Brake Release Unit (In case of operati ng to the Aux. Axis)
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D.4
HOW TO CONNECT THE PLUG TO THE POWER CABLE
(IN CASE OF NO POWER PLUG)
Connect the plug to the power cable as follows. This plug is provided by customer.
Terminal (M4 Size)
1(R)
2(S)
PE
Earth(Yellow/Green spiral)
Power plug
(Provided by customer)
AC200-240V
Cable
(Provided by FANUC)
1(R)
+10%/-15%
Brake Release Unit
or
2(S)
AC100-115V
+10%/-15%
PE
Outlet
Fig.D.4 How t o connect th e plug to the power cable
WARNING
Only a specialist having the relevant expertise knowledge is permitted to connect
the plug to the power cable.
In the EU area, only plug complying with the relevant European product standard
can be used.
Do not install the plugs without protective earth pin
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D.5
MANUTENÇÃO ROBO FANUC.pdf
DIMENSION
Warning label
Input voltage label
Brake switch
Pilot lamp
Deadman switch
Caution label
Belt
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Instructions for use
Fig.D.5 (b) Dimensio n o f Br ake Release Unit (Rear view )
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D.BRAKE RELEASE UNIT
D.6
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MANUTENÇÃO ROBO FANUC.pdf
FUSE
The fuses are mounted inside this unit. Please check the fuse when the pilot lamp doesn't light even if
deadman switch is pressed. When the fuse is blown, exchange the fuse after finding the root cause of
failure, and taking the appropriate countermeasures.
Manufacturer: Daito Communication Co.
Specification: P420H
Rating:
2A
WARNING
When the fuse is replaced, the power cable of brake release unit must be
disconnected.
FU011
FU012
FU001
Fig.D.6 The location of fuses
D.7
I
t
SPECIFICATIONS
l
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E
THE CONTROLLER FOR M-900iA/200P,
M-2000iA
Additional document of the controller for M-900iA/200P and M-2000iA.
E.1
CONFIGURATION
E-STOP transit unit
Operator’s panel
6-servo amplifier(AMP1)
DC fan motor
Mode switch
Emergency stop
External
Panel board
Breaker/Noise
Filter unit
Battery
Emergency stop
button
Back plane
RCC I/F unit
E-stop unit
Door fan
Teach pendant Enable switch
Main board
Power supply unit
Floor fan
Optional slot
Fig. E (a) M-900iA/200P, MAIN CONTRLLER
6-servo amplifier (AMP1)
DC fan motor
External
fan unit
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E-STOP transit unit
Operator’s panel
Aux.Axis
amplifier (AMP2)
MANUTENÇÃO
ROBO FANUC.pdf
6-servo amplifier (AMP1)
DC fan motor
Mode switch
Emergency stop
External
Panel board
Breaker/Noise
Battery
Filter unit
Back plane
Emergency stop
button
RCC I/F unit
E-stop unit
Door fan
Enable switch
Teach endant
Main board
Optional slot
Power supply unit
Floor fan
Fig. E(c) M-2000iA, MAIN CONTROLLER
Aux.Axis amplifier (AMP2)
DC fan motor
6-servo amplifier (AMP1)
External fan unit
Breaker/Noise
Filter unit
Back plane
RCC I/F unit
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E.THE CONTROLLER FOR M-900iA/200P, M-2000iA
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E.2
MANUTENÇÃO
ROBO FANUC.pdf
TROUBLESHOOTING USING THE ERROR
CODE
E.2.1
Troubleshootin g using t he error c ode
7/17/2019
(1) SRVO-101 Robot overtravel
(Explanation) The robot has moved beyond a hardware limit switch on the axes.
(Action)
Take the same actions as SRVO-005.
NOTE
It is factory-placed in the overtravel state for packing purposes.
If the Overtravel signal is not in use, it may have been disabled by
short-circuiting in the mechanical unit.
(2) SRVO-102 Hand broken
(Explanation) The safety joint (if in use) might have been broken. Alternatively, the HBK signal on
the robot connection cable might be a ground fault or a cable disconnection.
(Action)
Take the same actions as SRVO-006.
NOTE
If the Hand broken signal is not in use, it can be disabled by software setting.
Refer to Subsection 5.5.3 How to Disable/Enable HBK in Part III,
"CONNECTIONS" of "Maintenance Manual" to disable the Hand broken signal.
(3) SRVO-103 Pneumatic pressure abnormal
(Explanation) An
abnormal
air pressure
detected.
effector
of the robot.
Referwas
to the
manual ofThe
yourinput
robot.signal is located on the end
(Action)
Take the same actions as SRVO-009.
NOTE
Pneumatic pressure alarm input is on the end effector.
manual of your robot.
Please refer to the
(4) SRVO-106 Door open or E-stop
(Explanation) The cabinet door is open.
- When the door switch is mounted.
(Action)
Take the same actions as SRVO-105
(5) SRVO 244 Ch i 1 (+24V) b
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(6) SRVO-301 Hand broken/HBK disabled
SRVO-303 Set Hand broken to ENABLE
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(Explanation) Although HBK was disabled, the HBK signal was input.
(Action)
Take the same actions as SRVO-300, 302.
Main controller
2nd controller
Servo amplifier
Panel board
Servo amplifier
E-stop unit
E-stop unit
Fig. E (e) B-cabinet (In case of M-900 iA/200P,M-2000iA)
E.2.2
Alarms det ected by servo amp lif ier
The following alarms are detected by servo amplifier.
If the alarms in the following table are caused, find the controller, which the alarm is caused according to
the table of relationship of axis. (E2.3)
And find the cause and take an appropriate measure according to the troubleshooting in maintenance
Chapter 3.
Table E (a) Alarms detected by servo ampli fier
Alarm
SRVO - 018 Brake abnormal (Group:i Axis:j)
SRVO - 043 DCAL alarm (Group:i Axis:j)
SRVO - 044 HVAL alarm (Group:i Axis:j)
SRVO - 047 LVAL alarm (Group:i Axis:j)
SRVO - 049 OHAL1 alarm (Group:i Axis:j)
SRVO 136 DCLVAL l
(G
i A i j)
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Relationship of axis
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The following table is shown the relation ship of each axes (Axis (j) displayed in the teach pendant, motor
number, Controller, Connector of AMP) for M-900iA/200P, M-2000iA and M-430iA.
If the alarm is occurred, find the motor number, the connector of AMP and the controller (which the alarm
is caused) according to the relationship of the axis and the alarm displayed in the teach pendant (Axis (j)),
and find the cause of alarm according to the trouble shooing.
ALARM disp layed i n t he t each pen dan t.
SRVO - *** ALARM (Group:i Axis:j)
Table E (b) Relation of axis (In case of M-900iA/200P)
M-900iA/200P
Without Aux. Axis AMP
M-900iA/200P
In case of
1 Aux. Axis amplifier
Axi s (j )
Motor
number
Controller
Connector of AMP
1
2
3
4
J1A
J2
J3
J4
2nd controller
2nd controller
Main controller
2nd controller
6 axis amplifier (AMP1): CNJ1
6 axis amplifier (AMP1): CNJ2
6 axis amplifier (AMP1): CNJ2
6 axis amplifier (AMP1): CNJ4
5
6
7
1
2
3
4
5
6
7
8
J5
J6
J1B
J1A
J2
J3
J4
J5
J6
2nd controller
Main controller
Main controller
2nd controller
2nd controller
Main controller
2nd controller
2nd controller
Main controller
Main controller
Main controller
6 axis amplifier (AMP1): CNJ5
6 axis amplifier (AMP1): CNJ3
6 axis amplifier (AMP1): CNJ1
6 axis amplifier (AMP1): CNJ1
6 axis amplifier (AMP1): CNJ2
6 axis amplifier (AMP1): CNJ2
6 axis amplifier (AMP1): CNJ4
6 axis amplifier (AMP1): CNJ5
6 axis amplifier (AMP1): CNJ3
6 axis amplifier (AMP1): CNJ4
6 axis amplifier (AMP1): CNJ1
J7 (Aux. axis)
J1B
Table E (c) Relation of axis (In case of M-2000iA)
M-2000iA
No Aux. Axis AMP
Axi s (j )
Motor
number
Controller
Connector of AMP
1
2
3
4
5
6
7
J1
J2A
J3A
J4
J5
J6
J2B
Main controller
Main controller
Main controller
Main controller
2nd controller
2nd controller
2nd controller
6 axis amplifier (AMP1): CNJ1
6 axis amplifier (AMP1): CNJ2
6 axis amplifier (AMP1): CNJ3
Aux. axis amplifier (AMP2): CNJ1
6 axis amplifier (AMP1): CNJ1
Aux. axis amplifier (AMP2): CNJ1
6 axis amplifier (AMP1): CNJ2
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INSTALLING THE CONNECTION CABLE
BETWEEN
MANUTENÇÃO
ROBO FANUC.pdf
CABINETS
The connection cable between cabinets (emergency stop cable, optical cable, and earth cable) is
disconnected from the main controller at shipment.
Install the connection cable between cabinets as shown in the following Fig. E (f).
E-stop transit unit
CRMA13A
AMP2
COP10A
Main controller
controller
Main
2ndcontroller
controller
2nd
Earth cable: Fix the screw (M5)
Earth cable: Fix the nylon band
The connection cable between cabinets. (length 50cm/1m)
Optical cable(FSSB)
Emergency stop signal cable
Earth cable
・
Optical: Fix the nylon band
・
Cable for E-stop (CRMA13A): Fix the nylon band
・
Remove jumper connector,
and Cable for E-stop attach
CRMA13A connector.
Fig. E (f ) Installing the con nection cable between cabinets
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ROBOT CONNECTION CABLE
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Following is the installation method of robot connection cable for M-900 iA/200P,M-2000iA at installing.
Teach pendant
Robot connection cable (RM)
Robot connection cable (RM)
Main controller
2nd controller
Robot connection cable (RP)
Cabinet connection cable
Robot connection cable (RP)
Fig. E (g) Assemble at i nstallatio n (In case of M-900iA/200P,M-2000iA)
Motor power
RM1, RM2, RM3, RM4
EARTH
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There are two types of the robot connection cable;
Non-flex type: usage is restricted to fixed laying
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MANUTENÇÃO ROBO FANUC.pdf
Flex type: possible to use in the cable track
Table E (e) Specifi cation of cabl e
Non-flex type
Robot
RP1
RP1, 2
RM1, 2,3,4
RP1, 2
RM1, 2,3,4
EARTH
All models
M-900iA/200P
M-2000iA
All models
Flex type
Diameter
(mm)
Weight
(kg/m)
Minimum
bending
radius
(mm)
Diameter
(mm)
Weight
(kg/m)
Minimum
bending
radius
(mm)
15.7
14.2
26.1
14.2
26.1
4.7
0.45
0.31
1.22
0.31
1.22
0.065
200
200
200
200
200
200
20.5
4.7
0.71
0.065
200
200
CAUTION
Before operating the robot, uncoil the interconnection cables from their shipping
position to prevent excessive heat, which may damage the cables.
(Coiled part should be shorter than 10 meter.)
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M-2000iA
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R-30iA (Main controller)
Robot
6-Axis Servo amplifier (AMP1)
CRR88
CNGA
CNJ3A
CNJ3B
CNGB
CRF8
RP2
(Pulsecoder, RI/RO, XHBK, XROT)
RM3
Motor power
(J1BM, J3M, J6M, J7M)
RM4
Motor power
CNJ1B
CNJ2B
CNJ1A
CNJ2A
JF
(J1BM, J3M, J6M, J7M)
A
1
M
R
CZ2
B
1
M
R
A
2
M
R
B
2
M
R
RCC I/F UNIT
R-30iA (2nd controller)
6-Axis Servo amplifier (AMP1)
CRR88
CNGA
CNJ3A
CNJ3B
CNGB
CRF8
RP1
(Pulsecoder, RI/RO, XHBK, XROT)
RM1
Motor power/brake
(J1AM, J2M, J4M, J5M, BK)
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R-30iA (Main controller)
Robot
6-Axis Servo amplifier (AMP1)
CRR88
CNGA
CNJ3A
CNJ3B
CNGB
RP1
CRF8
(Pulsecoder, RI/RO, XHBK, XROT)
RM1
Motor power/brake
(J1M, J2AM, J3AM, J4, BK)
RM2
Motor power
CNJ1B
CNJ2B
CNJ1A
CNJ2A
(J1M, J2AM, J3AM, J4)
1-Axis Servo amplifier (AMP2)
JF
CZ2L
A
M
R
B
M
R
RCC I/F UNIT
i
R-30 A (2nd controller)
6-Axis Servo amplifier (AMP1)
CRR88
CNGA
CNJ3A
CNJ3B
CNGB
CRF8
RP2
(Pulsecoder, RI/RO, XHBK, XROT)
RM3
Motor power
(J5M, J2BM, J3BM, J6M)
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CONNECTING THE INPUT POWER CABLE
MANUTENÇÃO ROBO FANUC.pdf
M-900iA/200P and M-2000iA are composed of two B cabinets, and need to connect the power supply with
each main breaker as shown in figure E (k).
Refer to Chapter 3.2 for the method of connecting the power supply with each main breaker.
Main controller
Main breaker
2nd controller
Main breaker
Fix power supply cable
Input power supply
Input power supply
Earth cable (M5)
(Note)
Be sure to put the cover
back in place after wiring.
Fig. E (k) B-cabinet (In case o f M-900iA/200P,M-2000iA)
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CONFIRMATIONS OF ON/OFF BY THE BREAKER FOR
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M-900iA/200P AND M-2000iA
(1) In case of turn on power supply, turn on MAIN MACHINE DISCONNECT-1 (Breaker of main
controller) after turn on MAIN MACHINE DISCONNECT-2 (Breaker of 2nd controller) every turn
on power supply.
(2) Turn off MAIN MACHINE DISCONNECT-2 (Breaker of 2nd controller) after turn off MAIN
MACHINE DISCONNECT-1 (Breaker of main controller), when the power off or servicing.
WARNING
Turn off both MAIN MACHINE DISCONNECT-1 (Breaker of main controller) and
MAIN MACHINE DISCONNECT-2 (Breaker of 2nd controller) before servicing.
Main controller
2nd controller
Breaker of MAIN CONTROLLER
(MAIN MACHINE DISCONNECT-1)
E.THE CONTROLLER FOR M-900iA/200P, M-2000iA
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Breaker of 2nd CONTROLLER
(MAIN MACHINE DISCONNECT-2)
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E.7
TOTAL CONNECTION DIAGRAM
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APPENDIX
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APPENDIX
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APPENDIX
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APPENDIX
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Fig. A (y) Pulsecod er Signal Connecti on Diagram (grou p9; M-900iA/200P,Main co nt ro ll er)
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Fig. A (aa) Pulsecoder Sign al Connecti on Diagram (gro up10; M-2000iA, Main co nt ro ll er)
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INDEX
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<Number>
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100BASE-TX Connector (CD38R) Pin Assignments.. 326
<A>
A-CABINET................................................................ 162
ADJUSTMENT AND CHECKS AT INSTALLATION343
ALARM OCCURRENCE SCREEN.............................. 31
Alarms detected by servo amplifier..............................417
ARC Weld Connection Cable (CRW1, CRW7: Honda
Tsushin, 34pins)...........................................................312
ARC Weld Connection Cable (CRW10: Honda Tsushin, 50
pins).............................................................................. 312
Assemble at Installation ............................................... 340
<B>
BACKPLANE BOARD...............................................126
Battery for Memory Backup (3 VDC) .........................207
BLOCK DIAGRAM ....................................................214
BLOCK DIAGRAM OF THE POWER SUPPLY.......156
BRAKE RELEASE UNIT ........................................... 404
<C>
CABLE CONNECTION FOR THE PERIPHERAL
DEVICES, END EFFECTORS, AND ARC WELDERS
.....................................................................................313
Check input voltage......................................................235
Check Items at Installation...........................................333
CHECKING THE POWER SUPPLY UNIT
(A16B-2203-0910).......................................................160
COMPONENT FUNCTIONS........................................26
CONFIGURATION................................................14,414
CONFIRMATIONS BEFORE OPERATION..............404
CONFIRMATIONS OF ON/OFF BY THE BREAKER
FOR M-900iA/200P AND M-2000iA..........................425
Connecting HDI ........................................................... 318
Connecting the Auxiliary Axis Brake (CRR65 A/B) ...250
Connecting the Auxiliary Axis Over Travel (CRM68) 251
CONNECTING THE COMMUNICATION UNIT .....321
Connecting the External Emergency Stop....................239
INDEX
Leakage breaker ...........................................................235
LED OF SERVO AMPLIFIER....................................154
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<D>
MANUTENÇÃO ROBO FANUC.pdf
DIGITAL I/O SIGNAL SPECIFICATIONS ............... 304
DIMENSION...............................................................411
<E>
ELECTRICAL CONNECTIONS ................................ 216
Electrical Noise Countermeasures ............................... 329
EMERGENCY STOP CONTROL BOARD
(A20B-1008-0740)....................................................... 125
End Effector Cable Connector..................................... 316
End Effector Control Interface..................................... 307
Ethernet Interface.........................................................324
EXTERNAL CABLE WIRING DIAGRAM...............218
EXTERNAL VIEW OF THE CONTROLLER ............. 14
<F>
FUSE ........................................................................... 413
FUSE-BASED TROUBLESHOOTING......................100
<G>
GENERAL...................................................................213
General Person Safety......................................................5
<H>
HOW TO CONNECT THE PLUG TO THE POWER
CABLE (IN CASE OF NO POWER PLUG)............... 410
How to Disable/Enable HBK.......................................344
How to Disable/Enable Pneumatic Pressure Alarm
(PPABN)......................................................................345
HOW TO USE THE PLATE TO FIX THE COMPACT
FLASH MEMORY CARD..........................................209
<I>
I/O Signal Specifications for ARC-Welding Interface.308
I/O SIGNALS .............................................................. 393
In Case of A-cabinet .................................................... 262
In case of B-cabinet ..................................................... 261
In Case of B-cabinet .................................................... 263
Input Signal Rules for the High-speed Skip (HDI)...... 320
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PROCESS I/O BOARD KC (A16B-2204-0052,
A20B-2101-0562)........................................................ 150
PROCESS I/O BOARD SIGNALS ............................. 263
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<M>
MAIN BOARD (A16B-3200-0600, -0601) ................. 122
MANUAL OPERATION IMPOSSIBLE..................... 121
MASTERING ................................................................ 35
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<O>
On/off timing by the breaker........................................235
OPERATION...............................................................406
OPTICAL FIBER CABLE...........................................401
Output Signals..............................................................397
Overview......................................................................400
OVERVIEW .................................................................. 13
<P>
PANEL BOARD (A20B-2101-0370) ..........................128
Peripheral Device and Control Unit Connection (Sink Type
DO) ..............................................................................279
Peripheral Device and Control Unit Connection (Source
Type DO) .....................................................................265
Peripheral Device Cable Connector .............................314
Peripheral Device Connection Cable ...........................313
Peripheral Device Interface A......................................304
Peripheral Device Interface A Cable (CRM2, CRMA5:
Honda Tsushin, 50 pins)...............................................311
Peripheral Device Interface B Cable (CRM4, CRMA6:
Honda Tsushin, 20 pins)...............................................311
<R>
MANUTENÇÃO ROBO FANUC.pdf
Recommended Cables..................................................317
Relationship of axis ..................................................... 418
REPLACE THE MODE SWITCH .............................. 197
Replacing a Module..................................................... 191
REPLACING A UNIT................................................. 161
REPLACING BATTERY............................................207
REPLACING CARDS AND MODULES ON THE MAIN
BOARD ....................................................................... 169
Replacing External Air Fan Unit (A-cabinet) .............. 195
Replacing External Fan Unit and Door Fan (B-cabinet)196
REPLACING FUSES .................................................. 199
Replacing Fuses in the Main board..............................201
Replacing Fuses in the Power Unit.............................. 200
Replacing Fuses in the Servo Amplifier ...................... 199
REPLACING I/O UNIT-MODEL A ........................... 190
REPLACING
RELAYS...............................................206
Replacing Relays
on the Panel Board.......................... 206
REPLACING SERVO AMPLIFIERS......................... 185
REPLACING THE AC FAN MOTOR........................ 194
Replacing the A-cabinet Door...................................... 164
Replacing the A-cabinet Louver .................................. 163
Replacing the A-cabinet Rear Panel ............................ 163
Replacing the A-cabinet Top Panel ............................. 162
Replacing the Backplane Board (Unit) ........................ 165
PERIPHERAL DEVICE INTERFACE BLOCK
DIAGRAM...................................................................255
PERIPHERAL DEVICE INTERFACE COMBINATION
.....................................................................................262
Peripheral Device Interface Processing........................344
PERIPHERAL DEVICE, ARC WELDING, AND END
EFFECTOR INTERFACES.........................................253
POSITION DEVIATION FOUND IN RETURN TO THE
REFERENCE POSITION (POSITIONING) ...............120
Replacing the Base Unit of I/O Unit-MODEL A......... 190
REPLACING THE CONTROL SECTION FAN MOTOR
..................................................................................... 193
REPLACING THE E-STOP UNIT.............................. 183
Replacing the Fuse on the Panel Board........................ 206
Replacing the Fuse on the Process I/O Boards ............ 202
Replacing the Heat Exchanger and Door Fan Unit
(A-cabinet)................................................................... 194
Replacing the Panel Board........................................... 168
POWER CANNOT BE TURNED ON ..........................28
Precautions for Mechanism..............................................8
Precautions for Mechanisms ............................................ 9
Precautions in Operation ..................................................8
Precautions in Programming ......................................... 8,9
Replacing the Power Unit and Printed-Circuit Boards on the
Backplane Unit ............................................................ 166
REPLACING THE PRINTED-CIRCUIT BOARDS... 165
Replacing the Process I/O Board EA, EB, FA, GA, KA, KB,
KC (A-cabinet)
169
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SAFETY OF THE END EFFECTOR..............................9
SAFETY OF THE ROBOT MECHANISM .................... 8
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Safety of the Teaching Operator ......................................6
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SAFETY OF THE TOOLS AND PERIPHERAL DEVICES
.........................................................................................8
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SAFETY PRECAUTIONS ....................................... 3,404
SAFETY SIGNALS.......................................................34
SERVO AMPLIFIERS ................................................ 152
SETTING COMMON VOLTAGE ..............................393
SETTING OF SERVO AMPLIFIER ...........................155
SETTING THE POWER SUPPLY..............................156
SIGNAL.......................................................................391
Software Specifications................................................400
SPECIFICATIONS ......................................................413
SPECIFICATIONS OF DIGITAL INPUT/OUTPUT.. 400
SPECIFICATIONS OF PERIPHERAL DEVICE
INTERACE..................................................................391
SPECIFICATIONS OF THE CABLES USED FOR
PERIPHERAL DEVICES AND WELDERS...............311
MANUTENÇÃO ROBO FANUC.pdf
<T>
Teach Pendant Cable....................................................231
THE CONTROLLER FOR M-900iA/200P, M-2000iA414
TOTAL CONNECTION DIAGRAM...................349,426
TRANSFORMER ........................................................157
TRANSPORTATION ..................................................334
TRANSPORTATION AND INSTALLATION........... 334
TROUBLESHOOTING.................................................28
TROUBLESHOOTING BASED ON LED INDICATIONS
.....................................................................................108
Troubleshooting using the error code...........................416
TROUBLESHOOTING USING THE ERROR CODE
................................................................................37,416
Twisted-pair Cable Specification .................................326
<W>
WARNING LABEL.........................................................9
When I/O Unit-MODEL A is Used..............................261
When Process I/O Board CA/HA is Used (B-cabinet) .257
When Process I/O Board EA/EB/GA is Used (A-cabinet)
.....................................................................................255
When Process I/O Board FA is Used (A-cabinet)........256
When Process I/O Board JA/JB is Used (B-cabinet) 258
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Revision Record
FANUC Robot series (RIA R15.06-1999 COMPLIANT) R-30iA CONTROLLER MAINTENANCE MANUAL
(B-82595EN-2)
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04
Apr., 2009
- Addition of the following models;
M-900/200P, M-2000iA, ARC Mate 120iC, M-20iA
R-1000iA
03
Sep., 2008
- Addition of descriptions about Integrated operation
box.
- Addition of descriptions about Process I/O KA, KB,
KC.
02
Aug., 2007
- Addition of descriptions about Integrated operation
box.
- Addition of descriptions about Process I/O KA, KB,
- KC.
Addition of the following models;
M-430iA, ARC Mate 100iC, M-10iA
01
Mar., 2007
Edition
Date
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Contents
Edition
Date
Contents
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