Functions Communication Software 001 Table of Contents Foreword...........................................................................................................................................009 Robots............................................................................................................................................... 010 Functions............................................................................................................................................................ 011 Basic Functions.....................................................................................................................................................................................012 R-30iB Basic Software.................................................................................................................................................................... 013 R-30iB Mate Basic Software.......................................................................................................................................................... 014 Digital Servo Function.....................................................................................................................................................................015 Motion Functions...................................................................................................................................................................................016 ADV-CP Path Control Package...................................................................................................................................................... 017 ADV-CP Speed Control Package.................................................................................................................................................... 018 Anti-Deflection................................................................................................................................................................................. 019 Basic Positioner...............................................................................................................................................................................020 Basic Remote Tool Center Point (TCP)......................................................................................................................................... 021 Remote Tool Center Point (TCP)....................................................................................................................................................022 CD Dynamic U-Frame.....................................................................................................................................................................023 Constant Path.................................................................................................................................................................................. 024 Continuous Turn.............................................................................................................................................................................. 025 CPRUT.............................................................................................................................................................................................. 026 Cycle Time Priority.......................................................................................................................................................................... 027 Dual Drive........................................................................................................................................................................................ 028 Enhanced Mirror Image.................................................................................................................................................................. 029 Ethernet Encoder............................................................................................................................................................................ 030 Extended Axis Control.....................................................................................................................................................................031 General Positioner...........................................................................................................................................................................032 Gravity Compensation..................................................................................................................................................................... 033 HDI for Line Tracking (High-speed Digital Input)......................................................................................................................... 034 Independent Auxiliary Axes.............................................................................................................................................................035 Line Tracking................................................................................................................................................................................... 036 Servo Conveyor Line Tracking........................................................................................................................................................037 Learning Vibration Control (LVC)................................................................................................................................................... 038 M-1iA - 1 kg Option........................................................................................................................................................................ 039 M-2000iA - 1.350 kg Option............................................................................................................................................................040 M-3iA/6S - High Inertia Option (HiOpt).......................................................................................................................................... 041 M-900iA - 700 kg Option.................................................................................................................................................................042 002 M900iA/400L - High Inertia Option (HiOpt).................................................................................................................................... 043 Motion Interface.............................................................................................................................................................................. 044 Motion Package............................................................................................................................................................................... 045 Minimum Rotation (MROT) Instruction.......................................................................................................................................... 046 Multi-Arm Package (Legacy).......................................................................................................................................................... 047 Multi-Group Motion......................................................................................................................................................................... 048 Path Adjust Function.......................................................................................................................................................................049 Payload Confirm.............................................................................................................................................................................. 050 Payload Identification...................................................................................................................................................................... 051 Position Bump Box..........................................................................................................................................................................052 Rail Unit........................................................................................................................................................................................... 053 Robot Link (Simultaneous Motion).................................................................................................................................................054 Small Circle Accuracy.....................................................................................................................................................................055 Soft Float..........................................................................................................................................................................................056 Torque Limit.................................................................................................................................................................................... 057 Touch Skip....................................................................................................................................................................................... 058 Wash Teaching................................................................................................................................................................................ 059 Handling Functions............................................................................................................................................................................... 060 Handling Tool...................................................................................................................................................................................061 LR Tool............................................................................................................................................................................................. 062 LR Handling Tool.............................................................................................................................................................................063 Palletizing.........................................................................................................................................................................................064 Singularity Avoidance...................................................................................................................................................................... 065 Spot Welding Functions........................................................................................................................................................................066 IWDG (Integrated Welding Controller for Dengensha)................................................................................................................. 067 Nadex DeviceNet Welding Controller............................................................................................................................................ 068 Pressure Profile Control.................................................................................................................................................................069 Servo Gun Axes............................................................................................................................................................................... 070 Servo Gun Change...........................................................................................................................................................................071 Servo Gun Option.............................................................................................................................................................................072 Servo Gun Setup Package.............................................................................................................................................................. 073 Servo Tip Dresser............................................................................................................................................................................074 Servo Gun Diagnosis....................................................................................................................................................................... 075 Spot Program Touch-up Function................................................................................................................................................. 076 SpotTool+..........................................................................................................................................................................................077 003 Welding Tip Inspection....................................................................................................................................................................078 WTC/Medar Integrated Spot Welding Controller.......................................................................................................................... 079 R-2000iB/200R Stud........................................................................................................................................................................ 080 R-2000iB/210F Stud........................................................................................................................................................................ 081 Arc Welding Functions..........................................................................................................................................................................082 ArcTool............................................................................................................................................................................................. 083 Positioner (Arc Positioner, 1-Axis Positioner, ...)..........................................................................................................................084 TAST (Through Arc Seam Tracking).............................................................................................................................................. 085 TAST Multi-Path Pack.....................................................................................................................................................................086 AVC (Automatic Voltage Control)....................................................................................................................................................087 RPMP (Root-Pass Memorization and Multi-Pass Welding)..........................................................................................................088 Weaving............................................................................................................................................................................................ 089 Custom Weaving..............................................................................................................................................................................090 Wrist Axes Weaving.........................................................................................................................................................................091 Touch Sensing................................................................................................................................................................................. 092 Arc Start Height Adjust...................................................................................................................................................................093 Torch Angle......................................................................................................................................................................................094 Torch Guard..................................................................................................................................................................................... 095 Arc Torch Mate................................................................................................................................................................................096 ServoTorch for Steel....................................................................................................................................................................... 097 ServoTorch for Aluminium..............................................................................................................................................................098 Improved Touch Retract................................................................................................................................................................. 099 Multi-Equipment Control................................................................................................................................................................ 100 Welding Speed Output.....................................................................................................................................................................101 Low-Frequency Pulse Welding.......................................................................................................................................................102 Coordinated Motion Package..........................................................................................................................................................103 Arc Override Control....................................................................................................................................................................... 104 Servo Robot......................................................................................................................................................................................105 Servo Robot ROBOCOM Lite...........................................................................................................................................................106 Lincoln Ethernet Default (Arclink-XT)............................................................................................................................................107 Lincoln Electric control parameters for Japan.............................................................................................................................108 Lincoln Electric control parameters for North America.............................................................................................................. 109 Lincoln Electric Welding Equipment Library.................................................................................................................................110 Fronius Welding Equipment Library.............................................................................................................................................. 111 Miller Welding Equipment Library................................................................................................................................................. 112 004 Arc Abnormal Monitor.................................................................................................................................................................... 113 Arc Production Monitor...................................................................................................................................................................114 Arc Welding Analogue Meter..........................................................................................................................................................115 Universal Sensor Interface............................................................................................................................................................. 116 Heat Wave Synchronization............................................................................................................................................................ 117 Tracking Jog.................................................................................................................................................................................... 118 Dispensing Functions............................................................................................................................................................................119 Default Dispense............................................................................................................................................................................. 120 Dispense Tool Application 2nd Analogue Port.............................................................................................................................. 121 Integrated Servo Dispenser (ISD) Gear Meter...............................................................................................................................122 Integrated Servo Dispenser (ISD) Single Acting Meter.................................................................................................................123 NEMO Pump Function.................................................................................................................................................................... 124 Pump Only Motion...........................................................................................................................................................................125 Stitch Function.................................................................................................................................................................................126 Safety Functions....................................................................................................................................................................................127 Enhanced Stopping..........................................................................................................................................................................128 Safety Functions for CE Compliance (CE Mark)........................................................................................................................... 129 Controlled Stop by E-Stop.............................................................................................................................................................. 130 Dual Check Safety (DCS) Position / Speed Check........................................................................................................................ 131 Dual Check Safety (DCS) Safe I/O Connection Function.............................................................................................................. 132 External Mode Select...................................................................................................................................................................... 133 Local Stop........................................................................................................................................................................................ 134 Safety Functions for NRTL Compliance........................................................................................................................................ 135 Vision Functions.................................................................................................................................................................................... 136 iRCalibration Package.....................................................................................................................................................................137 iRCalibration Vision Axis (VAxis).....................................................................................................................................................138 iRCalibration Vision Frame (VFrame)............................................................................................................................................ 139 iRCalibration Vision Mastering (VMaster)...................................................................................................................................... 140 iRCalibration Vision Multi-Group Calibration (VMCal).................................................................................................................. 141 iRCalibration Vision Shift (VShift)................................................................................................................................................... 142 iRCalibration Vision Tool Center Point (VTCP).............................................................................................................................. 143 iRVision 2D (2-Dimensional Vision Bundle)...................................................................................................................................144 iRVision 3D Tri-View........................................................................................................................................................................145 iRVision 3DL (3-Dimentional Laser Vision Bundle).......................................................................................................................146 iRVision AntiDefect.......................................................................................................................................................................... 147 005 iRVision 3D Area Sensor.................................................................................................................................................................148 iRVision Barcode Reader (BarcodeRead)...................................................................................................................................... 149 iRVision Bin Picking........................................................................................................................................................................ 150 iRVision Slave...................................................................................................................................................................................151 iRVision Core................................................................................................................................................................................... 152 iRVision Image to Points.................................................................................................................................................................153 iRVision Part Queue........................................................................................................................................................................ 154 iRVision TorchMate..........................................................................................................................................................................155 iRVision UIF Control (User Interface Function).............................................................................................................................156 iRVision Visual Line Tracking......................................................................................................................................................... 157 Vision Support Tools....................................................................................................................................................................... 158 Force Sensing Functions......................................................................................................................................................................159 Force Control Basic 3-Axis.............................................................................................................................................................160 Fixed Force Sensor......................................................................................................................................................................... 161 Force Control Basic........................................................................................................................................................................ 162 Force Control Fitting.......................................................................................................................................................................163 Force Control Contouring............................................................................................................................................................... 164 Force Control Deburring Path Generation.................................................................................................................................... 165 Up-Time Functions............................................................................................................................................................................... 166 Automatic Error Recovery.............................................................................................................................................................. 167 Basic Interference Check............................................................................................................................................................... 168 High Sensitivity Collision Detection Package................................................................................................................................ 169 Automatic Collision Recovery......................................................................................................................................................... 170 Data Monitor.................................................................................................................................................................................... 171 Diagnostics Interface...................................................................................................................................................................... 172 Error Code Output...........................................................................................................................................................................173 Fault and Incident Reporting..........................................................................................................................................................174 Filtered Memory Device.................................................................................................................................................................. 175 Intelligent Interference Check........................................................................................................................................................176 iRDiagnostics................................................................................................................................................................................... 177 Operation Logbook.......................................................................................................................................................................... 178 Password Protection....................................................................................................................................................................... 179 Process Logger (for Spot Tool and Arc Tool)................................................................................................................................180 Customization Functions...................................................................................................................................................................... 181 Dynamic Path Modification............................................................................................................................................................. 182 006 Integrated PMC................................................................................................................................................................................183 Integrated PMC Package................................................................................................................................................................ 184 Multi-Path PMC............................................................................................................................................................................... 185 PMC Change Mode..........................................................................................................................................................................186 Internet Connection / Customization............................................................................................................................................. 187 KAREL.............................................................................................................................................................................................. 188 KAREL Translator / Compressor................................................................................................................................................... 189 KAREL Use Support Function (Use Sprt FCTN)............................................................................................................................190 System Design Tool.........................................................................................................................................................................191 Mathematical (Math) Functions......................................................................................................................................................192 Trigonometric Functions.................................................................................................................................................................193 Menu Utility......................................................................................................................................................................................194 Panel Wizard....................................................................................................................................................................................195 PC Interface..................................................................................................................................................................................... 196 User Socket Messaging (Msg)........................................................................................................................................................197 Miscellaneous Functions...................................................................................................................................................................... 198 4D Graphics..................................................................................................................................................................................... 199 Cycle Time Logging.........................................................................................................................................................................200 DRAM File Storage..........................................................................................................................................................................201 Easy Teach Suite............................................................................................................................................................................. 202 High-Speed Shift............................................................................................................................................................................. 203 Initial Setting Load.......................................................................................................................................................................... 204 Multi User Operator's Panel (UOP) for Dual Arm.........................................................................................................................205 Multi User Operator's Panel (UOP) Interface................................................................................................................................206 No Shift Jog..................................................................................................................................................................................... 207 No Shift Operation...........................................................................................................................................................................208 Path Switching Function................................................................................................................................................................. 209 Position Representation (Pos. Rep.) Conversion...........................................................................................................................210 Product Display Improve.................................................................................................................................................................211 Robot Isolation.................................................................................................................................................................................212 Robot Setup Assist.......................................................................................................................................................................... 213 Servo Tool Change.......................................................................................................................................................................... 214 Special FWD / BWD (Forward / Backward Key)............................................................................................................................215 Tool Center Point (TCP) Speed Output.......................................................................................................................................... 216 Programming Functions.......................................................................................................................................................................217 007 Shape Generation 3.........................................................................................................................................................................218 ASCII Program Loader....................................................................................................................................................................219 Program Toolbox............................................................................................................................................................................. 220 Communication.................................................................................................................................................. 221 CC-Link Slave (for Mitsubishi PLC)..................................................................................................................................................... 222 Data Transfer between Robot and PC (Serial)....................................................................................................................................223 Data Transfer between Robots (Ethernet).......................................................................................................................................... 224 DeviceNet Scanner (Master) / Adapter (Slave)................................................................................................................................... 225 DeviceNet Adapter (Slave).................................................................................................................................................................... 226 DeviceNet Safety Adapter (Slave).........................................................................................................................................................227 Ethernet Global Data (EGD I/O for GE Fanuc / GE PLC)....................................................................................................................228 EtherNet/IP Adapter (Slave)................................................................................................................................................................. 229 EtherNet/IP - DeviceNet Router.......................................................................................................................................................... 230 EtherNet/IP Scanner (Master)..............................................................................................................................................................231 EtherNet/IP Safety Adapter (Slave)......................................................................................................................................................232 FIPIO (Factory Implementation Protocol I/O Slave)............................................................................................................................233 FL-net.................................................................................................................................................................................................... 234 InterBus PxC Master / Slave (Phoenix Contact)................................................................................................................................. 235 InterBus PxC Slave (Phoenix Contact)................................................................................................................................................ 236 Machine Tool Connection..................................................................................................................................................................... 237 Machine Tool Easy Setup..................................................................................................................................................................... 238 Machine Tool Easy Setup and Connection.......................................................................................................................................... 239 Modbus/TCP Server.............................................................................................................................................................................. 240 PMC and Internet Package.................................................................................................................................................................. 241 PROFIBUS-DP Master / Slave............................................................................................................................................................. 242 PROFIBUS-DP Master.......................................................................................................................................................................... 243 PROFIBUS-DP Slave............................................................................................................................................................................. 244 PROFINET I/O Controller (Master) / Device (Slave)............................................................................................................................245 PROFINET Safety Device (Slave).......................................................................................................................................................... 246 ROBOMachine JOG Function................................................................................................................................................................247 SNTP (Simple Network Time Protocol) Client....................................................................................................................................248 Software..............................................................................................................................................................249 FANUC ROBOGUIDE............................................................................................................................................................................. 250 Standard package............................................................................................................................................................................251 008 4D Edit..............................................................................................................................................................................................252 WeldPRO.......................................................................................................................................................................................... 253 PaintPRO.......................................................................................................................................................................................... 254 ASCII translator package................................................................................................................................................................ 255 ChamferingPRO............................................................................................................................................................................... 256 SpotPRO........................................................................................................................................................................................... 257 PickPRO............................................................................................................................................................................................258 FANUC ROBOGUIDE options................................................................................................................................................................259 Auto place........................................................................................................................................................................................ 260 CAM connection...............................................................................................................................................................................261 Coordinate........................................................................................................................................................................................262 Duty estimation................................................................................................................................................................................263 Line tracking....................................................................................................................................................................................264 Power consumption estimation......................................................................................................................................................265 Robot integration setup.................................................................................................................................................................. 266 Servo gun integration setup........................................................................................................................................................... 267 Spray.................................................................................................................................................................................................268 System monitoring.......................................................................................................................................................................... 269 Vision................................................................................................................................................................................................ 270 FANUC PC FTP NETWORK.................................................................................................................................................................. 271 FANUC Robot Interface (developer).................................................................................................................................................... 272 FANUC Robot Interface (runtime)........................................................................................................................................................273 FANUC Robot PC Developer's Kit....................................................................................................................................................... 274 FANUC Robot PC Developer's Kit Runtime Library........................................................................................................................... 275 FANUC LADDER III for robot............................................................................................................................................................... 276 009 Foreword You will find in this catalog an extensive selection of essential product information about FANUC components, functions and software. There are many FANUC products available to help you build the most competitive machine or automated system. This catalog contains a lot of information but cannot cover all subjects extensively; use it as a guide and do not hesitate to call your local FANUC representative for further information and assistance. About controller functions The descriptions of each function provided in this catalogue may contain information, descriptions, technical data as well as performance data which may not always apply as described. Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. The functions described are options and may not be installed on a given configuration. It is however mostly possible to purchase additional functions and hardware to retrofit an existing system to increase its productivity. In case of doubt or if you need additional information on functions, compatibility and retrofit, contact your FANUC representative. Export control The products listed in this catalogue may be subject to export control laws and regulations of Japan, the United States of America, the European Union, its Member States and any amendments thereof. Contact your FANUC representative for further information. Notes The illustrations, charts, sample programs and layout examples shown in this catalogue are intended solely for purposes of example. Availability and technical specifications are subject to change without notice. Copyrights Trademarks referenced herein are either owned by FANUC or are used solely for purposes of identifying compatibility with the products of FANUC and are owned by their respective companies. Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Copyright © 2013 FANUC Europe Corporation, Zone Industrielle, L-6468 Echternach, Grand-Duché de Luxembourg. All rights reserved. 010 Robots FANUC Robot i series offers the world's widest range of robots for diverse applications and industries. Highly reliable and proven with over 250000 units installed worldwide the robots are a key component for totally flexible application, quick and straight-forward integration - the colour of choice for Your automation solutions. The advanced compact and energy saving controller R-30iB with the latest intelligent FANUC technologies, provides a wealth of intelligent and networking functions, fully integrated vision and force sensors for versatile and efficient factory automation. All FANUC robots are certified for conforming with European safety standards. Benefits Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 • 100% FANUC: FANUC is the only company in this sector which develops and manufactures all major components hardware and software -in-house - with the highest degree of automation and ISO quality management • The results are superior reliability and performance and fully safisfied customers worldwide in all regions and industries 011 Functions Robots FANUC Robot series features latest intelligent FANUC technologies for flexible and efficient factory automation. For the Robotisation of all industries FANUC provide a wide range of intelligent software and networking functions, integrated machine vision and force sensors and intelligent accessories. Intelligent FANUC Robots provide the best tools and top performance for versatile process solutions, superior performance with human-like skills, energy, space and cost saving solutions. Benefits Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 • 100% FANUC: FANUC develops and manufacture not only robot and controller hardware but also robot and servo software, vision, force sensors, positioners and other accessories • Seamless integration of machine vision and latest technologies provides for competitive costs, top reliability and easy and safe system integration • Fully safisfied customers in all parts of the world and all industries appreciate the superior reliability and performance of FANUC products 012 Functions Basic Functions This section of the catalogue contains the basic functions of the robot. Some of the functions detailed in the catalogue: • R-30iB Basic Software • R-30iB Mate Basic Software • Etc. Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 013 Basic Functions R-30iB Basic Software Features The basic software for R-30iB includes the following functions: • • • • • • • • • • • • • • • • • • • • • • • • • Angle Entry Shift (J614) Sub Program Special Viewer (J697) USB Port on iPendant (J957) iRCalibration VMRecov (J995) Data recording for maintenance (J958) Style Select (R645) Analog I/O Online Touchup I/O Interconnect2 Mixed Logic MultiTask KAREL Executor TCP auto set Position Register Tool/User Offset User Frame setting Program Shift Mirror image shift Background edit High speed skip Condition monitor Time Before/Distance before Automatic backup iPendant display FTP connection. Simple and powerful TPE programming functions are included for motion, branching, sub program call, condition monitor, background logic, position shift, processing of integer, real, position and string values and much more. Benefits Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 • High speed motion, high performance, high flexibility • Easy and safe operation, easy and fast programming • Highly reliable and easy to maintain 014 Basic Functions R-30iB Mate Basic Software Features The basic software for R-30iB includes the following functions: • • • • • • • • • • • • • • • • • • • • • • • • • Angle Entry Shift (J614) Sub Program Special Viewer (J697) USB Port on iPendant (J957) iRCalibration VMRecov (J995) Data recording for maintenance (J958) Style Select (R645) Analog I/O Online Touchup I/O Interconnect2 Mixed Logic MultiTask KAREL Executor TCP auto set Position Register Tool/User Offset User Frame setting Program Shift Mirror image shift Background edit High speed skip Condition monitor Time Before/Distance before Automatic backup iPendant display FTP connection Simple and powerful TPE programming functions are also included for motion, branching, sub program call, condition monitor, background logic, position shift, processing of integer, real, position and string values and much more. Benefits Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 • High speed motion, high performance, high flexibliity, easy and safe operation, easy and fast programming, highly reliable and easy to maintain 015 Basic Functions Digital Servo Function Features Standard servo control software for FANUC robots Benefits • Fast cycle times • Stable and reliable operation Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 016 Functions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Motion Functions 017 Motion Functions ADV-CP Path Control Package Features The software package ADV-CP Path Ctrl includes the following functions: • Linear Distance motion option (AP_LD*** for approach to the target position, and RT_LD*** for retract motion from the current position, where *** defines the linear distance to/from the position in mm) • Corner Region motion option (CR***, where *** defines the distance before the target position, where the corner rounding is going to start) in order to speed up and improve the motion path for pick and place operations as well as for constant path processing tasks. • Corner Distance (CD***, where *** defines the distance from the corner position in mm) Benefits • Speed and improve motion programming • Improve motion path • Speed up cycle times and product quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 018 Motion Functions ADV-CP Speed Control Package Features The software package ADV-CP Speed Ctrl includes the functions Max_Speed and Process_Speed to speed up robot motion and improve process quality. The instructions JOINT_MAX_SPEED[axis] and LINEAR_MAX_SPEED=n help to quickly optimize the robot speed for large sections of a robot program. The Process Speed motion option PSPD allows to adjust the robot speed in each program line with PSPD, while precisely maintaining the same robot path. In applications such as arc or laser welding, seam sealing or paint spraying, the PSPD motion option allows to fine-tune the robot speed. PSPD 95 will reduce the speed to 95% of the programmed value. Benefits • Simplify speed optimization in programming • Improve cycle times and process quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 019 Motion Functions Anti-Deflection Features The Anti-Deflection option improves the Tool Center Point (TCP) positioning accuracy of a FANUC robot in applications such as aerospace drilling, by compensating the arm bending due to external forces. This function is only available for the M-900iB/700 robot. Benefits • Improves the position accuracy • Improves product and processing quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 020 Motion Functions Basic Positioner Features Control software for auxiliary axes which can move in coordinated motion with the robot arm (but also independently)... A typical example is an arc welding positioner. The positioner axes must be at 90 degrees to oneanother - otherwise use "General Positioner". Benefits • Faster programming and better quality than conventional solutions • Speeds up system startup • Provides for reliable high welding quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 021 Motion Functions Basic Remote Tool Center Point (TCP) Features The Remote Tool Center Point (Remote TCP) function enables the robot to move relative to a remotely mounted tool (a glueing gun, a welding torch, etc.) and execute program motion with the correct speed relative to the Remote TCP. Motion relative to the Remote TCP allows to speed up programming, teach fewer points, teach the exact (relative) process speed and achieve better results. Please also check the "Remote TCP" function (J624) described further in this document. Benefits • Supports cost efficient, high performance solutions for glueing, sealing, arc welding with a stationary gun • Precise path and speed control provide for fast teaching and high processing quality • Saves floor space and costs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 022 Motion Functions Remote Tool Center Point (TCP) Features The Remote Tool Center Point (Remote TCP) function enables the robot to move relatively to a remotely mounted tool (a gleuing gun, a welding torch, etc.) and execute program motion with the correct speed relative to the Remote TCP. Motion relative to the Remote TCP allows to speed up program, teach fewer points, teach the exact (relative) process speed and achieve better results and faster programming times. In coordinated motion system the CD Dynamic Uframe function is included and simplifies the programming e.g. of exhaust pipe welding and similar tasks. Note: this function includes the features of Basic Remote TCP and variable / dynamic Remote TCP. Benefits • Speed up programming • Improve processing and product quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 023 Motion Functions CD Dynamic U-Frame Features In coordinated motion system the CD Dynamic Uframe function simplifies the programming e.g. of exhaust pipe welding and similar tasks. The reference frame of the positioner (leader frame) is dynamically copied to the robot as follower (user frame) in such a way that the robot is moved and programmed relatively to the moving work piece which is mounted on the positioner. This also allows to use iRVision to locate the work piece on the positioner and adjust the robot's motion and welding path. Benefits • Simplified programming for coordinated arc welding e.g. for exhaust pipe welding Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 024 Motion Functions Constant Path Features The Constant Path function maintains the programmed robot path, when the speed override is changed, even when the robot waits for an input. It also includes that the robot TCP returns to the taught path, when the robot was jogged away after the program interruption. This function is standard in all robots supplied in Europe. Benefits • Speed up programming and program optimization, avoid collisions and downtime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 025 Motion Functions Continuous Turn Features The Continuous Turn function allows to program endless rotation of robot faceplate (e.g. J6 axis) and auxiliary axes. Benefits • Support special applications e.g. in metal casting and glass production • Enable endless axis rotation where required • Speed up cycle times for arc welding positioners Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 026 Motion Functions CPRUT Features CPRUT is a special variation of Remote TCP robot motion relative to a stationary tool. The representation of taught robot positions is different to that of the normal Remote TCP and simplifies the use of robot programs created by offline programming. Benefits • Simplifies the use of robot programs created by offline programming Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 027 Motion Functions Cycle Time Priority Features High speed motion control with dynamic acceleration in order to achieve fastest cycle times. Benefits • • • • Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Fastest motion speeds and stopping without vibration for reliable handling and spot welding operations Fastest cycle times Reliable process operations Reduce mechanical wear and vibrations 028 Motion Functions Dual Drive Features The Dual Drive functions allows to drive two FANUC servo axes as a master-slave pair, where the slave moves with the master motor. This function helps to move large and heavy structures using FANUC servo motors, where otherwise heavy, long shafts or drive systems would cause high cost and difficult installation work. Benefits • Save cost • Simplify system design and installation Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 029 Motion Functions Enhanced Mirror Image Features The enhanced mirror image option allows you to translate an entire teach pendant program or portion of a teach pendant program to mirror-image the original programmed points. The enhanced mirror image option provides additional functionality so that existing frames such as user frames can be used directly with any specified XY, YZ, or XZ plane. Also, additional orientation shifting is provided for different application requirements. Benefits • Speed up programming and system start-up Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 030 Motion Functions Ethernet Encoder Features The Ethernet Encoder software option (R762) has been developped for line tracking systems with multiple robots working on the same conveyor. The Ethernet Encoder consists of both master and slave controllers where the master is the controller with the encoder(s) connected. The master controller transmits the encoder information to other slave controller/controllers over the Ethernet Network connection. This function supports up to two encoders distributed amongst up to 4 robot controllers. Benefits • Reduce system cost and speed up installation, when multiple robots work at a conveyor • Only one (master) robot needs to monitor the conveyor progress by a line tracking encoder, while the other robots share the information via ethernet Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 031 Motion Functions Extended Axis Control Features Control software for auxiliary axes which move and are programmed together with the robot arm. A typical example is a rail unit carrying the robot arm, where each programmed position defines also, where the rail axis must be. Benefits • Fast cycle times • Stable and reliable operation • Extend robot reach for large work pieces Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 032 Motion Functions General Positioner Features Control software for auxiliary axes which can move in coordinated motion with the robot arm (but also independently). A typical example is an arc welding positioner. The positioner axes may be at any angle to oneanother. Benefits • Easier and faster programming • Better welding quality than conventional solutions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 033 Motion Functions Gravity Compensation Features The function Gravity Compensation compensates for bending of the robot arm due to load and gravity. It improves robot path accuracy and requires a correct payload setting. Benefits • Improves robot path accuracy • Improves product quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 034 Motion Functions HDI for Line Tracking (High-speed Digital Input) Features This function enables the usage of High speed Digital Input (TTL level) as trigger input for Line Tracking. This function improves line tracking accuracy and allows higher conveyor speeds. Benefits • Improve motion accuracy and speed when picking/placing work pieces from/on high speed conveyors • Faster cycle times • Improved process and product quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 035 Motion Functions Independent Auxiliary Axes Features Control software for auxiliary axes so that robot and axes can move independently (and synchronously). A typical example of this function is a servo hand; the hand should be able to move with the robot arm but also open and close independently. Note: this function supports "Servo Tool Change" function. Benefits • Speed up cycle times • Simplify control system • Lower system costs compared to conventional solution Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 036 Motion Functions Line Tracking Features Line tracking is an optional function that enables a robot to track a moving conveyor and manipulate a work piece which is moving with the conveyor. It supports rail tracking, cartesian and circular line tracking. Benefits • Faster cycle times • Reduced floor space requirement • Lower system costs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 037 Motion Functions Servo Conveyor Line Tracking Features The function Servo Conveyor Line Tracking controls a FANUC servo motor driving a conveyor and controls synchronised line tracking motion of the robot with this conveyor. It includes Multi Motion and Continuous turn. Line Tracking and Independent aux axis must be selected. Servo Conveyor Line Tracking function controls up to max. 4 conveyors. Benefits • Faster cycle times • Improved process stability and uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 038 Motion Functions Learning Vibration Control (LVC) Features The software option Learning Vibration Control (LVC) realizes smooth and high speed robot motion measuring and learning the motion with an acceleration sensor at the robot tool. Using the learnt data LVC suppresses the robot vibration and can speed up motion (e.g. short distance moves in spot welding) and cycle times by up to 10%. Benefits • Speed up cycle times in spot welding and handling applications Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 039 Motion Functions M-1iA - 1 kg Option Features The function enables M-1iA to handle 1kg of payload with reduced speed and acceleration. Benefits • Maximize payload capacity and production output Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 040 Motion Functions M-2000iA - 1.350 kg Option Features M-2000iA 1350kg Option for a payload of 1350kg. Benefits • Maximize payload capacity and production output Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 041 Motion Functions M-3iA/6S - High Inertia Option (HiOpt) Features The M-3iA/6S High Inertia option permits to handle larger inertia work pieces with reduced speed and acceleration. Benefits • Maximize payload capacity and production output Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 042 Motion Functions M-900iA - 700 kg Option Features Motion settings for M-900iA/600 to handle 700kg payload and high inertia loads Benefits • Maximize payload capacity and production output Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 043 Motion Functions M900iA/400L - High Inertia Option (HiOpt) Features The M900iA/400L High Inertia Option allows to handle larger inertia workpieces with M-900iA/400L. Benefits • Maximize payload capacity and production output Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 044 Motion Functions Motion Interface Features The Motion Interface function is required if the user wants to improve the robot motion performance using a PC and FANUC ROBOGUIDE MotionPro software (A08B-9410-J609). FANUC ROBOGUIDE MotionPro helps to improve robot cycle time, improve robot path quality, analyse and improve reducer life time and power consumption. Note: this function is standard on a R-30iB controller. Benefits • Improve robot performance and cycle time • Improve path and product quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 045 Motion Functions Motion Package Features This software package contains: • • • • Singularity Avoidance (R792) ADV-CP Speed CTRL (R805) ADV-CP Path CTRL (R806) High Sensitive Collision Detection Package (J684) It speeds up programming, speeds cycle times, speeds up path and process optimization and avoids collisions for all applications. Benefits • Simplify and speed up programming • Avoid damages and downtime • Improve cycle times and process quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 046 Motion Functions Minimum Rotation (MROT) Instruction Features The MROT instruction is added to the robot motion instruction and enables the Minimum Rotation motion with HandlingTool application software. In FANUC 6-axis robots, the 6th axis often has a range of 2 revolutions=720 degrees. With MROT instruction, the J6 axis will always move the shortest distance to the target position and can help to speed up cycle times. Benefits • Speed up robot cycle times and teaching in handling and palletising applications Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 047 Motion Functions Multi-Arm Package (Legacy) Features The Multi-Arm package supports the synchonous and coordinated motion of multiple robot arms with one controller. It also allows that each indiviual robot arm is controlled by a supervisory PLC via the digital UOP signals like two separate robot controllers. Benefits • Easy setup and operation of multi arm robot systems • Cost efficient and high performance solutions for arc welding • Complex and collision free cooperation of multiple robots Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 048 Motion Functions Multi-Group Motion Features Multi-Group Motion enables the robot to control and program the motion of robot arm and independent auxiliary axes or positioners Benefits • Faster cycle times • Lower system costs than conventional solutions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 049 Motion Functions Path Adjust Function Features The Path Adjust function allows to modify a robot program by changing tool (to path) and (tool to) work angle over a range of taught program lines. Note: for ArcTool ONLY. Benefits • Speed up programming, improve product quality and cycle times Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 050 Motion Functions Payload Confirm Features The Payload Confirm function allows to measure the actual payload of the robot by a very small short distance motion and confirm whether the robot payload setting is correct. This is useful, when there is not enough space to do Payload Identification. Excessive load is detected and the operator is warned. Benefits • Helps to avoid overload • Speed up cycle times • Minimizes vibrations and stress on robot and tooling for improved system uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 051 Motion Functions Payload Identification Features The Payload Identification function measures and sets the robot payload using an adjustable test motion of the robot axes J5 and J6. Note: the Payload Confirm function is included. Benefits • Speed up cycle times • Minimize vibrations and stress on robot and tooling • Improve system uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 052 Motion Functions Position Bump Box Features The Bumpbox function enables to dynamically adjust the robot motion, when for instance a digital input signal is detected. When the input is detected, the robot motion path can be offset along x,y or z of the following coordinate systems: World or Userframe, Weld & Tool (x along welding seam, z in torch direction). This can be used, if the operator wants to shift the robot path by 1 ~ 5 mm (from outside the robot cell) during arc welding, thermal or laser cutting, where e.g. work piece tolerances need to be compensated and one production cycle can last 30 minutes and more. Benefits • Compensate for tolerances • Improve process stability • Improve product quality and robot uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 053 Motion Functions Rail Unit Features Control software for FANUC rail unit Benefits • Fast installation • Top performance Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 054 Motion Functions Robot Link (Simultaneous Motion) Features Simultaneous Robot Link: Enables the synchronous motion of up to 10 robots connected by a ethernet network connection. Benefits • Support advanced multi robot applications e.g. in aerospace industry Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 055 Motion Functions Small Circle Accuracy Features Small Circle Accuracy function for M-10iA, M-20iA, M-710iC robots doing laser and waterjet cutting in order to achieve round cuts of the best quality and roundness. Benefits • Improved path accuracy and product quality for cutting application Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 056 Motion Functions Soft Float Features The Soft Float function supports soft machine load/unload operation. When using the Softfloat motion instruction the robot servo control is softened to minimize reactive forces and avoid damages and scratches on the workpiece. The function High Performance Softfloat is also included for extracting workpieces softly and fast out of injection moulding or die casting machines. Benefits • Minimize reactive forces during load/unload operations • Avoid damages of tooling and robot and scratches on the workpiece • Speed up cycle times for workpiece extraction Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 057 Motion Functions Torque Limit Features Torque limit function enables to control the motor torque of auxilary axis motors. This can be useful to control servo grippers. Benefits • • • • Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Allows to control a servo gripper Speed up cycle times Handle different work pieces with the same servo gripper Save costs and improve product quality 058 Motion Functions Touch Skip Features Touch Skip is a function, which uses internal servo data to detect when and where the robot touches an object. This function can be used to avoid collisions or detect the work piece location without any external sensor. Caution: excessive collision may affect robot lifetime and require additional maintenance measures. Benefits • Cost efficient work piece location and checking (without any external sensor or limit switch) Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 059 Motion Functions Wash Teaching Features Wash teaching provides predefined washing motion instructions and motion parameters for teaching the washing of flat surfaces and holes. Benefits • Easier and faster programming • Improved product quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 060 Functions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Handling Functions 061 Handling Functions Handling Tool Features Application tool software for handling and general applications. It provides a full control of all types of I/O (analog and digital) for grippers, cutting and other equipment. The function allows an easy and safe manual gripper operation using MACROs and user hardkeys on the teach pendant. Benefits • Easy and safe operation and programming • Easy process optimization for best quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 062 Handling Functions LR Tool Features Application tool software for R-30iB Mate controller and load/unload applications. Includes Palletising (J500) and Style Select (R645). It provides a full control of all types of I/O (analog & digital) for grippers, cutting and other equipment. This function allows an easy and safe manual gripper operation using MACROs and user hardkeys on the teach pendant. Benefits • Easy and safe operation and programming • Easy process optimization for best quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 063 Handling Functions LR Handling Tool Features Application tool software for R-30iB Mate controller and load/unload applications. Includes Palletising (J500) and Style select (R645). It provides full control of all types of I/O (analog & digital) for grippers, cutting and other equipment. This function allows an easy and safe manual gripper operation using MACROs and user hardkeys on the teach pendant. Benefits • Easy and safe operation and programming • Easy process optimization for best quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 064 Handling Functions Palletizing Features Palletising motion instructions and registers for teaching simple palletising applications as needed for machine load/ unload applications Benefits • Fast programming • Reliable operation Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 065 Handling Functions Singularity Avoidance Features The function enables the robot to automatically move through singularity during jogging and program execution with the HandlingTool application software. Without this option the robot positions must be taught in Joint Angles and cartesian motion executed with WristJoint orientation control in order to move through singularity. Benefits • Speed up programming and system startup • Allows the robot to move close to singularity • Allows to minimize the floorspace needed and process large work pieces Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 066 Functions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Spot Welding Functions 067 Spot Welding Functions IWDG (Integrated Welding Controller for Dengensha) Features Integration of the spot welding controller manufactured by Dengensha for simplified installation and improved welding performance. Note: the function WTC/Medar cannot be specified at the same time. Benefits • Improve spot welding quality • Speed up welding time • Improve robot uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 068 Spot Welding Functions Nadex DeviceNet Welding Controller Features Control software for the integrated Nadex Spot Welding timer with DeviceNet interface for spot welding applications. Note: this function requires a DeviceNet interface function. Benefits • Easy installation and setup • Faster welding times • Improved quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 069 Spot Welding Functions Pressure Profile Control Features Pressure Profile Control for the FANUC servogun. Enables precise control of the welding pressure and duration of 3 or more phases during the spot welding process. Benefits • Improve spot welding quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 070 Spot Welding Functions Servo Gun Axes Features Control software to tune, setup and control a FANUC Servo Gun including e.g. auto-tuning. Benefits • • • • Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 High speed gun motion Accurate force control Fast cycle times Good welding quality 071 Spot Welding Functions Servo Gun Change Features The ServoGun Change function allows to disconnect/reconnect FANUC Servoguns during program execution. Benefits • Use e.g. FANUC Servoguns with a tool changer • Improve flexibility and costs of the robot system Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 072 Spot Welding Functions Servo Gun Option Features Control software for FANUC Servo Gun: this option includes the servo gun basic software and the multi motion control. This function requires Servo Gun Axes (H869). Benefits • • • • Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 High speed gun motion Accurate force control Fast cycle times Good welding quality 073 Spot Welding Functions Servo Gun Setup Package Features Software package for the easy and quick setup of Servo Spot Welding guns with FANUC servo motors. Includes Gun Touchup function (J963) and Initial Load Setting (J980). Note: a separate and optional "FANUC Servo Gun integration setup" software for PC is required to setup / startup this function. Benefits • • • • Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Easy setup Fast cycle times High welding quality Benefits of FANUC servo motors and seamless integration of robot and servo spot welding gun 074 Spot Welding Functions Servo Tip Dresser Features Software to drive special FANUC tip dresser for spot welding electrodes (driven by FANUC servo motor). Improves welding quality, extends lifetime of electrodes, reduces operating costs. Benefits • Improve spot welding quality • Speed up welding time • Minimize electrode wear Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 075 Spot Welding Functions Servo Gun Diagnosis Features This function monitors the mechanical performance of the servogun and detects mechanical wear. Servo motor disturbance torque is monitored e.g. to detect excessive friction. Benefits • Maintain high welding quality • Improve system uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 076 Spot Welding Functions Spot Program Touch-up Function Features Using a FANUC Servogun the spot program touchup function automatically finds the panel using the movable electrode and touches up the program positions. The changes are listed on a status screen, displayed in a chart and archived in a log file. Benefits • The automatic touchup speeds up program teaching and optimization Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 077 Spot Welding Functions SpotTool+ Features Application tool software for spot welding, stud welding, seam sealing and dispensing, material handling as needed in automotive bodyshops. The following options are included with this software: • Program Toolbox (R598), Constant Path (R663) and Corner Region (R654) • For Spotwelding: ServoGun High Speed (J886) if the ServoGun option (J643) is loaded • For Dispensing TCP: Speed Prediction (J524) and Dispensing 2nd analog port (R528), if FRL setting (R651) is selected. Note: for Dispensing with R-30iB controller please use SpotTool+ (H590) and Default Dispense Option (R719) to replace DispenseTool for R-30iA controller Benefits • • • • Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 High speed motion, fast cycle times High flexibility combining e.g. welding and sealing processes Easy and safe operation and programming Highly reliability and easy maintenance 078 Spot Welding Functions Welding Tip Inspection Features This function performs a Weld Tip Inspection for the spot welding (gun) electrodes using FANUC inspection box equipped with an iRVision camera. Benefits • Improve TCP and path accuracy • Maintain high spot welding quality • Improve robot uptime, where e.g. spot welding electrodes are subject to heavy wear and bending Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 079 Spot Welding Functions WTC/Medar Integrated Spot Welding Controller Features Integration of a spot welding controller manufactured by WTC/Medar for simplified installation and improved welding performance. Note: the IWDG function cannot be specified at the same time. Benefits • Improve spot welding quality • Faster welding • Improved robot uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 080 Spot Welding Functions R-2000iB/200R Stud Features The robot motion settings R-2000iB/200R Stud set servo and motion parameter of the robot R-2000iB/200R for single electrode (stud) spot welding. Benefits • Simplify operation and improve uptime, when using the robot for single electrode welding Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 081 Spot Welding Functions R-2000iB/210F Stud Features The robot motion settings R-2000iB/210F Stud set servo and motion parameter of the robot R-2000iB/210F for single electrode (stud) spot welding. Benefits • Simplify operation and improve uptime, when using the robot for single electrode welding Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 082 Functions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Arc Welding Functions 083 Arc Welding Functions ArcTool Features Application tool software for arc welding and control of welding power supplies, arc welding instructions, procedures and schedules for welding parameters. Individual welding process schedules including runin, welding, crater fill and burnback provide for best results. On-the-fly function allows to adjust all welding parameters during test welding. The options Weaving (J504), Arc Eq. Program select (J676) for digital selection of welding parameters are included in this function. Benefits • Easy and safe operation and programming • Easy process optimization for best quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 084 Arc Welding Functions Positioner (Arc Positioner, 1-Axis Positioner, ...) Features Control software to setup and control a FANUC servo positioner with 1 or 2 axes and up to 1500kg payload. Benefits • • • • Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 High speed and accurate motion Fast cycle times High product quality Easy setup 085 Arc Welding Functions TAST (Through Arc Seam Tracking) Features Through Arc Seam Tracking for MIG welding compensates for bending and part tolerances during arc welding. The current feedback signal and weaving motion are used to track the welding seam. Benefits • Improve quality by path compensation • Save costs otherwise needed for better fixturing Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 086 Arc Welding Functions TAST Multi-Path Pack Features Through Arc Seam Tracking and Multi Pass / Root pass memorization for MIG welding of heavy welding structures, where several welding passes are required. Benefits • Improve welding quality and uptime by arc sensor • Speeds up programming of multi layer welding seams Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 087 Arc Welding Functions AVC (Automatic Voltage Control) Features Automatic Voltage Control: through seam tracking for TIG welding (without weaving) compensates for bending and part tolerances and keeps the tip-to-work distance and thus the welding voltage constant. Benefits • Improve quality and uptime • Reduce fixturing costs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 088 Arc Welding Functions RPMP (Root-Pass Memorization and Multi-Pass Welding) Features Root Pass memorization and Multi Pass Welding for heavy duty welding applications, where the robot first moves along the (bottom) root path, memorizes the path and then shifts it for the top layers in the welding seam. Benefits • Speed up programming • Improve quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 089 Arc Welding Functions Weaving Features Weaving motion for arc welding e.g. for welding thin sheet steel. Note: this function is included as standard in the ArcTool function. Benefits • Precise control of heat input for difficult welding tasks • Allows to fill large gaps • Reach an optimum quality in metal cladding applications Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 090 Arc Welding Functions Custom Weaving Features The function Custom weaving allows to define 3 user defined weaving patters for arc welding and use them in a robot program. Benefits • Improve welding quality for difficult welding seams • Simplify transfer of programming knowhow from non-FANUC robots Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 091 Arc Welding Functions Wrist Axes Weaving Features By Wrist Axes Weaving the robot can achieve faster weaving motion (>5Hz) in arc welding applications. The weaving motion is accomplished by the wrist axes J4 and J5 permitting relatively high speeds. Benefits • Speed up weaving frequency e.g. for arc welding thinner sheet steel Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 092 Arc Welding Functions Touch Sensing Features Touch Sensing with electrical touch sensor in order to compensate for shifted and rotated work pieces Benefits • Improve quality by locating the arc start position • Save costs otherwise needed for better fixturing Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 093 Arc Welding Functions Arc Start Height Adjust Features Arc Start Height Adjust function achieves an optimal arc start. It automatically measures and adjusts the distance between the welding torch and the work piece before the arc starts using the tip stick circuit or another sensor. Benefits • Spatter free arc start • Improved quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 094 Arc Welding Functions Torch Angle Features Torch Angle Display provides users with a mechanism to grapically display Work Angle and Travel Angle on the Teach Pendant. These angles are important for the arc welding process and the welding quality. Benefits • Speed up program optimization • Improves arc welding path and quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 095 Arc Welding Functions Torch Guard Features Torch Guard: High sensitivity collision detection for the wrist axes protecting torch and robot against e.g. collisions with clamps and work piece. The function also includes the Arc Torch Mate function for checking the arc welding torch. Benefits • Minimize torch bending due to collisions • improve product quality and system uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 096 Arc Welding Functions Arc Torch Mate Features The TorchMate function enables the robot to measure and adjust the TCP data of an Arc Welding Torch automatically using an electrical sensor circuit and a FANUC supplied TorchMate Touch Plate. Benefits • Improve TCP and path accuracy as well as robot uptime, where e.g. welding torch is frequently bent by collisions etc Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 097 Arc Welding Functions ServoTorch for Steel Features Servo Torch for Steel: Control software supporting FANUC Servo Torch for steel welding wire Benefits • Improved product quality • Savings in welding consumables Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 098 Arc Welding Functions ServoTorch for Aluminium Features Control software for the FANUC Servo Torch for aluminium welding wire. FANUC servo motor is used to feed the wire with high precision. Benefits • • • • Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 High performance and quality arc welding Precisely controlled wire feed Intelligent arc start and advanced process control Easy installation 099 Arc Welding Functions Improved Touch Retract Features Improved Touch Retract function for FANUC ServoTorch achieves a spatter free arc start by retracting the welding wire a little bit during the arc start. Benefits • Minimize welding spatter • Improve uptime • Improve welding quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 100 Arc Welding Functions Multi-Equipment Control Features Multi Equipment control for arc welding equipment Benefits • Control of multiple arc welding equipments by the robot • Supports the connection of tandem arc torches for high speed welding • Supports using multiple arc welding processes in one production cycle Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 101 Arc Welding Functions Welding Speed Output Features The Welding Speed Output function outputs the arc welding speed to arc welding equipment during welding by analogue or group output e.g. to control the welding power as a function of the welding speed. Note: in coordinated motion systems the relative motion speed at the welding seam is output as welding speed. Benefits • Connect to novel welding equipment with e.g. welding power controlled by robot speed • Improve welding quality for complex work pieces Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 102 Arc Welding Functions Low-Frequency Pulse Welding Features In Arc Welding applications the Low-Frequency Pulse Welding function achieves a precise control of the heat input into the work piece by switching welding parameters (e.g. voltage and current) with a low frequency with defined intervals. Benefits • Precise control of heat input and welding parameters for difficult welding tasks Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 103 Arc Welding Functions Coordinated Motion Package Features Coordinated Motion Package enables the coordinated motion of robot and positioner for arc welding and also of handling robot and arc welding robot in Multiarm robot systems. Benefits • Faster programming and better quality than conventional solutions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 104 Arc Welding Functions Arc Override Control Features The function Arc Override Control automatically switches the speed override to 100% between ARC START and ARC END, because arc welding is only possible with 100% override. This way starting of production after breaks or interruption is accelerated and system production time improved. Benefits • Simplify operation • Improve production uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 105 Arc Welding Functions Servo Robot Features Control software for the connection of the Servo Robot Laser Tracker system used for advanced Arc Welding. Note: the robot communicates with the servo robot system via RS232 serial port. Benefits • Connect ServoRobot Laser sensor • Improve welding quality and uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 106 Arc Welding Functions Servo Robot ROBOCOM Lite Features ServoRobot ROBOCOM Lite is control software for the Arc Welding Laser Tracking Sensor ServoRobot ROBOCOM Lite as used in advanced arc welding applications. Benefits • Connect ServoRobot Laser sensor • Improve welding quality and uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 107 Arc Welding Functions Lincoln Ethernet Default (Arclink-XT) Features Control software and Arc welding plug and play function for Lincoln Electric Arc welders with Ethernet interface. Benefits • Speed up installation of Arc welding systems with Lincoln Electric equipment Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 108 Arc Welding Functions Lincoln Electric control parameters for Japan Features Control software and Arc welding plug and play function for Lincoln Electric Arc welders for the Japanese market. The speed units defaults to cm/min. Benefits • Speed up installation and setup of Arc welding systems with Lincoln Electric equipment Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 109 Arc Welding Functions Lincoln Electric control parameters for North America Features Control software and Arc welding plug and play function for Lincoln Electric Arc welders for the North American market. Benefits • Speed up installation and setup of Arc welding systems with Lincoln Electric equipment Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 110 Arc Welding Functions Lincoln Electric Welding Equipment Library Features The function supports the plug and play connection of Lincoln Electric Arc Welding equipment. Note: supports Lincoln Electric communication protocols ArcLink CAN and ArcLink XT. Benefits • Speed up installation and start-up of arc welding systems with Lincoln Electric equipment Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 111 Arc Welding Functions Fronius Welding Equipment Library Features The function supports the plug and play connection of Fronius Arc Welding equipment. Note: supports Fronius interfaces for EtherNet/IP, DeviceNet and standard process I/O. Benefits • Speed up installation and start-up of arc welding systems with Fronius equipment Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 112 Arc Welding Functions Miller Welding Equipment Library Features The function Miller Weld Eq Lib supports the plug and play connection of Miller Arc Welding equipment. Note: supports Miller Welding euqipment interfaces for EtherNet/IP, DeviceNet and standard process I/O. Benefits • Speed up installation and start-up of arc welding systems with Miller equipment Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 113 Arc Welding Functions Arc Abnormal Monitor Features The function monitors, logs and displays abnormal arc welding conditions so that production quality and uptime can be improved. Benefits • Improves welding quality • Avoids downtime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 114 Arc Welding Functions Arc Production Monitor Features The Arc Production Monitor option (R753) is used with the Lincoln Power Wave welding power supplies that support the Lincoln Production Monitoring™ and CheckPoint™ cloud server based monitoring feature. Benefits • Improve arc welding quality • Improve uptime with Lincoln Electric equipment Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 115 Arc Welding Functions Arc Welding Analogue Meter Features Arc Welding Analogue Meter Option displays the welding control signals by a graphical analog meter display. Benefits • Simplify checking of welding parameters • Improve welding quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 116 Arc Welding Functions Universal Sensor Interface Features Control software for the connection of the 3rd party Laser Tracker systems used for advanced Arc Welding. Note: requires the function "User Socket Messaging". Benefits • Connects to 3rd parts laser seam tracking devices for improved welding quality and uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 117 Arc Welding Functions Heat Wave Synchronization Features HeatWave is an advanced function for arc welding applications. The welding parameter such as current and voltage can be changed between 3 schedules and synchronized with weaving motion so that the heat input left and right of the welding seam can be precisely controlled and very difficult welding seams e.g. with a thin and a thick wall can be welded with best results. For arc welding without weaving motion the Low Frequency Pulse function allows to switch between welding schedules with a frequency of 0.1~10hz and a duty cycle of 20%~80%. Benefits • Improve welding quality for difficult materials (e.g. thin sheet) • Improve quality and good-parts ratio Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 118 Arc Welding Functions Tracking Jog Features The Tracking Jog function simplifies manual operations in arc welding systems with multiple robot arms and coordinated motion. If the robots are not equipped with the Tacking Jog function, and the user wants to move the robot holding the work piece (handling robot), then the robot holding the welding torch (welding robot) will lose contact with the work piece. It is then difficult and time consuming afterwards to jog the welding robot back to the Arc Start position. Using the Tracking Jog function helps in this case; the welding robot arm will follow the motion of the handling robot and maintain the relative position of the arc welding torch to the workpiece. This speeds up programming and avoids collision of the welding torch with clamps, the work piece and the other robot(s). Benefits • Simplify manual jogging and speed up teaching in coordinated welding systems (welding robot + handling robot) Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 119 Functions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Dispensing Functions 120 Dispensing Functions Default Dispense Features This function is useful, if a robot is used for sealing, glueing and other spraying applications. It makes dispense software (plugin) the default tool setting in SpotTool+ application tool setting. It includes the option Dispense 2nd Analog Port (R528) allowing to control e.g. air pressure in addition to material flow, when loaded together with the standard FRL setting (R651). Benefits • Provide full process control, programming and troubleshooting functions • Fast and efficient programming of sealing, glueing and spraying applications • High product quality and efficient material use Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 121 Dispensing Functions Dispense Tool Application 2nd Analogue Port Features The DispenseTool application software only controls the material flow of the material (glue, PVC etc.) to be sprayed (by an analog or group output) as required, for instance, for "airless" spray guns. The function Dispense 2nd Analog Port allows to control spray guns (e.g. "air assisted"), where pressurized air is used for instance to shape the spray fan for high speed or high quality applications. Notes: DispenseTool can control material flow and air pressure according to the robot speed using TCP Speed Prediction. With TCP Speed Prediction when the robot slows down, for instance in corners, the material flow and air pressure are then automatically reduced to maintain exactly the same bead width as at normal speed. The option Dispense 2nd Analog Port is provided as standard for all robots delivered in Europe. Benefits • Support advanced sealing and glueing guns e.g. using air to shape the spraying fan • High product quality • Fast cycle times by high speed spraying Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 122 Dispensing Functions Integrated Servo Dispenser (ISD) Gear Meter Features Integrated Servo Dispenser with Gear Meter driven by a FANUC motor for flow control which improves the sealing / glueing quality and the material consumption. This option cannot be used with the NEMO Pump function. A FANUC I/O Unit MODEL A analog input module is needed to connect pressure transducers. A separate brake unit may be required for the servo motor. Benefits • Precise materal flow control • High product quality • Reduce material comsumption Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 123 Dispensing Functions Integrated Servo Dispenser (ISD) Single Acting Meter Features Integrated Servo Dispenser with Single Acting Meter driven by a FANUC motor which improves th sealing / glueing quality and the material consumption. This option cannot be used with the NEMO Pump function. FANUC I/O Unit MODEL A analog input module is needed to connect the pressure transducers. A separate brake unit may be required for the servo motor. Benefits • Precise materal flow control • High product quality • Reduce material comsumption Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 124 Dispensing Functions NEMO Pump Function Features This function controls a NEMO dispensing pump driven by a FANUC servo motor. Benefits • Precise materal flow control • High product quality • Reduce material consumption Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 125 Dispensing Functions Pump Only Motion Features Pump Only Motion allows to operate the dispensing pump (driven by a FANUC servo motor) only (without robot motion) during a sealing program for measuring the volume of dispensed material. Benefits • Improved product quality • Reduce material consumption Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 126 Dispensing Functions Stitch Function Features The Stitch function creates a user defined stitch pattern for glueing and laser welding applications etc.. The length and gaps between the stitches are defined in stitch schedule data. Benefits • Improve quality and repeatability Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 127 Functions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Safety Functions 128 Safety Functions Enhanced Stopping Features The Enhanced Stopping function reduces the stopping time of the robot with controlled stop (e.g. when the safety gate (FENCE-input) is opened) to a minimum. Benefits • Optimize safety design • Minimze floor space usage Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 129 Safety Functions Safety Functions for CE Compliance (CE Mark) Features CE Mark safety functions for European machine safety regulations. This function includes safely reduced speed for manual operation and testing, operation mode selection, deadman checking according to the safety norms ISO 10218 and ISO 13849-1. Note: this function is mandatory on all robots supplied to the European Market. Benefits • Allows to meet the European safety regulations Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 130 Safety Functions Controlled Stop by E-Stop Features During automatic operation (when the safety fence and gate are closed) this function triggers a soft controlled stop, when emergency stop is pressed. When the safety fence is opened, a hard power-off stop is triggered. In manual mode (T1, T2) emergency stop always triggers a hard power-off stop. Note: this function shall be used only for specific automotive OEM. When implementing this function, it is important that safety distances in the different operation modes are managed correctly and safely. Benefits • Reduce stress on robot and tooling, improve uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 131 Safety Functions Dual Check Safety (DCS) Position / Speed Check Features The Dual Check Safety (DCS) Position Speed check software is a TÜV certified electronic safety control system for FANUC robots. It safely monitors robot speed and position in joint and cartesian coordinates. It enables operator workstations to be positioned within the robot work envelope and allows to restrict the robot motion safely within a minimum of floor space. It allows the creation of safe zones close to the robot center, where this would be difficult to realize using limit switches. It restricts the robot motion safely, within a minimum of floor space. Note: the Safety ratings of the robots is in acordance to the ISO 13849-1 Category 3, PL=d (Performance Level). Benefits • Improve operator safety • Reduce system costs • Minimizes floor space needs for the robot system Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 132 Safety Functions Dual Check Safety (DCS) Safe I/O Connection Function Features The Dual Check Safety Safe Input/Output Connection function allows to interconnect safety signals with the Dual check safety function e.g. in order to interconnect safety devices at the robot and an external safety PLC . Benefits • Improve operator safety • Reduce system costs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 133 Safety Functions External Mode Select Features Control software to force the robot operation mode (T1, T2, AUTO) by an external safety PLC (via EtherNet/IP safety, DeviceNet safety, PROFINET safety, etc.). Note: this function shall be used only for specific automotive OEM. When implementing this function, it is important to note that special hardware (e.g. safety PLC or device) is required. The special hardware is not provided by FANUC. Benefits • Improve operator safety • Reduce system costs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 134 Safety Functions Local Stop Features Control software for the optional FANUC Local Stop unit to improve the safety of arc welding and other auxiliary axes devices. The local stop unit safely shuts down the positioner motor power e.g. when a human operator loads new workpieces onto the positioner. It complies to safety requirements of the ISO 13849-1 Cat. 4, PL=e. Benefits • Improve operator safety • Reduce system costs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 135 Safety Functions Safety Functions for NRTL Compliance Features The NRTL (Nationally Recognized Testing Laboratory) safety control software shall be used to comply to USA and Canadian safety regulations requirements. Note: this function cannot be used together with the CE Mark compliance function. Benefits • Allows to meet the USA and Canadian safety regulations Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 136 Functions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Vision Functions 137 Vision Functions iRCalibration Package Features This software package contains iRCalibration Vision TCP Set (J990), iRCalibration Vision Frame Set (J991) and iRCalibration Vision Mastering (J992). It achieves the maximum accuracy of robot, tool center point and motion path using Vision camera and iRCalibration software. Benefits • Improve position, TCP and path accuracy • Improve product quality • Speed up uploading and testing of offline generated programs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 138 Vision Functions iRCalibration Vision Axis (VAxis) Features The function iRCalibration VAxis (=Vision Axis Mastering) measures and corrects the robots mastering (calibration) data on a axis by axis using iRVision with camera, a target mark on each axis and predefinded robot motion. In case of mechanical repairs it helps to maintain high path accuracy and high product quality. Note: requires special mastering targets on the robot arm for each axis, a special fixture and a camera unit. These accessories are available from FANUC. Benefits • Improve position, TCP and path accuracy • Improve product quality • Speed up uploading and testing of offline generated programs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 139 Vision Functions iRCalibration Vision Frame (VFrame) Features The function iRCalibration VFrame (= Vision Frame) measures and adjusts the Reference frame for robot work piece using iRVision with camera three target marks and predefinded robot motion. It helps to maintain high path accuracy and high product quality. It can also be used to adapt offline generated robot programs to the real world and to transfer robot programs from one robot cell to another one. Benefits • Improve position, TCP and path accuracy • Improve product quality • Speed up uploading and testing of offline generated programs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 140 Vision Functions iRCalibration Vision Mastering (VMaster) Features The function iRCalibration VMaster (=Vision Mastering) measures and corrects the robots mastering (calibration) data using iRVision with camera, a target mark and predefinded robot motion. It helps to maintain high path accuracy and high product quality. Note: can only master the robot axes J2 through J5. A camera is required to perform robot mastering and can be ordered from FANUC. Benefits • Improve position, TCP and path accuracy • Improve product quality • Speed up uploading and testing of offline generated programs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 141 Vision Functions iRCalibration Vision Multi-Group Calibration (VMCal) Features The function iRCalibration VMCal (Multi Group calibration) measures the relative position of leader (e.g. welding positioner) and follower (e.g. arc welding robot) in arc welding systems with coordinated motion using iRVision with camera, a target mark and predefinded robot motion. It greatly helps to speed up system installation and achieve high path accuracy and high product quality. Benefits • Speed up installation of cordinated motion arc welding systems (robot+positioner, robot+robot) • Improve position and path accuracy Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 142 Vision Functions iRCalibration Vision Shift (VShift) Features The function iRCalibration VShift (=Vision Shift) measures and adjusts the Reference and Offset for a robot program using iRVision using a camera and three target marks and predefinded robot motion. It helps to speed up programming e.g. in production line and maintain high path accuracy and high product quality. Benefits • Speed up programming, uploading and adjusting of offline created robot programs • Achieve high path accuracy and product quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 143 Vision Functions iRCalibration Vision Tool Center Point (VTCP) Features The function iRCalibration VTCP (= Vision Tool Center Point) measures and corrects the robots tool center point using iRVision with a 2D camera, a target mark and predefinded robot motion. It helps to maintain high path accuracy and high product quality. Benefits • Improve TCP and path accuracy and product quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 144 Vision Functions iRVision 2D (2-Dimensional Vision Bundle) Features Control software for the connection and use of a FANUC iRVision system with a supported 2D vision camera. This includes 2D compensation (single and multi view, colour), 2.5D depalletising, Bar Code reading (1D and 2D), 3D Tri-View compensation, Inspection processes (including Surface Flaw Inspection and Bead Inspection). The seamless integration with the robot provides an easy setup with the robot teach pendant as well as a reliable robot operation. Benefits • • • • Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Easy setup and operation Reliable and robust detection and position compensation Automatic location of work pieces and tooling Automatic compensation of tolerances 145 Vision Functions iRVision 3D Tri-View Features Control software for the connection and use of a FANUC iRVision system with one or three 2D vision cameras which can measure and compensate the 3D-Location e.g. of a car body e.g. for vision guided seam sealing in the automotive industry. Is included in iRVision 2DV. Benefits • • • • Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Easy setup and operation Reliable and robust detection and 3D position compensation using 2D cameras Automatic 3D location of work pieces Automatic compensation of tolerances 146 Vision Functions iRVision 3DL (3-Dimentional Laser Vision Bundle) Features Control software for the connection and use of a FANUC iRVision system with the FANUC 3D Laser vision sensor. This function features 3DL single-view and multi-view, 3DL cross-section, as well as 3DL curved surface processes. Benefits • • • • Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Easy setup and operation Reliable and robust detection and 3D position compensation Automatic location of work pieces and tooling Automatic compensation of tolerances 147 Vision Functions iRVision AntiDefect Features Control software for FANUC iRVision system (with a 2D camera) to check product quality and identify product defects, for instance: missing labels, bolts, holes or corner or even scratches on surfaces. This function is included in iRVision 2DV. Benefits • Easy setup and operation • Reliable and robust work piece detection • Quick quality check Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 148 Vision Functions iRVision 3D Area Sensor Features Control software for FANUC iRVision system using the new FANUC 3D Area Sensor which speeds up bin picking and detects, for instance, all visible work pieces inside a container in one vision process. Benefits • Easy setup and operation • High speed and reliable bin picking and work piece location Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 149 Vision Functions iRVision Barcode Reader (BarcodeRead) Features Control software for FANUC iRVision system (with a 2D camera) to read 1D and 2D barcode labels. Following 1D barcodes are supported by the function: • • • • • Interleave 2-of-5 Code 39 Codabar / NW7 EAN-13 / JAN-13 UPC-A Following 2D barcodes are supported by the function: • Datamatrix ECC200 • QR-Code Note: the barcode reader function is included in the iRVision 2D bundle. Benefits • Easy setup and operation • Reliable and robust bar code detection Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 150 Vision Functions iRVision Bin Picking Features Control software for the connection and use of a FANUC iRVision system for a bin picking vision process. It permits to pickup workpieces randomly placed in a container. This function includes all functions of iRVision 2D (J901). Benefits • Easy setup and operation • Reliable and robust work piece location • Intelligent functions avoiding collisions with the container walls etc Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 151 Vision Functions iRVision Slave Features Control software for a robot without a vision camera, which receives Vision data (including offset and target positions) from another robot with FANUC iRVision system and a camera. The robots need to be connected by Ethernet. Benefits • Cost efficient multi robot systems using vision • Simplifies integration of products picking from moving conveyors • Very efficient integration of food and pharmaceutical applications Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 152 Vision Functions iRVision Core Features Control software for the connection of a FANUC iRVision system with a supported vision sensor. The seamless integration with the robot provides for easy setup and reliable operation. Benefits • Easy setup and operation • Reliable and robust detection and position compensation Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 153 Vision Functions iRVision Image to Points Features Control software for FANUC iRVision system (with a 2D camera) to identify and measure point data, for instance on an edge of the work piece in order to measure coordinates or to automatically create or adapt robot motion paths. Benefits • Easy setup and operation • Reliable and robust detection of work piece edges, glueing seams etc. • Supports automatic program generation or glueing seam quality checking Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 154 Vision Functions iRVision Part Queue Features iRVision Part Queue manages a parts queue so that several work pieces can be detected by the iRVision system but picked up and processed by the robot one after the other. This function also includes the Line Tracking function (J512). Benefits • Enables picking of multiple work pieces • Supports visual line tracking for higher throughput and cost saving • Speeds up cycle times Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 155 Vision Functions iRVision TorchMate Features iRVision Torch Mate support a special welding torch inspection box designed by FANUC, which uses iRVision camera to inspect the welding torch tip. The software automatically measures the Tool Center Point (TCP) at the welding wire tip and compensates any changes automatically, for instance after a collision occurred. This maximizes the path accuracy and a high system uptime can be achieved and maintained. Benefits • Improve robot uptime on systems where, for instance, the welding torch is frequently bent by collisions • Improvement of TCP and path accuracy Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 156 Vision Functions iRVision UIF Control (User Interface Function) Features iRVision User Interface Controls provide user interface functions for easy setup and operation of the FANUC iRVision system with an external PC. Benefits • Supports iRVision setup and operation using and external PC e.g. with larger high definition display etc. • Eases setup, operation and troubleshooting of iRVision Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 157 Vision Functions iRVision Visual Line Tracking Features Control software for the connection and use of a FANUC iRVision system with a supported 2D vision camera and a FANUC line tracking encoder for visual line tracking at a moving conveyor. This function includes IRVision part queue, line tracking and IRVision core. Benefits • Easy setup and operation • Reliable and robust detection and position compensation • Automatic location of work pieces on moving conveyors for high speed picking and packaging operations Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 158 Vision Functions Vision Support Tools Features Vision support tools for enhanced vision applications includes KAREL programs to convert and use position data provided by iRVision. KAREL programs for offset calculation, adjustment and checking, save and restore of position registers, sorting of found results and vision logging are included. Benefits • Simplifies customization of iRVision programs for higher system performance and special processing Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 159 Functions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Force Sensing Functions 160 Force Sensing Functions Force Control Basic 3-Axis Features Control software for a new type of 3-axis force sensor provided by FANUC. Note: only the FANUC force sensor FS-15iAe for maximum 15kg load is currently available. Benefits • Precise force and torque control • Easy use and setup • Reliable and safe operation Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 161 Force Sensing Functions Fixed Force Sensor Features The Fixed Force Sensor function supports robot motion with force control, when the FANUC force sensor is mounted remotely (stationary) from the robot; this is the case, for instance, when a M-1iA needs to do force controlled operations. Benefits • Use force control for assembly and processing of small components • Improve product quality and cycle time Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 162 Force Sensing Functions Force Control Basic Features Force Control Basic provides the basic control function to be able to use the robot with an integrated 6-axes FANUC force sensor. Seamless integration of force sensor and robot enables most demanding mechanical assembly and material removal operations. This function includes Constant Push, Face Matching and Mass measurement functions. Different 6 axes force sensors are available from FANUC for forces from 15kg to 250kg. Benefits • Precise force and torque control • Easy use and setup • Reliable and safe operation Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 163 Force Sensing Functions Force Control Fitting Features Force Control Fitting provides the motion control functions so that the robot with a FANUC force sensor can execute force guided fitting operations such as shaft, square, bearing and clutch insertion, spline matching and gear assembly. Benefits • • • • • Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Precise force and torque control Easy motion teaching Easy use and setup Reliable and safe operation Easy programming of fitting and assembly tasks 164 Force Sensing Functions Force Control Contouring Features The function Force Control Contouring supports many applications such as polishing or deburring. It connects to a FANUC force sensor (3 dimensions, 3 orientations) and controls the robot motion to follow and push against the work piece surface with a defined force. Seamless integration of sensor and robot provide for constant force, contouring schedules provide for a flexible and repeatable process quality. Benefits • Precise force control • High processing quality • Easy setup and programming Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 165 Force Sensing Functions Force Control Deburring Path Generation Features The function Force Deburring supports deburring operations using a FANUC force sensor. In combination with iRVision Image to Points (J912) it automatically generates robot programs for deburring. Benefits • Precise force control • High processing quality adapted to deburring process • Highly flexible operation thanks to iRVision edge detection Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 166 Functions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Up-Time Functions 167 Up-Time Functions Automatic Error Recovery Features The Auto Error Recovery function allows the programming of complex error recovery operation like, for instance in arc welding applications. Example of application: after a specified arc welding alarm indicates that the arc welding torch need to be automatically replaced. Benefits • Improve system uptime and product quality • Automatic problem and recovery Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 168 Up-Time Functions Basic Interference Check Features This function checks for an interference between the robot and a fixture. High sensitivity collision detection is included in this function as well. Note: Interference Check shall ensure a smooth production without stopping and downtime. When hazards for humans shall be eliminated, we strongly recommend to use the Dual Check Safety (DCS) Position/Speed Check option. Models from the DCS position speed check setup can be imported into Interference Check. Benefits • Improve uptime and avoid damages • Prevent interference and collisions Robot and Equipment, Workpiece and Tooling Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 169 Up-Time Functions High Sensitivity Collision Detection Package Features Same as Collision Guard Package: Combines high sensitivity collision detection, collision detetcion for aux axes and tip stick detection for spot welding. Benefits • Minimize damages to tooling, workpiece and robot due to collisions • Improve product quality and system uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 170 Up-Time Functions Automatic Collision Recovery Features The function Auto Collision Recovery automatically recovers a robot collision alarm and continues the current robot program. This function is useful in case of bin picking applications, where collisions with undetected work pieces and the container walls can occur. Benefits • Improve robot uptime, when many minor collisions occur Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 171 Up-Time Functions Data Monitor Features The Data Monitor function records and monitors robot I/O, data and system variables during program execution and stores them in a log file. The program can be stopped and warnings signalled, when a parameter gets out of range. This can be used to monitor and document process quality in arc welding or dispensing applications. Benefits • Improve and document product quality • Automatic monitoring and logging of any types of process parameters Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 172 Up-Time Functions Diagnostics Interface Features Interface for collecting diagnostic data in the robot for problem investigation. This diagnostic function is included in the standard settings (R651). Benefits • Simplify troubleshooting and improve uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 173 Up-Time Functions Error Code Output Features Communicates robot alarm codes to a supervisory PLC or controller via digital group outputs. Benefits • Improve system uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 174 Up-Time Functions Fault and Incident Reporting Features The function Fault & Incident Reporting logs faults and events causing robot downtime. The statistical data are graphically displayed and help to quickly identify and resolve problems, which cause robot downtime and production stoppage. Benefits • Analyse and eliminate production problems and downtime • Improve system uptime and performance Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 175 Up-Time Functions Filtered Memory Device Features The function Filtered Memory Device filters the access to robot data files in order to protect the robot against unauthorized changes. The Filtered Memory Device option automatically generates text versions of all backup files of user programs and variables that have been changed manually in a dedicated robot directory "FMD:". Included are system and KAREL variables, position and data registers, teach pendant programs, and I/O configuration data. These FMD: backup files can be accessed and checked via Ethernet FTP. Benefits • Protect the robot against unauthorized file access • Improve robot uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 176 Up-Time Functions Intelligent Interference Check Features Intelligent Interference Check (R759) is a function to check and prevent an interference between Robots. The user can program the robot to wait before entering an interference space, until the space is clear and no collision possible. Intelligent Interference Check creates realistic models of the robot arm and tooling and safely prevents their interference with other objects and robots. Intelligent Interference Check works for multiarm robots (for example 2 arm controller by one R-30iB controller) as well as for robots with separate controller connected by an Ethernet link. Note: Interference Check shall ensure a smooth production without stopping and downtime. When hazards for operators may occur, we strongly recommend to use Dual Check Safety (DCS) Position / Speed Check option. Models from the DCS position speed check setup can be imported into Interference Check. Benefits • Prevent interference, collisions between Robot and Robot as well as Robot and Equipment, Workpiece and Tooling • Improve uptime in multi-robot cells • Reduce external wiring and system costs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 177 Up-Time Functions iRDiagnostics Features The option iRDiagnostics provides diagnosic functions to monitor and troubleshoot robot reducers, motors, motion and alarm conditions. It warns the user, when reducer abnormalities are detected. It monitors and displays motor parameters and power consumption for each robot program. This function is currently only available on the following robots: R-2000iB series and R-1000iA series. Benefits • Simplify troubleshooting • Improve uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 178 Up-Time Functions Operation Logbook Features The Operation logbook function automatically logs operator actions, alarm messages and warnings. The logged events, warnings and alarms can be configured as required. Benefits • Improve system uptime • Improve process quality and reliability Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 179 Up-Time Functions Password Protection Features Password protection for robot programs, robot data and manual user operations. Benefits • Improve uptime • Avoid misoperations Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 180 Up-Time Functions Process Logger (for Spot Tool and Arc Tool) Features The Process Logger function records process (Spot, Arc, Dispense) status information automatically. The user can check the process log not only at the teach pendant but also using a PC connected to the robot controller via ethernet. Benefits • Automatically monitor and maintain optimum process parameters • Improve process and product quality for Spot, Arc Welding and Dispensing Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 181 Functions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Customization Functions 182 Customization Functions Dynamic Path Modification Features The Dynamic path modifier (DPM) software option shifts the robot path dynamical according to data provided by a third party sensor interface. 2 types of DPM are available: • Modal DPM enables real-time correction and tracking • Inline DPM allows to apply a measured offset Benefits • Improve robot accuracy by external position sensors • Support advanced processing solutions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 183 Customization Functions Integrated PMC Features Optional control software for the integrated Programmable Machine Controller (PMC). The PMC in other words is a PLC integrated in the robot controller. No additional hardware is required for this function, as it is integrated in the R-30iB controller. The PMC hardware allows to use 4ms execution time for level 1 programs. Benefits • The PMC replaces an external PLC and its associated costs • Reduce system complexity and eliminate external wiring and cables • Improve system uptime and reduce costs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 184 Customization Functions Integrated PMC Package Features This software package contains the Integrated PMC (J760) function as well as the PMC Change Mode (R652) function. It improves the ease of use, saves cost and maximizes performance when customizing control of the periphery and robot. Benefits • The PMC replaces an external PLC and its associated costs • Reduced system complexity and elimination of external wiring and cables • Improvement of system uptime and reduction of system costs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 185 Customization Functions Multi-Path PMC Features Enhanced software functions for the integrated Programmable Machine Controller (PMC). The PMC is the equivalent of a PLC integrated in the robot controller. In multipath mode, it executes in parallel several PMC programs. The step sequence supports the sequential execution of PMC programs. The function blocks feature allows to bundle and re-use PMC program code with parameter passing. The PMC features an execution time of 4ms for level 1 programs. Benefits • The PMC replaces an external PLC and its associated costs • Execution of several programs in parallel • Function blocks with parameters Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 186 Customization Functions PMC Change Mode Features The function PMC Change Mode permits to change the programs of the integrated PMC directly with the robot iPendant. Note: changes are restricted so that only the signal addresses can be modified and the signal logic inverted. The original PMC program needs to be created offline on a PC using the "FANUC Ladder III" software. Benefits • Speed up testing and adjusting PMC programs • Speed up system start-up Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 187 Customization Functions Internet Connection / Customization Features The function Internet Connection / Customization supports the design of special Teach Pendant Screens for simple colour graphic User Interfaces (HMI type) using the FANUC iPendant controls, HTML pages and Javascript. This customisation function simplifies the creation of specific robot operation processes to reduce downtime and operator errors. Internet Connection / Customization provides advanced customization functions such as duplication of the iPendant screen on a remote PC (Remote Echo), remote operation using a duplicate iPendant screen (Remote Operation), iPendant controls for customized HTML pages on the remote PC. This function includes DNS (J755) for host name management, DHCP (R526) for automatic IP number assignement and SNTP client (R610) for centralized time server connection Benefits • • • • Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Create Custom User interfaces for display at the robot iPendant or external PC Simple and reliable design using HTML pages Simplify system operation by colour graphic Operation Panels Save cost for an external HMI device or an external PLC 188 Customization Functions KAREL Features The KAREL function allows to load and execute KAREL high level language programs in order to design custom user interfaces, custom monitoring, process, communication, file and documentation functions. Benefits • • • • Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 KAREL high level programs permit to customize robot user interface, communication, system functions Such customizations simplify robot operation and improve uptime Advanced and specialized communication solutions are supported Special process control solutions are possible 189 Customization Functions KAREL Translator / Compressor Features The function KAREL Translator/Compressor allows to translate KAREL high level language source programs into executable P-code on the robot controller and to compress KAREL forms into displayable dictionary files for custom designed user interfaces. These customisation can simplify the process specific robot operations eliminate downtime and operator faults. Benefits • Support special customisations, where KAREL source code needs to be translated on the robot (e.g. during run time) Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 190 Customization Functions KAREL Use Support Function (Use Sprt FCTN) Features The function KAREL Use Sprt FCTN enables testing, debugging, selection and automatic operation of KAREL high level language programs on the robot. Benefits • Speed up programming and system installation, when using KAREL programs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 191 Customization Functions System Design Tool Features System Design Tool (J738) is a software package including KAREL programs executing Trigonometric Function (J736) and Robot Setup Assist (J737). Benefits • Simplifies robot installation and setup • Enhances programming flexibility • Improves uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 192 Customization Functions Mathematical (Math) Functions Features Mathematical Functions (such as ABS, ROUND, SQRT, SIN, COS etc. ) are added to the teach pendant program instructions. Benefits • Enhanced program performance and flexibility • May replace external PC with mathematical processing Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 193 Customization Functions Trigonometric Functions Features Mathematical Functions (such as SINE, COSINE) are added to the teach pendant program instructions. Benefits • Enhanced program performance and flexibility • May replace external PC with mathematical processing Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 194 Customization Functions Menu Utility Features The function Menu Utility enables the creation of custom user menus, data input screens and prompt screens for a customized user interface without needing the KAREL high level programming. These customisation can simplify the process specific robot operations eliminate downtime and operator faults. Benefits • Simplify system operation by configurable menu, data and prompt screens at the teach pendant or and external PC • Save cost for an external HMI device or an external PLC Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 195 Customization Functions Panel Wizard Features The Panel Wizard option enables the creation of 4 colour graphic (operator panel) screens on the iPendant with plug and play buttons, LEDs and labels. With this function, simple customized user interfaces can be created at the iPendant quickly and safely without any need for an external PC and additional PC software. Benefits • Simplify system operation by colour graphic Operation Panels on the teach pendant or and external PC • Save cost and wiring for an external HMI device or an external PLC Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 196 Customization Functions PC Interface Features The PC Interface function supports the remote control and monitoring of the robot by a PC, via Ethernet. It includes macro programs to communicate with PCDK or RobotServer PC software modules loaded into the PC and custom made Visual Basic or C++ programs. Benefits • Customize the robot for the connection to a PC using Visual Basic, C++ or other application programs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 197 Customization Functions User Socket Messaging (Msg) Features The function User Socket Messaging supports the TCP/IP Socket Messaging protocol for Ethernet. It allows the development of custom communication solutions using KAREL high level programs in the robot and high level programs in an external PC, for instance C++. Benefits • Customize the robot for a TCP/IP Socket Messaging protocol to connect to application programs in a PC Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 198 Functions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Miscellaneous Functions 199 Miscellaneous Functions 4D Graphics Features 4D Graphics screen displays a realistic 3D graphic model of the robot system on the screen of the iPendant: Robot arm, program positions, internal data, cell components, tooling or peripheral devices can be displayed. The graphical display of manual operations such as jogging, the physical display of programmed positions as node map and the display of coordinate systems can avoid damages and downtime due to misoperations. Benefits • Simplifies and speeds up robot operation and programming • Avoids operator errors and downtime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 200 Miscellaneous Functions Cycle Time Logging Features This function logs and displays the robot cycle times graphically on the iPendant. By analysing cycle times during motion, processing, waiting, faults etc. the production times can be improved and extended. Benefits • Improve cyletime and productivity Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 201 Miscellaneous Functions DRAM File Storage Features TP DRAM/FILE Storage allows to buffer robot programs in the large Dynamic RAM (DRAM) and in external file memory (for instance a PCMCIA Memory Card mounted in the slot at the main board). It allows to create more and bigger robot programs than with the standard CMOS-RAM memory. Benefits • Extends the number of programs and positions, which can be stored in the robot Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 202 Miscellaneous Functions Easy Teach Suite Features The Easy Teach Suite is a set of functions that make it simpler for you to teach a program. You can touch up points at any time and run the Easy Teach Suite functions again to verify results without affecting production. It includes Auto Path Smoothing for Tool Orientation and Positions (Rubberbanding). Benefits • Simplify program optimization • Improve motion and quality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 203 Miscellaneous Functions High-Speed Shift Features This function switches the speed override to a preset speed value, when a special operation using the SHIFT-key is executed. This helps to speed up manual jogging. The override preset is defined by a system variable. Benefits • Convenience for operators, who quickly want to set override e.g. to 100% for arc welding • Speed up programming and testing • Improve uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 204 Miscellaneous Functions Initial Setting Load Features The Initial Setting Load function enables the robot to load initial settings created offline on a personal computer. The FANUC ROBOGUIDE Robot integration setup tool (A08B-9410-J804) and FANUC ROBOGUIDE Servo gun integration setup tool (A08B-9410-J805) allow to prepare the robot setup offline, which helps to speed up robot system installation. Note: the use of the iPendant is required for this function. Benefits • Easy and safe robot setup • Easy transfer of setting data between robots • Speed up robot installation and reduce costs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 205 Miscellaneous Functions Multi User Operator's Panel (UOP) for Dual Arm Features Multi UOP (Dual Arm) enables a Dual Arm robots system with one controller to be controlled by a supervisory PLC via the digital UOP signals like two separate robot controllers. Note: provides 2 sets of UOP I/O for remote control. Benefits • Faster cycle times • Lower system costs than conventional solution Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 206 Miscellaneous Functions Multi User Operator's Panel (UOP) Interface Features The Multi UOP Interface enables in multi arm robot systems with one common robot controller to control each robot arm directly from a PLC via the User Operator Panel (UOP) interface, as if each robot arm would have a separate robot controller. Note: provides up to 5 sets of UOP I/O for remote control. Benefits • Simplify setup and programming in multi arm robot systems Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 207 Miscellaneous Functions No Shift Jog Features No Shift Jog allows the robot to be manually jogged without holding the SHIFT key. Normally the deadman and the SHIFT key need to be pressed and held to jog the robot. Benefits • Convenience for operators not used to the standard FANUC robot functionality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 208 Miscellaneous Functions No Shift Operation Features This function permits that the robot user can trigger for instance a program testrun and similar operation at the teach pendant without holding the SHIFT-key. Normally any operation at the tach pendant, which could initiate motion, requires holding the SHIFT-key. Benefits • Convenience for operators not used to the standard FANUC robot functionality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 209 Miscellaneous Functions Path Switching Function Features The Path Switching function provides an additional logic instruction to trigger outputs (digital, group, analogue) between taught positions. Benefits • Improve cycle times and process reliability e.g. by opening gripper before arriving at a target position Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 210 Miscellaneous Functions Position Representation (Pos. Rep.) Conversion Features The Position Representation Conversion function converts position data representation of a program at once, from Joint to Cartesian, or from Cartesian to Joint. Normally program positions are represented by Cartesian coordinates but can be individually converted in Joint coordinates. Sometime is can be useful to convert to Joint coordinates e.g. to avoid the robot stopping due to Singularity. Benefits • Help to move through singularity positions • Speed up programming Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 211 Miscellaneous Functions Product Display Improve Features This function informs the Robot Ready status to a supervisory Cell control PLC via the Cell I/O interface (in addition to the normal UOP I/O signals). Benefits • Simplify robot system setup • Improve uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 212 Miscellaneous Functions Robot Isolation Features Control software for multi arm robot systems, where each robot arm can be enabled/disabled by a dedicated keyswitch at the robot operator panel. Benefits • Speed up operation and programming • Improve safety Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 213 Miscellaneous Functions Robot Setup Assist Features With this function, it is possible to export comments, registers content and robot settings to a *.CSV file. This file can then be stored and edited on a PC and loaded into another robot. Benefits • Simplifies multiple robot installation and setup • Improves uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 214 Miscellaneous Functions Servo Tool Change Features The Servo Tool Change function allows to disconnect/reconnect robot tools driven by FANUC servo motors during program execution Benefits • Use e.g. servo gripper with a tool changer • Improve flexibility and costs of the robot system Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 215 Miscellaneous Functions Special FWD / BWD (Forward / Backward Key) Features Special program test function where, at the enabled Teach Pendant, the FWD key needs to be pressed and held to testrun the robot program. Normally the FWD and BWD key need to be pressed and released again to testrun the program. Benefits • Convenience for operators not used to the standard FANUC robot functionality Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 216 Miscellaneous Functions Tool Center Point (TCP) Speed Output Features The Tool Center Point Speed Output function outputs the TCP speed value so that it can be used on external equipments. The TCP Speed can be output to analogue outputs, group outputs or numeric registers. Example of applications: spraying or dispensing devices to control the material flow as a function of the TCP speed or on welding systems to modulate the welding power as function of the TCP speed of the robot. Benefits • Connect to process equipment controlling e.g. welding power by robot speed • improve product quality for complex work pieces and processes Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 217 Functions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Programming Functions 218 Programming Functions Shape Generation 3 Features For cutting applications (waterjet, laser etc.) the shape generation offers predefined shapes (circle, slot, hexagon, pommel etc.), which are taught by teaching the center position and entering the shape dimensions in a shape schedule. This way teaching is speed up and clean and repeatable shapes can be cut. Benefits • Speed up programming for cutting processes • Achieve clean and high quality cuts Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 219 Programming Functions ASCII Program Loader Features The function Ascii Upload enables the robot to directly load ASCII program listing (*.LS) files as they are created by many PC based offline programming systems. Benefits • Upload offline created robot programs • Speed up programming and system start-up Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 220 Programming Functions Program Toolbox Features The Program Toolbox combines program conversion utilities helping to speed up programming by copying and reusing programs: Cross car mirror shift, Flip knuckle (rotates robot wrist but keeping the TCP position), Soft limit setting (allows to teach the software limits of the robot by jogging) Benefits • Speed up programming and system start-up Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 221 Robots Communication FANUC Robot series features latest intelligent FANUC technologies for flexible and efficient factory automation. Ethernet connection ports, software for file backup/restore and a webserver for remote diagnostics are supplied as standard. A wide range of fieldbus interfaces e.g. for DeviceNet, PROFIBUS, Interbus as well as for Ethernet field busses as PROFINET, EtherNet/IP are available as options. It is easy to connect the robot to all types of automation equipment, various HMI and control devices. Fast and safe system installations, reliable operation, easy product change over and remote monitoring improve uptime and profitability. Benefits • 100% FANUC: FANUC develops and manufactures robot and controller HW and SW as well as matching PC software • Seamless integration of PC tools with the robot system provides for competitive costs, top reliability, easy and safe system integration • Fully safisfied customers in all parts of the world and all industries appreciate the superior reliability and performance of FANUC products Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 222 Communication CC-Link Slave (for Mitsubishi PLC) Features Control software for the optional CC-Link boards used to connect to the CC-Link fieldbus of Mitsubishi Electric. Benefits • Connect to PLCs and equipment using CC-Link network • Speeds up system installation • Improve system uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 223 Communication Data Transfer between Robot and PC (Serial) Features Serial communication between robot and PC using RS232 to transfer and control programs, data of the robots and remotely monitor the robot status Benefits • Cost efficient integration with PC based control and sensor solutions Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 224 Communication Data Transfer between Robots (Ethernet) Features Ethernet communication between FANUC robots which transfers values of I/O, numerical, position and string registers by TPE and KAREL programs from one robot to the other. Benefits • Enhances performance in multi robot installations • Reduces system cost • Speeds up robot installation Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 225 Communication DeviceNet Scanner (Master) / Adapter (Slave) Features Control software for the optional DeviceNet master (scanner) and slave (adaptor) boards. This interface board and function provides an easy way to setup the system installation and the connection to popular PLCs and equipment using DeviceNet. Benefits • Connect to PLCs and equipment by DeviceNet network • Speeds up system installation • Improves system uptime and efficiency Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 226 Communication DeviceNet Adapter (Slave) Features Control software for the optional DeviceNet slave (=adaptor) boards. This interface board and function provides an easy way to setup the system installation and the connection to popular PLCs and equipment using DeviceNet. Benefits • Connect to PLCs and machines by DeviceNet network • Speeds up system installation • Improves system uptime and efficiency Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 227 Communication DeviceNet Safety Adapter (Slave) Features Safety control software for connecting the robot as DeviceNet Safety Slave to a cell PLC as DeviceNet Safety master. Benefits • Connect to PLCs and equipment by DeviceNet Safety network • Speeds up system installation • Improves system uptime and efficiency Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 228 Communication Ethernet Global Data (EGD I/O for GE Fanuc / GE PLC) Features Ethernet Global Data (EGB) enables the connection to GE PLC controllers and equipment via Ethernet. This function provides an easy way to setup the system installation and the connection to popular PLCs and equipment using EGB. EGB uses the standard Ethernet port located on the main board of the robot controller. Benefits • Connection to PLCs and external machinery using Ethernet and EGB protocol • Speeds up system installation • Improves system uptime and efficiency Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 229 Communication EtherNet/IP Adapter (Slave) Features Control software which provides connectivity as EtherNet/IP Adapter (Slave) to connect the Robot in an EtherNet/IP environment. This function provides an easy way to setup the system installation and the connection to popular PLCs and equipment using EtherNet/IP. EtherNet/IP Adapter uses the standard Ethernet port located on the main board of the robot controller. Benefits • Connect to PLCs and machines by EtherNet/IP network • Speeds up system installation • Improves system uptime and efficiency Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 230 Communication EtherNet/IP - DeviceNet Router Features The EtherNet/IP to DeviceNet Router connects the robot equipped with EtherNet/IP to equipment with a DeviceNet connection. This function provides an easy way to setup the system installation and the connection to popular PLCs and equipment using both EtherNet/IP and DeviceNet. This function requires an optional DeviceNet interface board and uses the standard Ethernet port located on the main board of the robot controller. Benefits • Connect to PLC by EtherNet/IP and to equipment by DeviceNet network • Speeds up system installation • Improves system uptime and efficiency Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 231 Communication EtherNet/IP Scanner (Master) Features Control software which provides connectivity as EtherNet/IP Scanner (Master) to connect the Robot in an EtherNet/IP environment. This function provides an easy way to setup the system installation and the connection to popular PLCs and devices using EtherNet/IP. EtherNet/IP Scanner uses the standard Ethernet port located on the main board of the robot controller. Benefits • Connect to PLCs and equipment by EtherNet/IP network • Speeds up system installation • Improves system uptime and efficiency Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 232 Communication EtherNet/IP Safety Adapter (Slave) Features Safety control software which provides connectivity as EtherNet/IP Safety Adapter (Slave) to connect the Robot in a EtherNet/IP environment featuring the CIP Safety protocol. This function provides an easy way to setup the system installation and the connection to popular PLCs and devices using Safety on EtherNet/IP. EtherNet/IP Safety Adapter uses the standard Ethernet port located on the main board of the robot controller. Benefits • Connect to PLCs and equipment by EtherNet/IP Safety network • Speeds up system installation • Improves system uptime and efficiency Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 233 Communication FIPIO (Factory Implementation Protocol I/O Slave) Features Control software for the optional FIP IO slave boards. This interface board and function provides an easy way to setup the system installation and the connection to popular PLCs and equipment using FIP I/O, for instance from Schneider Electric. Benefits • Easy connection to PLCs and machines by FIP I/O network • Speeds up system installation and system uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 234 Communication FL-net Features Control software for the optional FL-net network based on Ethernet, also known as JEMA Open PLC network - 2 (OPCN-2). This interface board and function provides an easy way to setup the system installation and the connection to popular PLCs and equipment using FL-net. Benefits • Easy connection to PLCs and equipment by FL-net network • Speeds up system installation and system uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 235 Communication InterBus PxC Master / Slave (Phoenix Contact) Features Control software for the optional InterBus-S communication boards of Phoenix Contact with master and slave function. This interface board and function provides an easy way to setup the system installation and the connection to popular PLCs and equipment using InterBus-S. Benefits • Connect to PLCs and equipment by Interbus-S network • Speeds up system installation and system uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 236 Communication InterBus PxC Slave (Phoenix Contact) Features Control software for the optional Interbus-S Slave communication board of Phoenix Contact. This interface board and function provides an easy way to setup the system installation and the connection to popular PLCs and equipment using InterBus-S. Benefits • Connection to PLCs and machines by Interbus-S network • Speeds up system installation and system uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 237 Communication Machine Tool Connection Features The Machine Tool Connection functions supports the connection of a FANUC robot to a machine tool equipped with a FANUC CNC using FANUC I/O-Link and FL-Net networks. It provides a close integration of the FANUC robot and the FANUC CNC on controlling the machine tool. Features such as I/O interface monitoring, screen sharing, etc. are provided on both robot and CNC. Benefits • Simple and fast installation between the FANUC Robot and CNC • Easy operation and troubleshooting • Improved uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 238 Communication Machine Tool Easy Setup Features The function Machine Tool Easy Setup supports the connection between FANUC robot and FANUC CNC and simplifies setup and programming. Machine Tool Easy Setup uses the iPendant and with graphics based screens and wizards will guide the user through simple step-by-step procedures to create custom robot programs for the desired machine load/ unload process. Benefits • Simplifies the connection and operation of the robot with FANUC CNC machine • Reduction of downtime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 239 Communication Machine Tool Easy Setup and Connection Features This software package contains Machine tool connection function (J984) and Machine Tool Easy Setup (R727). It improves the ease of use, saves cost and maximizes performance integrating FANUC robot with FANUC machine tool. Benefits • Simplifies and speeds up the connection and operation of the robot with a machine equipped with a FANUC CNC • Improvement of the uptime and efficiency of the production Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 240 Communication Modbus/TCP Server Features Modbus/TCP enables the connection to PLCs and equipment via the Modbus/TCP protocol over Ethernet. This function provides an easy way to setup the system installation and the connection to many PLCs, supervision systems and equipment using Modbus/TCP. Benefits • Connect to PLCs and equipment by ModBus/TCP network over Ethernet • Speeds up system installation and system uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 241 Communication PMC and Internet Package Features This software package contains Itegrated PMC (J760), PMC Change Mode (R652) and INTERNET CONN/CUSTO options. It improves the ease of use, saves cost and maximizes performance by customizing (PLC type) control of periphery and robot. This function can be used to control bulk supply systems, fixed automation that is part of the robot workcell, or other devices that would normally require basic PLC controls. Benefits • Replace external PLC and associated cost by integrated FANUC PMC • Provide simple HMI functions at the teach Pendant saving cost for a separate HMI system Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 242 Communication PROFIBUS-DP Master / Slave Features Control software for the optional PROFIBUS-DP master and slave boards. This interface board and function provides an easy way to setup the system installation and the connection to popular PLCs and equipment using PROFIBUS-DP. Benefits • Connect to PLCs and equipment by PROFIBUS-DP network • Speeds up system installation • Improves system uptime and efficiency Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 243 Communication PROFIBUS-DP Master Features Control software for the optional PROFIBUS-DP master boards. This interface board and function provides an easy way to setup the system installation and the connection to popular PLCs and equipment using PROFIBUS-DP. Benefits • Connect to PLCs and equipment by PROFIBUS-DP network • Speeds up system installation • Improves system uptime and efficiency Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 244 Communication PROFIBUS-DP Slave Features Control software for the optional PROFIBUS-DP slave boards. This interface board and function provides an easy way to setup the system installation and the connection to popular PLCs and equipment using PROFIBUS-DP. Benefits • Connect to PLCs and machines by PROFIBUS-DP network • Speeds up system installation • Improves system uptime and efficiency Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 245 Communication PROFINET I/O Controller (Master) / Device (Slave) Features Control software for the optional PROFINET-IO Controller (Master) and Device (slave) board. This interface board and function provides an easy way to setup the system installation and the connection to popular PLCs and equipment using PROFINET-IO. Benefits • Connect to PLCs and equipment by PROFINET-IO network • Speeds up system installation • Improves system uptime and efficiency Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 246 Communication PROFINET Safety Device (Slave) Features Safety control software for connecting the robots as ProfiNet Safety Device to a cell PLC as ProfiNet Safety Controller. Benefits • Connect to PLCs and equipment by Profinet Safety network • Speeds up system installation • Improves system uptime and efficiency Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 247 Communication ROBOMachine JOG Function Features The ROBOMachine JOG option enables a FANUC Robodrill (as master) to command robot (jog) motion via a FANUC-IOLink connection. This is useful, if robot needs to be moved e.g. to safe position. Benefits • Simplify the operation of the robot with FANUC Robodrill • Improve system uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 248 Communication SNTP (Simple Network Time Protocol) Client Features The function "SNTP Client" enables the robot to connect via an Ethernet TCP/IP network to a central time server using the Simple Network Time Protocol. Benefits • Connection to a remote (factory) Time Server via Ethernet SNTP • Snychronize the robot and other device' time with within the factory Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 249 Software Robots FANUC Robot series features latest intelligent FANUC technologies for flexible and efficient factory automation. For the Robotisation of all industries FANUC provide a wide range of intelligent software and networking functions. A wide range of PC software support the Offline programming and simulation of robots, tools for remote maintenance, data backup and management for fast and safe system installations, versatile and cost saving process solutions, improving uptime and profitability. Benefits Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 • 100% FANUC: FANUC develops and manufactures matching PC software for FANUC robots. • Seamless integration of PC tools and the robot system provides for competitive costs, top reliability and easy and safe system integration. • Fully safisfied customers in all parts of the world and all industries appreciate the superior reliability and performance of FANUC products 250 Software Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 FANUC ROBOGUIDE 251 FANUC ROBOGUIDE Standard package Features ROBOGUIDE Offline Programming software for PC allowing development and simulation of robot programs in TPE and KAREL programming languages. Simulates robot and work cell with a 3D display and animation of robot, tooling and equipment. • • • • • • • • Import of CAD data in 3D-IGES, STL, Collada, OBJ and VRML formats CAD to Path program generation is supported (deburring operation, CNC G-Code conversion, etc.) Simulation of objects using simple shapes generated in ROBOGUIDE Simplification of the teaching and testing of the programs with the virtual Teach Pendant (same Teach Pendant look and functions as on the real robot) Graphical collision display Online Ethernet connection to the robot Highly accurate cycle time simulation and analysis And many helpful features... For program optimization and troubleshooting ROBOGUIDE can upload robot backups reproducing the real robot in less than a minute. Benefits • Allows to program and simulate FANUC robot systems without having the machine hardware • Simplifies troubleshooting of FANUC robots without stopping the production Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 252 FANUC ROBOGUIDE 4D Edit Features FANUC ROBOGUIDE 4D Edit allows to display a realistic robot work cell on the R-30iB Touch Pendant. The robot work cell and 3D objects for the 4D-Graphics display on the teach pendant can be developed and downloaded to the robot. Benefits • Easier and safer operation of FANUC robot with R-30iB controller and 4D-Graphics (option) Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 253 FANUC ROBOGUIDE WeldPRO Features ROBOGUIDE WeldPro Offline Programming software for PC supports the development and simulation of robot programs for FANUC ArcTool Robot Application software. It simulates robot and work cell with a 3D display and animation of robot, tooling and equipment. A graphic simulation of the arc, several virtual arc welding torches adapt ROBOGUIDE to arc welding applications. Welding programs can be automatically generated from CAD data of the work piece. All features of the ROBOGUIDE (Standard) package are supported. Benefits • Allows to program and troubleshoot FANUC robots in Arc Welding Applications without stopping the production Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 254 FANUC ROBOGUIDE PaintPRO Features ROBOGUIDE PaintPro Offline Programming software for PC supports the development and simulation of robot programs for FANUC PaintTool Robot Application software. It simulates robot and work cell with a 3D display and animation of robot, tooling and equipment. A graphic simulation of the paint fan, various paint spray guns and advanced path copy and processing features adapt ROBOGUIDE to paint spray applications. All features of the ROBOGUIDE (Standard) package are supported. Benefits • Allows to program and troubleshoot FANUC robots in Paint Spraying Applications without stopping the production Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 255 FANUC ROBOGUIDE ASCII translator package Features Offline Programming software for PC for the development of robot programs in TPE and KAREL programming languages. In comparison to the ROBOGUIDE (Standard) package, the ASCII Translator does not display and animate robot arm and robot cell. Benefits • Allows to program and troubleshoot FANUC robots without stopping the production Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 256 FANUC ROBOGUIDE ChamferingPRO Features ROBOGUIDE ChamferingPRO Offline Programming software for PC supports the development and simulation of robot programs for deburring and chamfering. It simulates robot and work cell with a 3D display and animation of robot, tooling and equipment. Robot paths can be generated from CAD-Data of the work piece. Ready to use *.TP programs are created which can be downloaded to a FANUC robot with HandlingTool Application Software. Can be used together iRVision to capture and process the image of the workpiece and create the chamfering line automatically. All features of the ROBOGUIDE (Standard) package are supported. Benefits • Fast setup and programming of deburring and chamfering applications Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 257 FANUC ROBOGUIDE SpotPRO Features ROBOGUIDE SpotPRO Offline Programming software for PC supports the development and simulation of robot programs for FANUC SpotTool+ Robot Application software. It simulates robot and work cell with a 3D display and animation of robot, tooling and equipment. Weld Point Data in Cartesian coordinates can be used to create a working spot welding robot program. Automatic program generation can create optimal servo gun postures, optimized cycle times (selection of workpoints for different job programs) and optimized robot interlocking. All features of the ROBOGUIDE (Standard) package are supported. Benefits • Allows to program and troubleshoot FANUC robots in Spot Welding Applications without stopping the production Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 258 FANUC ROBOGUIDE PickPRO Features ROBOGUIDE PickPRO Offline Programming software for PC supports the development and simulation of robot programs for FANUC PickTool robot application software. PickPRO can simulate one or multiple robots picking food and other products from a moving conveyor. iRVision and Visual Line Tracking functions can be simulated. All features of the ROBOGUIDE (Standard) package are supported. Benefits • Fast setup and programming of picking and packaging applications Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 259 Software Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 FANUC ROBOGUIDE options 260 FANUC ROBOGUIDE options Auto place Features The FANUC ROBOGUIDE Auto Place PC option automatically places the robot arm at an optimum location relative to work pieces and fixtures. Benefits • Speed up programming and improve cycle times Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 261 FANUC ROBOGUIDE options CAM connection Features CAM connection PC option provides simulation functions and allows ROBOGUIDE to be used as a server for the FANUC CAM software. It supports accurate simulation of the robot by FANUC CAM software for machine tools using FANUC CNC. Benefits • Simplifies the integration and simulation of systems featuring FANUC Robots and Machine Tools using FANUC CNC Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 262 FANUC ROBOGUIDE options Coordinate Features The FANUC ROBOGUIDE Coordinate PC option simulates coordinated motion of multiple robots arms (arc welding robot as follower and handling robot with workpiece as leader). In addition to the simulation, this option also generates: • the optimized position for coordinated arc welding • robot positions with the arc welding torch always pointing downwards • coordinated programs avoiding collisions with fixtures Benefits • Allows to program and troubleshoot coordinate motion robot systems without stopping the production Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 263 FANUC ROBOGUIDE options Duty estimation Features The FANUC ROBOGUIDE Duty Estimation PC option simulates and measures the robot power dissipation and duty cycle. Using this option, overheating of the robot motors for extremely hard robot motion can be avoided and a stable operation to reach the best cycle times will be achieved. Benefits • Improve robot cycle times and robot uptime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 264 FANUC ROBOGUIDE options Line tracking Features The FANUC ROBOGUIDE Line tracking PC option simulates line tracking operation including a conveyor, trigger switch, arbitrarily placed work pieces on the conveyor and more. Benefits • Allow to program and troubleshoot line tracking robots without stopping the production Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 265 FANUC ROBOGUIDE options Power consumption estimation Features The FANUC ROBOGUIDE Power consumption estimation PC option simulates and measures the robot power consumption. Using this option, robot programs can be optimized for lowest power consumption. Benefits • Allows to optimize power consumption of FANUC robots without stopping the production Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 266 FANUC ROBOGUIDE options Robot integration setup Features The FANUC ROBOGUIDE Robot Integration Setup PC option is a PC based software to configure and setup FANUC robots, use standardized robot settings in installations with many robots, etc. The function creates the robot setup file on the PC and downloads the file to the robot controller. Benefits • Speeds up robot installation and setup Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 267 FANUC ROBOGUIDE options Servo gun integration setup Features The FANUC ROBOGUIDE Servo Gun Integration Setup PC option is a PC based software to configure and setup FANUC robots with FANUC Servo Guns. Benefits • Speeds up robot installation and setup Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 268 FANUC ROBOGUIDE options Spray Features The FANUC ROBOGUIDE Spray PC option simulates spraying applications. It simulates and measures e.g. the spray intensity on the work piece surface. Using this option, robot programs can be optimized for best surface coverage and lowest material consumption Benefits • Optimize surface quality and minimize material consumption Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 269 FANUC ROBOGUIDE options System monitoring Features The FANUC ROBOGUIDE System monitoring PC option is a tool to investigate difficult and sporadic production problems. Up to 8 USB-cameras observing critical operations can be connected to the PC with the Monitoring Software. Robot signals, alarms and events can be monitored to detect the problem. In case of a problem, the camera film sequence(s) leading to the problem are automatically stored and registered. Benefits • Eliminate failures and downtime Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 270 FANUC ROBOGUIDE options Vision Features The FANUC ROBOGUIDE Vision PC option is a plugin for simulation of camera(s) and vision detection in ROBOGUIDE. Virtual cameras can be located in the work cell or held by the robot, work pieces can be located even at arbitrary locations to simulate a vision process from image snapping to work piece location. Benefits • Allows to program and troubleshoot FANUC robots using the fully integrated FANUC iRVision machine vision system without stopping the production Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 271 Software FANUC PC FTP NETWORK Features PC software for quick backup and restore of robot programs and data via Ethernet FTP. Benefits • Improve uptime and speed up problem recovery Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 272 Software FANUC Robot Interface (developer) Features PC software for connection to a FANUC Robot using Active-X function with Visual Basic, C++ etc. and for Ethernet connection to the robot. Robot data and I/O can be displayed and changed, programs and files controlled and managed. The Developer license entitles of develop an new application solution in the PC. Benefits • Supports remote control and monitoring of the robot using a Windows PC and Windows application programs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 273 Software FANUC Robot Interface (runtime) Features PC software for connection to a FANUC Robot using Active-X function with Visual Basic, C++ etc. and for Ethernet connection to the robot. Robot data and I/O can be displayed and changed, programs and files controlled and managed. The Runtime license entitles the use of compiled programs and setup. Benefits • Supports remote control and monitoring of the robot using a Windows PC and Windows application programs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 274 Software FANUC Robot PC Developer's Kit Features PC software for connection to a FANUC Robot using Active-X function with Visual Basic, C++ etc. and for Ethernet connection to the robot. Robot data and I/O can be displayed and changed, programs and files controlled and managed. The Developer license entitles of develop an new application solution in the PC. Benefits • Supports remote control and monitoring of the robot using a Windows PC and Windows application programs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 275 Software FANUC Robot PC Developer's Kit Runtime Library Features PC software for connection to a FANUC Robot using Active-X function with Visual Basic, C++ etc. and for Ethernet connection to the robot. Robot data and I/O can be displayed and changed, programs and files controlled and managed. The Runtime license entitles the use of compiled programs and setup. Benefits • Supports remote control and monitoring of the robot using a Windows PC and Windows application programs Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 276 Software FANUC LADDER III for robot Features FANUC LADDER is the development tool required to create, edit and diagnose Ladder programs for the Programmable Machine Controller (PMC) integrated in the robot controllers. Online editing on the PMC via serial line or Ethernet is possible as well as offline PMC programming. FANUC LADDER supports the multi-ladder environment of the PMC of the R-30iB controllers, as well as the single ladder environment of the R-30i-A and legacy controllers such as R-J3 and R-J3iB. Features of FANUC LADDER development tool • • • • • • Inputting, displaying, editing, and outputting sequence programs Monitoring and debugging sequence programs Setting and displaying PMC parameters Executing and stopping sequence programs Transfer to and from the PMC (RAM) Writing to flash ROM Benefits • Creation, edition and diagnostic of PMC programs • Customization of ladder to match requirements of the automated system • Optimization of the interface between the robots and the peripherals Notice Certain functions may require additional hardware, different CPU type or additional memory capacity or may cause compatibility issue with other functions. In case of doubt, contact your FANUC sales representative for additional information and support. The information given in the FANUC manuals or original manufacturer documentation shall prevail. Technical data is subject to change without prior notice. No part of this document may be reproduced in any form. All rights reserved. FANUC 2013 Index 4 CD Dynamic U-Frame.................................................................................................................... 023 4D Edit............................................................................................................................................. 252 CPRUT..............................................................................................................................................026 4D Graphics.....................................................................................................................................199 ChamferingPRO...............................................................................................................................256 A Communication............................................................................................................................... 221 Constant Path................................................................................................................................. 024 ADV-CP Path Control Package...................................................................................................... 017 Continuous Turn............................................................................................................................. 025 ADV-CP Speed Control Package................................................................................................... 018 Controlled Stop by E-Stop..............................................................................................................130 ASCII Program Loader................................................................................................................... 219 Coordinate....................................................................................................................................... 262 ASCII translator package............................................................................................................... 255 Coordinated Motion Package......................................................................................................... 103 AVC (Automatic Voltage Control)................................................................................................... 087 Custom Weaving............................................................................................................................. 090 Anti-Deflection................................................................................................................................ 019 Customization Functions................................................................................................................ 181 Arc Abnormal Monitor.................................................................................................................... 113 Cycle Time Logging........................................................................................................................ 200 Arc Override Control.......................................................................................................................104 Cycle Time Priority......................................................................................................................... 027 Arc Production Monitor.................................................................................................................. 114 Arc Start Height Adjust.................................................................................................................. 093 D Arc Torch Mate............................................................................................................................... 096 DRAM File Storage......................................................................................................................... 201 Arc Welding Analogue Meter......................................................................................................... 115 Data Monitor................................................................................................................................... 171 Arc Welding Functions................................................................................................................... 082 Data Transfer between Robot and PC (Serial)..............................................................................223 ArcTool.............................................................................................................................................083 Data Transfer between Robots (Ethernet).................................................................................... 224 Auto place........................................................................................................................................260 Default Dispense.............................................................................................................................120 Automatic Collision Recovery........................................................................................................ 170 DeviceNet Adapter (Slave)..............................................................................................................226 Automatic Error Recovery.............................................................................................................. 167 DeviceNet Safety Adapter (Slave).................................................................................................. 227 B DeviceNet Scanner (Master) / Adapter (Slave)............................................................................. 225 Diagnostics Interface...................................................................................................................... 172 Basic Functions...............................................................................................................................012 Digital Servo Function.................................................................................................................... 015 Basic Interference Check...............................................................................................................168 Dispense Tool Application 2nd Analogue Port..............................................................................121 Basic Positioner.............................................................................................................................. 020 Dispensing Functions..................................................................................................................... 119 Basic Remote Tool Center Point (TCP)......................................................................................... 021 Dual Check Safety (DCS) Position / Speed Check........................................................................ 131 C CAM connection.............................................................................................................................. 261 CC-Link Slave (for Mitsubishi PLC)............................................................................................... 222 Dual Check Safety (DCS) Safe I/O Connection Function.............................................................. 132 Dual Drive........................................................................................................................................028 Duty estimation............................................................................................................................... 263 Dynamic Path Modification.............................................................................................................182 E Fronius Welding Equipment Library..............................................................................................111 Easy Teach Suite.............................................................................................................................202 Functions......................................................................................................................................... 011 Enhanced Mirror Image................................................................................................................. 029 G Enhanced Stopping......................................................................................................................... 128 Error Code Output.......................................................................................................................... 173 EtherNet/IP - DeviceNet Router.................................................................................................... 230 General Positioner.......................................................................................................................... 032 Gravity Compensation.....................................................................................................................033 EtherNet/IP Adapter (Slave)........................................................................................................... 229 H EtherNet/IP Safety Adapter (Slave)................................................................................................232 HDI for Line Tracking (High-speed Digital Input)......................................................................... 034 EtherNet/IP Scanner (Master)....................................................................................................... 231 Handling Functions.........................................................................................................................060 Ethernet Encoder............................................................................................................................ 030 Handling Tool.................................................................................................................................. 061 Ethernet Global Data (EGD I/O for GE Fanuc / GE PLC).............................................................. 228 Heat Wave Synchronization............................................................................................................117 Extended Axis Control.................................................................................................................... 031 High Sensitivity Collision Detection Package................................................................................169 External Mode Select..................................................................................................................... 133 High-Speed Shift............................................................................................................................. 203 F I FANUC LADDER III for robot......................................................................................................... 276 IWDG (Integrated Welding Controller for Dengensha)................................................................. 067 FANUC PC FTP NETWORK............................................................................................................ 271 Improved Touch Retract.................................................................................................................099 FANUC ROBOGUIDE....................................................................................................................... 250 Independent Auxiliary Axes............................................................................................................ 035 FANUC ROBOGUIDE options..........................................................................................................259 Initial Setting Load..........................................................................................................................204 FANUC Robot Interface (developer).............................................................................................. 272 Integrated PMC............................................................................................................................... 183 FANUC Robot Interface (runtime)................................................................................................. 273 Integrated PMC Package................................................................................................................184 FANUC Robot PC Developer's Kit................................................................................................. 274 Integrated Servo Dispenser (ISD) Gear Meter.............................................................................. 122 FANUC Robot PC Developer's Kit Runtime Library..................................................................... 275 Integrated Servo Dispenser (ISD) Single Acting Meter................................................................ 123 FIPIO (Factory Implementation Protocol I/O Slave)......................................................................233 Intelligent Interference Check....................................................................................................... 176 FL-net.............................................................................................................................................. 234 InterBus PxC Master / Slave (Phoenix Contact)........................................................................... 235 Fault and Incident Reporting......................................................................................................... 174 InterBus PxC Slave (Phoenix Contact).......................................................................................... 236 Filtered Memory Device................................................................................................................. 175 Internet Connection / Customization.............................................................................................187 Fixed Force Sensor.........................................................................................................................161 Force Control Basic........................................................................................................................162 K Force Control Basic 3-Axis............................................................................................................ 160 KAREL.............................................................................................................................................. 188 Force Control Contouring.............................................................................................................. 164 KAREL Translator / Compressor...................................................................................................189 Force Control Deburring Path Generation....................................................................................165 KAREL Use Support Function (Use Sprt FCTN)........................................................................... 190 Force Control Fitting...................................................................................................................... 163 Force Sensing Functions................................................................................................................159 Foreword..........................................................................................................................................009 L LR Handling Tool............................................................................................................................ 063 LR Tool............................................................................................................................................ 062 N Learning Vibration Control (LVC)...................................................................................................038 NEMO Pump Function....................................................................................................................124 Lincoln Electric Welding Equipment Library................................................................................ 110 Nadex DeviceNet Welding Controller............................................................................................068 Lincoln Electric control parameters for Japan............................................................................ 108 No Shift Jog.................................................................................................................................... 207 Lincoln Electric control parameters for North America.............................................................. 109 No Shift Operation.......................................................................................................................... 208 Lincoln Ethernet Default (Arclink-XT)........................................................................................... 107 Line Tracking.................................................................................................................................. 036 O Line tracking................................................................................................................................... 264 Operation Logbook..........................................................................................................................178 Local Stop........................................................................................................................................134 Low-Frequency Pulse Welding...................................................................................................... 102 P PC Interface.................................................................................................................................... 196 M PMC Change Mode......................................................................................................................... 186 M-1iA - 1 kg Option........................................................................................................................ 039 PMC and Internet Package............................................................................................................ 241 M-2000iA - 1.350 kg Option........................................................................................................... 040 PROFIBUS-DP Master.................................................................................................................... 243 M-3iA/6S - High Inertia Option (HiOpt)..........................................................................................041 PROFIBUS-DP Master / Slave....................................................................................................... 242 M-900iA - 700 kg Option................................................................................................................ 042 PROFIBUS-DP Slave.......................................................................................................................244 M900iA/400L - High Inertia Option (HiOpt)....................................................................................043 PROFINET I/O Controller (Master) / Device (Slave)......................................................................245 Machine Tool Connection............................................................................................................... 237 PROFINET Safety Device (Slave)....................................................................................................246 Machine Tool Easy Setup............................................................................................................... 238 PaintPRO..........................................................................................................................................254 Machine Tool Easy Setup and Connection.................................................................................... 239 Palletizing........................................................................................................................................ 064 Mathematical (Math) Functions..................................................................................................... 192 Panel Wizard................................................................................................................................... 195 Menu Utility..................................................................................................................................... 194 Password Protection.......................................................................................................................179 Miller Welding Equipment Library.................................................................................................112 Path Adjust Function...................................................................................................................... 049 Minimum Rotation (MROT) Instruction..........................................................................................046 Path Switching Function................................................................................................................ 209 Miscellaneous Functions................................................................................................................198 Payload Confirm..............................................................................................................................050 Modbus/TCP Server........................................................................................................................ 240 Payload Identification......................................................................................................................051 Motion Functions............................................................................................................................ 016 PickPRO........................................................................................................................................... 258 Motion Interface.............................................................................................................................. 044 Position Bump Box......................................................................................................................... 052 Motion Package...............................................................................................................................045 Position Representation (Pos. Rep.) Conversion.......................................................................... 210 Multi User Operator's Panel (UOP) Interface............................................................................... 206 Positioner (Arc Positioner, 1-Axis Positioner, ...)......................................................................... 084 Multi User Operator's Panel (UOP) for Dual Arm........................................................................ 205 Power consumption estimation..................................................................................................... 265 Multi-Arm Package (Legacy)..........................................................................................................047 Pressure Profile Control................................................................................................................ 069 Multi-Equipment Control................................................................................................................100 Process Logger (for Spot Tool and Arc Tool)............................................................................... 180 Multi-Group Motion.........................................................................................................................048 Product Display Improve................................................................................................................ 211 Multi-Path PMC.............................................................................................................................. 185 Program Toolbox............................................................................................................................ 220 Programming Functions.................................................................................................................217 Shape Generation 3........................................................................................................................ 218 Pump Only Motion.......................................................................................................................... 125 Singularity Avoidance......................................................................................................................065 R Small Circle Accuracy.................................................................................................................... 055 Soft Float......................................................................................................................................... 056 R-2000iB/200R Stud........................................................................................................................080 Software...........................................................................................................................................249 R-2000iB/210F Stud........................................................................................................................ 081 Special FWD / BWD (Forward / Backward Key)........................................................................... 215 R-30iB Basic Software................................................................................................................... 013 Spot Program Touch-up Function................................................................................................. 076 R-30iB Mate Basic Software.......................................................................................................... 014 Spot Welding Functions..................................................................................................................066 ROBOMachine JOG Function..........................................................................................................247 SpotPRO...........................................................................................................................................257 RPMP (Root-Pass Memorization and Multi-Pass Welding)......................................................... 088 SpotTool+......................................................................................................................................... 077 Rail Unit...........................................................................................................................................053 Spray................................................................................................................................................ 268 Remote Tool Center Point (TCP)................................................................................................... 022 Standard package........................................................................................................................... 251 Robot Isolation................................................................................................................................ 212 Stitch Function................................................................................................................................ 126 Robot Link (Simultaneous Motion)................................................................................................ 054 System Design Tool........................................................................................................................ 191 Robot Setup Assist......................................................................................................................... 213 System monitoring..........................................................................................................................269 Robot integration setup..................................................................................................................266 Robots.............................................................................................................................................. 010 S T TAST (Through Arc Seam Tracking).............................................................................................. 085 TAST Multi-Path Pack.................................................................................................................... 086 SNTP (Simple Network Time Protocol) Client.............................................................................. 248 Tool Center Point (TCP) Speed Output..........................................................................................216 Safety Functions..............................................................................................................................127 Torch Angle..................................................................................................................................... 094 Safety Functions for CE Compliance (CE Mark)........................................................................... 129 Torch Guard.................................................................................................................................... 095 Safety Functions for NRTL Compliance........................................................................................ 135 Torque Limit....................................................................................................................................057 Servo Conveyor Line Tracking....................................................................................................... 037 Touch Sensing.................................................................................................................................092 Servo Gun Axes............................................................................................................................... 070 Touch Skip.......................................................................................................................................058 Servo Gun Change.......................................................................................................................... 071 Tracking Jog....................................................................................................................................118 Servo Gun Diagnosis.......................................................................................................................075 Trigonometric Functions................................................................................................................ 193 Servo Gun Option............................................................................................................................ 072 Servo Gun Setup Package..............................................................................................................073 U Servo Robot..................................................................................................................................... 105 Universal Sensor Interface.............................................................................................................116 Servo Robot ROBOCOM Lite.......................................................................................................... 106 Up-Time Functions......................................................................................................................... 166 Servo Tip Dresser........................................................................................................................... 074 User Socket Messaging (Msg)....................................................................................................... 197 Servo Tool Change..........................................................................................................................214 Servo gun integration setup...........................................................................................................267 V ServoTorch for Aluminium............................................................................................................. 098 Vision................................................................................................................................................270 ServoTorch for Steel.......................................................................................................................097 Vision Functions.............................................................................................................................. 136 Vision Support Tools.......................................................................................................................158 W iRCalibration Vision Shift (VShift)...................................................................................................142 iRCalibration Vision Tool Center Point (VTCP)..............................................................................143 iRDiagnostics...................................................................................................................................177 WTC/Medar Integrated Spot Welding Controller.......................................................................... 079 iRVision 2D (2-Dimensional Vision Bundle)...................................................................................144 Wash Teaching................................................................................................................................ 059 iRVision 3D Area Sensor................................................................................................................ 148 Weaving............................................................................................................................................089 iRVision 3D Tri-View....................................................................................................................... 145 WeldPRO..........................................................................................................................................253 iRVision 3DL (3-Dimentional Laser Vision Bundle)...................................................................... 146 Welding Speed Output.................................................................................................................... 101 iRVision AntiDefect..........................................................................................................................147 Welding Tip Inspection................................................................................................................... 078 iRVision Barcode Reader (BarcodeRead)...................................................................................... 149 Wrist Axes Weaving........................................................................................................................ 091 iRVision Bin Picking........................................................................................................................150 i iRVision Core................................................................................................................................... 152 iRCalibration Package.................................................................................................................... 137 iRCalibration Vision Axis (VAxis).................................................................................................... 138 iRCalibration Vision Frame (VFrame)............................................................................................ 139 iRCalibration Vision Mastering (VMaster)......................................................................................140 iRCalibration Vision Multi-Group Calibration (VMCal).................................................................. 141 iRVision Image to Points................................................................................................................ 153 iRVision Part Queue........................................................................................................................154 iRVision Slave.................................................................................................................................. 151 iRVision TorchMate......................................................................................................................... 155 iRVision UIF Control (User Interface Function)............................................................................ 156 iRVision Visual Line Tracking.........................................................................................................157 MBR-00179-EN Version 1.0
