FANUC Robotics
System R-J3 through R-30iA Series Controller
HandlingTool Application Programming
Training Manual
MATAGHAND1007CE REV. B
This publication contains proprietary information of
FANUC Robotics America Corporation furnished for
customer use only. No other uses are authorized without
the express written permission of FANUC Robotics
America Corporation
FANUC Robotics America Corporation
3900 W. Hamlin Road
Rochester Hills, Michigan 48309-3253
The information illustrated or contained herein is not to be
reproduced copied, translated into another language, or
transmitted in whole or in part in any way without the prior
written consent of the FANUC Robotics Corporation
Copyright © 2010 by
FANUC Robotics America Corporation
All Rights Reserved
Table of Contents
1
i
COURSE OVERVIEW .................................................................................................... 1
1.1
COURSE GOAL: ................................................................................................................1
1.2
AUDIENCE: .......................................................................................................................1
1.3
PREREQUISITES: ..............................................................................................................1
1.4
COURSE SCHEDULE ..........................................................................................................2
1.5
TASK LIST ........................................................................................................................4
1.6
OBJECTIVES .....................................................................................................................6
2
PRE-TEST .................................................................................................................. 7
3
SAFETY .................................................................................................................... 15
3.1
3.1.1
Keeping People and Equipment Safe......................................................................16
3.1.2
Using Safety Enhancing Devices.............................................................................17
3.1.3
Setting Up a Safe Workcell......................................................................................17
3.1.4
Staying Safe While Teaching or Manually Operating the Robot..............................19
3.1.5
Staying Safe During Automatic Operation ...............................................................20
3.1.6
Staying Safe During Inspection ...............................................................................21
3.1.7
Staying Safe During Maintenance ...........................................................................21
3.2
KEEPING MACHINE TOOLS AND EXTERNAL DEVICES SAFE ...............................................23
3.2.1
Programming Safety Precautions ............................................................................23
3.2.2
Mechanical Safety Precautions ...............................................................................23
3.3
4
CONSIDERING SAFETY FOR YOUR ROBOT INSTALLATION .................................................16
KEEPING THE ROBOT SAFE ............................................................................................23
3.3.1
Operating Safety Precautions..................................................................................24
3.3.2
Programming Safety Precautions ............................................................................24
3.4
INDUSTRIAL ROBOT SAFETY TRAINING PROGRAM ............................................................24
3.5
FANUC TRAINING LAB SAFETY.......................................................................................25
ROBOT SYSTEM ........................................................................................................ 27
4.1
MECHANICAL UNIT ..........................................................................................................27
4.2
SOFTWARE ....................................................................................................................29
4.3
CONTROLLER .................................................................................................................30
4.3.1
Standard Operator Panel.........................................................................................32
4.3.2
MODE SELECT Switch (for Control Reliable option only).......................................34
4.3.3
T1 (<250mm/s): Test Mode 1 ..................................................................................35
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4.3.4
T2 (100%): Test Mode 2 ..........................................................................................36
4.3.5
AUTO: Automatic Mode...........................................................................................37
4.3.6
Teach Pendant ........................................................................................................39
4.3.7
Motion Control Buttons and Keys ............................................................................41
4.3.8
Teach Pendant Keys ...............................................................................................42
4.3.9
Menu Favorites ........................................................................................................46
4.3.10
Quick/Full Menus ...................................................................................................49
4.4
5
PERIPHERAL EQUIPMENT ................................................................................................54
4.4.1
User Operator Panel (UOP).....................................................................................54
4.4.2
Communications ......................................................................................................54
POWER UP AND JOGGING ........................................................................................... 55
5.1
TURNING ON AND OFF THE CONTROLLER ........................................................................56
5.1.1
5.2
JOGGING THE ROBOT .....................................................................................................59
5.2.1
Jog Speed................................................................................................................60
5.2.2
Coordinate Systems ................................................................................................61
5.2.3
Jogging in JOINT .....................................................................................................63
5.2.4
Jogging in World ......................................................................................................64
5.2.5
Motion Groups .........................................................................................................68
5.2.6
Extended Axes and Sub-Groups .............................................................................69
5.2.7
Error Codes & Recovery..........................................................................................69
5.2.8
Hand Breakage Recovery........................................................................................76
5.2.9
Chain Failure Detection Error Recovery ..................................................................77
5.3
AXIS LIMITS ....................................................................................................................85
5.3.1
6
7
Cycle Power – R-30iA..............................................................................................56
Version Identification Status ....................................................................................88
FRAME SETUP ........................................................................................................ 101
6.1
TYPES OF FRAMES .......................................................................................................102
6.2
TOOL FRAME ................................................................................................................102
6.2.1
Jog Menu ...............................................................................................................121
6.2.2
User Frame............................................................................................................127
6.2.3
Jog Frame..............................................................................................................150
CREATING & WRITING A PROGRAM .......................................................................... 165
7.1
PLANNING A PROGRAM .................................................................................................171
7.1.1
Motion ....................................................................................................................171
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7.2
WRITING A NEW PROGRAM ...........................................................................................174
7.2.1
Create a Program ..................................................................................................175
7.2.2
Defining Detail Information ....................................................................................180
7.3
TESTING A PROGRAM ...................................................................................................189
7.3.1
7.4
PROGRAM PAUSE AND RECOVERY ................................................................................190
7.4.1
7.5
Remote/Local Configuration ..................................................................................190
HOLD and Recovery..............................................................................................191
TEST CYCLE.................................................................................................................192
7.5.1
Test Cycle Setup ...................................................................................................192
7.5.2
Single Step Testing................................................................................................195
7.5.3
Continuous Testing................................................................................................200
7.6
CONTINUOUS TESTING USING CYCLE START BUTTON. ..................................................203
7.7
STANDARD OPERATOR PANEL CYCLE START PRODUCTION ...........................................205
8
MOTION INSTRUCTION ............................................................................................. 211
8.1
MOTION TYPE ..............................................................................................................212
8.2
POSITIONAL INFORMATION ............................................................................................219
8.3
SPEED .........................................................................................................................222
8.4
TERMINATION TYPE ......................................................................................................225
8.5
DEFINING DEFAULT MOTION INSTRUCTION INFORMATION ..............................................228
8.6
PREDEFINED POSITIONS ...............................................................................................230
8.7
POSITION REGISTERS ...................................................................................................234
COPYING & EDITING PROGRAMS .............................................................................. 245
9
9.1
COPYING A PROGRAM ..................................................................................................245
9.2
DELETING A PROGRAM .................................................................................................247
9.3
MODIFYING A PROGRAM ...............................................................................................248
10
PROGRAM INSTRUCTIONS ..................................................................................... 263
10.1
UNCONDITIONAL BRANCHING INSTRUCTIONS .................................................................264
10.1.1
JMP LBL[x] ..........................................................................................................264
10.1.2
CALL program .....................................................................................................264
10.1.3
END .....................................................................................................................265
10.2
CONDITIONAL BRANCHING INSTRUCTIONS .....................................................................266
10.2.1
IF R[x] [operator] [value] [action]..........................................................................266
10.2.2
IF [I/O] [operator] [value] [action] .........................................................................266
10.2.3
SELECT R[x] .......................................................................................................268
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10.3
LABEL DEFINITION INSTRUCTION LBL[X]........................................................................269
10.4
REGISTER INSTRUCTIONS .............................................................................................270
10.5
REGISTERS ..................................................................................................................270
10.5.1
10.6
Register Addressing ............................................................................................270
LOOPING INSTRUCTIONS ...............................................................................................276
10.6.1
FOR…DO Loop ...................................................................................................276
10.6.2
While Loop...........................................................................................................277
10.6.3
Repeat Loop ........................................................................................................277
10.6.4
Position Register Instructions ..............................................................................278
10.6.5
PR[i,j] Position Register Element Instructions .....................................................279
10.7
WAIT [ITEM] [OPERATOR] [VALUE] [TIME] .......................................................................280
10.7.1
11
WAIT time ............................................................................................................282
I/O PROGRAMMING INSTRUCTIONS & OPERATION ................................................... 293
11.1.1
Input/Output (I/O).................................................................................................295
11.1.2
Remote I/O Interfaces..........................................................................................295
11.2
HARDWARE ..................................................................................................................297
11.3
TYPES OF SIGNALS .......................................................................................................301
11.4
SETTING UP I/O ...........................................................................................................303
11.4.1
Configuring I/O.....................................................................................................304
11.4.2
Digital I/O Setup...................................................................................................309
11.4.3
Robot IO/Setup ....................................................................................................314
11.4.4
Group I/O setup ...................................................................................................315
11.5
CONTROLLING I/O ........................................................................................................320
11.5.1
Forcing Outputs ...................................................................................................320
11.5.2
Simulating I/O ......................................................................................................323
11.6
STANDARD OPERATOR PANEL (SOP) I/O SETUP ............................................................327
11.7
INPUT/OUTPUT INSTRUCTIONS ......................................................................................329
11.7.1
Digital Input and Output Instructions....................................................................329
11.7.2
Robot Digital Input and Output Instructions .........................................................330
11.7.3
Group Input and Output Instructions....................................................................332
12
MISCELLANEOUS INSTRUCTIONS ........................................................................... 339
12.1
REMARK INSTRUCTION .................................................................................................339
12.2
OVERRIDE INSTRUCTION ............................................................................................339
12.3
TIMER INSTRUCTION .....................................................................................................340
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12.4
MESSAGE INSTRUCTION ...............................................................................................342
13
SYSTEM VARIABLES............................................................................................. 349
14
MACRO COMMANDS ............................................................................................. 355
14.1
SETTING UP MACRO COMMANDS ..................................................................................356
14.2
EXECUTING MACRO COMMANDS ...................................................................................362
15
PROGRAM ADJUST .............................................................................................. 369
15.1
16
ADJUSTING A PROGRAM OR A SCHEDULE ......................................................................371
PROGRAM AND FILE MANIPULATION ....................................................................... 383
16.1.1
Using a Memory Card Interface...........................................................................384
16.1.2
Setting the Default Device ...................................................................................385
16.1.3
Formatting Devices..............................................................................................387
16.1.4
Backing Up Files..................................................................................................392
16.1.5
Generating a Directory of Files ............................................................................399
16.2
DELETING A PROGRAM .................................................................................................402
16.3
LOADING PROGRAMS....................................................................................................407
16.3.1
16.4
CONTROLLER BACKUP AS IMAGES.................................................................................410
16.4.1
17
Loading an ASCII Teach Pendant Program ........................................................409
Restoring Controller Images ................................................................................413
POST-TEST ......................................................................................................... 419
List of Figures
Figure 3-1 Sample Robot Cell ......................................................................................................................................25
Figure 4-1 Mode Select Switch ....................................................................................................................................34
Figure 4-2 Effect of Opening the Safety Fence While in AUTO Mode..........................................................................37
Figure 4-3 Legacy Standard Teach Pendant................................................................................................................39
Figure 4-4 iPendant Overview......................................................................................................................................40
Figure 4-5 iPendant Teach Pendant ............................................................................................................................41
Figure 4-6 EMERGENCY STOP Button.......................................................................................................................41
Figure 4-7 Menu Favorites ...........................................................................................................................................46
Figure 4-8 Teach Pendant............................................................................................................................................47
Figure 4-9 HandlingTool Full Menus (pages 1 and 2) ..................................................................................................49
Figure 4-10 Quick Menus (pages 1 and 2) ...................................................................................................................50
Figure 4-11 FCT Menus (pages 1 and 2) .....................................................................................................................50
Figure 4-12 DEADMAN Switch ....................................................................................................................................51
Figure 4-13 Teach Pendant Status Indicators ..............................................................................................................52
Figure 4-14 iPendant Status Indicators ........................................................................................................................52
Figure 5-1 Jog Speed Keys..........................................................................................................................................60
Figure 5-2 COORD Display..........................................................................................................................................61
Figure 5-3 Material Handling Teach Pendant...............................................................................................................91
Figure 6-1 Typical Tool Frame ................................................................................................................................... 106
Figure 6-2 Defining the Orientation of the Origin........................................................................................................ 115
Figure 6-3 World and User Frames............................................................................................................................ 131
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Figure 6-4 Defining the Origin .................................................................................................................................... 134
Figure 6-5 Defining the X Direction Point ................................................................................................................... 135
Figure 6-6 Defining the X-Y Plane.............................................................................................................................. 136
Figure 6-7 Defining the Origin .................................................................................................................................... 140
Figure 6-8 Defining the X Direction Point ................................................................................................................... 141
Figure 6-9 Defining the X-Y Plane.............................................................................................................................. 142
Figure 6-10 Defining the Second Origin ..................................................................................................................... 143
Figure 6-11 Jog Frame Defined Parallel to Part ......................................................................................................... 151
Figure 6-12 Defining the Origin .................................................................................................................................. 154
Figure 6-13 Defining the X Direction Point ................................................................................................................. 154
Figure 6-14 Defining the X-Y Plane............................................................................................................................ 155
Figure 6-15 Material Handling Teach Pendant........................................................................................................... 161
Figure 7-1 Continuous Termination Type for Palletizing............................................................................................. 171
Figure 7-2 Writing and Modifying a Program.............................................................................................................. 174
Figure 7-3 Example Program Showing Backward Execution ..................................................................................... 196
Figure 7-4 Material Handling Teach Pendant............................................................................................................. 207
Figure 8-1 Joint Motion Type...................................................................................................................................... 213
Figure 8-2 Linear Motion Type ................................................................................................................................... 214
Figure 8-3 Circular Motion Type................................................................................................................................. 216
Figure 8-4 Restart of Circular Motion Instruction........................................................................................................ 216
Figure 8-5 Restart of Circular Motion Instruction........................................................................................................ 217
Figure 8-6 Positional Information ............................................................................................................................... 219
Figure 8-7 Example of the Sec Speed Feature .......................................................................................................... 223
Figure 8-8 Robot Motion with Fine Termination Type................................................................................................. 226
Figure 8-9 Robot Motion with Continuous Termination Type...................................................................................... 227
Figure 8-10 Home Position......................................................................................................................................... 231
Figure 8-11 Repair Position........................................................................................................................................ 232
Figure 8-12 Safe Position........................................................................................................................................... 233
Figure 10-1 JMP LBL[x] ............................................................................................................................................. 264
Figure 10-2 CALL program......................................................................................................................................... 265
Figure 10-3 Program End Instruction ......................................................................................................................... 265
Figure 10-4 I/O IF Instruction for DI/DO, RI/RO, SI/SO and UI/UO ............................................................................ 267
Figure 10-5 I/O IF Instruction for R, AI/AO, GI/GO and System Variable................................................................... 267
Figure 10-6 Select Instruction .................................................................................................................................... 268
Figure 10-7 LBL[x]...................................................................................................................................................... 269
Figure 10-8 Direct and Indirect Addressing Example ................................................................................................. 271
Figure 10-9 R[x] = [value]........................................................................................................................................... 272
Figure 10-10 R[x] = [value] [operator] [value] ............................................................................................................. 274
Figure 10-21 PR[GRPn:x]=[value].............................................................................................................................. 278
Figure 10-22 PR[GRPn:x] = [value] [operator] [value] ................................................................................................ 278
Figure 10-23 Position Register Element PR[i,j] .......................................................................................................... 279
Figure 10-24 PR[i,j] = [value]...................................................................................................................................... 279
Figure 10-25 WAIT Condition for DI/DO, RI/RO, SI/SO, and UI/UO .......................................................................... 281
Figure 10-26 WAIT Condition for R, GI/GO, AI/AO, and Parameters......................................................................... 281
Figure 10-27 Wait Time.............................................................................................................................................. 282
Figure 12-1 Rack, Slot, Channel, and Starting Point .................................................................................................. 305
Figure 10-11 R[x] = DI[x] ........................................................................................................................................... 329
Figure 10-12 DO[x] = ON/OFF ................................................................................................................................... 330
Figure 10-13 DO[x] = PULSE [,width]......................................................................................................................... 330
Figure 10-14 DO[x] = R[x] .......................................................................................................................................... 330
Figure 10-15 R[x] = RI[x] ............................................................................................................................................ 331
Figure 10-16 RO[x] = ON/OFF ................................................................................................................................... 331
Figure 10-17 RO[x] = PULSE [,width]......................................................................................................................... 331
Figure 10-18 RO[x] = R[x] .......................................................................................................................................... 331
Figure 10-19 R[x] = GI[x]............................................................................................................................................ 332
Figure 10-20 GO[x] = value........................................................................................................................................ 332
Figure 11-1 Timer....................................................................................................................................................... 342
Figure 14-1 Teach Pendant User Keys ...................................................................................................................... 357
Figure 14-2 Operator Panel Buttons .......................................................................................................................... 358
Figure 16-1 Memory Card Interface Location............................................................................................................. 384
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MATAGHAND1007CE
List of Tables
Table 4-1 Standard Operator Panel Status Indicators.................................................................................................33
Table 4-2 Navigation and Data Entry Keys ................................................................................................................42
Table 4-3 Execution/Robot Keys ..................................................................................................................................43
Table 4-4 Editing Keys .................................................................................................................................................44
Table 4-5 HandlingTool–Specific Keys.........................................................................................................................44
Table 4-6 Help and Diagnostic Key (iPendant only) ...................................................................................................44
Table 4-7 FCTN Menu Items........................................................................................................................................50
Table 5-1 Jog Speed Values .......................................................................................................................................60
Table 5-2 LCD Indicators .............................................................................................................................................61
Table 5-3 Coordinate Systems.....................................................................................................................................62
Table 5-4 Sub-Group Example.....................................................................................................................................69
Table 5-5 Hexadecimal Error Message Display ...........................................................................................................73
Table 5-6 Version Identification Status Items ...............................................................................................................88
Table 7-1 Test Cycle Conditions ................................................................................................................................ 193
Table 8-1 Range of Register Values to Specify a Variable Motion Speed.................................................................. 224
Table 9-1 Paste Methods ........................................................................................................................................... 255
Table 12-1 Rack Assignments for Different Kinds of I/O ............................................................................................ 306
Table 12-2 Slot Assignments for Different Kinds of I/O .............................................................................................. 307
Table 12-3 CONFIG Screen I/O Status...................................................................................................................... 311
Table 12-4 Range Setting Limitations ........................................................................................................................ 311
Table 12-5 UOP Input Signals.................................................................................................................................... 325
Table 12-6 UOP Output Signals................................................................................................................................. 327
Table 12-7 Standard Operator Panel Input Signals.................................................................................................... 327
Table 12-8 Standard Operator Panel Output Signals ................................................................................................. 328
Table 11-1 Program Timer Listing Screen Items........................................................................................................ 340
Table 11-2 Program Timer Detail Screen Items ......................................................................................................... 340
Table 14-1 Macro Command Assignments ................................................................................................................ 360
Table 16-5 System Files............................................................................................................................................. 393
Table 16-6 Types of Files........................................................................................................................................... 395
Table 16-7 File Types Listings and Descriptions........................................................................................................ 397
Table 16-8 Back Up Operations ................................................................................................................................. 398
Table 17-1 Startup Methods....................................................................................................................................... 445
Table 17-2 Error Facility Codes.................................................................................................................................. 445
Table B-3 Severity Descriptions ................................................................................................................................. 448
Table B-4 Effects of Error Severity............................................................................................................................. 450
Table B-5 Hexadecimal Error Message Display ......................................................................................................... 451
Table B-6 Hexadecimal Notation and Axis in Error Examples.................................................................................... 452
Table A-1 Password Levels........................................................................................................................................ 427
Table A-2 Password Error Messages......................................................................................................................... 437
Table A-3 Devices for Password Level Screen Permissions ...................................................................................... 441
Table A-4 Password Level Screen Permissions......................................................................................................... 441
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List of Procedures
Procedure 4-1 Adding Menus to the Menu Favorites using MENUS Dialog Box.........................................................46
Procedure 5-1 Turning On the Robot ..........................................................................................................................57
Procedure 5-2 Cycling Controller Power (Controller R-30iA only) ...............................................................................58
Procedure 5-3 Turning Off the Robot ..........................................................................................................................58
Procedure 5-4 Displaying the Alarm Log Automatically...............................................................................................70
Procedure 5-5 Recovering from an Overtravel Error ...................................................................................................74
Procedure 5-6 Recovering from a Hand Breakage......................................................................................................76
Procedure 5-7 Chain Failure Detection Error Recovery ..............................................................................................78
Procedure 5-8 Jogging the Robot and Other Axes......................................................................................................80
Procedure 5-9 Setting Up Axis Limits..........................................................................................................................87
Procedure 5-10 Displaying the Version Identification Status .......................................................................................88
Procedure 6-1 Setting Up Tool Frame Using the Three Point Method ...................................................................... 107
Procedure 6-2 Setting Up Tool Frame Using the Six Point Method .......................................................................... 112
Procedure 6-3 Setting Up Tool Frame Using the Direct Entry Method ...................................................................... 117
Procedure 6-4 Using the Jog Menu........................................................................................................................... 121
Procedure 6-5 Selecting a Tool Frame ..................................................................................................................... 122
Procedure 6-6 Setting Up the User Frame Using the Three Point Method................................................................ 132
Procedure 6-7 Setting Up the User Frame Using the Four Point Method.................................................................. 138
Procedure 6-8 Setting Up User Frame Using the Direct Entry Method ..................................................................... 145
Procedure 6-9 Selecting a User Frame ..................................................................................................................... 148
Procedure 6-10 Setting Up the Jog Frame Using the Three Point Method ............................................................... 152
Procedure 6-11 Setting Up the Jog Frame Using the Direct Entry Method ............................................................... 157
Procedure 7-1 Change Wrist Orientation .................................................................................................................. 172
Procedure 7-2: Create a New Program ..................................................................................................................... 181
Procedure 7-3: Adding Motion Instructions to a TP Program ................................................................................... 188
Procedure 7-4 EMERGENCY STOP......................................................................................................................... 190
Procedure 7-5 Recovery from EMERGENCY STOP ................................................................................................ 191
Procedure 7-6 HOLD and Recovery.......................................................................................................................... 191
Procedure 7-7 Setting Up Test Cycle Conditions ...................................................................................................... 194
Procedure 7-8 Single Step Testing ........................................................................................................................... 197
Procedure 7-9 Continuous Testing Using the Teach Pendant .................................................................................. 201
Procedure 7-10 Continuous Testing Using the Operator Panel CYCLE START Button............................................ 203
Procedure 7-11 Running Production Using Standard Operator Panel (SOP) Cycle Start ......................................... 206
Procedure 8-1 Defining Default Motion Instructions .................................................................................................. 229
Procedure 8-2 Displaying and Setting Position Registers ......................................................................................... 235
Procedure 9-1 Copying a program within the SELECT menu ................................................................................... 246
Procedure 9-2 Deleting a Program from the SELECT Menu..................................................................................... 247
Procedure 9-3 Modifying a Program.......................................................................................................................... 250
Procedure 10-1 Displaying and Setting Registers ..................................................................................................... 275
Procedure 12-1 Setting up Digital I/O........................................................................................................................ 310
Procedure 12-2 Setting Up Group I/O ....................................................................................................................... 316
Procedure 12-3 Forcing Outputs ............................................................................................................................... 322
Procedure 12-4 Simulating and Unsimulating Inputs................................................................................................. 323
Procedure 11-1 Displaying the Program Timer Screen ............................................................................................. 341
Procedure 13-1 Displaying and Setting System Variables ........................................................................................ 351
Procedure 14-1 Setting Up Macro Commands.......................................................................................................... 359
Procedure 14-2 Assigning a Macro to SOP............................................................................................................... 362
Procedure 14-3 Assign Macro to USER key on Teach Pendant ............................................................................... 363
Procedure 14-4 Assign Macro to a Digital Input ........................................................................................................ 363
Procedure 14-5 Assign Macro to a Manual Functions Key........................................................................................ 364
Procedure 15-1 Adjusting Programs During Program or Production Run ................................................................. 372
Procedure 16-1 Using the Memory Card Interface .................................................................................................... 384
Procedure 16-3 Setting the Default Device ............................................................................................................... 386
Procedure 16-6 Formatting a Memory Card from the File Menu ............................................................................... 391
Procedure 16-7 File Backup...................................................................................................................................... 392
Procedure 16-8 Backing Up System and Program Files ........................................................................................... 397
Procedure 16-9 Generating a Directory of Files ........................................................................................................ 400
Procedure 16-10 Deleting a Program from the SELECT Menu................................................................................. 402
Procedure 16-11 Loading Files Using the FILE Menu............................................................................................... 404
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Procedure 16-12 Loading a Program ........................................................................................................................ 407
Procedure 16-13 Backing up a Controller as Images ................................................................................................ 410
Procedure 16-14 Restoring Controller Images .......................................................................................................... 413
Procedure A-1 Assigning Usernames and Default Passwords for each Password Level.......................................... 429
Procedure A-2 Logging In ......................................................................................................................................... 433
Procedure A-3 Logging Out....................................................................................................................................... 435
Procedure A-4 Changing Your Password.................................................................................................................. 435
Procedure A-5 Enabling the Password Log............................................................................................................... 439
Procedure A-6 Displaying the Password Log ............................................................................................................ 440
Lab Exercises
Power Up and Jog the Robot in JOINT ........................................................................................................................93
Set Axis Limits..............................................................................................................................................................95
Jog the robot in WORLD mode ....................................................................................................................................97
Alternating Between QUICK/FULL MENU....................................................................................................................99
Viewing the Version Identification............................................................................................................................... 100
TOOL Frame Set up................................................................................................................................................... 125
Create a USER and JOG Frame................................................................................................................................ 163
Create a Program....................................................................................................................................................... 209
Motion Instruction....................................................................................................................................................... 241
Optional Program ....................................................................................................................................................... 243
Select/Modify and Execute a Program ....................................................................................................................... 261
Register Instructions .................................................................................................................................................. 285
Modifying Programs using Branching Instructions...................................................................................................... 289
Calling Programs........................................................................................................................................................ 290
Input/Output ............................................................................................................................................................... 337
Miscellaneous and Other TP Instructions................................................................................................................... 345
System Variable $SHFTOV_ENB and $DMAURST................................................................................................... 353
System Variable $SCR_GRP[1]................................................................................................................................. 354
MACRO COMMANDS ............................................................................................................................................... 367
Program Adjust .......................................................................................................................................................... 381
Program and File Manipulation .................................................................................................................................. 417
Image Backup and Restore........................................................................................................................................ 418
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1
1 COURSE
OVERVIEW
(5 days/32 hours)
1.1 Course Goal:
Course Overview
1
HandlingTool Application Programming
This course is intended for an operator, technician, engineer
or programmer who must setup and record a programs on a
robot. The course covers the Robot Operations outline
intermixed with the tasks required to set up the specific
application, test, run and refine the program and production
setup.
Upon successful completion of this course, the student can
perform all procedures necessary to setup, test, and run
application programs from the teach pendant. More
specifically:
Students successfully completing this course will be
able to:
•
Power up and jog the robot
•
Recover from common program and robot faults
•
Execute production operations
•
Create, modify, and execute a material handling
program
•
Create and execute MACROs
•
Monitor, force, and simulate input and output signals
•
Backup and restore individual programs and files
Recommended safety procedures are integrated into all
training exercises.
The course consists of lectures, demonstrations, and a
series of lab exercises designed to reinforce what the student
has learned.
In addition to lab exercises, a pre-test and a post-test are
used to measure mastery of objectives.
1.2 Audience:
This course is intended for the person who must setup and
record a program on a robot with an application software
package.
1.3 Prerequisites:
None; although it maybe easier if the student has taken the
Robot Operations class first.
Course Overview
2
MATAGHAND1007CE
1.4 Course schedule
Session 1
1.
Administrative
2.
Introduction – Course Description
3.
Pre-Test
4.
Safety
5.
Power up/down the robot’s controller
6.
Review servo faults recovery
7.
Operating Procedures
8.
Jog the robot in JOINT
Session 2
1.
Check the software limits and set as needed
2.
Cartesian– Frames
3.
Tool Frame Setup
Session 3
1.
Motion Programming
2.
Test a program
3.
Place the program into production mode
Session 4
1.
Editing a program
2.
Looping instructions
Session 5
1
Registers
2
Position registers
Course Overview
MATAGHAND1007CE
Session 6
1.
I/O review and instructions
2.
Miscellaneous instructions
Session 7
1.
Macro setup and execution
2.
Program Adjust
Session 8
1.
Program and file manipulation
2.
Post-Test
3.
Review Post Test
4.
Complete Evaluations & Issue Certificates
3
Course Overview
4
MATAGHAND1007CE
1.5 Task List
1. Turning on &
Jogging the Robot
Perform the power up procedure.
Jog the robot in JOINT, WORLD, and TOOL.
Change the Jog Speed of the robot.
Perform the power down procedure.
Use SHIFT and COORD to access the current Jog Menu.
2. Change the Robot
Software Limits
Check/Change the software limits of the work envelope.
3. Set up Frames
Set the User Frame to zero.
Change the manual jog motion of the robot.
Set a Tool Frame using Direct Entry with 4/5 axis robots.
or
Set a Tool Frame using 3Point Method with 6 axis robots.
4. Recover from
Common Faults
Look up each Error Message in the Alarm Log.
Recover from servo down faults.
Locate Error Code- Cause and Remedy
5. Create Teach
Pendant Program
Create a teach pendant program.
Modify default motion instructions.
Teach motion instructions.
Teach a pre-defined position to a position register.
Test a program using SHIFT and FWD/BWD.
Write comments for programs, signals, positions, and/or
position registers.
Document some feature of the program in a REMARK.
6. Select/Modify Teach
Pendant Program
Select a teach pendant program.
Place a program into production.
Modify the logic of a program.
Use the [INST] softkey to add program instructions.
Use [EDCMD] to modify line features in the program.
Touchup Points.
Use SHIFT and POINT to replace an existing program line
with a motion instruction.
Modify motion instruction components.
Course Overview
MATAGHAND1007CE
7. Display & Setup I/O
Use I/O instructions in an application.
Force I/O signals.
Simulate I/O signals.
Monitor I/O signals.
Configure I/O
8. Use the Program
Adjust Feature
Adjust a teach pendant program during production.
9. Setup and execute
macros
Create MACRO Headers.
Assign MACRO Headers to a specific teach pendant
program.
Assign the motion control to the MACRO.
Execute a MACRO.
10. Program & File
Manipulation
Load programs/files from the default device.
Save programs/files to the default device.
Copy programs in active RAM to another name.
Copy files from one device to another.
Backup teach pendant programs, application files, or system
files.
5
Course Overview
6
MATAGHAND1007CE
1.6 Objectives
11. Safely power up the
robot from a
complete shutdown.
Students successfully completing this course will be able to:
Identify all components of the cell that are part of the powerup sequence.
Recognize the main components of the robot
Identify all safety considerations related to operating the cell.
Describe the correct sequence for powering up the cell.
Recognize and clear alarms that would inhibit cell operation.
12. Recover from
common programming and servo
alarm conditions.
Clear servo alarm faults.
13. Safely and
predictably jog the
robot in specific
manual jog systems.
Lab safety in a robot cell in our Plant setting.
14. Create/Teach/Test a
program.
Login with a Password.
Correct programming faults.
Jog the robot in the Joint system.
Setup and use Cartesian Frames while jogging.
Create a program Header.
Setup the User and Tool Frames.
Teach the motion instructions.
Test a program using the three-step method.
15. Select/Modify/Execut
e a teach pendant
program.
Select a teach pendant program.
16. Use signals and
specific cell and
controller
parameters.
Force, simulate, and monitor signals.
17. Save/Load individual
programs and files
to/from a default
device.
Initialize a port.
Edit the motion components of a program.
Execute the program. Put it into production.
Set needed system variables.
Add signals and I/O instructions to the program.
Set the default device.
Perform file maintenance.
2
Pre-Test
7
HandlingTool Application Programming
2 PRE-TEST
Name ___________________________________ Date _____________________________
This test is designed to evaluate your knowledge of FANUC HandlingTool Application
Programming prior to your taking this course. Each question has four possible answers and a
place to indicate, ”I don’t know.” Choose the one that best answers the question. There is only
one right answer. This test tells us a little about you and helps us to tailor the course to meet
your needs. We appreciate your taking the time to complete it.
Score
/25
1. Turning the Teach Pendant ON:
A
Activates the default program (MAIN)
B
Enables communications with external devices
C
Gives motion control solely to the operator via the Teach Pendant
D
Energizes robotic arm
E
I Don’t Know
2. Which must have been accomplished to avoid hard-stops and overtravels?
A
Set UTOOL offsets.
B
Set Software limits.
C
Set UFRAME offsets.
D
Move each robot joint at least +/- 20 degrees and reset.
E
I don’t know
3. SHIFT and the hardkey COORD will display the following menu:
A
The “POSITION” menu.
B
The “utilities” menu.
C
The “jog” menu.
D
The “manual functions” menu.
E
I Don’t Know
Pre-Test
8
MATAGHAND1007CE
4. SHIFT and POINT are needed to do what?
A
Change robot speed
B
Request the positional screen to appear
C
Record the current position of the robot
D
Execute a MACRO program and return the robot to HOME
E
I Don’t Know
5. In the motion command “J P[2] 100% FINE”, If you wanted to change
the “FINE” component to a “CNT100” what buttons would you press?
A
FCTN followed by ABORT ALL
B
SHIFT and FWD
C
SELECT followed by NEXT
D
Select component, then press [CHOICE]
E
I Don’t Know
6. To switch manually from one program to another, you have to be in
which screen?
A
Select
B
Edit
C
Status
D
Position
E
I Don’t Know
7. How many Robot I/O points are standard on the RJ3iB controller?
A
4
B
6
C
16
D
32
E
I Don’t Know
Pre-Test
MATAGHAND1007CE
8. Which softkey is pressed to display the current motion instruction
defaults from the EDIT screen?
A
POINT
B
NEXT
C
POSN
D
[INST]
E
I Don’t Know
9. Creating a program, which hard key should be pressed?
A
FCTN
B
FWD
C
Select
D
Hold
E
I Don’t Know
10. When using the Prog Adjust utility, which is correct?
A
All adjustments are relative to the TOOL frame
B
Pressing CLR_ADJ or CLR_ALL will save the current enabled/disabled data
values
C
The maximum single linear adjustment allowed is 100 mm
D
Program Adjust is performed from the Status Setup Screen
E
I Don’t Know
11. Which of these tasks can be performed from the FILE menu?
A
Execute a program from a storage device.
B
Get a directory of the default device
C
List the program names for execution, teaching data, or editing
D
Print a program found on a disk
E
I Don’t Know
9
Pre-Test
10
MATAGHAND1007CE
12. If while jogging the robot, you get an “In singularity” error, what must
you do?
A
Jog the robot in Tool
B
Change to the correct user frame
C
Joint jog J5 +/- at least 10 degrees
D
Press the position key and reset the axis limits
E
I Don’t Know
13. The “Program Header Information” at the DETAIL softkey enables you
to modify the following program information, except:
A
Program name
B
Group mask
C
Active tool frame
D
Program sub type
E
I Don’t Know
14. What is the suggested type of motion used to move the robot to a Home
position?
A
Linear
B
Simultaneous
C
Joint
D
Circular
E
I Don’t Know
15. Which softkey allows you to enter additional program instructions into
a Teach Pendant program?
A
[ED_DEF]
B
EDIT
C
DETAIL
D
[INST]
E
I Don’t Know
Pre-Test
11
MATAGHAND1007CE
16. Which of the following is a type of I/O signal?
A
UIP I/O
B
SIP I/O
C
Digital I/O
D
Configuration I/O
E
I Don’t Know
17. Which of the following hardkeys would bring the menu item ABORT
ALL to the TP Screen?
A
FCTN
B
HOLD
C
RESET
D
E-STOP
E
I Don’t Know
18. If you would like to look at the positional data of P[3] in the instruction
“J P[3] 100% FINE”, what buttons would you press?
A
Press the DATA hardkey, then F1 [TYPE], and choose 2 for PR[ ]
B
Press POSN hardkey to see the data directly
C
Cursor to the 3 of P[3] and press F5 POSITION
D
Press STATUS, NEXT, and F2 DETAIL
E
I Don’t Know
19. What are the two menus from which you can save Teach Pendant files?
A
SELECT & FILE
B
SELECT & DATA
C
SYSTEM & FILE
D
ED_CMD & CONFIG
E
I Don’t Know
Pre-Test
12
MATAGHAND1007CE
20. Which is not a valid way to execute an assigned MACRO?
A
Pressing a Teach Pendant user key
B
Pressing the “USER 1” button on the SOP
C
Executing an item from the Manual Functions screen
D
Holding PREV and NEXT
E
I Don’t Know
21. Which instruction will increment Register 7 (R[7]) by 1?
A
R[7] = 1
B
R[7] + 1
C
R[7] ++
D
R[7] = R[7] + 1
E
I Don’t Know
22. What instruction will send program flow out to a sub-program?
A
JMP/LBL
B
REMARK
C
CALL
D
SELECT
E
I Don’t Know
23. What are the two (2) possible actions of an IF/SELECT statement?
A
SELECT & Set an OUTPUT
B
JMP/LBL & SELECT
C
Set an OUTPUT & CALL
D
CALL & JMP/LBL
E
I Don’t Know
24. To switch between JOINT, WORLD, TOOL, JGFRM, & USER for jogging
purposes, you need to press which of the following keys?
A
Hold the SHIFT & FWD keys
B
Press POSN key
C
SHIFT & COORD keys
D
COORD key
E
I don’t know
Pre-Test
MATAGHAND1007CE
25. Where is Position Register (PR[ ]) data valid?
A
Within the current program only
B
Globally throughout the controller
C
Nowhere, Position registers are an instruction and therefore do not have data
D
Within a maximum of 2 programs
E
I Don’t Know
13
14
Pre-Test
MATAGHAND1007CE
3
Safety
15
HandlingTool Application Programming
3 SAFETY
HandlingTool Application Programming
Safety
FANUC Robotics is not and does not represent
itself as an expert in safety systems, safety
equipment, or the specific safety aspects of your
company and/or its work force. It is the
responsibility of the owner, employer, or user to
take all necessary steps to guarantee the safety of
all personnel in the workplace.
– Considering Safety For Your Robot Installation
– Keeping Machine Tools and External Devices Safe
– Industrial Robot Safety Training Program – RIA Video
– FANUC Training Lab Safety
FANUC Robotics
Safety system professionals can best determine the appropriate
level of safety for your application and installation. FANUC
Robotics therefore, recommends that each customer consult
with such professionals in order to provide a workplace that
allows for the safe application, use, and operation of FANUC
Robotic systems.
According to the industry standard ANSI/RIA R15-06, the owner
or user is advised to consult the standards to ensure compliance
with its requests for Robotics System design, usability,
operation, maintenance, and service. Additionally, as the
owner, employer, or user of a robotic system, it is your
responsibility to arrange for the training of the operator of a robot
system to recognize and respond to known hazards associated
with your robotic system and to be aware of the recommended
operating procedures for your particular application and robot
installation.
Safety
16
MATAGHAND1007CE
FANUC Robotics therefore, recommends that all personnel who
intend to operate, program, repair, or otherwise use the robotics
system be trained in an approved FANUC Robotics training
course and become familiar with the proper operation of the
system. Persons responsible for programming the system–
including the design, implementation, and debugging of
application programs–must be familiar with the recommended
programming procedures for your application and robot
installation.
The following guidelines are provided to emphasize the
importance of safety in the workplace.
3.1 Considering
Safety For Your
Robot Installation
3.1.1
Keeping People
and Equipment
Safe
Safety is essential whenever robots are used. Keep in mind the
following factors with regard to safety:
•
The safety of people and equipment
•
Use of safety enhancing devices
•
Techniques for safe teaching and manual operation of
the robot(s)
•
Techniques for safe automatic operation of the robot(s)
•
Regular scheduled inspection of the robot and workcell
•
Proper maintenance of the robot
The safety of people is always of primary importance in any
situation. However, equipment must be kept safe, too. When
prioritizing how to apply safety to your robotic system, consider
the following:
•
People
•
External devices
•
Robot(s)
•
Tooling
•
Workpiece
Safety
17
MATAGHAND1007CE
3.1.2
3.1.3
Using Safety
Enhancing
Devices
Setting Up a Safe
Workcell
Always give appropriate attention to the work area that
surrounds the robot. The safety of the work area can be
enhanced by the installation of some or all of the following
devices:
•
Safety fences, barriers, or chains
•
Light curtains
•
Interlocks
•
Pressure mats
•
Floor markings
•
Warning lights
•
Mechanical stops
•
EMERGENCY STOP buttons
•
DEADMAN switches
A safe workcell is essential to protect people and equipment.
Observe the following guidelines to ensure that the workcell is
set up safely. These suggestions are intended to supplement
and not replace existing federal, state, and local laws,
regulations, and guidelines that pertain to safety.
•
Sponsor your personnel for training in approved FANUC
Robotics training course(s) related to your application.
Never permit untrained personnel to operate the robots.
•
Install a lockout device that uses an access code to
prevent unauthorized persons from operating the robot.
•
Use anti–tie–down logic to prevent the operator from
bypassing safety measures.
•
Arrange the workcell so the operator faces the workcell
and can see what is going on inside the cell.
•
Clearly identify the work envelope of each robot in the
system with floor markings, signs, and special barriers.
The work envelope is the area defined by the maximum
motion range of the robot, including any tooling attached
to the wrist flange that extend this range.
•
Position all controllers outside the robot work envelope.
•
Never rely on software as the primary safety element.
•
Mount an adequate number of EMERGENCY STOP
buttons or switches within easy reach of the operator and
at critical points inside and around the outside of the
workcell.
Safety
18
MATAGHAND1007CE
•
Install flashing lights and/or audible warning devices that
activate whenever the robot is operating, that is,
whenever power is applied to the servo drive system.
Audible warning devices shall exceed the ambient noise
level at the end–use application.
•
Wherever possible, install safety fences to protect against
unauthorized entry by personnel into the work envelope.
•
Install special guarding that prevents the operator from
reaching into restricted areas of the work envelope.
•
Use interlocks.
•
Use presence or proximity sensing devices such as light
curtains, mats, and capacitance and vision systems to
enhance safety.
•
Periodically check the safety joints or safety clutches that
can be optionally installed between the robot wrist flange
and tooling. If the tooling strikes an object, these devices
dislodge, remove power from the system, and help to
minimize damage to the tooling and robot.
•
Make sure all external devices are properly filtered,
grounded, shielded, and suppressed to prevent
hazardous motion due to the effects of electro–magnetic
interference (EMI), radio frequency interference (RFI),
and electro–static discharge (ESD).
•
Make provisions for power lockout/tagout at the controller.
•
Eliminate pinch points. Pinch points are areas where
personnel could get trapped between a moving robot and
other equipment.
•
Provide enough room inside the workcell to permit
personnel to teach the robot and perform maintenance
safely.
•
Program the robot to load and unload material safely.
•
If high voltage electrostatics are present, be sure to
provide appropriate interlocks, warning, and beacons.
•
If materials are being applied at dangerously high
pressure, provide electrical interlocks for lockout of
material flow and pressure.
Safety
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MATAGHAND1007CE
3.1.4
Staying Safe
While Teaching
or Manually
Operating the
Robot
Advise all personnel who must teach the robot or otherwise
manually operate the robot to observe the following rules:
•
Never wear watches, rings, neckties, scarves, or loose
clothing that could get caught in moving machinery.
•
Know whether or not you are using an intrinsically safe
teach pendant if you are working in a hazardous
environment.
•
Before teaching, visually inspect the robot and work
envelope to make sure that no potentially hazardous
conditions exist. The work envelope is the area defined
by the maximum motion range of the robot. These
include tooling attached to the wrist flange that extends
this range.
•
The area near the robot must be clean and free of oil,
water, or debris. Immediately report unsafe working
conditions to the supervisor or safety department.
•
FANUC Robotics recommends that no one enter the work
envelope of a robot that is on, except for robot teaching
operations. However, if you must enter the work
envelope, be sure all safeguards are in place, check the
teach pendant DEADMAN switch for proper operation,
and place the robot in T1 or T2 mode using the AUTO-T1T2 mode select switch. Take the teach pendant with you,
turn it on, and be prepared to release the DEADMAN
switch. Only the person with the teach pendant should be
in the work envelope.
WARNING
Never bypass, strap, or otherwise deactivate a safety
device, such as a limit switch, for any operational
convenience. Deactivating a safety device is known to
have resulted in serious injury and death.
•
Know the path that can be used to escape from a moving
robot; make sure the escape path is never blocked.
•
Isolate the robot from all remote control signals that can
cause motion while data is being taught.
•
Test any program being run for the first time in the
following manner:
WARNING
Stay outside the robot work envelope whenever a program
is being run. Failure to do so can result in injury.
Safety
20
MATAGHAND1007CE
¾ Using a low motion speed, single step the program for
at least one full cycle.
¾ Using a low motion speed, test run the program
continuously for at least one full cycle.
¾ Using the programmed speed, test run the program
continuously for at least one full cycle.
•
3.1.5
Staying Safe
During Automatic
Operation
Make sure all personnel are outside the work envelope
before running production.
Advise all personnel who operate the robot during production to
observe the following rules:
•
Make sure all safety provisions are present and active.
•
Know the entire workcell area. The workcell includes the
robot and its work envelope, plus the area occupied by all
external devices and other equipment with which the
robot interacts.
•
Understand the complete task the robot is programmed to
perform before initiating automatic operation.
•
Make sure all personnel are outside the work envelope
before operating the robot.
•
Never enter or allow others to enter the work envelope
during automatic operation of the robot.
•
Know the location and status of all switches, sensors, and
control signals that could cause the robot to move.
•
Know where the EMERGENCY STOP buttons are located
on both the robot control and external control devices. Be
prepared to press these buttons in an emergency.
•
Never assume that a program is complete if the robot is
not moving. The robot could be waiting for an input signal
that will permit it to continue activity.
•
If the robot is running in a pattern, do not assume it will
continue to run in the same pattern.
•
Never try to stop the robot, or break its motion, with your
body. The only way to stop robot motion immediately is to
press an EMERGENCY STOP button located on the
controller panel, teach pendant, or emergency stop
stations around the workcell.
Safety
21
MATAGHAND1007CE
3.1.6
3.1.7
Staying Safe
During Inspection
Staying Safe
During
Maintenance
•
When inspecting the robot, be sure to
•
Turn off power at the controller.
•
Lock out and tag out the power source at the controller
according to the policies of your plant.
•
Turn off the compressed air source and relieve the air
pressure.
•
If robot motion is not needed for inspecting the electrical
circuits, press the EMERGENCY STOP button on the
operator panel.
•
Never wear watches, rings, neckties, scarves, or loose
clothing that could get caught in moving machinery.
•
If power is needed to check the robot motion or electrical
circuits, be prepared to press the EMERGENCY STOP
button, in an emergency.
•
Be aware that when you remove a servomotor or brake,
the associated robot arm will fall if it is not supported or
resting on a hard stop. Support the arm on a solid
support before you release the brake.
•
When performing maintenance on your robot system,
observe the following rules:
•
Never enter the work envelope while the robot or a
program is in operation.
•
Before entering the work envelope, visually inspect the
workcell to make sure no potentially hazardous conditions
exist.
•
Never wear watches, rings, neckties, scarves, or loose
clothing that could get caught in moving machinery.
•
Consider all or any overlapping work envelopes of
adjoining robots when standing in a work envelope.
•
Test the teach pendant for proper operation before
entering the work envelope.
•
If it is necessary for you to enter the robot work envelope
while power is turned on, you must be sure that you are in
control of the robot. Be sure to take the teach pendant
with you, press the DEADMAN switch, and turn the teach
pendant on. Be prepared to release the DEADMAN
switch to turn off servo power to the robot immediately.
•
Whenever possible, perform maintenance with the power
turned off. Before you open the controller front panel or
enter the work envelope, turn off and lock out the 3–
phase power source at the controller.
Safety
22
MATAGHAND1007CE
WARNING
Lethal voltage is present in the controller WHENEVER IT
IS CONNECTED to a power source. Be extremely careful
to avoid electrical shock.
HIGH VOLTAGE IS PRESENT at the input side whenever
the controller is connected to a power source. Turning the
disconnect or circuit breaker to the OFF position removes
power from the output side of the device only.
•
Be aware that when you remove a servomotor or brake,
the associated robot arm will fall if it is not supported or
resting on a hard stop. Support the arm on a solid
support before you release the brake.
•
Release or block all stored energy. Before working on the
pneumatic system, shut off the system air supply and
purge the air lines.
•
Isolate the robot from all remote control signals. If
maintenance must be done when the power is on, make
sure the person inside the work envelope has sole control
of the robot. The teach pendant must be held by this
person.
•
Make sure personnel cannot get trapped between the
moving robot and other equipment. Know the path that
can be used to escape from a moving robot. Make sure
the escape route is never blocked.
WARNING
Do not try to remove any mechanical component from the
robot before thoroughly reading and understanding the
procedures in the appropriate manual. Doing so can result
in serious personal injury and component destruction.
•
Use blocks, mechanical stops, and pins to prevent
hazardous movement by the robot. Make sure that such
devices do not create pinch points that could trap
personnel.
•
Be aware that when you remove a servomotor or brake,
the associated robot arm will fall if it is not supported or
resting on a hard stop. Support the arm on a solid
support before you release the brake.
•
When replacing or installing components, make sure dirt
and debris do not enter the system.
•
Use only specified parts for replacement. To avoid fires
and damage to parts in the controller, never use
nonspecified fuses.
Safety
23
MATAGHAND1007CE
•
Before restarting a robot, make sure no one is inside the
work envelope; be sure that the robot and all external
devices are operating normally.
3.2 Keeping Machine
Tools And
External Devices
Safe
Certain programming and mechanical measures are useful in
keeping the machine tools and other external devices safe.
Some of these measures are outlined below. Make sure you
know all associated measures for safe use of such devices
3.2.1
Implement the following programming safety measures to prevent
damage to machine tools and other external devices.
3.2.2
Programming
Safety
Precautions
Mechanical
Safety
Precautions
3.3 Keeping The
Robot Safe
•
Back–check limit switches in the workcell to make sure
they do not fail.
•
Implement ‘‘failure routines” in programs that will provide
appropriate robot actions if an external device or another
robot in the workcell fails.
•
Use handshaking protocol to synchronize robot and
external device operations.
•
Program the robot to check the condition of all external
devices during an operating cycle.
Implement the following mechanical safety measures to prevent
damage to machine tools and other external devices.
•
Make sure the workcell is clean and free of oil, water, and
debris.
•
Use software limits, limit switches, and mechanical
hardstops to prevent undesired movement of the robot
into the work area of machine tools and external devices.
Observe the following operating and programming guidelines to
prevent damage to the robot.
Safety
24
MATAGHAND1007CE
3.3.1
3.3.2
Operating Safety
Precautions
Programming
Safety
Precautions
The following measures are designed to prevent damage to the
robot during operation.
•
Use a low override speed to increase your control over
the robot when jogging the robot.
•
Visualize the movement the robot will make before you
press the jog keys on the teach pendant.
•
Make sure the work envelope is clean and free of oil,
water, or debris.
•
Use circuit breakers to guard against electrical overload.
The following safety measures are designed to prevent damage
to the robot during programming:
•
Establish interference zones to prevent collisions when
two or more robots share a work area.
•
Make sure that the program ends with the robot near or at
the home position.
•
Be aware of signals or other operations that could trigger
operation of tooling resulting in personal injury or
equipment damage.
•
In dispensing applications, be aware of all safety
guidelines with respect to the dispensing materials.
NOTE: Any deviation from the methods and safety practices
described in this manual must conform to the approved
standards of your company. If you have questions, see your
supervisor.
3.4 Industrial Robot
Safety Training
Program
RIA Video
Safety
MATAGHAND1007CE
3.5 FANUC Training
Lab Safety
Figure 3-1 Sample Robot Cell
25
26
Safety
MATAGHAND1007CE
NOTES:
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4
Robot System
27
HandlingTool Application Programming
4 ROBOT SYSTEM
HandlingTool Application Programming
Robot System
• Four components
to system
– Mechanical Unit
– Software
– Controller
– Peripheral
Equipment
FANUC Robotics
4.1 Mechanical Unit
A robot is a series of mechanical links driven by servomotors. The area at each junction
between the links is a joint, or axis. The first three axes make up the major axes as shown
above. The major and minor axes, shown b elow, moves the tooling at the end of the robot arm.
The movements are twisting, up-and-down, and side-to-side motions
HandlingTool Application Programming
Mechanical Unit
AXIS 4
AXIS 3
AXIS 5
AXIS 6
AXIS 1
AXIS 2
FANUC Robotics
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MATAGHAND1007CE
HandlingTool Application Programming
M1iA Unit
J1 link
J2 link
J4 link
J3 link
J5 link
J6 link
FANUC Robotics
A robot is classified by the number of linear and rotational major axes.
.
Hand ling Tool Appl icati on Prog ramm ing
Mechanical Unit
•Major Axes
– J1, J2, J3
– Establish shape of work
envelope
– Position EOAT within
work envelope
– Define location of frames
of motion
FANUC Robotics
•Minor Axes
– J4, J5, J6
– Control orientation of
EOAT
– Orientation established by
rotating about major axes
of robot
Robot System
MATAGHAND1007CE
HandlingTool Application Programming
Mechanical Unit
• Each axis is driven by an AC servomotor
– 200 VAC
– Uses Serial Pulse Coder for positioning
– Motors are not customer serviceable
• Each motor has an internal brake
– Applied mechanically, released electrically by signal from
servo amplifier
– Can be damaged by improper lubrication of robot
– Brake failure is typically due to lack of current at the brake
rather than failure of the brake itself
– If the brake fails, the motor must be replaced
FANUC Robotics
4.2 Software
HandlingTool Application Programming
Software
•
•
•
•
•
Defines the function of the robot
Contains core operating program
User programs
Fault Isolation and Diagnostics
User Defined parameters
– Frames
– System Variables
– I/O Configuration
• Communication Protocols
FANUC Robotics
HandlingTool software works in conjunction with the robot and a controller to allow you to:
• Set up information required for the application
•
Program your application
•
Test your program
•
Run production
•
Display and monitor process information
29
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MATAGHAND1007CE
4.3 Controller
HandlingTool Application Programming
Controller
• Converts program data into servo drive signals
– Main Board, Servo Amplifier
• Contains communication hardware
– I/O Hardware
• Interface with work cell
–
–
Emergency stop connections
Communication ports
FANUC Robotics
The controller can be attached to the robot and contains the power supply, operator controls,
control circuitry, and memory that direct the operation and motion of the robot and
communication with external devices. You control the robot using a teach pendant or an
operator panel. Some systems contain an optional cathode ray tube/keyboard (CRT/KB or an
optional user operator panel (UOP) that provides a remote user interface to the controller.
The controller can communicate with a variety of devices. Its I/O system provides an interface
between the system software through I/O signals and serial communication ports to external
devices. Remote I/O interfaces allow the controller to send signals to a remote device over a
single cable. Consult your FANUC Robotics representative for more information.
The motion system directs robot motion for all robot axes, including any extended axes and up
to four additional motion groups.
Controller memory stores the HandlingTool software in addition to any user-defined programs
and data. The A and B-size controller is shown on the next page.
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MATAGHAND1007CE
HandlingTool Application Programming
FANUC Controllers
A - Size Controller
B - Size Controller
FANUC Robotics
The controller provides the capability to interact with external devices.
The controller is configurable internally depending on the number and kinds of external devices
that you have in your system.
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4.3.1
Standard
Operator Panel
The operator panel contains buttons, keyswitches, and connector
ports and is part of the controller.
HandlingTool Application Programming
Identify the Standard Operator Panel (SOP)
To identify each button on the Operator Panel, click on the Operator panel
that you are using
Standard Operator Panel (SOP) R-30iA
Standard Operator Panel (SOP) R-J3iB
SYSTEM R-J3
FANUC
USER1
USER2
REMOTE/LOCAL
HOLD
EMERGENCY STOP
FAULT
RESET
CYCLE
START
REMOTE
BATTERY
ALARM
FAULT
ON
OFF
Standard Operator Panel (SOP) R-J3
FANUC Robotics
HandlingTool Application Programming
SOP Components
PCMCIA
and Com
ports
Mode Select Switch
FANUC Robotics
Standard Operator
Panel
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Table 4-1 Standard Operator Panel Status Indicators
INDICATOR
DESCRIPTION
R-J3
R-J3iB
R-30iA
BATTERY
ALARM
This item indicates that the backup battery
voltage is low.
FAULT
This item indicates that a fault condition has
occurred.
REMOTE
This item indicates that the operator panel
does not have motion control
REMOTE/LOCAL
This item allows you to set control to either
remote (such as a PLC), or local (controller
has control).
ON/OFF
This item indicates that the controller is
either ON or OFF.
CYCLE START
This item, when lit, indicates that a program
is running.
USER LED #1, #2
These items are user-definable. You can
assign macros to run when these buttons
are pushed.
HOLD
This item pauses a running program without
dropping servo motors.
E-STOP
This item stops the robot immediately.
CAUTION
Under certain load/speed conditions it
could be possible to damage some
mechanical units when E-stop button
is pressed. In non-emergency
situations the HOLD button is the
preferred method of stopping the
robot.
FAULT RESET
This item clears a fault message from the
teach pendant screen after it has been
corrected.
NOTE: (checkmark) designates the Indicator is present
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4.3.2
MODE SELECT
Switch (for
Control Reliable
option only)
The MODE SELECT switch is a keyswitch installed on the
operator panel or operator box on controllers that have the
Control Reliable option. You use the MODE SELECT switch to
select the most appropriate way to operate the robot, depending
on the conditions and situation. The operation modes are AUTO,
T1, and T2. See Figure 4-1.
Figure 4-1 Mode Select Switch
When you change the mode using the MODE SELECT switch, a
message is displayed on the teach pendant screen and the robot
is paused. You can also lock the keyswitch in the AUTO or T1
modes by removing the key from the switch. You cannot remove
the key from the keyswitch when the key is in the T2 position.
NOTE: If you change the mode from T1 or T2 to AUTO and
the DEADMAN switch is pressed, a system error will occur and
the mode will not change to AUTO until the DEADMAN switch is
released
NOTE: When an invalid combination is detected by the MODE
SELECT switch, programs can be activated only from the teach
pendant and the robot cannot operate at speeds of more than 250
mm/s. If a program is being executed at that time, it is forcibly
terminated. Refer to the description of the SYST-037 error
message for more information.
The operation modes you can select using the MODE SELECT
switch are described in the following sections.
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4.3.3
T1 (<250mm/s):
Test Mode 1
Program activation – Programs can be activated from the teach
pendant only. However, programs can be activated only when the
teach pendant is enabled and when the DEADMAN switch is in
the center position.
Robot speed
• During Cartesian jogging, Cartesian speed is less than 250
mm/sec and joint speed is less than 10% of the maximum
joint speed.
•
During joint jogging, face plate speed is less than 250
mm/sec.
•
During program test run at 100% override, the robot’s speed
will be the program speed if the program speed is below the
T1 mode safe speed. T1 mode safe speed is defined as 250
mm/sec for TCP and 10% of maximum joint speeds. If the
program speed is above the T1 mode safe speed, robot
motion will be executed at the T1 mode safe speed. With
lower overrides, the robot speed is reduced proportionally
according to the override setting.
Safety equipment – The safety fence is bypassed.
Locking the mode – You can lock the switch in T1 mode by
removing the key from the switch.
Possible errors
• If you turn the teach pendant ON/OFF switch to OFF when the
switch is in T1 mode, the robot stops and an error message is
displayed. To remove the error, turn the teach pendant
ON/OFF switch to ON and press RESET .
•
If you have set the singularity stop system variable,
$PARAM_GROUP[n].$T1T2_SNGSTP, to TRUE, the robot
will stop at singularity points while in T1 mode. If you change
the value of this variable, you must turn the controller off and
then on again for the change to take effect.
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4.3.4
T2 (100%): Test
Mode 2
Program activation – Programs can be activated from the teach
pendant only. However, programs can be activated only when the
teach pendant is enabled and the DEADMAN switch is in the
center position.
Robot speed
• During Cartesian jogging, Cartesian speed is less than 250
mm/sec and joint speed is less than 10% of the maximum
joint speed.
•
During joint jogging, face plate speed is less than 250
mm/sec.
•
During program test run, full program speed is allowed, and
the override can be changed from low to 100%.
Safety equipment – The safety fence is bypassed.
Locking the mode – You cannot lock the switch in T2. You cannot
remove the key from the switch in this mode.
Possible errors
• If you turn the teach pendant ON/OFF switch to OFF when the
switch is in T2 mode, the robot stops and an error message is
displayed. To remove the error, turn the teach pendant
ON/OFF switch to ON and press RESET .
•
If you have set the singularity stop system variable,
$PARAM_GROUP[n].$T1T2_SNGSTP, to TRUE, the robot
will stop at singularity points while in T2 mode. If you change
the value of this variable, you must turn the controller off then
on again for the change to take effect.
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4.3.5
AUTO:
Automatic Mode
Program activation – You must select AUTO mode and satisfy all
other required conditions to enable the activation of programs
from remote devices connected through the peripheral I/O. When
the switch is in AUTO mode, you cannot start programs using the
teach pendant.
Robot speed – The robot can be operated at the specified
maximum speed.
Safety equipment – The safety fence is monitored. If the safety
fence is opened during program execution (Figure 4-2):
• Case 1– If the robot deceleration time is less than the
hardware timer, then the robot will decelerate to a stop. When
the robot stops, servo power OFF is initiated.
•
Case 2– If the robot deceleration time is greater than the
hardware timer, then the robot will decelerate for the duration
of the hardware timer and then stop abruptly when the
hardware timer expires. When the hardware timer expires,
servo power is turned OFF.
Figure 4-2 Effect of Opening the Safety Fence While in AUTO Mode
Refer to the FANUC Robotics Controller System Software
Reference Manual for more information on these system
variables.
Locking the mode – You can lock the switch in AUTO mode by
removing the key from the switch.
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MATAGHAND1007CE
Possible errors
• If you turn the teach pendant ON/OFF switch to ON when in
AUTO mode, the robot stops and an error message is
displayed. To remove the error, turn the teach pendant
ON/OFF switch OFF and press RESET .
•
If you have set the singularity stop system variable,
$PARAM_GROUP[n].$AUTO_SNGSTP, to FALSE, the robot
will pass through singularity points while in AUTO mode. If
you change the value of this variable, you must cycle power
for the change to take effect.
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MATAGHAND1007CE
4.3.6
Teach Pendant
The teach pendant is an operator interface device that displays
the HandlingTool software menus. It is connected to the controller
via a cable that plugs into either the MAIN CPU board inside the
controller or, if it is a disconnectable teach pendant, to the
operator panel.
The teach pendant is the device you use to:
• Move the robot
•
Create and edit programs
•
Test programs
•
Set up production
•
Check status
•
Perform manual functions
•
Configure the application
The legacy teach pendant provides:
• A 16 line x 40 character teach pendant screen
•
Eleven status indicators
•
Teach pendant keys designed to make HandlingTool easy to
use
Figure 4-3 shows the standard teach pendant for HandlingTool.
Figure 4-3 Legacy Standard Teach Pendant
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In addition to these features the optional iPendant, shown in
Figure 4-4, provides
• A color graphics interface
•
Pop–up menus
•
Multiple windows
•
Internet/intranet access
•
Integrated Help and Diagnostics
•
Customized displays
Figure 4-4 iPendant Overview
HandlingTool Application Programming
iPendant Overview
On/Off switch
FANUC Robotics
NOTE: iPendant works with R-J3iB, R-30iA and higher controllers.
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MATAGHAND1007CE
4.3.7
Motion Control
Buttons and
Keys
ON/OFF Switch
The monochrome teach pendant and the iPendant include keys
that are used to display software menus, select options from the
teach pendant menus, help you program, move the robot, and
perform specific functions.
This switch turns on and off the teach pendant. When the teach
pendant is off, you cannot jog the robot, create a program, or test
or run a program. See Figure 4-5.
Figure 4-5 iPendant Teach Pendant
Original iPendant
EMERGENCY STOP
Button
iPendant with USB port
The red EMERGENCY STOP button is located on the front of
both teach pendant styles and can be pressed to stop the robot
immediately in case of an accident or failure. See Figure 4-6.
Figure 4-6 EMERGENCY STOP Button
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MATAGHAND1007CE
4.3.8
Teach Pendant
Keys
The teach pendant has the following keys:
• Navigation and Data Entry Keys
•
Robot Motion Keys
•
Execution Keys
•
Editing Keys
•
Application–Specific Keys
•
Help/Diagnostic Keys (iPendant only)
Table 4-2 Navigation and Data Entry Keys
Monochrome Teach
Pendant/iPendant Key
Symbolic
Teach
Pendant Key
(if available)
Function
The F1 through F5 function keys are used to make choices
based on the teach pendant display. Each function key has a
unique label depending on the menu displayed on the teach
pendant screen.
The PREV key restores the most recent state. In some cases,
the screen might not return to the immediately preceding
status.
The next page key is used to display the next set of function
keys.
The MENUS key is used to display the screen menu.
The FCTN key is used to display the function menu.
The SELECT key is used to display the program selection
screen.
The EDIT key is used to display the program edit screen.
The DATA key is used to display the program data screen.
The DISP key is available only on the iPendant and is used to
activate the DISPLAY menu or change the focus. When you
press SHIFT and the DISP key together, the DISPLAY menu
appears. The DISPLAY menu allows you to change the
number of windows displayed to be Single, Double, or Triple.
The Status/Single choice displays status in addition to the
single window. You can also use it to display help or
diagnostics, set up user views and menu favorites, or to
display a menu history.
The FCTN key is used to display the supplementary menu.
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Table 4-3 Execution/Robot Keys
Monochrome Teach
Pendant/iPendant
Key
Symbolic
Teach Pendant
Key (if
available)
Function
The GROUP key is used to switch groups. Hold down the
GROUP key and press the numeric key to switch to a
specified group. Press the GROUP key and the 0 key
together to toggle the sub group
The SHIFT key is used to jog the robot, teach the position
data, and start a program.
The right and left SHIFT keys have the same function.
The jog keys are effective while a SHIFT key is pressed.
They are used to jog the robot.
The COORD key selects a jog coordinate system. Each time
the COORD key is pressed, it selects the next jog type in the
order: JOINT, JGFRM, World frame, TOOL, USER. When
this key is pressed while a SHIFT key is pressed and held
down, a jog menu for changing the coordinate system is
displayed.
The override key adjusts the feedrate override. Each time
the override key is pressed, it selects the next override in the
order: VFINE, FINE, 1%, 5%, 50%, 100%.
The FWD key or BWD key (+ SHIFT key) starts a program.
When the SHIFT key is released during regeneration, the
program halts.
The HOLD key causes a program to halt.
The STEP key selects step or continuous test operation.
RESET
This resets key to reset faults after resolving the fault
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Table 4-4 Editing Keys
Symbolic Teach
Pendant Key (if
available)
Monochrome Teach
Pendant/iPendant Key
Prev
Function
The PREV key restores the most recent state. In some
cases, the screen might not return to the immediately
preceding status.
The ENTER key is used to process and activate the current
information set.
The BACK SPACE key deletes the character or numeral
immediately before the cursor.
The arrow keys are used to highlight or select an item on the
screen.
The ITEM key moves the cursor to a line whose number is
specified.
Table 4-5 HandlingTool–Specific Keys
TOOL 1 or 2 key displays the tool 1 or 2 screen.
The MOVE MENU key is not supported for HandlingTool.
The SET UP key displays the SETUP screen.
The STATUS key displays the STATUS screen.
The POSN key displays position data.
The I/O key displays the I/O screen.
Table 4-6 Help and Diagnostic Key (iPendant only)
The HELP key displays help files that are available that
describe the functions available for the active window. The
SHIFT and DIAG keys together display diagnostic
information for the currently active error or the selected
error in the Alarm menu. This key is only available on the
iPendant.
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HandlingTool Application Programming
Hardware Features
•
Keyboard layout almost
identical to current Teach
Pendant
– Easy to use for current
customers
– SHIFT, PREV, and NEXT
Swapped for balance
– FOCUS/DISPLAY key added
– HELP/DIAG Key added for
instant access to Help or
Diagnostics
F1
SHIFT
F3
F4
F5
SHIFT
TEACH
MENU
SELECT
EDIT
DATA
FCTN
PREV
NEXT
DISP
HOLD
-X
(J1)
+X
(J1)
FWD
-Y
(J2)
+Y
(J2)
BWD
-Z
(J3)
+Z
(J3)
COORD
-X
(J4)
+X
(J4)
+%
-Y
(J5)
+Y
(J5)
-Z
(J6)
+Z
(J6)
STEP
RESET
BACK
SPACE
ITEM
ENTER
7
8
9
WELD
ENBL
4
5
6
WIRE
+
1
2
3
WIRE
-
0
.
,
-
POSN
STATUS
DIAG
HELP
FANUC Robotics
F2
MAN
FCTN
%
OTF
AWE2
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MATAGHAND1007CE
4.3.9
Menu Favorites
Menu Favorites allows you to generate and store a list of menus that you display most
often. The example shown below has added Frames, Utilities and Group I/O are added to
the menu favorites. To add a favorite menu is the same way you add a radio station to your
radio button in your car.
Figure 4-7 Menu Favorites
Frames,
Utilities and
Group I/O are
added to the
menu
favorites.
Procedure 4-1 Adding Menus to the Menu Favorites using MENUS Dialog Box
Step
1
Display the menu that you want to add as a favorite menu.
2
Press MENUS key
3
If the dialog box is shown at the bottom of the screen, you
may press and hold the button or function key which you
want to set for 3 seconds. The currently displayed menu will
be added to the button with an icon. You may overwrite
existing buttons. In addition, you may press the right arrow
button or next key to display and set the next 5 buttons. The
left-most exit button or prev key will cancel the Dialog Box
and the Menus popup
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Figure 4-8 Teach Pendant
Screen: Displays
the software menus.
Status Indicators:
Display system
status.
FAULT
PAUSED
PREV: Displays
the previous
screen.
NEXT: Displays
more function
keys when more
are available.
STEP
ON/OFF Switch:
Together with the
DEADMAN switch,
enables or disables
robot motion.
SHIFT key:Together
with other keys
performs a specific
function.
BUSY
RUNNING
I/O ENBL
Function keys: Take
specific action depending
on the screen displayed.
PROD MODE
TEST CYC
JOINT
XYZ
SHIFT key:Together
with other keys,
performs a specific
function.
EMERGENCY
STOP BUTTON:
Use this button to
stop a running
program, turn off
drive power to the
robot servo
system, and apply
robot brakes.
TOOL
OFF
ON
MENUS key: Use
this key to display
the screen menu.
FCTN key: Use this
key to display the
supplementary menu.
Cursor keys: Use these
keys to move the cursor.
STEP key: Use this key to
switch between step
execution and cycle
execution.
Program keys: Use
these keys to select
menu options.
RESET key: Use this
key to clear an alarm.
ENTER key: Use this
key to enter a numeric
value or to select an item
from the menu.
POSN key: Use this
key to display position
data.
I/O key: Use this
key to display the I/O
menu.
MOVE MENU key:
Not supported
currently.
FWD (forward) key: Use
this key to run a program in
the forward direction.
TOOL
2
BACK SPACE key: Use this
key to delete the character or
number immediately before
the cursor.
ITEM key: Use this key
to select an item using its
number.
HOLD key: Use this
key to stop the robot.
TOOL
1
MOVE
MENU
POSN
I/O
SET UP
BWD (backward) key: Use
this key to run a program in
the backward direction.
STATUS
Jog keys: Use these keys to
move the robot manually.
COORD (coordinate) key:
Use this key to select the
jog coordinate system or
select another group.
STATUS key:
Use this key
to display the
status screen.
SET UP key:
Use this key
to display the
SETUP
screen.
TOOL Keys: Use
these keys to display
the Tool 1 screen and
Tool 2 screen.
Jog Speed keys: Use
these keys to adjust the
speed of the robot when it
moves.
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HandlingTool Application Programming
Teach Pendant (TP) Controls and Functions
SRVO-001 Op Panel E-Stop
Prog_Name
Line #
Status
JOINT 100%
Function Key Identifiers
Line 1 – Error Messages
Line 2 – Program Name, Line Number, Status
(Running, Paused, Aborted)
Line 3 – Coordinate System and Speed Override
Line 16 – Function Key Identifiers
FANUC Robotics
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Teach Pendant Screen
The teach pendant screen displays the HandlingTool software
menus. All functions can be performed by making selections from
the HandlingTool menus.
4.3.10 Quick/Full
Menus
You can alternate between display of the quick and full menus
using the QUICK/FULL menus selection on the FCTN menu. The
FCTN menu is displayed by pressing the FCTN key. When
QUICK menus are active, the available editing functions are
limited.
NOTE: When passwords are used, the controller will boot up
using Quick Menus.
The full menus are a complete list of all HandlingTool menus. The
QUICK menus are a partial list of specific menus.
The HandlingTool full menus are shown in Figure 4-9. The HandlingTool
quick menus are shown in Figure 4-10
Figure 4-9 HandlingTool Full Menus (pages 1 and 2)
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Figure 4-10 Quick Menus (pages 1 and 2)
Figure 4-11 FCT Menus (pages 1 and 2)
1
2
3
4
5
6
7
8
9
0
FUNCTIONS
ABORT (ALL)
Disable FWD/BWD
CHANGE GROUP*
TOGGLE SUB GROUP*
TOGGLE COORD JOG**
TOGGLE WRIST JOG
RELEASE WAIT
TOGGLE REMOTE TCP***
CHANGE RTCP FRAME***
---NEXT---
1
2
3
4
5
6
7
8
9
0
FUNCTIONS
QUICK/FULL MENU
SAVE
PRINT SCREEN
PRINT
UNSIM ALL I/O
CYCLE POWER (R-30iA ONLY)
---NEXT---
* Available with multiple groups
** Available when the coordinated motion option is loaded
*** Available when the Remote TCP option is loaded
Table 4-7 FCTN Menu Items
Menu Item
ABORT (ALL)
Disable FWD/BWD
CHANGE GROUP
TOGGLE SUB
GROUP
TOGGLE COORD
JOG
TOGGLE WRIST JOG
RELEASE WAIT
TOGGLE REMOTE
TCP
CHANGE RTCP
QUICK/FULL MENU
SAVE
PRINT SCREEN
PRINT
Description
Aborts any paused or running program.
Disables the ability to execute program instructions using SHIFT FWD and SHIFT BWD.
Changes the current group. Available only if multiple groups are used.
Changes the group of axes used for jogging between the first six axes and any extended
axes. Available only if extended axes are installed.
This item turns on or off whether the robot jogs coordinated pairs using the coordinated
motion option
Turns on or off whether the robot jogs with the wrist joint motion option
Overrides a pause in a running program in which the robot is waiting for I/O conditions to
be satisfied
Changes between remote TCP jogging and standard jogging, if remote TCP is enabled
Changes the selected remote TC P frame for jogging, if remote TCP is enabled
Changes between quick and full menu structures
Saves variables and other data to the default device
Prints the current screen to a serial printer or, if a PC is connected to the P3 port, to a file
called TPSCRN.LS
This item is not used
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DEADMAN Switch
The DEADMAN switch is used as an enabling device. When the
teach pendant is enabled, this switch allows robot motion only
while the DEADMAN switch is gripped. If you release this switch,
the robot stops immediately. See Figure 4-12.
Figure 4-12 DEADMAN Switch
NOTE: If you have the Control Reliable (RS-1/RS-4) option,
and if the DEADMAN switch is fully compressed, robot motion is
not allowed and an error occurs. This is the same as when the
DEADMAN switch is released. To clear the error, press the
DEADMAN switch in the center position and press RESET .
Teach Pendant Status
Indicators
The teach pendant has several indicators to assist you in
determining controller status.
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Figure 4-13 Teach Pendant Status Indicators
FAULT
HOLD
STEP
BUSY
RUNNING
I/O ENABLE
PROD MODE
TEST CYCLE
JOINT
XYZ
TOOL
OFF
ON
Figure 4-14 iPendant Status Indicators
Busy
Step
Hold
Fault
Run
I/O
Prod
TCyc
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Indicator
FAULT
HOLD
Description
Indicates that a fault condition has occurred.
Indicates that the robot is in a hold condition. HOLD is not on
continuously during a hold condition.
STEP
Indicates that the robot is in step mode.
BUSY
Indicates that the controller is processing information.
RUNNING
Indicates that a program is being executed.
I/O ENABLE
Indicates that the I/O is ENABLED
PROD MODE
Indicates that the robot is in PRODUCTION MODE.
TEST CYCLE
Indicates that the robot is in the TEST CYCLE
*JOINT
Indicates that the current jog coordinate system is JOINT.
*XYZ
Indicates that the current jog coordinate system is
CARTESIAN (JOG FRAME OR WORLD).
*TOOL
Indicates that the current jog coordinate system is TOOL.
* = Standard Teach Pendant Status Indicators only
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4.4 Peripheral
Equipment
HandlingTool Application Programming
Peripheral Equipment
• Any item not a part of the Mechanical Unit,
Controller or Software
– PLC
– End-of-Arm Tooling (EOAT)
FANUC Robotics
4.4.1
User Operator
Panel (UOP)
4.4.2
Communications
Your system might be equipped with a user operator panel
(UOP). A UOP is a customized operator panel that is wired to the
controller. It can be a custom control panel, a cell controller, or a
host computer. Your company should provide the information
necessary to operate this panel.
The controller has the capability of serial communication using:
• RS-422 serial port, which is used for the teach pendant
•
RS-232-C and RS-422 serial ports, which can be used for
¾ CRT/KB
¾ FANUC Robotics Industrialized Terminal
¾ DEC VT-220 terminal
¾ IBM PC compatibles
¾ PS-100, PS-110, or PS-200 disk drives
¾ FANUC Robotics floppy
¾ Printers
¾ Debug monitor
Refer to the “Program and File Manipulation” chapter in this
manual for more information about setting up the RS–232–C and
RS–422 serial ports.
The controller also has the capability of using standard TCP/IP
and UDP/IP protocols. FANUC Robotics-supplied options are as
follows:
• Ethernet for Local Area Networks (LANs)
• FTP
• Ethernet Controller Backup and Restore
• ControlNet
5
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55
HandlingTool Application Programming
5 POWER UP
AND JOGGING
HandlingTool Application Programming
Power Up and Jogging
• Turning on the controller provides power to the
robot and does the following:
– Initializes changes to system variables
– Initializes changes to I/O setup
– Displays the utilities hints screen(during Cold Start only)
– Executes a command file(if programmed)
• Before turning on the power perform a safety
inspection of the robot and workcell to ensure
that it is safe to do so.
FANUC Robotics
NOTE: The action list above might vary according to your
particular setup and installation.
HandlingTool Application Programming
Jogging
• Moves the robot at a slow speed to:
–
–
Record path nodes or positional data
Correct path nodes or positional data
• Jogging is affected by the following:
–
–
–
–
–
Jog speed – how fast the robot moves
Coordinate system
Motion group – for robots with more than 1 motion group
Extended axes – for robots with extended axes
Remote TCP jogging(if installed)
FANUC Robotics
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5.1 Turning On and
Off the Controller
Turning on the robot provides power to the robot and controller
and performs the following actions:
• Initializes changes to system variables
•
Initializes changes to I/O setup
•
Displays the utilities hints screen (during Cold start only)
•
Initializes changes to cell I/O
The action list above might vary according to your particular setup
and installation.
WARNING
Lethal voltage is present in the controller WHENEVER IT
IS CONNECTED to a power source. Be extremely careful
to avoid electrical shock.
Turning the disconnect or circuit breaker to the OFF
position removes power from the output side of the device
only. High voltage is always present at the input side
whenever the controller is connected to a power source.
CAUTION
Your plant might require additional inspections before
turning on power to the robot. To help ensure safe
operation, you should familiarize yourself with the
guidelines for your particular installation before you turn
on the robot.
5.1.1
Cycle Power –
R-30iA
The CYCLE POWER option is available on the FCTN menu
after a Cold start. This item toggles the power relay via external
I/O. The teach pendant must be enabled for this to work. If the
teach pendant is enabled, a prompt box will be displayed asking if
you are sure. This is not available on an external robot connection
— only from the teach pendant.
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Procedure 5-1 Turning On the Robot
Condition
ƒ
All personnel and unnecessary equipment are out of the
workcell.
Step
1
Visually inspect the robot, controller, workcell, and the
surrounding area. During the inspection make sure all
safeguards are in place and the work envelope is clear of
personnel.
2
Turn the power disconnect circuit breaker on the operator
panel to ON. This completes turning on the robot for R30iA controller.
WARNING
DO NOT turn on the robot if you discover any problems or
potential hazards. Report them immediately. Turning on a
robot that does not pass inspection could result in
serious injury.
3
For R-J3iB and earlier controllers, press the ON/OFF
button on the operator panel.
•
On the operator panel, the ON button will be illuminated,
indicating robot power is on.
•
On the teach pendant screen, you will see a screen
similar to the following.
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Procedure 5-2 Cycling Controller Power (Controller R-30iA only)
Condition
Step
ƒ
The teach pendant is enabled.
ƒ
You are not using an external robot connection. This is only
available on the teach pendant.
ƒ
The controller is currently in a Cold start state.
1
Press FCTN .
2
Select CYCLE POWER.
3
Press ENTER . You will see a screen similar to the following.
This will cycle power.
Are you sure?
[NO]
YES
4
Use the teach pendant arrow keys to select YES, and press
ENTER .
Procedure 5-3 Turning Off the Robot
Step
R-J3iB and earlier
controllers
1
If a program is running or if the robot is moving, press the
HOLD key on the teach pendant.
2
Perform any shutdown procedures specific to your
installation. For R-30iA controllers, move to step 4.
3
For R-J3iB and earlier controllers, press the ON/OFF
button on the operator panel.
4
Turn the disconnect circuit breaker to OFF when performing
maintenance on the robot or controller.
WARNING
Lethal voltage is present in the controller WHENEVER IT
IS CONNECTED to a power source. Be extremely careful
to avoid electrical shock.
Turning the disconnect or circuit breaker to the OFF
position removes power from the output side of the device
only. High voltage is always present at the input side
whenever the controller is connected to a power source.
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Jogging is moving the robot axes by pressing keys on the teach
pendant. Before you add a motion instruction to a teach pendant
program you must first jog the robot to the position you want.
5.2 Jogging The
Robot
The following items affect the way the robot jogs and the axes
that move while jogging:
• Jog speed – How fast the robot moves when jogging
•
Coordinate system – The way the robot moves when jogging
•
Minor axis wrist jogging – How the wrist axes will jog
The following items that affect the axes that move while jogging
are:
• Motion Groups – Which motion group is selected
•
Extended axes and motion sub-groups – Which extended
axes or sub-group that is selected
NOTE: Some items listed above might not be supported by
your software application.
HandlingTool Application Programming
Jog the Robot
• Jog Procedure - Move the robot.
–
–
–
–
Reset E-Stops/Clear Alarms
Depress Deadman switch
Enable the Teach Pendant
Choose a manual jog coordinate
system
¾
¾
¾
JOINT mode
XYZ mode
TOOL mode
– Set the jog override speed
– Hold the SHIFT key and press & hold
the jog key for motion
– When jogging is finished:
¾
¾
Disable the Teach Pendant
Release the DeadMan Switch
FANUC Robotics
A
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5.2.1
Jog Speed
The jog speed is a percentage of the maximum speed at which
you can jog the robot. The current jog speed is displayed in the
right corner of every teach pendant screen.
A jog speed of 100% indicates that the robot will move with the
maximum possible jog speed. The maximum possible jog speed
varies depending on the robot model. The maximum possible jog
speed is defined by the tool center point (TCP) moving at and
below 250 millimeters per second. A jog speed of FINE or VFINE
indicates that the robot will move in incremental steps. Table 5-1
Jog Speed Values lists all the possible values of the jog speed.
NOTE: When you use FINE and VFINE speed values, the
robot moves one step at a time. You must release the jog key and
press it again to move the robot again.
Table 5-1 Jog Speed Values
Degrees
Joint
Speed Values
PULSE
X,Y,Z
Cartesian
100, 95, 90, 85, ... 20, 15, 10, 5, 4, 3, 2, 1 % of jog speed
% of jog speed
FINE
Approximately 0.001 degrees
Approximately 0.023 mm
(incremental steps)
VFINE
Approximately 0.0001 degrees Approximately 0.002 mm
(incremental steps)
The jog speed keys on the teach pendant are used to increment
or decrement the jog speed. The SHIFT key combined with a
jog speed key causes the jog speed to be changed between 100,
50, 5, FINE, and VFINE. Figure 5-1 shows the jog speed keys.
Figure 5-1 Jog Speed Keys
Set the jog speed to a value that is appropriate for the conditions
in the workcell, the kind of jogging the robot is doing, and your
own experience in jogging a robot. Use a slow jog speed until
you are familiar with the robot. The slower the jog speed, the
more control you have over robot motion.
NOTE:
•
The jog speed increments only when the COORD/JOG
SPEED screen on the teach pendant is displayed.
•
Whenever the COORD key is depressed, the speed will be
reduced to 10% if speed is higher than 10%
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5.2.2
Coordinate
Systems
•
Press the COORD or +% or -% jog speed key to display the
COORD/JOG SPEED screen.
•
Press the +% or -% jog speed key again to change the jog
speed values.
In jogging, a coordinate system defines how the robot will move.
There are five coordinate systems:
• JOINT
•
WORLD
•
JGFRM
•
USER
•
TOOL
You change the coordinate system by pressing the COORD key
on the teach pendant, shown in Figure 5-2. The coordinate
system you choose is displayed in the upper right hand corner of
the teach pendant screen, and on the teach pendant indicators.
Table 5-2 indicates the LED indicator that corresponds to the
coordinate system you choose.
Figure 5-2 COORD Display
Table 5-2 LCD Indicators
LCD
Coordinate System
JOINT
JOINT
XYZ
WORLD, USER, JGFRAME
TOOL
TOOL
Refer to Table 5-3 for listings and descriptions of the JOINT, XYZ,
and TOOL coordinate systems.
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Table 5-3 Coordinate Systems
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5.2.3
Jogging in
JOINT
Jogging the robot in joint allows you to move one joint at a time.
This is the most efficient type motion because the processor does
not have to calculate a linear path or maintain the tool center
point in line with a plane.
It is highly recommended that joint coordinate be used to recover
from an over travel condition.
NOTE: Only joint coordinate is available when the robot is not
mastered.
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5.2.4
Jogging in
World
HandlingTool Application Programming
Cartesian/World Coordinate System
+Z
Origin
-Y
-X
+X
+Y
-Z
World Frame
FANUC Robotics
World frame allows you to move the robot tool center point in
reference to a Cartesian frame. World is the default frame for the
system and cannot be changed. World is also the default
reference for other user-defined frames such as user and jog
frame.
NOTE: Changes to the mastering data can have a direct
impact on how the robot moves in world frame.
HandlingTool Application Programming
Cartesian Axes
• X-axis moves robot
forward and backwards
inside work envelop
• Y-axis moves robot left
and right inside of work
envelope
• Z-axis moves robot arm
up and down inside of
work envelope
+Z
-X
+Y
+X
-Y
-Z
FANUC Robotics
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HandlingTool Application Programming
World Frame
• Default frame of the robot
• Fixed reference
– Cannot be modified by user
• Origin is predefined within robot
– Center of rotation of J1 axis
– Intersection with line parallel to rotation of J2 axis
FANUC Robotics
HandlingTool Application Programming
World Frame (cont.)
• Robot always knows where world frame is
• Default for all other frames
• Robot will use world frame if no other frames
defined
• Motion described by “Right Hand Rule”
– Major axes move robot inside of frame
– Minor axes rotate wrist about axes of frame
FANUC Robotics
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HandlingTool Application Programming
Right Hand Rule
FANUC Robotics
HandlingTool Application Programming
Orientation
Orientation
Yaw (W) – Rotation around X
Pitch (P) – Rotation around Y
Roll (R) – Rotation around Z
X
Y
Z
FANUC Robotics
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HandlingTool Application Programming
Singularity – Definition
•
•
•
•
•
•
Singularity occur in a XYZ coordinate only
Singularity is a point, through
which a robot might move,
that causes non-programmed
and sometimes unexpected
wrist rotation
Singularity occurs when an infinite number of joint angles
generates the same set of Cartesian data. (J4, J5 & J6 on the
Yellow 6 Axes Robots)
To complete the move, the controller calculates a path which
might cause the robot to speed up
Singularity can be eliminated by teaching points away from the
singularity position
Singularity points vary by robot model
FANUC Robotics
HandlingTool Application Programming
To Recover from Singularity
• If you are jogging the robot in a XYZ coordinate
and experience Singularity.
• Press the coord key on the teach pendant until
joint coordinate is displayed.
• Select the Joint coordinate and jog J5 in a plus or
minus direction about 10 degrees.
• Then return to the XYZ coordinate and jog the
robot
FANUC Robotics
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5.2.5
Motion Groups
HandlingTool Application Programming
Motion Group
•
•
•
Maximum of 16 axes on R-J3 Controller
Maximum of 40 axes on R-30iA Controller
Motion group
– defines different groups of axes that can be used for independent
pieces of equipment, positioning tables, and other devices.
– Maximum of 5 motion groups on R-J3 series controller
– Maximum of 7 motion groups on R-30iA series controller
•
Extended Axes
– Axes beyond standard number of robot axes
– Maximum of 3 extended axes in a motion group
– Controller can control a maximum of 16 axes, however, only 9 axes
can belong to a single group
– Axes 1 through 6 is always assigned to group 1.
FANUC Robotics
When you create a program, you define the group mask which is
the group of axes that the program will control. A single program
can be defined to use all five motion groups, but a maximum of
two motion groups can perform Cartesian interpolated motion
within a single program.
With multiple groups, the axes that jog depend on which group
you have selected. You select groups using the FCTN menu or
by pressing the SHIFT and COORD keys. Use Procedure 5-8
Jogging the Robot and Other Axes to select groups and jog the
axes.
To change the group number, you can also use the jog menu.
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5.2.6
Extended Axes
and Sub-Groups
Extended axes are the available axes controlled by the controller
beyond the standard number of robot axes. There is a limit of
three extended axes per motion group.
Extended axes become a sub-group of the motion group to which
they belong. Normally, the teach pendant keys control the first six
robot axes. To jog the extended axes in a sub-group, you must
first select the sub-group. You select sub-groups using the
FCTN menu. The status line at the top of the screen displays
whether a sub-group is being used, as shown below.
PROGRAM NAME
S
JOINT 10%
Sub-group selected
For example, if the sub-group controls axes 7, 8 and 9, select the
sub-group and then refer to Table 5-4 SubGroup Example.
Table 5-4 Sub-Group Example
For Axis Number
7
8
9
Use Jog Keys
+X, -X
+Y, -Y
+Z, -Z
To change the sub-group number, you can also use the jog menu.
Refer to Section 6.2.1 for more information.
Use Procedure 5-8 Jogging the Robot and Other Axes to select
sub-groups and jog the robot and other axes.
5.2.7
Error Codes &
Recovery
Errors occur because of
• Hardware problems - a broken cable or tooling
•
Software problems - incorrect program or data
•
External problems - an open safety door or an overtravel has
occurred
Depending on the severity of the error, you must take certain
steps to recover from it.
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Procedure 5-4 Displaying the Alarm Log Automatically
Condition
ƒ
To display the Active Alarm screen automatically,
- Set the system variable $ER_AUTO_ENB to TRUE either
on the SYSTEM Variables menu or by setting Auto display
of alarm menu to TRUE on the SYSTEM Configuration
menu. Then perform a Cold start.
- An error, whose severity is either PAUSE or ABORT must
have occurred
Step
1
Automatic Display of Active Alarm Screen: The following
screen will automatically be displayed. It lists all errors with a
severity other than WARN, that have occurred since the last
controller RESET. The most recent error is number 1.
SRVO-007 External emergency stop
TEST1
Alarm: ACTIVE
LINE 15
ABORTED
1 SRVO-007 External emergency stop
2
To toggle between the Active Alarm screen and Hist Alarm
screen, press F3 (ACTIVE or HIST).
3
To disable the automatic display of all errors with a certain
severity type, modify the value of the system variable
$ER_SEV_NOAUTO[1-5]. Then these errors will still be
logged in the Active Alarm screen, but they will no longer
force the screen to immediately become visible. Refer to
Section A.2.3 for more information.
4
To disable the automatic display of a specific error code,
modify the $ER_NOAUTO.$noalm_num and
$ER_NOAUTO.$er_code system variables. These errors will
still be logged in the Active Alarm screen, but they will no
longer force the screen to immediately become visible.
5
To display the screen that occurred immediately before the
alarm, press RESET . If you have toggled between HIST and
ACTIVE, the previous screen might not be available.
When there are no active alarms (the system is not in error
status), the following message will be displayed on the Active
Alarm screen.
There are no active alarms.
Press F3(HIST) to enter alarm history screen.
NOTE: When you reset the system by pressing the
RESET key, the alarms displayed on this screen are
cleared.
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6
To display the History Alarm screen manually:
a Press MENU .
b Press ALARM.
c Press F3 , HIST.
d Press F1 , [TYPE].
7
Select Alarm Log. The alarm log will be displayed. This lists
all errors. See the following screen for an example.
SRVO-007 External emergency stop
TEST1
LINE 15
ABORTED
Alarm: HIST
1 SRVO-007 External emergency stop
2 SRVO-001 Operator panel emergency st
3 R E S E T
4 SRVO-029 Robot calibrated (Group:1)
5 SRVO-001 Operator panel emergency st
6 SRVO-012 Power fail recovery
7 INTP-127 Power fail detected
8 SRVO-047 LVAL alarm (Group:1 Axis:5)
9 SRVO-047 LVAL alarm (Group:1 Axis:4)
10 SRVO-002 Teach pendant emergency stop
NOTE: The most recent error is number 1.
• To display the complete error message that does not fit
on the screen, press F5 , DETAIL, and the right arrow
key on the teach pendant.
• To display the cause code for an error message, press
F5 , DETAIL. Cause codes provide further
information about the cause of the error. If the
specified error has a cause code, the cause code
message is displayed immediately below the error
line, on the status line. When you press RESET , the
error and cause code disappears and the status line
is redisplayed
8
To display the motion log, which lists only motion-related
errors, press F1 , [TYPE], and select Motion Log.
9
To display the system log, which displays only system
errors, press F1 , [TYPE], and select System Log.
10 To display the application log, which displays only
application-specific errors, press F1 , [TYPE], and select
Appl Log.
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11 To display the communication log, which displays only
communication-specific errors, press F1 , [TYPE], and select
Comm Log.
12 To display the password log, which displays only
password-specific errors, press F1 , [TYPE], and select
Password Log.
13 To display more information about an error, move the
cursor to the error and press F5 , DETAIL. The error detail
screen displays information specific to the error you selected,
including the severity. If the error has a cause code, the
cause code message will be displayed. When you are
finished viewing the information, press PREV .
14 To remove all of the error messages displayed on the
screen, press and hold SHIFT and press F4 , CLEAR.
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Hexadecimal Notation
Hexadecimal notation is used to indicate the specific axes in
error, when one or more axes are in error at the same time.
Most robots have interaction limits, in addition to normal joint
limits. Even when all axes are within their respective limits an
error might occur. This could possibly be caused by the
interaction between multiple axes. In this case, hexadecimal
notation can help you to find the specific axis in error. For
example:
MOTN-017 STOP limit error (G:1
A:6 Hex)
The number after the "A " is the hexadecimal digit that shows
which axes are out of limit. The "Hex " indicates that the axis
numbers are in hexadecimal format. Table B-5 Hexadecimal Error
Message Display lists the sixteen hexadecimal digits and the
corresponding axes that are in error.
NOTE: Hexadecimal digits for the decimal values of 10
through 15 are represented by the letters A through F
respectively. Refer to Table B-5 Hexadecimal Error Message
Display.
To determine which axes are in error, you must evaluate each
digit in the error message separately. Refer to Table A.5
Hexadecimal Error Message Display.
NOTE: If only one number appears in the error message after
the "A:", you must read it as the first digit.
Table 5-5 Hexadecimal Error Message Display
MOTN-017 limit error(G:1 A:(3) (2) (1) HEX)
Hexadecimal Digit
Third Digit (3) Second Digit (2)
First Digit (1)
0
none
none
none
1
axis 9
axis 5
axis 1
2
n/a
axis 6
axis 2
3
n/a
axes 5 & 6
axes 1 & 2
4
n/a
axis 7
axis 3
5
n/a
axes 5 & 7
axes 1 & 3
6
n/a
axes 6 & 7
axes 2 & 3
7
n/a
axes 5, 6, & 7
axes 1, 2, & 3
8
n/a
axis 8
axis 4
9
n/a
axes 5 & 8
axes 1 & 4
A
n/a
axes 6 & 8
axes 2 & 4
B
n/a
axes 5, 6, & 8
axes 1, 2, & 4
C
n/a
axes 7 & 8
axes 3 & 4
D
n/a
axes 5, 7, & 8
axes 1, 3, & 4
E
n/a
axes 6, 7, & 8
axes 2, 3, & 4
F
n/a
axes 5, 6, 7, & 8
axes 1, 2, 3, & 4
Note: If only one number appears in the error message after the "A:", you must read it
as the first digit (1).
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Procedure 5-5 Recovering from an Overtravel Error
Condition
ƒ
An axis (or axes) are in overtravel and the overtravel alarm
has occurred. If you are jogging in JOINT the axis number
indicating the axis (or axes) in an overtravel will be displayed
in the error log.
Step
1
Press MENU
2
Select SYSTEM
3
Press F1 , [TYPE].
4
Select OT Release. You will see a screen similar to the
following. The axis that is overtraveled will display TRUE in
either OT_MINUS or OT_PLUS.
MANUAL OT Release
AXIS
1
2
3
4
5
6
7
8
9
If the robot is
calibrated
OT MINUS
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
OT PLUS
TRUE
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
FALSE
5
Move the cursor to the OT PLUS or OT MINUS value of the
axis in overtravel.
6
Press F2 , RELEASE
7
If the robot is calibrated, you will see the message "Can't
Release OT. Press HELP for detail."
a If you press F5 , DETAIL, you will see a screen similar to
the following.
MANUAL OT Release
When robot is calibrated, overtravel
cannot be released. Press SHIFT &
RESET to clear the error, and jog out
of the overtravel condition.
NOTE: For the following steps, press and hold down the
SHIFT key until you have completed Step b. through Step d.
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b Press and continue pressing SHIFT and press F2 ,
RESET Wait for servo power.
c Continuously press and hold the DEADMAN switch and
turn the teach pendant ON/OFF switch to ON.
d Jog the overtraveled axis off the overtravel switch. When
you have finished jogging, you can release the SHIFT
key.
NOTE: If you accidentally release the shift key during Step 7b.
through Step 7d., you will have to repeat them.
If the robot is not
calibrated
8
If the robot is not calibrated, perform the following steps:
NOTE: For the following steps, press and hold down the
SHIFT key until you have completed Step a. through Step d.
a Press and continue pressing SHIFT and press F2 ,
RESET . Wait for servo power.
b Press COORD until you select the JOINT coordinate
system.
c Continuously press and hold the DEADMAN switch and
turn the teach pendant ON/OFF switch to ON.
d Jog the overtraveled axis off the overtravel switch. When
you have finished jogging, you can release the SHIFT
key.
NOTE: If you accidentally release the shift key during Step 8a,
you will need to repeat Step 8d.
9
Turn the teach pendant ON/OFF switch to OFF and release
the DEADMAN switch.
10 Check CRM68 & CRF7 connection on the amplifier PCB if
the robot is not in an actual overtravel condition.
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5.2.8
Hand Breakage
Recovery
A hand breakage error occurs when the hand breakage detection
switch is tripped on robots equipped with hand breakage
hardware. The switch is tripped when the robot tool strikes an
obstacle, which could possibly cause the tool to break. The
system
• Shuts off drive power to the servo system and applies robot
brakes
•
Displays an error message indicating that the hand is broken
•
Lights the operator panel FAULT light
•
Lights the teach pendant FAULT LED
The status of the hand breakage detection switch is displayed on
the STATUS Safety Signals screen.
Procedure 5-6 Recovering from a Hand Breakage
Condition
ƒ
The hand breakage error message is displayed.
Step
1
If you have not already done so, continuously press and hold
the DEADMAN switch and turn the teach pendant ON/OFF
switch to ON.
2
Hold down the SHIFT key and press RESET . The robot
can now be moved.
3
Jog the robot to a safe position.
4
Press the EMERGENCY STOP button.
5
Request a trained service person to inspect and, if
necessary, repair the tool.
6
Determine what caused the tool to strike an object, causing
the hand to break.
7
If the hand breakage occurred while a program was being
executed, you might need to reteach positions, modify the
program, or move the object that was struck.
8
Test run the program if it has been modified, if new positions
have been recorded, or if objects in the work envelope have
been moved.
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5.2.9
Chain Failure
Detection Error
Recovery
A Single Chain Failure Detection fault will be set if one safety
chain is in an Emergency Stop condition, and the other is not in
an Emergency Stop condition.
When a Single Chain Failure Detection fault occurs, the system
does the following:
• Shuts off drive power to the servo system and applies robot
brakes
Chain Failure Detection
Errors
•
Displays an error message indicating that a single chain
failure has occurred.
•
Lights the operator panel FAULT light
•
Lights the teach pendant FAULT LED
The following Chain Failure Errors might occur
• SRVO-230 SVAL1 Chain 1 (+24V) abnormal
SRVO-231 SVAL1 Chain 2 (0V) abnormal
•
SRVO-230 SVAL1 Chain 1 (+24V) abnormal
with SRVO-001 Operator panel E-stop
SRVO-231 SVAL1 Chain 2 (0V) abnormal
with SRVO-001 Operator panel E-stop
•
SRVO-230 SVAL1 Chain 1 (+24V) abnormal
with SRVO-002 Teach pendant E-stop
SRVO-231 SVAL1 Chain 2 (0V) abnormal
with SRVO-002 Teach pendant E-stop
•
SRVO-230 SVAL1 Chain 1 (+24V) abnormal
with SRVO-003 Deadman switch released
SRVO-231 SVAL1 Chain 2 (0V) abnormal
with SRVO-003 Deadman switch released
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•
SRVO-230 SVAL1 Chain 1 (+24V) abnormal
with SRVO-004 Fence open
SRVO-231 SVAL1 Chain 2 (0V) abnormal
with SRVO-004 Fence open
•
SRVO-230 SVAL1 Chain 1 (+24V) abnormal
with SRVO-007 External emergency stops
SRVO-231 SVAL1 Chain 2 (0V) abnormal
with SRVO-007 External emergency stops
•
SRVO-230 SVAL1 Chain 1 (+24V) abnormal
with SRVO-019 SVON input
SRVO-231 SVAL1 Chain 2 (0V) abnormal
with SRVO-019 SVON input
•
SRVO-230 SVAL1 Chain 1 (+24V) abnormal
with SRVO-232 SVAL1 NTED input
SRVO-231 SVAL1 Chain 2 (0V) abnormal
with SRVO-232 SVAL1 NTED input
•
SRVO-230 SVAL1 Chain 1 (+24V) abnormal
with SRVO-233 SVAL1 TP disabled in T1, T2/Door open
SRVO-231 SVAL1 Chain 2 (0V) abnormal
with SRVO-233 SVAL1 TP disabled in T1, T2/Door open
Procedure 5-7 Chain Failure Detection Error Recovery
Condition
Step
ƒ
The system detected either a SRVO-230 Chain 1 (+24V
abnormal) or a SRVO-231 Chain 2 (0V abnormal) error.
ƒ
You cannot reset the chain failure errors, even after turning
the controller OFF and then ON again.
1
Correct the cause of the alarm.
2
Create and then release a chain failure that is different from
the original chain failure. An example of this would be to
press and then RESET the EMERGENCY STOP button on
the teach pendant.
3
Press MENU .
4
Select ALARMS. You will see a screen similar to the
following.
ALARM: Active
SRVO-230 Chain 1(+24V) abnormal
5
Press F4 , RES_CH1. You will see a screen similar to the
following
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MATAGHAND1007CE
ALARM: Active
SRVO-230 Chain 1(+24V) abnormal
Reset Single Channel Fault [NO]
6
Press F4 , YES to reset the fault.
7
Press the RESET button on the teach pendant or operator
panel.
WARNING
If you reset the chain failure fault without fixing the cause
of it, the same alarm will occur, but the robot can move
until the alarm occurs again. Be sure to fix the cause of
the chain failure before you continue. Otherwise, you
could injure personnel or damage equipment.
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Procedure 5-8 Jogging the Robot and Other Axes
Condition
ƒ
All personnel and unnecessary equipment are out of the
workcell.
ƒ
All EMERGENCY STOP faults have been cleared.
ƒ
All other faults have been cleared and the fault light is not
illuminated.
ƒ
The MODE SELECT switch is in the T1 or T2 position.
WARNING
Make certain that all safety requirements for your
workplace have been followed; otherwise, you could
injure personnel or damage equipment.
Step
1
Select a coordinate system by pressing the COORD key on
the teach pendant until the coordinate system you want is
displayed in the upper right hand corner of the teach pendant
screen, and on the teach pendant LEDs. You will see a
screen similar to the following.
NOTE: The jog speed value will automatically be set to 10%,
when the teach pendant is turned on, or when the controller is
first powered up.
2
Turn the teach pendant ON/OFF switch to the ON position.
3
Hold the teach pendant and continuously press the
DEADMAN switch on the back of the teach pendant.
NOTE: If you compress the DEADMAN switch fully, robot
motion will not be allowed and an error occurs. This is the same
as when the DEADMAN switch is released. To clear the error,
press the DEADMAN switch in the center position and press
RESET .
NOTE: If you release the DEADMAN switch while the teach
pendant is ON, an error will occur. To clear the error,
continuously press the DEADMAN switch and then press the
RESET key on the teach pendant.
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4
If your system is configured with multiple motion groups,
select the motion group you want to jog by doing the
following:
a Press and hold the SHIFT key and press COORD to
display the JOG menu.
b Move the cursor to GROUP and press the appropriate
numeric key.
5
If your system has extended axes, select the sub-group
that you want to jog by doing the following:
a Press FCTN .
b Move the cursor to TOGGLE SUB-GROUP and press
ENTER You will see a screen similar to the following.
PROGRAM NAME
S
JOINT 10%
Sub-group selected
c To de-select a sub-group press FCTN , move the cursor
to TOGGLE SUB-GROUP, and press ENTER .
Refer to the table that is listed below to jog the extended
axes.
For Axis Number
7
8
9
6
Use Jog Keys
+X, -X
+Y, -Y
+Z, -Z
If you want to use wrist jogging,
a Press FCTN .
b Move the cursor to TOGGLE WRIST JOG and press
ENTER The status line indicator for wrist jog is
displayed in the upper right hand corner of the teach
pendant screen. See the following screen for an
example.
PROGRAM NAME
S
W/TOOL 10%
Wrist jogging selected
c To de-select wrist jogging press FCTN , move the cursor
to TOGGLE WRIST JOG, and press ENTER .
NOTE: WRIST JOG is not available or applicable in
"JOINT" mode.
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7
If you want to use optional remote TCP jogging,
a Select the Cartesian coordinate system you want to use
for remote TCP jogging.
b Press FCTN .
c Move the cursor to TOGGLE REMOTE TCP and press
ENTER . The status line indicator for remote TCP
jogging is displayed as "Rn/" in the upper right hand
corner of the teach pendant screen next to the
coordinate system, where "n" is the number of the
remote TCP frame.
PROGRAM NAME
S
R1/TOOL 25%
Remote TCP Jogging
d Press FCTN .
e Move the cursor to CHANGE RTCP FRAME and press
ENTER . Each time you select CHANGE RTCP FRAME,
the user frame selection is advanced: from 1 (R1) to 2
(R2) to 3 (R3) to 4 (R4) to 5 (R5) and then back to 1
(R1). Select the user frame (UFRAME) you want to use
for remote TCP jogging.
f To de-select remote TCP jogging, press FCTN and
move the cursor to TOGGLE REMOTE TCP and press
ENTER .
8
If your system has auto singularity option installed and
actived, you will see the following screen when an XYZ
coordinates is selected:
a Press FCTN .
b Highlight T/Singularity JOG and press ENTER
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9
Select a jog speed by pressing and releasing the appropriate
jog speed key until the jog speed you want is displayed in the
upper right hand corner of the teach pendant screen, as
shown below.
NOTE: Set the jog speed to a low percentage (%) value if you
are inexperienced in jogging the robot, or if you are uncertain how
the robot will move.
WARNING
In the next step, the robot will move. To stop the robot
immediately any time during jogging, release the
DEADMAN switch or press the EMERGENCY STOP button.
10 To jog, press and hold the SHIFT key and continuously
press the jog key that corresponds to the direction in which
you want to move the robot. To stop jogging, release the jog
key.
11 When you are finished jogging, turn the teach pendant
ON/OFF switch to OFF, and release the DEADMAN switch
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NOTES:
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
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5.3 Axis Limits
HandlingTool Application Programming
Robot Axis Limits
• Setting axis limits
– Defines the motion range of the robot
– Restricted because of work area limitation, tooling, and
fixture interference points
– Axis limits are upper and lower motion degree limitations
FANUC Robotics
Axis limits define the motion range of the robot. The operating
range of the robot axes can be restricted because of:
• Work area limitations
•
Tooling and fixture interference points
•
Cable and hose lengths
There are three methods used to prevent the robot from going
beyond the necessary motion range. These are
• Axis limit software settings
•
Axis limit switches – optional
•
Axis limit hardstops
WARNING
Do not use axis software limits as the only method for
restricting robot motion. Change the hard stops to match
the software modifications; otherwise, you could injure
personnel or damage equipment.
Software Settings
Axis limit software settings are upper and lower motion degree
limitations. The limits can be set for all robot axes and will stop
robot motion if the robot is calibrated. If the robot is not
calibrated, overtravel limit switches or hardstops are contacted
two to three degrees beyond the software limits.
Limit Switches
Axis limit switches are overtravel switches that, when tripped, cut
power to the servo motors. These are located two or three
degrees beyond the software limits.
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Hardstops
Axis limit hardstops are physical barriers that are located two or
three degrees beyond the overtravel limit switch or software
setting on the three major axes. The robot cannot move beyond a
hardstop.
Setting the axis limits software settings changes the motion range
of the robot. The axis limit screen displays the current upper and
lower axis limits, for each robot axis, in degrees.
Upper Limits
Displays the upper limits of each axis, or the axis limits, in a more
positive direction.
Lower Limits
Displays the lower limits of each axis, or the axis limits, in a more
negative direction.
Saving Limits
After you change the axis limits, turn off the controller and then
turn it on again so the new settings can be used.
CAUTION
Changing the axis limits will affect the robot work area,
and could change and could change robot motion.
Anticipate the effects of changing axis limits before you
change them; otherwise unexpected results could occur,
such as errors in previously recorded positions.
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Procedure 5-9 Setting Up Axis Limits
Step
1
Press MENU .
2
Select SYSTEM.
3
Press F1 , [TYPE].
4
Select Axis Limits. See the following screen for an example
of the axis limits for an M–16i robot. The values for your
robot could be different.
SYSTEM Axis Limits
AXIS
GROUP
1
1
2
1
3
1
4
1
5
1
6
1
7
0
8
0
9
0
LOWER
-165.00
-78.00
-170.50
-200.00
-140.00
-450.00
0.00
0.00
0.00
UPPER
165.00 dg
162.00 dg
285.00 dg
200.00 dg
140.00 dg
450.00 dg
0.00 mm
0.00 mm
0.00 mm
NOTE: A “0” in the group column indicates the robot does not
have these axes.
5
Move the cursor to the axis limit you want to set.
WARNING
Do not depend on axis limit software settings to control
the motion range of your robot. Use the axis limit switches
or hardstops also; otherwise, you could injure personnel
or damage equipment.
6
Type the new value using the numeric keys on the teach
pendant.
7
Repeat Steps 5 through 6 until you are finished setting the
axis limits.
WARNING
You must turn off the controller and then turn it back on to
use the new information; otherwise, you could injure
personnel or damage equipment.
8
Turn off the controller and then turn it back on again so the
new information can be used.
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5.3.1
The STATUS Version ID screen displays information specific to
your controller. Use this information when you call the FANUC
Robotics Hotline if a problem occurs with your controller. You
cannot change the information displayed on this screen. Table
5-6. lists and describes the version identification status
information.
Version
Identification
Status
Table 5-6 Version Identification Status Items
ITEM
DESCRIPTION
SOFTWARE These items list the software item loaded.
ID
This item lists the version number of the software item loaded.
Procedure 5-10 Displaying the Version Identification Status
Step
1
Press MENU .
2
Select Status.
3
Press F1 , [TYPE].
4
Select Version ID.
5
Press the key that corresponds to the version ID status
screen you want to display:
•
To display software version information, press F2 ,
SOFTWARE. You will see a screen similar to the
following.
STATUS Version ID
SOFTWARE:
1: application-Tool (TM)
2: S/W Serial No.
3: Controller ID
4: Default Personality
5: Robot Model
6: Servo Code
7: Cart. Mot. Parameter
8: Joint Mot. Parameter
9: Software Edition No.
10: Boot MONITOR
ID: 1/11
Vx.xx
xxxx
F00000
xx-xxx-xx-xx
xxxxx
xxxx
xxxx
Vx.xx
Vx.xx
NOTE: Line 5 in the screen above will only be visible if you are
using PaintTool.
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•
To display a list of the software features and options that
are loaded, press F3 , CONFIG.
STATUS Version ID
SOFTWARE:
1: application-Tool (TM)
2: English Dictionary
3: Kernel Software
4: Analog I/O
5: Arc EQ Program Select
6: Arc Softpart
7: Background Edition
8: Basic Software
9: Controller Backup
10: Cycle Time Priority
ORD NO:
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
XXXX
1/128
NOTE: The information displayed here could be different at
your site.
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NOTES:
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
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Figure 5-3 Material Handling Teach Pendant
FAULT
HOLD
STEP
BUSY
RUNNING
I/O ENBL
PROD MODE
TEST CYC
JOINT
XYZ
TOOL
OFF
ON
TOOL
1
TOOL
2
MOVE
MENU
SETUP
POSN
I/O
STATUS
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HandlingTool Application Programming
Enabling Objectives Lab 1
• Awareness Lab
– Power up the robot
– Recover from system faults
– Jog the robot in JOINT mode
– Power down the robot
FANUC Robotics
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Lab 1
Power Up and Jog the Robot in JOINT
Student Name:____________________________________________________
Assignment:
Condition:
Step:
The student will:
• Power up the robot
•
Recover from system faults
•
Jog the robot in JOINT mode
•
Power down the robot
A FANUC robot and controller loaded with HandlingTool application
software.
1
Power up the robot using Procedure 5-1 Turning On the Robot, and
remove all servo faults
or
Select T1, T2, or AUTO mode as required.
2
Follow Procedure 5-8 Jogging the Robot so the tool touches an object or
to a position having specific joint angles.
Move the robot to another object. Rotate 50 degrees from the first
object. Check the angle change using the POSN hardkey.
3
Vary the speed of the robot using the jog speed keys.
4
Exercise the joints of the robot to see the restrictive work envelope.
Stay at least a foot away from the floor. Press the POSN hardkey to
see the joint angles. Note the limits of movement on each axis in both
directions in the table that follows.
5
Cause the following faults to occur and the recover from each: Teach
PendantE-stop, Operator Panel E-stop, Deadman Switch Released
6
Power down the robot using Procedure 5-3 Turning Off the Robot.
Completed:
Instructor: ________________________________
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HandlingTool Application Programming
Enabling Objectives Lab 2
• Set Axis Limits
– Investigate and record the robot’s current software limits
– Move robot arm to new restricted envelope if possible and
write down new values
– Set new software limits based on new values
FANUC Robotics
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Lab 2
Set Axis Limits
Student Name: _______________________________________________________________
Assignment:
Condition:
Step:
The student will:
• Investigate and record the robot’s current software limits
•
Move robot arm to new restricted envelope if possible and write
down new values.
•
Set new software limits based on new values.
A FANUC robot and controller loaded with HandlingTool application
software. The students will complete this task as a team.
1
If the robot exceeds the physical boundaries set by the equipment, jog
the axis up to a level of safety, move robot location to indicate a need to
change the present limits.
2
Write down the current software limits
Joint _______________________________________________________
1 __________________________________________________________
2 __________________________________________________________
3 __________________________________________________________
4 __________________________________________________________
5 __________________________________________________________
6 __________________________________________________________
3
Modify the major axes (1-3). These values should be determined within
the cell by performing Procedure 5-9 to Setup Axis Limits
Completed:
Instructor: ________________________________
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HandlingTool Application Programming
Enabling Objectives Lab 3
•
Jog the robot in World mode
– Learn to practice jogging the robot in World mode
– Familiarize yourself with some of the teach pendant keys and the
functions they normally perform while jogging the robot.
FANUC Robotics
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Lab 3
Jog the robot in WORLD mode
Student Name:____________________________________________________
Assignment:
The student will:
• Learn and practice jogging the robot in World mode
•
Condition:
Step:
Familiarize with some of the Teach Pendant keys and functions
normally used while jogging the robot.
A FANUC robot and controller loaded with HandlingTool application
software. A table or cardboard box in the robot’s work envelope.
1
Set the robot to jog in WORLD mode by hitting the COORD key until
WORLD appears on the Teach Pendant screen.
2
What is the currently jogging method? _____________________________
3
What is the currently selected jog/override speed? ___________________
4
What is the fastest speed available? ______________________________
5
What is the slowest?___________________________________________
6
What increments does the speed change when the +% key is pressed
by itself?
___________________________________________________________
7
In what increments does the speed change when the +% key is pressed
with the SHIFT key?
___________________________________________________________
8
Practice jogging in the WORLD frame with the pointer perpendicular to
each side of the box to ensure you can successfully move the TCP
along the X, Y and Z planes as well as rotate about the X,Y and Z axes.
Completed:
Instructor: ________________________________
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HandlingTool Application Programming
Enabling Objectives Lab 4 & 5
• Know how to alternate between Quick and Full
menus
• Know how to access the version ID menu
FANUC Robotics
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Lab 4
Alternating Between QUICK/FULL MENU
Student Name: _______________________________________________________________
Assignment:
Condition:
Step:
The student will:
• Power up the robot
•
View both quick and full menus
•
Observe the change in the soft keys
•
Power down the robot
A FANUC robot and controller loaded with HandlingTool application
software. The students will complete this task as a team.
1
Power up the robot using Procedure 5-1 Turning On the Robot
2
Follow the example on Section 4.3.10
3
Take note to what the top of the pop up menu screen says
4
Press the FCTN key then select 0 for Next on the Teach Pendant
5
Select Quick/Full Menu
6
Press MENU key to view the different menu.
7
To return back to Full Menu repeat steps 4 through 6.
Completed:
Instructor: ________________________________
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Lab 5
Viewing the Version Identification
Student Name: _______________________________________________________________
Assignment:
The student will:
• Determine the software version installed
•
Condition:
Step:
Determine the software options installed
A FANUC robot and controller loaded with HandlingTool application
software. The students will complete this task as a team.
1
Follow Procedure 5-10 Displaying the Version Identification Status.
2
What software version is installed? _______________________________
3
What is the serial number?______________________________________
4
What is the Boot Monitor Version? ________________________________
5
In what way will this help the customer and the Hot Line help desk?
___________________________________________________________
Completed:
Instructor: ________________________________
6
Frame Setup
101
HandlingTool Application Programming
6 FRAME SETUP
HandlingTool Application Programming
Frames
• FRAME - Set of three planes at right angles to
each other
– Intersection of planes is the Origin of the frame
– Used to describe the location and orientation of a position
with respect to a reference point (origin)
– Called Cartesian Coordinate System
FANUC Robotics
How Frames are Used
Frames are used to describe the location and orientation of a
position. The location is the distance in the x, y, and z directions
from the origin of the reference frame. The orientation is the
rotation about the x, y, and z axes of the reference frame. When
you record a position, its location and orientation is automatically
recorded as x, y, z, w, p, and r relative to the origin of the frame it
uses as a reference.
The location of a position is expressed as three dimensions,
which are measured in millimeters from the origin in the x, y, and
z directions. For example, 300,425,25 means the position is
300mm in the x direction, 425mm in the y direction, and 25mm in
the z direction from the origin.
The orientation of a position is expressed as three dimensions,
which are measured in degrees of rotation about the x, y, and z
axes. For example, 0,–90,0 means that the position is rotated –
90 degrees about the y axis and is not rotated about the x or z
axes.
Frames
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6.1 Types of Frames
HandlingTool Application Programming
Types of Frames
•
•
•
•
•
World frame - default frame of the robot
User frame - user defined frame
Tool frame - user defined frame
Jog frame - user defined frame
RTCP – Remote Tool Center Point
Note: Joint is not a Frame
FANUC Robotics
6.2 Tool Frame
HandlingTool Application Programming
Tool Frame
• Default is center of faceplate
• Origin of frame must be moved to new Tool
Center Point (TCP) Location
• All measurements are relative to origin of frame
• Origin called Tool Center Point
– Defines location and orientation of where work is done
FANUC Robotics
The tool frame is a Cartesian coordinate system that has the
position of the tool center point (TCP) at its origin. You must set
the tool frame to define the point on the applicator, gun, torch, or
tool at which the painting, welding, sealing, handling, or other
application work is to be done.
Frames
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HandlingTool Application Programming
Tool Frame (cont.)
• HT programs taught in one tool frame will not run
in any other tool frame
• In a 6 point Tool frame method the user can
define the +X and +Z direction
• In a 3 point method +Z direction is towards the
work piece
• Active frame stored in system variable
$MNUTOOLNUM
• Active frame can be set and changed within
program as needed
– Use parameter instruction
– SHIFT + COORD
FANUC Robotics
HandlingTool Application Programming
Tool Frame (cont.)
• Major Axes
– X-Axis moves Tool Center Point in and out inside of
work envelope
– Y-Axis moves Tool Center Point left and right inside of
work envelope
– Z-Axis moves Tool Center Point up or down from work
piece
• Minor Axes
– Control orientation of EAOT
– Rotate EOAT about W, P, and R axes of robot
FANUC Robotics
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HandlingTool Application Programming
Tool Frame Information
• XYZ define the location of the tool frame origin
relative to the faceplate and WPR define the
direction we want the Tool frame axis to point
relative to the faceplate.
FANUC Robotics
HandlingTool Application Programming
Default Tool Center Point
+X-Axis
+Y-Axis
FANUC Robotics
+Z-Axis
Frames
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HandlingTool Application Programming
Tool offset data ( Utool) tell the controller where the
Tool frame is relative to the center of the faceplate.
Tooling to be added
Tool Frame Origin
FANUC Robotics
Setting Up Tool Frame
HandlingTool Application Programming
Setting up Tool Frames
• Three Point Method
– Teaches location of Tool Center Point (TCP)
• Six Point Method
– Teaches location and orientation of TCP
• Direct Entry Method
– Must be used with 4-axis robots (M410i, M420i, A520)
– Not limited to 4 axis robots
– Used when tool dimensions are known
FANUC Robotics
By default, the origin of the tool frame is on the faceplate of the
robot. You must move the origin of the tool frame to the position,
both location and orientation, where the work is to be done. This
position is called the tool center point (TCP)
All measurements in tool frame are relative to the origin of the tool
frame.
• Before you use tool frame, you must set up its location and
orientation.
Frames
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MATAGHAND1007CE
•
You can set up as many as ten different tool frames for each
robot. They will be stored in the system variable $MNUTOOL.
•
You can select one tool frame to be active. The frame number
will be stored in the system variable $MNUTOOLNUM.
•
You can jog the robot in tool frame.
Figure 6-1 Typical Tool Frame
+Y
+Z
+X
You can use the following methods to define the tool frame:
• Three point method
•
Six point method
•
Direct entry method
NOTE: If you have a 4-axis robot, you can define a tool frame
using only the direct entry method.
Three Point Method
Use the three point method to define the location of the tool
frame when the values cannot be measured and directly entered.
The three approach points must be taught with the tool touching a
common point from three different approach directions.
Use Procedure 6-1 to set up the tool frame using the three point
method.
Six Point Method
Use the six point method to define the location and orientation
of the tool frame when the values cannot be measured and
directly entered. The six point method requires three points that
define the direction vector for the tool, and three points that define
Frames
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the location of the tool center point.
Use Procedure 6-2 to set up the tool frame using the six point
method.
Direct Entry Method
The direct entry method provides for direct recording and
numerical entry of the frame position. For TCP dimensions, refer
to the manufacturing specifications of the tool. Use Procedure
6-3 to set up the tool frame using the direct entry method.
Use Procedure 6-5 to select a tool frame.
Procedure 6-1 Setting Up Tool Frame Using the Three Point Method
WARNING
If you set up a new frame, make sure that all frame data is
zero or uninitialized before you record any positions.
Press F4 , CLEAR, to clear frame data.
If you modify an existing frame, make sure that all frame
data is set the way you want before you change it.
Otherwise, you could injure personnel or damage
equipment.
Step
1
Press MENU .
2
Select SETUP.
3
Press F1 , [TYPE].
4
Select Frames.
5
To choose the motion group for the frame you are setting
up in systems with multiple motion groups, press F3 ,
[OTHER], and select the group you want. The default motion
group is Group 1.
6
If tool frames are not displayed, press F3 , [OTHER], and
select Tool Frame. If F3 , [OTHER], is not displayed, press
PREV.
7
To display the settings for all frames, press PREV
repeatedly until you see a screen similar to the following.
Frames
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MATAGHAND1007CE
SETUP Frames
Tool Frame Setup / Three Point
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
7:
0.0
0.0
0.0 *************
8:
0.0
0.0
0.0 *************
9:
0.0
0.0
0.0 *************
Active TOOL $MNUTOOLNUM[1]=1
NOTE: The maximum number of tool frames is set in the
system variable $SCR.$MAXNUMUTOOL.
8
To set the numerical values to zero, move the cursor to the
frame number, press F4 , CLEAR, and then press F4 , YES,
to confirm.
9
Press F2 , DETAIL.
a To select a frame,
b Press F3 , FRAME.
c Type the desired frame number.
d Press ENTER .
e Press F2 , [METHOD].
f Select Three Point. You will see a screen similar to the
following.
SETUP Frames
Tool Frame Setup / Three Point
Frame Number: 1
X: 0.0
Y: 0.0
Z: 0.0
W: 0.0
P: 0.0
R: 0.0
Comment: ****************
Correct
Incorrect
Approach point 1:
Approach point 2:
Approach point 3:
UNINIT
UNINIT
UNINIT
Active TOOL $MNUTOOLNUM[1]=1
10 To add a comment:
a Move the cursor to the comment line and press ENTER .
b Select a method of naming the comment.
c Press the appropriate function keys to enter the comment.
d When you are finished, press ENTER .
NOTE: Record the three approach points with the tool tip
touching the same point from three different approach directions.
Frames
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11 Record the first approach point:
a Move the cursor to Approach point 1.
b Jog the robot so that the tool tip touches a reference point.
c Press and hold the SHIFT key and press F5 , RECORD.
12 Record the second approach point:
a Move the cursor to Approach point 2.
b Rotate the faceplate about the z axis of the tool
coordinates.
Large rotations, near 90°, give the best results. However,
smaller rotations can be used if motion is restricted by
cabling or other attachments.
c Jog the robot so that the tool tip touches the reference
point.
d Press and hold the SHIFT key and press F5 , RECORD.
13 Record the third approach point:
a Move the cursor to Approach point 3.
b Rotate the tool about the X, Y, & Z axis of the tool
coordinates. The three approach point angles must
converge on the same point in space, the reference
point. The angles must not be 180º apart or in the same
plane.
c Jog the robot so that the tool tip touches the reference
point.
d Press and hold the SHIFT key and press F5 , RECORD.
You have finished the tool frame.
NOTE: To use the
Tool Frame data taught,
you must select it,
continue to step 17
14 To select the tool frame to use, press F5 , SETIND, type
the number of the tool frame you want, and press ENTER . If
F5 , SETIND, is not displayed, press PREV .
-ORUse the Jog Menu. Press and hold SHIFT and press
COORD , move the cursor to Tool, and type the number of
the frame you want to use. Jog the robot in the frame you just
taught.
•
If the TCP is correct, it will remain stationary during
rotational moves. Go to Step 15.
Frames
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MATAGHAND1007CE
CAUTION
When you are finished setting the frame configuration,
save the information to the default device so that you can
reload the configuration data if necessary. Otherwise, if
the configuration is altered, you will have no record of it.
•
If the TCP is not correct, it will not remain stationary
during rotational moves. You need to review your recorded
positions. If they are not correct, re-record them correctly.
Go to Step 11.
WARNING
When you use F4 , MOVE_TO, to move the robot,
unexpected motion can occur. This could injure personnel
or damage equipment.
15 To move to a recorded position, move the cursor to the
desired position, press and hold the SHIFT key and press
F4 , MOVE_TO.
16 To save the frames and related system variables to a file on
the default device,
a Press MENU .
b Select FILE.
c Press F1 , [TYPE].
d Select File.
e Press F5 , [UTIL].
f Select Set Device.
g Move the cursor to the device you want and press
ENTER .
h Display the tool frame screen.
i
Press FCTN .
j
Select SAVE. This will save the frame positions and
comments for all frames to the file, FRAMEVAR.SV, on
the default device.
Display the SYSTEM Variables menu,
k Press MENU .
l
Select SYSTEM.
m Press F1 , [TYPE].
n Select Variables.
o Press FCTN .
Frames
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MATAGHAND1007CE
p Select SAVE. The tool frame positions and system
variables are saved in the SYSVAR.SV file, on the
default device.
HandlingTool Application Programming
Tool offset data (Utool) tell the controller where the
Tool frame is relative to the center of the faceplate.
Tool Frame Offset
FANUC Robotics
Frames
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Procedure 6-2 Setting Up Tool Frame Using the Six Point Method
WARNING
If you set up a new frame, make sure that all frame data is
zero or uninitialized before you record any positions.
Press F4 , CLEAR, to clear frame data.
If you modify an existing frame, make sure that all frame
data is set the way you want before you change it.
Otherwise, you could injure personnel or damage
equipment.
Step
1
Press MENU .
2
Select SETUP.
3
Press F1 , [TYPE].
4
Select Frames.
5
To choose the motion group for the frame you are setting
up in systems with multiple motion groups, press F3 ,
[OTHER], and select the group you want. The default motion
group is Group 1.
6
If tool frames are not displayed, press F3 , [OTHER], and
select Tool Frame. If F3 , [OTHER], is not displayed, press
PREV .
7
To display the settings for all the frames, press PREV
repeatedly until you see a screen similar to the following.
SETUP Frames
Tool Frame Setup / Six Point
X
Y
Z
Comment
1:
0.0
0.0
0.0
*************
2:
0.0
0.0
0.0
*************
3:
0.0
0.0
0.0
*************
4:
0.0
0.0
0.0
*************
5:
0.0
0.0
0.0
*************
6:
0.0
0.0
0.0
*************
7:
0.0
0.0
0.0
*************
8:
0.0
0.0
0.0
*************
9:
0.0
0.0
0.0
*************
Active TOOL $MNUTOOLNUM[1]=1
Frames
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NOTE: The maximum number of tool frames is set in the
system variable $SCR.$MAXNUMUTOOL.
8
To set the numerical values to zero, move the cursor to the
frame number, press F4 , CLEAR, and then press F4 , YES,
to confirm.
9
Press F2 , DETAIL.
10 To select a frame,
a Press F3 , FRAME.
b Type the desired frame number.
c Press ENTER .
d Press F2 , [METHOD].
e Select Six Point. You will see a screen similar to the
following.
SETUP Frames
Tool Frame Setup/ Six Point
Frame Number: 1
X:
0.0
Y: 0.0
Z:
W:
0.0
P: 0.0
R:
Comment: ****************
Approach point 1: UNINIT
Approach point 2: UNINIT
Approach point 3: UNINIT
Orient Origin Point: UNINIT
X Direction Point: UNINIT
Z Direction Point: UNINIT
Active TOOL $MNUTOOLNUM[1]=1
0.0
0.0
11 To add a comment:
a Move the cursor to the comment line and press ENTER .
b Select a method of naming the comment.
c Press the appropriate function keys to enter the comment.
d When you are finished, press ENTER .
NOTE: Record the three approach points with the tool tip
touching the same point from three different approach directions.
The Tool frame will be inaccurate if the approach points face each
other.
12 Record the first approach point:
a Move the cursor to Approach point 1.
b Jog the robot so that the tool tip touches a reference point.
c Press and hold the SHIFT key and press F5 , RECORD.
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MATAGHAND1007CE
13 Record the second approach point:
a Move the cursor to Approach point 2.
b Rotate the faceplate about the z axis of the tool
coordinates.
Large rotations, near 90°, give the best results. However,
smaller rotations can be used if motion is restricted by
cabling or other attachments.
c Jog the robot so that the tool tip touches the reference
point.
d Press and hold the SHIFT key and press F5 , RECORD.
14 Record the third approach point:
a Move the cursor to Approach point 3.
b Rotate the tool about the X, Y, & Z axis of the tool
coordinates. The three approach point angles must
converge on the same point in space, the reference
point. The angles must not be 180º apart or in the same
plane.
Large rotations, near 90°, give the best results. However,
smaller rotations can be used if motion is restricted by
cabling or other attachments.
c Jog the robot so that the tool tip touches the reference
point.
d Press and hold the SHIFT key and press F5 , RECORD.
15 Define the orientation of the origin (Orient Origin Point):
NOTE: To simplify teaching points 4, 5, and 6 in the Six
Point Method, align the desired X, Y, and Z directions of the
tool with the X, Y, and Z of the World frame in any order that
avoids singularity. In this example it is convenient to align
the tool frame Z with the World frame Z and the Tool frame X
with the World frame X. This alignment is based on the
shape of the tool and the need to avoid singularity.
a Move the cursor to Orient Origin Point.
b Jog the robot so that the tool is aligned with the robot’s
World Frame. Any orientation of the tool will work as
long as the tool is square to the World frame and the
robot is not in singularity. See Figure 6-2 Defining the
Orientation of the Origin.
c Press and hold the SHIFT key and press F5 , RECORD.
Frames
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Figure 6-2 Defining the Orientation of the Origin
HandlingTool Application Programming
Tool Frame
+Z
45°
+X
+X
Tool
frame
+Z
45°
+Z
World
frame
+X
FANUC Robotics
16 Define the X direction point:
a Move the cursor to X Direction Point.
b Change the jog coordinate system to WORLD.
c Jog the robot so that the tool moves in its X direction.In
this example, the x axis of the tool is aligned with the
world z axis, so jog in the world Z direction.
NOTE: +x move the tool at least 250mm or more.
d Press and hold the SHIFT key and press F5 , RECORD.
17 Define the Z direction point:
a Move the cursor to Orient Origin Point.
b Press and hold the SHIFT key and press F4 ,
MOVE_TO, to move the robot to the Orient Origin Point.
c Move the cursor to Z Direction Point.
d Jog the robot in the -Z direction (of the world frame).
e Press and hold the SHIFT key and press F5 , RECORD.
Frames
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18 To select the tool frame to use, press F5 , SETIND, type
the number of the tool frame you want, and press ENTER . If
F5 , SETIND, is not displayed, press PREV .
-ORYou can also select the frame using the Jog Menu. Press and
hold SHIFT and press COORD , move the cursor to Tool,
and type the number of the frame you want to select.
19 Jog the robot in the frame you just taught, to verify it is
correct,
•
If the TCP is correct, it will remain stationary during
rotational moves. Go to Step 20.
CAUTION
When you are finished setting the frame configuration,
save the information to the default device so that you can
reload the configuration data if necessary. Otherwise, if
the configuration is altered, you will have no record of it.
You may also wish to record the values now shown on the
direct entry screen.
•
If the TCP is not correct, it will not remain stationary during
rotational moves. You need to review your recorded
positions. If they are not correct, re-record them correctly.
Go to Step 12.
WARNING
When you use F4, MOVE_TO, to move the robot, unanticipated joint motion can occur. This could injure
personnel or damage equipment. Remember, this is a
JOIN move.
20 To move to a recorded position, press and hold the
SHIFT key and press F4 , MOVE_TO.
21 To save the frames and related system variables to a file
on the default device,
a Press MENU .
b Select FILE.
c Press F1 , [TYPE].
d Select File.
e Press F5 , [UTIL].
f Select Set Device.
Frames
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MATAGHAND1007CE
g Move the cursor to the device you want and press
ENTER .
h Display the tool frame screen.
i
Press FCTN .
j
Select SAVE. This will save the frame positions and
comments for all frames to the file, FRAMEVAR.SV, on
the default device.
Display the SYSTEM Variables menu,
k Press MENU .
l
Select SYSTEM.
m Press F1 , [TYPE].
n Select Variables.
o Press FCTN .
p Select SAVE. The tool frame positions and system
variables are saved in the SYSVAR.SV file, on the
default device.
Procedure 6-3 Setting Up Tool Frame Using the Direct Entry Method
WARNING
If you set up a new frame, make sure that all frame data is
zero or uninitialized before you record any positions.
Press F4, CLEAR, to clear frame data.
If you modify an existing frame, make sure that all frame
data is set the way you want before you change it.
Otherwise, you could injure personnel or damage
equipment.
NOTE: If you have a 4-axis robot (such as an A-520i, or
M-410iHS/iHW, or M420i), you can define a tool frame using only
the direct entry method.
Step
1
Press MENU .
2
Select SETUP.
3
Press F1 , [TYPE].
4
Select Frames.
5
To choose the motion group for the frame you are setting
up in systems with multiple motion groups press F3 ,
[OTHER], and select the group you want. The default motion
group is Group 1.
Frames
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MATAGHAND1007CE
6
If tool frames are not displayed, press F3 , [OTHER], and
select Tool Frame. If F3 , [OTHER], is not displayed, press
PREV .
7
To display the settings for all the frames, press PREV
repeatedly until you see a screen similar to the following.
SETUP Frames
Tool Frame Setup / Direct Entry
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
7:
0.0
0.0
0.0 *************
8:
0.0
0.0
0.0 *************
9:
0.0
0.0
0.0 *************
Active TOOL $MNUTOOLNUM[1]=1
NOTE: The maximum number of tool frames is set in the
system variable $SCR.$MAXNUMUTOOL.
8
To set the numerical values to zero, move the cursor to the
frame number, press F4 , CLEAR, and then press F4 , YES,
to confirm.
9
Press F2 , DETAIL.
10 To select a frame,
a Press F3 , FRAME.
b Type the desired frame number.
c Press ENTER .
11 Press F2 , [METHOD].
12 Select Direct Entry. You will see a screen similar to the
following.
SETUP Frames
Tool Frame Setup / Direct Entry
Frame Number: 1
1 Comment:
****************
2 X:
0.000
3 Y:
0.000
4 Z:
0.000
5 W:
0.000
6 P:
0.000
7 R:
0.000
Configuration:
N R D B, 0, 0, 0
Active TOOL $MNUTOOLNUM[1]=1
13 To add a comment:
a Move the cursor to the comment line and press ENTER .
b Select a method of naming the comment.
Frames
119
MATAGHAND1007CE
c Press the appropriate function keys to enter the comment.
d When you are finished, press ENTER
14 Set each position component:
a Move the cursor to the component.
b Enter the numeric value for the component.
c Press the ENTER key to set the new value.
15 To select the tool frame to use, press F5 , SETIND, type
the number of the tool frame you want, and press ENTER . If
F5 , SETIND, is not displayed, press PREV .
-ORUse the Jog Menu Press and hold SHIFT and press
COORD , move the cursor to Tool, and type the number of
the frame you want to select.
CAUTION
When you are finished setting the frame configuration,
save the information to the default device so that you can
reload the configuration data if necessary. Otherwise, if
the configuration is altered, you will have no record of it.
16 To save the frames and related system variables to a file
on the default device,
a Press MENU .
b Select FILE.
c Press F1 , [TYPE].
d Select File.
e Press F5 , [UTIL].
f Select Set Device.
g Move the cursor to the device you want and press
ENTER.
h Display the tool frame screen.
i
Press FCTN .
j
Select SAVE. This will save the frame positions and
comments for all frames to the file, FRAMEVAR.SV, on
the default device.
Frames
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Display the SYSTEM Variables menu,
k Press MENU .
l
Select SYSTEM.
m Press F1 , [TYPE].
n Select Variables.
o Press FCTN .
p Select SAVE. The tool frame positions and system
variables are saved in the SYSVAR.SV file, on the
default device.
Frames
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6.2.1
The jog menu provides a method to check and change the
following jogging information:
• Currently selected frame number of each frame (TOOL, JOG,
USER)
Jog Menu
•
Currently selected group number
•
Currently selected sub-group type (ROBOT/EXT). You will see
a screen similar to the following.
TEST1
UTILITY
TOOL 100%
| TOOL
(.=10 2|
| JOG
3|
| USER
1|
| ROBOT/EXT
|
+----------------+
Procedure 6-4 Using the Jog Menu
Step
1
To display the jog menu, press and hold the SHIFT key and
press the COORD key
2
Use the up and down arrow keys to move the cursor to the
item you want to change.
3
To change the number of each frame, press the appropriate
numeric key. The item on which the cursor is located is
changed to the new value. Valid frame numbers are as
follows:
•
USER:
0–9
•
TOOL:
1–10 –– To select 10, press the “.”
(period) key on the teach pendant.
•
JOG:
1–5
NOTE: The text (.=10) does not appear and the “.” key is not
accepted if there are fewer than ten tool frames.
NOTE: The maximum number of tool frames is set in the
system variable $SCR.$MAXNUMUTOOL. Refer to the FANUC
Robotics SYSTEM R–J3i MODEL B Controller Software
Reference Manual for more information.
Frames
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MATAGHAND1007CE
4
To change to sub-group (available only for systems with
extended axes), move the cursor to ROBOT/EXT and press
the left and right arrow keys.
5
To change the group number (available only for multiple
motion group systems), move the cursor to GROUP and
press the appropriate numeric key. You can specify numbers
only for existing motion groups. Upon selecting or entering
your group number, the Jog Menu will close.
Procedure 6-5 Selecting a Tool Frame
NOTE: You can also use the Jog Menu to select the number of
the tool frame you want to use.
Step
ƒ
The tool frame you want to select has been set up. Use
Procedure 6-1, Procedure 6-2, or Procedure 6-3.
1
Press MENU .
2
Select SETUP.
3
Press F1 , [TYPE].
4
Select Frames.
5
To choose the motion group for the frame you are setting
up in systems with multiple motion groups press F3 ,
[OTHER], and select the group you want. The default motion
group is Group 1.
6
If tool frames are not displayed, press F3 , [OTHER], and
select Tool Frame If F3 , [OTHER], is not displayed, press
PREV . You will see a screen similar to the following.
SETUP Frames
Tool Frame Setup / Direct Entry
1/10
X
Y
Z
Comment
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
7:
0.0
0.0
0.0 *************
8:
0.0
0.0
0.0 *************
9:
0.0
0.0
0.0 *************
Active TOOL $MNUTOOLNUM[1]=1
Frames
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NOTE: The maximum number of tool frames is set in the
system variable $SCR.$MAXNUMUTOOL.
7
To select the tool frame to use, press F5 , SETIND, type
the number of the tool frame you want, and press ENTER . If
F5 , SETIND, is not displayed, press PREV .
-ORUse the Jog Menu Press and hold SHIFT and press
COORD , move the cursor to Tool, and type the number of
the frame you want to select.
8
When a position is recorded in the teach pendant program,
the value of the position’s tool frame will always equal the
value of $MNUTOOLNUM[group_no] at the time the position
was recorded.
When a teach pendant program is executed, you must make
sure that the tool frame of the position equals the value of
$MNUTOOLNUM [group_no], otherwise, an error will occur.
Set the value of $MNUTOOLNUM using the UTOOL_NUM=n
instruction in the teach pendant program before you record
the position to guarantee that the tool frame numbers match
during program execution.
Frames
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HandlingTool Application Programming
Enabling Objective Lab 6
• TOOL Frame Set up
– Set/Teach a TOOL Frame using Direct Entry on any robot
and/or the Six Point Method with six axis robots
– Jog in WORLD and TOOL
FANUC Robotics
Frames
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Lab 6
TOOL Frame Set up
Student Name: _______________________________________________________________
Assignment:
Condition:
Step:
The student will:
• Locate the present TOOL Frame value
•
Set/Teach a TOOL Frame using Direct Entry on any robot and/or the
three Point Method with six axis robots
•
Set/Teach a TOOL Frame using Direct Entry on any robot and/or the
six Point Method with six axis robots
•
Jog in TOOL
A FANUC robot and controller loaded with HandlingTool application software.
1
Power up the robot in a safe fashion
2
Hold SHIFT while you press and release COORD on the teach
pendant. A menu will pull down from the status bar. Follow Procedure
5-4 “Using the Jog Menu” to change between frame defaults.
Notice the current TOOL, JOG, and USER default frames. If USER is
not 0, cursor to USER and TYPE 0. The USER frame is changed to the
Robot’s World.
3
Jog the robot into the air away from all obstacles. Press the COORD
key on the teach pendant to change to the TOOL Jog System. Jog
about each
directions
+X
(J1)
,
+Y
(J2)
, and
+Z
(J3)
axis to find the Tool’s individual
4
For all 6 axis robots, clear any values for the tool being set. Perform the
procedure to set the tool using the “three-point” method. After the new
tool has been set, make sure TOOL 1 is set properly by rotating quickly
about each of the three axes. The tool tip should maintain the position.
5
For all 4 axis robots, clear any values stored for the tool being set.
Perform the procedure to set the tool using the “Direct Entry” method.
After the new tool has been set, verify accuracy by rotating quickly about
each of the three axes. Once again, the tool tip maintain its position.
Compare the approximation measurements and the taught offset values
using the Three Point Method of approaching a common point.
Completed:
Instructor: ________________________________
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NOTES:
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6.2.2
User Frame
HandlingTool Application Programming
User Frame
• Can be set up in any location, with any
orientation
• All positions are recorded in user frame
• If no user frame specified world frame is used by
default
• All positions in user frame are recorded with
respect to origin of frame
FANUC Robotics
A user frame is a frame that you can set up in any location, with
any orientation. User frames are used so that positions in a
program can be recorded relative to the origin of the frame. All
positions in a program are automatically recorded in user frame. If
you do not set up the location and orientation of the user frame
before you create a program, the user frame will be set by default
to the world frame in the program and you cannot change it.
NOTE: If you are using the remote TCP option, you must
define a user frame to be your remote TCP (RTCP) frame.
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Frames
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HandlingTool Application Programming
Frame Notes
• The Orientation (w, p, r) is the rotation about the
X, Y, and Z, axes of the reference frame.
• When a position is recorded, its location and
orientation is automatically recorded as X, Y, Z,
/w, p, r, relative to the origin of the frame that is
being used.
• The X, Y, & Z is measured in millimeters and the
w, p,& r, is measured in degrees.
• X,Y,Z, w, p, r, is called Cartesian Coordinate
System.
FANUC Robotics
HandlingTool Application Programming
User Frame (cont.)
• If origin and location of frame changes, positions
change with frame
• Frames stored in system variable $MNUFRAME
– V5.XX software - up to 9 frames maximum
– V4.4 software - up to 6 frames maximum
– V4.31 and below - up to 5 frames maximum
FANUC Robotics
Frames
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HandlingTool Application Programming
User Frame (cont.)
• Active frame stored in system variable
$MNUFRAMENUM
• Active frame can be set and changed within
program as needed
• TPP
– Use parameter instruction
FANUC Robotics
HandlingTool Application Programming
Setting up User Frames
• Three Point Method
• Four Point Method
• Direct Entry Method
FANUC Robotics
Frames
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Advanced Programming
User Frame vs. Jog Frames
Both User and Jog
frames can be
setup at any
location with any
orientation.
Both User and Jog
frames can be used
for jogging
World
Frame
Jog
Frame 3
-Y
+Y
+X
User
Frame 5
+Y
+X
+Y
+X
THE
DIFFERENCE:
Notice the
positional data and
how it references
only User Tools
and User Frames
FANUC Robotics
Advanced Programming
User Frame vs. Jog Frames
If the Jog and
User Frames
move…
World
Frame
Jog
Frame 3
-Y
+Y
+X
+Y
+X
FANUC Robotics
+X
User
Frame 5
THE
DIFFERENCE:
Notice the
+Y positional data and
how it references
only User Tools
and User Frames
Frames
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Figure 6-3 World and User Frames
Three Point Method
Recording three points defines the user frame. The three points
are the origin, a position along the +x-axis of the user frame, and
a position on the x-y plane of the user frame (defines the x-y
plane and the y-z plane). Use Procedure 6-6 to define the user
frame using the three point method.
Four Point Method
Use the four point method when you need to define a frame that
has its origin at a position other than the reference of the frame.
You can also use it to define multiple frames with parallel axes.
The four points are the reference of the frame (called orient origin
point), a point along the +x-axis of the frame (defines the x-z
plane), a point on the x-y plane of the frame (defines the x-y plane
and the y-z plane) and the origin of the frame (called system
origin). Use Procedure 6-7 to define a user frame using the four
point method.
Direct Entry Method
Use the direct entry method when you know the coordinates of
the user frame. The direct entry method allows you to designate
the origin with values for x, y, z, w, p, and r. Use Procedure 6-8 to
define a user frame using the direct entry method.
Use Procedure 6-9 to select a user frame.
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Procedure 6-6 Setting Up the User Frame Using the Three Point Method
Condition
ƒ
The tool frame you want to select has been set up.
ƒ
(Procedure 6-1, Procedure 6-2, or Procedure 6-3)
WARNING
If you set up a new frame, make sure that all frame data is
zero or uninitialized before you record any positions. Press
F4 , CLEAR, to clear frame data.
If you modify an existing frame, make sure that all frame
data is set the way you want before you change it.
Otherwise, you could injure personnel or damage
equipment.
Step
1
Press MENU .
2
Select SETUP.
3
Press F1 , [TYPE].
4
Select Frames.
5
To choose the motion group for the frame you are setting up
in systems with multiple motion groups press F3 , [OTHER],
and select the group you want. The default motion group is
Group 1.
WARNING
Do not run a KAREL program that includes motion
statements if more than one motion group is defined on
your controller. If your controller is set up for more than
one motion group, all motion must be initiated from a teach
pendant program. Otherwise, the robot could move
unexpectedly, personnel could be injured, and equipment
could be damaged.
6
If user frames are not displayed, press F3 , [OTHER], and
select User/RTCP. If F3 , [OTHER], is not displayed, press
PREV .
7
To display the settings for all frames , press PREV
repeatedly until you see a screen similar to the following.
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SETUP Frames
User/RTCP Setup / Three Point
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
7:
0.0
0.0
0.0 *************
8:
0.0
0.0
0.0 *************
9:
0.0
0.0
0.0 *************
Active UFRAME/RTCP $MNUFRAMNUM[1]=0
8
To set the numerical values to zero, move the cursor to the
frame number, press F4 , CLEAR, and then press F4 , YES,
to confirm.
9
Press F2 , DETAIL.
10 To select a frame,
a Press F3 , FRAME.
b Type the desired frame number.
c Press ENTER .
11 Press F2 , [METHOD].
12 Select Three Point. You will see a screen similar to the
following.
SETUP Frames
User/RTCP Setup/ Three Point
Frame Number: 2
X:
W:
0.0
0.0
Y:
P:
0.0
0.0
Z:
R:
0.0
0.0
Comment: ****************
Orient Origin Point:
UNINIT
X Direction Point:
UNINIT
Y Direction Point:
UNINIT
Active UFRAME/RTCP $MNUFRAMNUM[1]=1
13 To add a comment:
a Move the cursor to the comment line and press ENTER .
b Select a method of naming the comment.
c Press the appropriate function keys to enter the comment.
d When you are finished, press ENTER .
14 Define the origin point of the user frame: (Orient Origin Point)
a Move the cursor to Orient Origin Point.
b Jog the robot TCP to the origin. Figure 6-4 Defining the
Frames
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MATAGHAND1007CE
Origin, the origin is labeled number 1.
c Press and hold the SHIFT key and press F5 , RECORD.
Figure 6-4 Defining the Origin
15 Define the
+X
(J1)
direction point (X Direction Point) :
a Move the cursor to X Direction Point.
b Jog the robot tool tip along the x-axis. In Figure 6-5
Defining the X Direction Point this point is labeled
number 2.
c Press and hold the SHIFT key and press F5 , RECORD.
Frames
135
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Figure 6-5 Defining the X Direction Point
16 Define a point on the positive X-Y plane (Y Direction Point)
a Move the cursor to Y Direction Point.
b Jog the robot to a location on the positive X-Y plane. In
Figure 6-6 Defining the X-Y Plane, this point is labeled
number 3.
c Press and hold the SHIFT key and press F5 , RECORD.
Frames
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Figure 6-6 Defining the X-Y Plane
17 To select the user frame to use, press F5 , SETIND, type
the number of the user frame you want, and press ENTER.
This sets the active user frame ($MNUFRAMNUM[1]) to the
number of the frame you want. If F5 , SETIND, is not
displayed, press PREV .
-ORUse the Jog Menu. Press and hold SHIFT and press
COORD , move the cursor to User, and type the number of
the frame you want to use.
18 Jog the robot in the +x, +y, and +z directions. The robot
should move in the correct directions according to the frame
you defined. If the robot does not move in the correct
directions, go to Step 15. Otherwise, go to Step 19.
CAUTION
When you are finished setting the frame configuration,
save the information to the default device so that you can
reload the configuration data if necessary. Otherwise, if
the configuration is altered, you will have no record of it.
19 To move to a recorded position, move the cursor to the
desired position, press and hold the SHIFT key and press
F4 , MOVE_TO.
Frames
137
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WARNING
When you use F4 , MOVE_TO, to jog the robot, unexpected
motion can occur. This could injure personnel or damage
equipment.
NOTE: If you want to clear the current user frame selected,
press NEXT, >, and then F2 , CLRIND. This sets the active user
frame ($MNUFRAMNUM[1]) to zero, which means that the default
user frame is currently selected.
20 To save the frames and related system variables to a file
on the default device,
a Press MENU .
b Select FILE.
c Press F1 , [TYPE].
d Select File.
e Press F5 , [UTIL].
f Select Set Device.
g Move the cursor to the device you want and press
ENTER .
h Display the user frame screen.
i
Press FCTN .
j
Select SAVE. This will save the frame positions and
comments for all frames to the file, FRAMEVAR.SV, on
the default device.
Display the SYSTEM Variables menu,
k Press MENU .
l
Select SYSTEM.
m Press F1 , [TYPE].
n Select Variables.
o Press FCTN .
p Select SAVE. The frame positions and system variables
are saved in the SYSVAR.SV file, on the default device.
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Procedure 6-7 Setting Up the User Frame Using the Four Point Method
WARNING
If you set up a new frame, make sure that all frame data is
zero or uninitialized before you record any positions.
Press F4 , CLEAR, to clear frame data.
If you modify an existing frame, make sure that all frame
data is set the way you want before you change it.
Otherwise, you could injure personnel or damage
equipment.
Step
1
Press MENU .
2
Select SETUP.
3
Press F1 , [TYPE].
4
Select Frames.
5
To choose the motion group for the frame you are setting
up in systems with multiple motion groups, press F3 ,
[OTHER], and select the group you want. The default motion
group is Group 1.
6
If user frames are not displayed, press F3 , [OTHER], and
select User Frame. If F3 , [OTHER], is not displayed, press
PREV .
7
To display the settings for all frames, press PREV
repeatedly until you see a screen similar to the following.
SETUP Frames
User/RTCP Setup / Four Point
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
7:
0.0
0.0
0.0 *************
8:
0.0
0.0
0.0 *************
9:
0.0
0.0
0.0 *************
Active UFRAME/RTCP $MNUFRAMNUM[1]=0
8
To set the numerical values to zero, move the cursor to the
frame number, press F4 , CLEAR, and then press F4 , YES,
to confirm.
9
Press F2 , DETAIL.
10 To select a frame:
a Press F3 , FRAME.
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b Type the desired frame number.
c Press ENTER .
11 Press F2 , [METHOD].
12 Select Four Point. You will see a screen similar to the
following.
SETUP Frames
User/RTCP Setup/ Four Point
Frame Number: 2
X: 0.0
Y: 0.0
Z:
W: 0.0
P: 0.0
R:
0.0
0.0
Comment: ****************
Orient Origin Point:
UNINIT
X Direction Point:
UNINIT
Y Direction Point:
UNINIT
System Origin:
UNINIT
Active UFRAME/RTCP $MNUFRAMNUM[1]=1
13 To add a comment:
a Move the cursor to the comment line and press ENTER .
b Select a method of naming the comment.
c Press the appropriate function keys to enter the comment.
d When you are finished, press ENTER .
140
Frames
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14 Define the reference point of the user frame (Orient Origin
Point):
a Move the cursor to Orient Origin Point.
b Jog the robot TCP to the origin. In Figure 6-7 Defining the
Origin, the origin is labeled number 1.
c Press and hold the SHIFT key and press F5 , RECORD.
Figure 6-7 Defining the Origin
Frames
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15 Define the
+X
(J1)
direction point (X Direction Point):
a Move the cursor to X Direction Point.
b Jog the robot TCP to a point along the +x-axis. In Figure
6-8 Defining the X Direction Point this point is labeled
number 2.
c Press and hold the SHIFT key and press F5 , RECORD,
to record a position.
Figure 6-8 Defining the X Direction Point
142
Frames
MATAGHAND1007CE
16 Define a point on the X-Y plane (Y Direction Point):
a Move the cursor to Y Direction Point.
b Jog the robot to a location on the positive X-Y plane. In
Figure 6-9 Defining the X-Y Plane, this point is labeled
number 3.
c Press and hold the SHIFT key and press F5 , RECORD.
Figure 6-9 Defining the X-Y Plane
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17 Teach the origin of the second user frame (System
Origin):
a Move the cursor to System Origin.
b Jog the robot TCP to the origin of the second user frame.
In Figure 6-10 Defining the Second Origin, the origin is
labeled number 4.
c Press F5 , RECORD, to record a position.
Figure 6-10 Defining the Second Origin
18 To select the user frame to use, press F5 , SETIND, type
the number of the user frame you want, and press ENTER .
This sets the active user frame ($MNUFRAMNUM[1]) to the
number of the frame you want. If F5 , SETIND, is not
displayed, press PREV .
-ORUse the Jog Menu. Press and hold SHIFT and press
COORD , move the cursor to User, and type the number of
the frame you want to use.
19 Jog the robot in the +x, +y, and +z directions. The robot
should move in the correct directions according to the frame
you defined. If the robot does not move in the correct
Frames
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MATAGHAND1007CE
directions, go to Step 15. Otherwise, go to Step 20.
20 To move to a recorded position, move the cursor to the
desired position, press and hold the SHIFT key and press
F4 , MOVE_TO.
NOTE: If you want to clear the current frame to zero , move
the cursor to the frame number, press NEXT, >, then F2 ,
CLRIND. This sets the active user frame ($MNUFRAMNUM[1]) to
zero, meaning the default user frame is currently selected.
21 To save the frames and related system variables to a file
on the default device,
a Press MENU .
b Select FILE.
c Press F1 , [TYPE].
d Select File.
e Press F5 , [UTIL].
f Select Set Device.
g Move the cursor to the device you want and press
ENTER .
h Display the user frame screen.
i
Press FCTN .
j
Select SAVE. This will save the frame positions and
comments for all frames to the file, FRAMEVAR.SV, on
the default device.
Display the SYSTEM Variables menu,
k Press MENU .
l
Select SYSTEM.
m Press F1 , [TYPE].
n Select Variables.
o Press FCTN .
p Select SAVE. The frame positions and system variables
are saved in the SYSVAR.SV file, on the default device.
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Procedure 6-8 Setting Up User Frame Using the Direct Entry Method
Step
1
Press MENU .
2
Select SETUP.
3
Press F1 , [TYPE].
4
Select Frames.
5
To choose the motion group for the frame you are setting
up in systems with multiple motion groups press F3 ,
[OTHER], and select the group you want. The default motion
group is Group 1.
6
If user frames are not displayed, press F3 , [OTHER], and
select User Frame. If F3 , [OTHER], is not displayed, press
PREV .
7
To display the settings for all the frames, press PREV
repeatedly until you see a screen similar to the following.
8
To set the numerical values to zero, move the cursor to the
frame number, press F4 , CLEAR, and then press F4 , YES,
to confirm.
Frames
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9
Press F2 , DETAIL.
10 To select a frame,
a Press F3 , FRAME.
b Type the desired frame number.
c Press ENTER .
11 Press F2 , [METHOD].
12 Select Direct Entry. You will see a screen similar to the
following.
SETUP Frames
User/RTCP Setup/ Direct Entry
Frame Number: 1
1 Comment: ****************
2 X:
0.000
3 Y:
0.000
4 Z:
0.000
5 W:
0.000
6 P:
0.000
7 R:
0.000
Configuration: N, 0, 0, 0
Active UFRAME/RTCP $MNUFRAMENUM[1]=0
13 To add a comment:
a Move the cursor to the comment line and press ENTER .
b Select a method of naming the comment.
c Press the appropriate function keys to enter the comment.
d When you are finished, press ENTER .
14 Set each position component:
a Move the cursor to the component.
b Enter the numeric value for the component.
c Press the ENTER key to set the new value.
15 To select the user frame to use, press F5 , SETIND, type the
number of the user frame you want, and press ENTER. This
sets the active user frame ($MNUFRAMNUM[1]) to the
number of the frame you want. If F5 , SETIND, is not
displayed, press PREV .
-ORUse the Jog Menu. Press and hold SHIFT and press
COORD , move the cursor to User, and type the number of
the frame you want to use.
Frames
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NOTE: If you want to clear the current frame to zero , move
the cursor to the frame number and press NEXT , >, and then
F2 , CLRIND. This sets the active user frame
($MNUFRAMNUM[1]) to zero, which means that the default user
frame is currently selected.
16 To save the frames and related system variables to a file on
the default device,
a Press MENU .
b Select FILE.
c Press F1 , [TYPE].
d Select File.
e Press F5 , [UTIL].
f Select Set Device.
g Move the cursor to the device you want and press
ENTER .
h Display the user frame screen.
i
Press FCTN .
j
Select SAVE. This will save the frame positions and
comments for all frames to the file, FRAMEVAR.SV, on
the default device.
Display the SYSTEM Variables menu,
k Press MENU .
l
Select SYSTEM.
m Press F1 , [TYPE].
n Select Variables.
o Press FCTN .
p Select SAVE. The frame positions and system variables
are saved in the SYSVAR.SV file, on the default device.
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Procedure 6-9 Selecting a User Frame
NOTE: You can also use the Jog Menu to select the number of
the user frame you want to use.
Condition
ƒ
The user frame you want to select has been set up.
1
Press MENU .
2
Select SETUP.
3
Press F1 , [TYPE].
4
Select Frames.
5
If user frames are not displayed press F3 , [OTHER], and
select User Frame. If F3 , [OTHER], is not displayed, press
PREV . You will see a screen similar to the following.
SETUP Frames
User/RTCP Setup / Direct Entry
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
7:
0.0
0.0
0.0 *************
8:
0.0
0.0
0.0 *************
9:
0.0
0.0
0.0 *************
Active UFRAME/RTCP $MNUFRAMNUM[1]=0
Frames
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6
To select the user frame to use, press F5 , SETIND, type
the number of the user frame you want, and press ENTER .
This sets the active user frame ($MNUFRAMNUM[1]) to the
number of the frame you want. If F5 , SETIND, is not
displayed, press PREV .
-ORUse the Jog Menu. Press and hold SHIFT and press
COORD , move the cursor to User, and type the number of
the frame you want to use.
NOTE: When a teach pendant program is executed, you must
make sure that the user frame of the position equals the value of
$MNUFRAMENUM[group_no], otherwise, an error will occur. Set
the value of $MNUFRAMENUM[1] using the UFRAME_NUM=n
instruction in the teach pendant program and then execute that
instruction before you record the position. This guarantees that
the position corresponds to the correct user frame.
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6.2.3
Jog Frame
HandlingTool Application Programming
Jog Frame
• Can be set up in any location, with any
orientation
• Used when part is oriented differently from world
frame
• Allows jogging along x,y, and z axes of part
FANUC Robotics
See Figure 6-11 Jog Frame Defined Parallel to Part.
You can set up jog frame so that the coordinates of jog frame
correspond to the coordinates of the part. You can then jog along
x, y, and z to teach the positions on the part.
• Before you use jog frame, you must set up its location and
orientation.
•
You can set up as many as five different jog frames for each
robot.
•
You can select one jog frame to be active at a time.
•
You can jog the robot in jog frame.
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HandlingTool Application Programming
Setting up Jog Frames
• Three Point Method
• Direct Entry Method
FANUC Robotics
Figure 6-11 Jog Frame Defined Parallel to Part
You can use two methods to define the jog frame.
• Three point method
•
Three Point Method
Direct entry method
The three point method allows you to define a jog frame by
recording three points: the origin, a point along the +x-axis of the
user frame, and a point on the x-y plane of the user frame
(defines the x-y plane and the y-z plane). Use Procedure 6-10 to
set up the jog frame using the three point method.
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Direct Entry Method
The direct entry method allows you to designate the origin with
values for x, y, z, w, p, and r. This method provides direct
recording and numerical entry of the frame position. Use
Procedure 6-11 to set up the jog frame using the direct entry
method.
Procedure 6-10 Setting Up the Jog Frame Using the Three Point Method
Step
1
Press MENU .
2
Select SETUP.
3
Press F1 , [TYPE].
4
Select Frames.
5
To choose the motion group for the frame you are setting
up in systems with multiple motion groups press F3 ,
[OTHER], and select the group you want. The default motion
group is Group 1.
6
If jog frames are not displayed, press F3 , [OTHER], and
select Jog Frame. If F3 , [OTHER], is not displayed, press
PREV .
7
To display the settings for all frames, press PREV
repeatedly until you see a screen similar to the following.
Frames
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8
To set the numerical values to zero, move the cursor to the
frame number, press F4 , CLEAR, and then press F4 , YES,
to confirm.
9
Press F2 , DETAIL.
10 To select a frame:
a Press F3 , FRAME.
b Type the desired frame number.
c Press ENTER .
11 Press F2 , [METHOD].
12 Select Three Point. You will see a screen similar to the
following.
13 To add a comment:
a Move the cursor to the comment line and press ENTER .
b Select a method of naming the comment.
c Press the appropriate function keys to enter the comment.
d When you are finished, press ENTER .
14 Define the origin of the jog frame (System Origin Point):
a Move the cursor to System Origin Point.
b Jog the robot TCP to the origin. In Figure 6-12 Defining
the Origin the origin is labeled number 1.
c Press and hold the SHIFT key and press F5 , RECORD.
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Figure 6-12 Defining the Origin
15 Define the
+X
(J1)
direction point (X Direction Point):
a Move the cursor to X Direction Point.
b Jog the robot tool tip along the x-axis of the box. In Figure
6-13 Defining the X Direction Point this point is labeled
number 2.
c Press and hold the SHIFT key and press F5 , RECORD.
Figure 6-13 Defining the X Direction Point
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16 Define a point on the positive X-Y plane (Y Direction Point):
a Move the cursor to Y Direction Point.
b Jog the robot to a location on the positive X-Y plane. In
Figure 6-14 Defining the X-Y Plane, this point is labeled
number 3.
c Press and hold the SHIFT key and press F5 , RECORD.
Figure 6-14 Defining the X-Y Plane
17 To select the jog frame to use, press F5 , SETIND, type
the number of the jog frame you want, and press ENTER. If
F5 , SETIND, is not displayed, press PREV .
-ORUse the Jog Menu. Press and hold SHIFT and press
COORD , move the cursor to Jog, and type the number of
the frame you want to use.
18 Jog the robot in the +x, +y, and +z directions. The robot
should move in the correct directions according to the frame
you defined. If the robot does not move in the correct
directions, go to Step 15. Otherwise, go to Step 19.
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19 To move to a recorded position, move the cursor to the
desired position, press and hold the SHIFT key and press
F4 , MOVE_TO.
20 To save the frames and related system variables to a file
on the default device,
a Press MENU .
b Select FILE.
c Press F1 , [TYPE].
d Select File.
e Press F5 , [UTIL].
f Select Set Device.
g Move the cursor to the device you want and press
ENTER .
h Display the jog frame screen.
i
Press FCTN .
j
Select SAVE. This will save the frame positions and
comments for all frames to the file, FRAMEVAR.SV, on
the default device.
Display the SYSTEM Variables menu,
k Press MENU .
l
Select SYSTEM.
m Press F1 , [TYPE].
n Select Variables.
o Press FCTN .
p Select SAVE. The frame positions and system variables
are saved in the SYSVAR.SV file, on the default device.
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Procedure 6-11 Setting Up the Jog Frame Using the Direct Entry Method
1
Press MENU .
2
Select SETUP.
3
Press F1 [TYPE].
4
To choose the motion group for the frame you are setting
up in systems with multiple motion groups press F3 ,
[OTHER], and select the group you want. The default motion
group is Group 1.
5
Select Frames.
6
If jog frames are not displayed, press F3 , [OTHER] and
select Jog Frame. If F3 , [OTHER], is not displayed, press
PREV .
7
To display the settings for all frames , press PREV
repeatedly until you see a screen similar to the following.
8
To set the numerical values to zero, move the cursor to the
frame number, press F4 , CLEAR, and then press F4 , YES,
to confirm.
9
Press F2 , DETAIL.
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MATAGHAND1007CE
10 To select a frame:
a Press F3 , FRAME.
b Type the desired frame number.
c Press ENTER .
11 Press F2 , [METHOD].
12 Select Direct Entry. You will see a screen similar to the
following.
13 To add a comment:
a Move the cursor to the comment line and press ENTER .
b Select a method of naming the comment.
c Press the appropriate function keys to enter the comment.
d When you are finished, press ENTER .
14 Set each position component:
a Move the cursor to the component.
b Enter the numeric value for the component.
c Press ENTER to set the new value.
15 To select the jog frame to use, press F5 , SETIND, type the
number of the jog frame you want, and press ENTER. If F5 ,
SETIND, is not displayed, press PREV .
-ORUse the Jog Menu. Press and hold SHIFT and press
COORD , move the cursor to Jog, and type the number of
the frame you want to use.
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MATAGHAND1007CE
16 To save the frames and related system variables to a file
on the default device:
a Press MENU .
b Select FILE.
c Press F1 , [TYPE].
d Select File.
e Press F5 , [UTIL].
f Select Set Device.
g Move the cursor to the device you want and press
ENTER .
h Display the jog frame screen.
i
Press FCTN .
j
Select SAVE. This will save the frame positions and
comments for all frames to the file, FRAMEVAR.SV, on
the default device.
Display the SYSTEM Variables menu,
k Press MENU .
l
Select SYSTEM.
m Press F1 , [TYPE].
n Select Variables.
o Press FCTN .
p Select SAVE. The frame positions and system variables
are saved in the SYSVAR.SV file, on the default device.
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NOTES:
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MATAGHAND1007CE
Figure 6-15 Material Handling Teach Pendant
FAULT
HOLD
STEP
BUSY
RUNNING
I/O ENBL
PROD MODE
TEST CYC
JOINT
XYZ
TOOL
OFF
ON
TOOL
1
TOOL
2
MOVE
MENU
SETUP
POSN
I/O
STATUS
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HandlingTool Application Programming
Enabling Objective Lab 7
• Create a USER and JOG Frame
– Create a USER Frame using the three-point method
– Create a JOG Frame using the three-point method (optional)
FANUC Robotics
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Lab 7
Create a USER and JOG Frame
Student Name:____________________________________________________
Assignment:
The student will:
• Create a USER Frame using the three-point method
•
Condition:
Step:
Create a JOG Frame using the three-point method (optional)
A FANUC robot and controller loaded with HandlingTool application
software.
1
Power up the robot using Procedure 5-1 Turning On the Robot.
2
Create a USER Frame using the three-point method as described in
Procedure 6-6.
3
Jog the robot in the X, Y, and Z directions.
4
Jog the robot in the W, P, and R direction of the USER Frame and
observe robot motion.
5
Select the USER Frame in the jog menu using Procedure 6-9.
6
Create a JOG Frame using the three point-method as described in
Procedure 6-10.
7
Jog the robot in the JOG Frame to verify proper operation.
8
Power down the robot using Procedure 5-3 Turning Off the Robot
Completed:
Instructor: ________________________________
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NOTES:
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7
7 CREATING &
WRITING A
PROGRAM
Creating & Writing a
Program
165
HandlingTool Application Programming
A FANUC Robotics application program includes a series of
commands, called instructions, that tell the robot and other
equipment how to move and perform a task. For example, a
program directs the robot and controller to:
• Move the robot in an appropriate way to required locations in
the workcell.
•
Perform an application-specific operation
•
Send output signals to other equipment in the workcell.
•
Recognize and respond to input signals from other equipment
in the workcell.
•
Keep track of time, part count, or job number.
HandlingTool Application Programming
What is a Program?
• Series of instructions that control the operation
of the robot and it’s associated equipment
• Moves the robot to the required positions in the
work cell
• Sends/receives signals to/from other equipment
in the work cell
• Keep track of time, part count, job number
FANUC Robotics
or
166
Creating & Writing a Program
MATAGHAND1007CE
Status Indicators
Current line
number
Indicates the
number of the
line in the
program being
executed
Execution status –
indicates ABORTED,
PAUSED or RUNNING
Speed Override –
The override key
specifies the
percentage of the
maximum speed rate
Program which is
being executed
and being edited
Line number
Coordinate
Motion
Information
Program end symbol
Prompting message –
Prompts the operator to
enter data. The message
depends on the selected
screen and the position of
the cursor
Function key menu – indicates the
function key labels. The menu depends
on the selected screen and the position
of the cursor. Labels including [] shows
that the selection menu is displayed
when this label is selected
Current line and total
number of lines
indicates the line in the
program being
executed or edited and
the total number of
lines in the current
program
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HandlingTool Application Programming
Programming Process
•
•
•
•
•
Task Analysis
Generate Operating Procedures
Develop I/O Specifications
Write the Program
Verify the Program
FANUC Robotics
HandlingTool Application Programming
Task Analysis
• Develop overall strategy of the program
• What are the program objectives
• Develop task list
– What are the subtasks
– What is the subtask sequence
– How are the subtasks inter-related
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Creating & Writing a Program
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HandlingTool Application Programming
Task Analysis (cont.)
• Prepare Maps of work cell, part, and part flow
• Is the program path dependent or position
dependent
• List positions
• Motion type, speed, termination
FANUC Robotics
HandlingTool Application Programming
Task Analysis (cont.)
• Use JOINT Moves
– LINEAR moves slow down program
– Use only when necessary
• Use FINE termination only when necessary
– FINE termination stops robot
– Add 500-750 msec to cycle time for each FINE termination
• Use Continuous (CNT) termination to move
around objects
• Minimize changes in wrist orientation
– Change in wrist orientation can increase cycle time
– Change in wrist orientation can create singularity errors
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HandlingTool Application Programming
Generate Operating Procedures
• Identify and define user interfaces
• Specific Procedures
– Startup
– Operation
– Fault Recovery
– Shutdown
– Menu Maps
FANUC Robotics
HandlingTool Application Programming
Develop I/O Specifications
•
•
•
•
•
•
List all Inputs and Outputs
Identify source and destination
Electrical Characteristics
Signal Names
Protocols
Timing diagrams
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Creating & Writing a Program
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HandlingTool Application Programming
Write the Program
• Write Program
• Test Program
• Debug
FANUC Robotics
HandlingTool Application Programming
Verify the Program
•
•
•
•
Verification
Maintenance
Updates
Changes
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7.1 Planning a
Program
This section provides hints that will help you program specific
tasks more efficiently. It contains hints for programming
• Motion
•
Predefined positions
NOTE: The hints in this section are for programming, not
jogging. World frame or user frame are usually best for jogging
and recording positions.
7.1.1
Motion
Use the guidelines in this section to help you program certain
kinds of robot motion.
Use Joint for the
Fastest Move
Use joint motion type for the fastest moves and the shortest cycle
time. Linear motion type results in slower moves. Use linear
motion type when it is the only way to move to a certain position.
Use Fine at the
End of a Task
Use fine termination type at the end of a task. Fine stops the robot
precisely at the programmed point.
Use Continuous
to Move Around
Obstructions
Use continuous termination type for the most efficient movement
around obstacles. Program the position near the obstacle and
then adjust the termination type value as needed. See Figure 7-1
Figure 7-1 Continuous Termination Type for Palletizing
Minimize Changes
in Wrist
Orientation
Abrupt changes in wrist orientation can sometimes increase cycle
time. Smooth, gradual changes are faster and more efficient. Plan
motions to minimize wrist orientation changes when possible.
When changes are necessary, distribute the rotation of the wrist
smoothly throughout several moves; do not force the robot to
Creating & Writing a Program
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change the entire wrist orientation at the end point of a series of
moves.
Procedure 7-1 Change Wrist Orientation
Step
1
Move the robot to the first position (P[1]). Be sure that the
orientation of the wrist is correct for that position.
2
Add a motion instruction to record the position of the robot.
3
Jog the robot to the last position that will be recorded. Be
sure the robot is in the correct orientation for this position.
4
Add a motion instruction to record the position of the robot.
5
Record the number of motion instructions you think are
necessary between the first position and the last position.
6
At a slow speed, step forward toward the P[1] position.
7
At a slow speed, step forward toward the second position, or
P[2].
8
Before the robot reaches P[2], release the SHIFT or FWD
key. Record this new position between P[1] and P[2].
9
Repeat Steps 7 and 8 for all the positions between the first
position and the last position.
CAUTION
If, while you smooth the motion, axes 4, 5, and 6 attempt
to reach zero degrees and axis 5 flips orientation, change
the jog coordinate system to JOINT and continue jogging.
Macros
Macros are programs that can be executed from:
• Specific teach pendant keys
•
The MACROS screen
•
The MANUAL FCTNS macro screen
•
Within a program using the macro Command instruction
Macros allow you flexibility as to how and when the robot moves
to the predefined position. For example, you could specify a
macro from the MACROS screen to move the robot to the home
position automatically.
Macro positions are defined in the specific program and can be
adjusted only if they are changed in the program using
TOUCHUP.
Programs
You can write a program that moves the robot to a predefined
position. You can use the macro command or CALL program
instruction to branch to the macro or program that moves the
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robot to the predefined position. You can also include the position
register used as a "predefined position" within the program.
Program positions are defined in the specific program and can be
adjusted only if they are changed in the program using
TOUCHUP.
Modifying a program includes:
• Selecting the program
•
Modifying default instructions
•
Inserting instructions
•
Deleting instructions
•
Copying and pasting instructions
•
Searching for instructions
•
Renumbering instructions
•
Undoing operations
•
Displaying comments
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Figure 7-2 Writing and Modifying a Program
7.2 Writing a New
Program
When you write a new program you must
• Name the program and set program header information. The
program header information is a reserved area in the program
that provides the controller with specific program
characteristics.
•
Modify default instruction information. This includes
modifying motion instructions and application–specific
instructions.
•
Add motion instructions to the program.
•
Add application–specific instructions and other instructions to
the program.
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7.2.1
HandlingTool Application Programming
Create a
Program
Program Name
•
•
•
•
8 Characters maximum length
Must begin with a letter
No special characters except underscore (_)
Should describe program function
FANUC Robotics
HandlingTool Application Programming
Program Name
FANUC Robotics
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HandlingTool Application Programming
Creating a Teach Pendant Program
• Naming the program
– On the Teach Pendant press SELECT
– Press CREATE [F2]
– Arrow down to select Upper Case
– Upper case/Lower case
¾ Use F1 – F5 keys to create program name
¾ To delete character press BACK SPACE
– Name the program by using key [F1 – F5]
– Turn the ON/OFF switch to ON
– Press ENTER when finished naming program
– To begin programming press EDIT [F3] or to display
program header information press DETAIL [F2]
FANUC Robotics
You can name a program using three different methods
• Words – This method provides a list of words you can use to
build a program name.
¾ RSR – Robot Service Request
¾ PNS – Program number select
¾ MAIN
¾ SUB
¾ TEST
• Upper Case – This method lets you use upper case letters
and any numbers.
•
Lower Case – This method lets you use lower case letters and
any numbers. For the program name, lower case letters are
automatically converted to upper case after you enter them.
•
Options allow you to change whether you are overwriting,
inserting, or clearing the program name or comment
information. The screen will display either Insert or Overwrite.
Clear allows you to remove text from the current field.
The total length of the program name must be no more than eight
characters. You can combine words, upper case letters, and
lower case letters to form the program name. Give the program a
unique name that indicates the purpose of the program.
NOTE: Do not use the asterisk * symbol in program names.
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HandlingTool Application Programming
Program Header - Detail
• Created automatically from Teach Pendant
• Contains
– Program Name
– Type
– Copy Source
– Group Mask
– Write Protection Setting
FANUC Robotics
HandlingTool Application Programming
Program Header - Sub Type
• None
– Can contain any type of instruction
• Macro
– Can contain any type of instruction
– Must be executed from Operator Panel or Teach Pendant
Keys
– Can also be called from a program when using MACRO
instruction
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Creating & Writing a Program
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HandlingTool Application Programming
Program Header - Sub Type (cont.)
• Program Sub Type (cont.)
• Condition Monitor
– Monitors condition of I/O signal, register value, or alarm status during
program execution
• Program Monitor
– Monitors conditions in TPP Program
• System Monitor
– Monitors system parameters, i.e PLC I/O signals
FANUC Robotics
HandlingTool Application Programming
Program Header - Comment
• Includes addition information to describe
program
– 16 Characters maximum
– No restrictions on character use
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Creating & Writing a Program
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HandlingTool Application Programming
Program Header – Group Mask
• Group Mask
• Identifies motion group the program will control
• Controller can control maximum of 16 axes
– 3 Groups on R-J2 Controller
– 5 Groups on R-J3 Controller
– Group 1 is default group
– Axes 1-6 always in Group 1
FANUC Robotics
HandlingTool Application Programming
Program Header – Write Protection
• Write Protection
• OFF
– Default setting
– Allows modification of program
• ON
– Cannot modify program
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HandlingTool Application Programming
Program Header – Ignore Pause
• Ignore Pause
• Specifies whether program will continue to run when error
occurs, command is issued, or Teach Pendant is enabled
• Allowed only in programs that have no motion groups
– Group mask set to (*,*,*,*,*)
• Programs cannot contain motion instructions
• Off
– Default Setting, program pauses when error occurs
• On
– Program continues operation when error occurs
FANUC Robotics
7.2.2
Defining Detail
Information
Adding Instructions
The detail of program header information includes:
• Creation date
•
Modification date
•
Copy Source
•
Number of positions and program size
•
Program Name
•
Sub Type
•
Comment
•
Group mask
•
Write protection
•
Ignore pause
You can also add other instructions not included in the default
motion instruction to your program. To add these instructions,
select the kind of instruction you want to add to the program and
use the information on the screen to enter specific instruction
information.
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Procedure 7-2: Create a New Program
Condition
Step
ƒ
No personnel or unnecessary equipment are in the work cell.
ƒ
The teach pendant is enabled.
1
Set the User frame number:
a Press MENU .
b Select SETUP.
c Press F1 , [TYPE].
d Select Frames.
e If user frames are not displayed press F3 , [OTHER], and
select User Frame. If F3 , [OTHER], is not displayed,
press PREV .
f To select the user frame to use, press F5 , SETIND,
type the number of the user frame you want, and press
ENTER . This sets the active user frame
($MNUFRAMNUM[1]) to the number of the frame you
specify.
Naming the Program
2
Name the Program
a Press SELECT .
b If F2 , CREATE, is not displayed, press NEXT .
c Continuously press the DEADMAN switch and turn the
teach pendant ON/OFF switch to ON.
1 Words
2 Upper Case
3 Lower Case
4 Options
Select
-- Insert --
--- Create Teach Pendant Program --Program Name [
]
Enter program name
-- End --
d Type the program name:
NOTE: If you are writing a program for production
operation using RSR or PNS, name the program as
follows:
Creating & Writing a Program
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•
An RSR program must be RSRnnnn where nnnn is a fourdigit number, such as; RSR0001.
•
A PNS program must be PNSnnnn, where nnnn is a fourdigit number, such as; PNS0001.
•
The RSR or PNS option must be selected, and the UOP
must be configured in the I/O setup.
e Move the cursor to select a method of naming the
program: Words, Upper Case, or Lower Case.
f Press the soft keys whose labels correspond to the name
you want to give to the program. The soft keys vary with
the naming method chosen in Step a.
BACK
g To delete a character, press SPACE .
h When finished, press ENTER . You will see a similar
screen.
1 Words
2 Upper Case
3 Lower Case
4 Options
Select
--- Create Teach Pendant
Program Name [TEST111
Program ---
]
-- End --
Select function
1 Words
2 Upper Case
3 Lower Case
4 Options
Select
--- Create Teach Pendant Program
Program Name [TEST111
]
Select function
DETAIL
3
---
-- End\ -EDIT
To display program header information, press F2 ,
DETAIL. You will see a similar screen.
-OR- Press F3 EDIT to bypass Program Detail and display
the TP Program screen.
Creating & Writing a Program
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Program Detail
Creation Date:
02-Jan-xxxx
Modification Date:
02-Jan-xxxx
Copy Source:
[
]
Positions:
10 Size:
312 Byte
1; Program Name:
[
RSR1000]
2; Sub Type:
[NONE
]
3; Comment:
[
]
4; Group Mask:
[1,*,*,*,*]
5; Write protect:
[ON
]
6; Ignore pause:
[OFF
]
4
To skip setting program header information and begin
editing the program, press F1 , END, and skip to Defining
Default Motion Instructions in this procedure.
5
To set or rename the program, move the cursor to the
program name and press ENTER .
a Move the cursor to select a method of naming the
program: Words, Upper Case, or Lower Case.
b Press the function keys whose labels correspond to the
name you want to give to the program. These labels
vary depending on the naming method you chose in Step
a. To delete a character, move the cursor to the right of
BACK
the character and press SPACE .
c When you are finished, press ENTER .
NOTE: You cannot modify details if the program is set
up as a system level macro. These macros are identified
with the letter ‘s’ at the far right side of the macro setup
screen.
6
To select a sub type, move the cursor to the sub type and
press F4 , [CHOICE]. You will see a similar screen.
Sub Type
1 None
2 Macro
3 Cond
a Select a sub type.
b Press ENTER .
7
To type a comment, move the cursor to Comment and press
ENTER .
a Select a method of naming the comment.
b Press the appropriate function keys to add the comment.
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MATAGHAND1007CE
c When you are finished, press ENTER .
For example, if you chose Upper Case, press a function
key corresponding to the first letter. Press that key until
the letter you want is displayed in the comment field.
Press the right arrow key to move the cursor to the next
space. Continue until the entire comment is displayed.
8
To set the group mask (or motion group), move the cursor
to the group you want to enable or disable. You can use
multiple groups in a single program, but only two groups can
perform Cartesian motion within a single program. The first
position in the group mask corresponds to the first group.
a To enable a group, scroll right to the group you want and
press F4 , 1, for each enabled group.
b To disable a group, scroll right to the group you want and
press F5 , *. If you disable all groups, you cannot add
motion instructions to your program.
NOTE: If your system is not set up for multiple
groups, you will only be able to select a 1, for the first
group, or an *, for no group.
NOTE: After the group mask has been set, and
motion instructions have been added to the program, the
group mask cannot be changed for that program.
9
To set write protection, move the cursor to Write protect.
a To turn write protection on, press F4 , ON.
b To turn write protection off, press F5 , OFF.
NOTE: Write protection must be set to OFF to create
a program.
10 To set Ignore pause, move the cursor to Ignore pause.
a To turn on Ignore pause, press F4 , ON.
b To turn off Ignore pause, press F5 , OFF.
11 When you have finished entering program information, press
F1 , END. The teach pendant editor screen will appear.
NOTE: Whenever you want to return to the SELECT menu,
press PREV until it is displayed.
12 Turn the teach pendant ON/OFF switch to OFF and release
the DEADMAN switch.
13 When you have finished entering program information, press
F1 , END. The teach pendant editor screen will be
displayed.
Creating & Writing a Program
MATAGHAND1007CE
HandlingTool Application Programming
How the Robot Frames are Linked
• Tool offset data (Utool) tell the controller where the
Tool frame is relative to the center of the faceplate
• Positional data tell the controller where the Tool
frame is relative to the User frame.
• User frame offset data ( UFRAME) tell the controller
where the USER frame is relative to World frame.
FANUC Robotics
HandlingTool Application Programming
Teach Pendant Programming
• Programs created through Teach Pendant Editor
– Does not require user to write source code
– Uses Pre-defined instruction statements
– Uses Pre-defined motion instructions
¾ Can be modified by changing default instruction or edited individually
– Programs can be edited from Teach Pendant
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Creating & Writing a Program
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HandlingTool Application Programming
Writing a Program
•
You can write new programs and modify existing
programs to direct the robot to perform a task.
Writing a program includes:
– Defining default instructions
– Adding instructions to the program
¾ Motion Instructions
¾ Program Instructions
FANUC Robotics
HandlingTool Application Programming
Defining Default Motion Instructions
• Setting/Editing the Default Motion Statement
– Hold in dead-man switch and turn teach pendant ON/OFF
switch to ON
– Press EDIT
– Press POINT [F1]
– To edit a default motion instruction
¾ Press ED_DEF [F1]
¾ Cursor down to instruction you wish to edit
¾ Cursor to the instruction element and modify using CHOICE [F4] and/or
numeric entry keys and the ENTER key
– To select a default motion instruction
¾ Cursor to the instruction you want as the default
¾ Press DONE [F5]
FANUC Robotics
Creating & Writing a Program
MATAGHAND1007CE
HandlingTool Application Programming
TPP Programming
• Line Number & End Marker
• Line number
– Automatically inserted next to each instruction
– Numbers program lines sequentially
• End Marker
– Automatically inserted at end of program
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Procedure 7-3: Adding Motion Instructions to a TP Program
Adding
Instructions
When Finished
1
To record the position using the current default motion
instruction,
2
Jog the robot to the location in the work cell where you want
to record the motion instruction.
3
With the cursor on a blank line or on [END], press and hold
the SHIFT key and press F1 , POINT. The instruction will
be added to the program automatically at the location of the
cursor.
4
To record the position using one of the other three
default motion positions,
5
Jog the robot to the location in the work cell where you want
to record the motion instruction.
6
With the cursor on a blank line or on [END], press F1 ,
POINT.
7
Use the cursor to select a new default motion instruction.
8
Press ENTER . This records the position and the motion
instruction to the line at the cursor location. This also defines
the current default motion instruction.
9
To add other instructions, press NEXT until F2 , [INST] is
displayed. Press F2 , [INST]. Select the kind of instruction
you want and use the appropriate selections on the screen to
build the instruction.
Disable the Teach Pendant, and release the DEADMAN switch.
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7.3 Testing a
Program
HandlingTool Application Programming
Testing and Running a Program
• Programs can be executed by one of the
following methods:
– Teach Pendant
– Standard Operator Panel
– Remote Device (PLC, host computer)
– Called from another program
FANUC Robotics
HandlingTool Application Programming
Testing and Running a Program
Mode
Switch
Remote/Local
TP
On/Off
Control
Auto
Remote
Off
Program control determined by system
variable $RMT_Master. Master device
selects program and controls
operation
Auto
Local
Off
R-J3 controller is master device.
Programs selected from Teach
Pendant and Cycle Start button
initiates program
On
Teach Pendant controls al robot
motion, selects and initiates program.
Maximum speed of robot determined
by T1 or T2 setting.
T1/T2
FANUC Robotics
During test operations you should:
•
Running a program by
¾ Stepping through each line of the program
¾ Continuously running the program for a single cycle
•
Monitoring your program
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Production Operations
During production operations you should:
•
Run a thoroughly tested program continuously and
repeatedly with all production conditions enabled
•
Perform maintenance procedures when necessary
•
Execute multiple programs
NOTE: During testing and running production, you must know
how to stop the program if there is a safety problem or adjustment
to make, and know how to restart the program.
7.3.1
Remote/Local
Configuration
On Robots that have software prior to V6.10, the Remote/Local
keyswitch is a hardware switch on the SOP. On robots that have
V6.10 and above software, the Remote/Local keyswitch is a
software switch that is controlled from the teach pendant. To
change the setting of the Remote/Local keywsitch:
1. Press MENU
2. Select SYSTEM
3. Press TYPE F1
4. Select CONFIG
5. Cursor to Remote/Local and use the F4 or F5 key to
change the setting
7.4 Program Pause
and Recovery
You can EMERGENCY STOP or HOLD any program running in
production using:
•
The EMERGENCY STOP button on the teach pendant,
operator box, or operator panel
•
The HOLD button on the teach pendant or operator panel
Procedure 7-4 EMERGENCY STOP
Step
1
Press the EMERGENCY STOP button on the teach pendant,
operator box, or operator panel. This causes an
EMERGENCY STOP fault.
2
Fix the problem that caused you to press the EMERGENCY
STOP button.
CAUTION
The emergency stop button should be used in
emergencies only; otherwise, the HOLD button should be
used to stop program execution and robot motion. See
the FANUC Robotics Safety statement for additional
information
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Procedure 7-5 Recovery from EMERGENCY STOP
Step
7.4.1
HOLD and
Recovery
1
Turn the EMERGENCY STOP button clockwise to release it.
2
Press the RESET button on the teach pendant, or Fault
Reset on the operator panel.
Press the HOLD button on the teach pendant to pause a
running program. Pressing the HOLD button
• Pauses a running program
•
Causes the robot to decelerate and come to a controlled stop
Use Procedure 7-6 to recover from a held program.
Procedure 7-6 HOLD and Recovery
Step
1
Press the HOLD button on the teach pendant.
2
Fix the problem that caused you to press HOLD .
3
Press the RESET button on the teach pendant to reset the
fault.
4
Press CYCLE START to resume program execution.
NOTE:
HOLD is released when program execution begins.
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7.5 Test Cycle
You must test your program before you run production. For each
step in the following test plan you must set up test cycle
conditions as appropriate for the kind of testing you are
performing.
A typical testing plan will:
1. Single step through the program using the teach pendant
while the process is disabled to check the robot motion, other
instructions, and I/O.
2. Continuously run the program using the teach pendant at a
low speed with the process disabled.
3. Continuously run the program using test cycle at high speed
with the process disabled to check the robot positions and
timing.
4. Continuously run the program, using the operator box or
operator panel, at a high speed, with the process enabled, to
check the robot positions and timing.
NOTE: You can change test cycle conditions only if a program
is not running.
7.5.1
Test Cycle
Setup
Setting up the test cycle allows you to control the conditions for
test running a program. These conditions are in effect any time a
program is run until you change the conditions.
Table 7-1 Test Cycle Conditions lists and describes each test
cycle condition. Use Procedure 7-7 to set up test cycle conditions.
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Table 7-1 Test Cycle Conditions
TEST CYCLE CONDITION
Group
Robot Lock
Dry Run
Cartesian Dry Run Speed
Joint Dry Run Speed
Jog Dry Run Speed
Digital/Analog I/O
Step Statement Type
Step Path Node
DESCRIPTION
This item specifies the motion group number of the program for which the test
cycle conditions are being set.
This item determines whether the robot will move during the test cycle. If set to
OFF, the robot will move. If set to ON, the brakes are set, servo power is turned
off, and the robot will not move.
This item determines whether the EOAT will function during the test cycle. If set
to OFF, the EOAT will function. If set to ON, the EOAT will not function.
This item determines the speed at which the robot will move during program
execution when using Cartesian motion (linear or circular moves) when dry run is
set to ON.
This item determines the speed at which the robot will move during program
execution when using joint motion when dry run is set to ON. A joint dry run
speed of 100 will test run the program at 100% of the programmed speed.
This item determines the speed at which the robot will jog when dry run is set to
ON. A jog dry run speed of 100% indicates that any jogging done during dry run
test cycle will be at the normal jog speed. A jog dry run speed of less than 100%
indicates that any jogging done during dry run test cycle will be reduced by that
percentage. The jog dry run speed is independent of the Cartesian dry run speed
and the Joint dry run speed.
This item determines whether digital/analog input and output signals will turn on
and off during the test cycle. If set to ENABLED, the input and output signals will
turn on and off. If set to DISABLED, the input and output signals will not function.
This item allows you to select at which statements the robot will pause between
steps. There are the following statement types:
▪
TPP LINE OR KAREL STATEMENT – The program pauses when the
execution of each program is completed. The program pauses after
executing each step in a routine.
▪
MOTION – The program pauses when the execution of each motion
statement is completed.
▪
ROUTINE – The program pauses after each statement is executed.
However, when executing a routine, the program pauses only after every
motion statement and when returning from the routine.
▪
TP & MOTION – The program pauses when the execution of a teach pendant
statement or when a KAREL motion statement is completed.
This item specifies whether to pause the program after each path node during a
KAREL MOTION ALONG statement. When set to ON, the program will pause
after each path node. When set to OFF, each path will be executed as one
continuous step.
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Procedure 7-7 Setting Up Test Cycle Conditions
Step
1
Press SELECT .
2
Select the program you want to test and press ENTER .
3
Press MENU .
4
Select TEST CYCLE You will see a screen similar to the
following
5
To display help information, press NEXT , and then press
F1 , HELP. When you are finished displaying help
information, press PREV .
TEST CYCLE Setup
Group 1
1 Robot lock:
2 Dry run:
3 Cart. dry run speed:
4 Joint dry run speed:
5 Jog dry run speed:
6 Digital/Analog I/O:
7 Step statement type:
8 Step path node:
6
OFF
OFF
300.00mm/s
25.00%
100.00%
ENABLE
STATEMENT
OFF
Set test cycle conditions as desired.
NOTE: You can change test cycle conditions only if a program
is not running.
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7.5.2
Single Step
Testing
Single step testing is the process of running individual program
instructions one at a time. You use the teach pendant to single
step the current program displayed on the teach pendant screen.
The MODE SELECT switch must be in the T1 or T2 position to
test a program in single steps using the teach pendant. If you test
a program in T1 mode, the robot speed will be no greater than
250mm/sec, regardless of any other speed settings..
If you set the singularity stop system variable,
$PARAM_GROUP[n].$T1T2_SNGSTP, to TRUE, the robot will
stop at singularity points while in T1 or T2 mode. If you change
the value of this variable, you must cycle power for the change to
take effect.
Single step testing can be done two ways:
• Forward
Forward
Backward
•
Backward
•
Executes the next instruction when the SHIFT and FWD
keys are pressed and FWD is released.
•
Stops when the step is completed or SHIFT is released.
•
Executes subprograms one step at a time.
•
Executes the previous instruction when the SHIFT and
BWD keys are pressed and then BWD is released.
•
Steps backward from a sub-program to the main program.
Before you can do this, you must step forward from the main
program to the sub-program. When you return to the main
program from the sub program, the cursor pauses on the
CALL instruction in the sub program.
•
Stops when the step is completed or the SHIFT key is
released.
•
Can only be done for motion instructions.
NOTE: You cannot use backward execution to call the sub
program from the main program.
Figure 7-3 Example Program Showing Backward Execution
contains an example program that shows how to perform
backward execution from the 4th line of the sub program
SUB_PROG.
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Figure 7-3 Example Program Showing Backward Execution
MAIN_PROG
1:
2: R[1] = R[1] + 1
3: J P[1] 100% FINE
4:
5: CALL SUB_PROG
6:
[END]
SUB_PROG
1: SDO[1] = ON
2: SDO[2] = ON
3: L P[2] 1000mm/sec FINE
4: L P[3] 1000mm/sec FINE
[END]
1. Start to do the backward execution from 4th line of the
SUB_PROG.
Motion: The robot moves from P[3] to P[2].
Cursor: The cursor is on the 3rd line of the SUB_PROG.
2. Do the backward execution again.
Motion: No motion.
Cursor: The cursor is on the 5th line of the MAIN_PROG.
3. Do the backward execution again.
Motion: The robot moves from P[2] to P[1].
Cursor: The cursor is on the 3rd line of the MAIN_PROG.
DISABLE FWD/BWD
DISABLE FWD/BWD allows you to disable the ability to execute
program instructions when the SHIFT and FWD keys or
SHIFT and BWD keys are pressed. To use DISABLE
FWD/BWD, press FCTN and then select DISABLE FWD/BWD.
The ability to use SHIFT FWD and SHIFT BWD will be
disabled until you press FCTN and select DISABLE FWD/BWD
again.
When the teach pendant FWD and BWD keys are disabled and
the teach pendant is enabled, "FBD" is displayed in the upper
right hand corner of the teach pendant screen to indicate that you
cannot use the teach pendant to run the program.
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Procedure 7-8 Single Step Testing
NOTE: If the MODE SELECT switch is in the T1 position, the
robot speed will be no greater than 250mm/sec, regardless of any
other speed settings.
NOTE: You can perform single step testing from the teach
pendant only with the MODE SELECT switch in the T1 or T2
position.
Condition
Step
ƒ
A program has been created and positions have been
recorded.
ƒ
Test cycle conditions have been set.
ƒ
All personnel and unnecessary equipment are out of the
workcell.
ƒ
The MODE SELECT switch is in the T1 or T2 position.
1
Press SELECT
2
Select the program you want to test and press ENTER .
3
Press STEP to enable single step testing. The STEP
indicator will turn on.
4
Move the cursor to the first line of the program you want to
test. The program will start at the current cursor position.
You will see a screen similar to the following.
5
Continuously press the DEADMAN switch and turn the teach
pendant ON/OFF switch to ON.
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NOTE: If you compress the DEADMAN switch fully, robot
motion will not be allowed and an error occurs. This is the same
as when the DEADMAN switch is released. To clear the error,
press the DEADMAN switch in the center position and press
RESET .
6
Set the speed override or test cycle speed to the value you
want. A low speed is recommended.
7
Check the program status on the top line of the teach
pendant screen. If it is PAUSED, press FCTN and select
ABORT (ALL).
WARNING
The next step causes a program instruction to run. This
could cause the robot to move and other unexpected
events to occur. Make sure all personnel and unnecessary
equipment are out of the workcell and that all safeguards
are in place; otherwise, you could injure personnel or
damage equipment.
In the next step of this procedure, if you want to stop the
program instruction before the instruction has finished
executing, release the SHIFT key, release the DEADMAN
switch, or press the EMERGENCY STOP button.
WARNING
If you execute motion instructions that contain the remote
TCP (RTCP) motion option and you skip motion
instructions during testing, the robot might have to
change orientation dramatically to reach the destination
position. This will cause it to move in a large area. Be
aware that this might happen before you skip motion
instructions during testing; otherwise, you could injure
personnel or damage equipment.
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NOTE: If you have set the singularity stop system variable,
$PARAM_GROUP[n].$T1T2_SNGSTP, to TRUE, the robot will
stop at singularity points while in T1 or T2 mode. If you change
the value of this variable, you must cycle power for the change to
take effect.
8
9
Test a program instruction.
•
To execute an instruction in the forward direction,
press and hold in the SHIFT key and press and release
the FWD key. You must hold in the SHIFT key
continuously until the instruction has finished executing.
•
To execute an instruction in the backward direction,
press and hold in the SHIFT key and press and release
the BWD key. You must hold in the SHIFT key
continuously until the instruction has completed executing.
Repeat Step 8 for as many instructions as you want to test.
10 Press STEP to disable single step testing. The STEP
indicator will turn off.
11 Turn the teach pendant ON/OFF switch to OFF and release
the DEADMAN switch.
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7.5.3
Continuous
Testing
Continuous testing is running a program from beginning to end
without stopping. You can test a program continuously using the
teach pendant, operator box, or operator panel CYCLE START
button.
To test a program continuously using the teach pendant the
MODE SELECT switch must be in the T1 or T2 position. To test a
program continuously using the CYCLE START button on the
operator panel, the MODE SELECT switch must be in the AUTO
position.
If you set the singularity stop system variable,
$PARAM_GROUP[n].$T1T2_SNGSTP, to TRUE, the robot will
stop at singularity points while in T1 or T2 mode. If you change
the value of this variable, you must cycle power for the change to
take effect.
Use Procedure 7-9 to test continuously using the teach pendant.
Use Procedure 7-10 to test a program continuously using the
operator panel CYCLE START button.
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Procedure 7-9 Continuous Testing Using the Teach Pendant
NOTE: If the MODE SELECT switch is in the T1 position, the
robot speed will be no greater than 250mm/sec, regardless of any
other speed settings.
NOTE: You can perform continuous testing from the teach
pendant only with the MODE SELECT switch in the T1 or T2
position.
Condition
Step
ƒ
A program has been created and positions have been
recorded.
ƒ
Test cycle conditions have been set. Refer to
(Procedure 7-7)
ƒ
All personnel and unnecessary equipment are out of the
workcell.
ƒ
You have tested the program in single steps. (Procedure 7-8)
ƒ
The MODE SELECT switch is in the T1 or T2 position.
ƒ
The Remote/Local Setup item in the System Configuration
Menu is set to Local.
1
Press SELECT .
2
Select the program you want to test and press ENTER .
3
Disable single step testing. If the STEP indicator is ON, press
STEP to disable it.
4
Move the cursor to line 1. The program will start at the
current cursor position.
5
Continuously press the DEADMAN switch and turn the teach
pendant ON/OFF switch to ON.
NOTE: If you compress the DEADMAN switch fully, robot
motion will not be allowed and an error occurs. This is the same
as when the DEADMAN switch is released. To clear the error,
press the DEADMAN switch in the center position and press
RESET .
6
Set the speed override to the value you want. First run the
speed at 5% - 10% value.
7
Check program status on the top line of the teach pendant
screen. If it is PAUSED, press FCTN and select ABORT
(ALL).
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WARNING
The next step causes a program instruction to run. This
could cause the robot to move and other unexpected
events to occur. Make sure all personnel and unnecessary
equipment are out of the workcell and that all safeguards
are in place; otherwise, you could injure personnel or
damage equipment.
In the next step of this procedure, if you want to stop the
program instruction before the instruction has finished
executing, release the SHIFT key, release the DEADMAN
switch, or press the EMERGENCY STOP button.
WARNING
If you execute motion instructions that contain the remote
TCP (RTCP) motion option and you skip motion
instructions during testing, the robot might have to
change orientation dramatically to reach the destination
position. This will cause it to move in a large area. Be
aware that this might happen before you skip motion
instructions during testing; otherwise, you could injure
personnel or damage equipment.
NOTE: You can test a program continuously in the forward
direction only.
8
Press and hold down the SHIFT key and press and release
the FWD key. You must hold in the SHIFT key
continuously until the instruction has finished executing.
Run the program in 5% - 10% intervals, up to 100%. If
positions with continuous termination type are changed,
restart the process at a low speed.
9
Turn the teach pendant ON/OFF switch to OFF and release
the DEADMAN switch.
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7.6 Continuous
Testing Using
Cycle Start
Button.
Continuous testing is running a program from beginning to end
without stopping. You can test a program continuously using the
teach pendant, operator box, or operator panel CYCLE START
button.
To test a program continuously using the CYCLE START button
on the operator panel, the MODE SELECT switch must be in the
AUTO position.
Procedure 7-10 Continuous Testing Using the Operator Panel CYCLE
START Button
NOTE: You can perform continuous testing using the CYCLE
START button only with the MODE SELECT switch in the AUTO
position.
Condition
Step
ƒ
The program has been created and positions recorded.
ƒ
Test cycle conditions have been set.
ƒ
All personnel and unnecessary equipment are out of the
workcell.
ƒ
The MODE SELECT switch is in the AUTO position.
ƒ
The Remote/Local setup item on the system config menu is
set to local.
1
Press SELECT .
2
Disable single step testing. If the STEP indicator is on, press
STEP to turn it off.
3
Select the program you want to test and press ENTER .
4
Set the speed override to the value you want.
When CYCLE START is used, the speed override might
automatically be set to 100%.
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WARNING
The next step causes a program to run. This could cause
the robot to move, the process to run, and other
unexpected events to occur. Make sure all personnel and
unnecessary equipment are out of the workcell and that
all safeguards are in place; otherwise, personnel could be
injured and equipment damaged.
If you want to stop the program before it has finished
executing, press the HOLD button for a decelerated stop,
or the EMERGENCY STOP button for an immediate stop.
WARNING
If you execute motion instructions that contain the remote
TCP (RTCP) motion option and skip motion instructions
during testing, the robot might have to change orientation
dramatically to reach the destination position, causing it
to move in a large area. Be aware that this might happen
before you skip motion instructions during testing;
otherwise, you could injure personnel or damage
equipment.
5
Press the CYCLE START button on the operator panel. You
will be prompted to confirm program execution. If you select
YES, then you must press CYCLE START again to run the
program.
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7.7 Standard
Operator Panel
Cycle Start
Production
A Standard Operator Panel Cycle Start is a method of
automatically running the selected program. If you select Cycle
Start, it implies that you are not using RSR or PNS, but will use
the CYCLE START input on the Standard Operator Panel (SOP)
to initiate production operation.
The CYCLE START input will run the selected program for one
cycle unless
• The program contains a loop.
•
Your system is set up to send the CYCLE START input again
as soon as the program has finished a cycle.
The MODE SELECT switch must be in the AUTO position to
perform SOP CYCLE START.
If you set the singularity stop system variable,
$PARAM_GROUP[n].$AUTO_SNGSTP to FALSE, the robot will
pass through singularity points while in AUTO mode. If you
change the value of this variable, you must cycle power for the
change to take effect.
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Procedure 7-11 Running Production Using Standard Operator Panel
(SOP) Cycle Start
Condition
ƒ
The robot is powered up and all faults have been corrected.
ƒ
All personnel and unnecessary equipment are out of the
workcell.
ƒ
The program has been tested thoroughly and found to operate
correctly.
ƒ
All safeguards have been installed and are functioning
correctly.
ƒ
Any other conditions related to the application or robot have
been satisfied.
ƒ
Test cycle conditions are set properly to allow robot motion,
I/O, and full production speed.
ƒ
Single step testing is disabled and the STEP LED is not
illuminated.
ƒ
The mode select switch is in the AUTO position.
WARNING
This procedure starts production. Make sure all safety
barriers are in place, all personnel are outside of the
workcell, all equipment is in place, and all production
conditions have been met before you continue; otherwise,
you could injure personnel and damage equipment.
Step
1
Set the LOCAL/REMOTE keyswitch on the operator panel to
LOCAL.
2
Select the program using the SELECT menu.
3
Press CYCLE START on the standard operator panel or
operator box to start the application program.
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MATAGHAND1007CE
Figure 7-4 Material Handling Teach Pendant
FAULT
HOLD
STEP
BUSY
RUNNING
I/O ENBL
PROD MODE
TEST CYC
JOINT
XYZ
TOOL
OFF
ON
TOOL
1
TOOL
2
MOVE
MENU
SETUP
POSN
I/O
STATUS
207
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HandlingTool Application Programming
Enabling Objectives Lab 8
•
•
•
•
Create your team’s first Handling Tool program
Check the program Header information
Set default motion instructions
Teach, test, and execute from the Operator Panel
FANUC Robotics
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Lab 8
Create a Program
Student Name: _______________________________________________________________
Assignment:
Condition:
Step:
The student will:
• Create your team’s first HandlingTool program
•
Check the program Header information
•
Teach, test, and execute from the Operator Panel
A FANUC robot and controller loaded with HandlingTool application
software. The students will complete task individually.
1
Power up the controller, refer to Procedure 5-1
2
Create a new teach pendant program, refer to Procedure 7-2 and
Procedure 7-3. Create a program and name it PROG1 and complete
the program Header information as desired.
3
Fill in the default values from the Program Detail:
4
•
Program name: ___________________________________
•
Sub-type:
___________________________________
•
Group mask
___________________________________
•
Write protect
___________________________________
•
Ignore Pause
___________________________________
Teach a simple HandlingTool path that begins from Start position and
can return back to the Start position without collision with any object.
PROG1:
P1(Start)
1: J P[1] 100% FINE
2: J P[2] 100% FINE
3: J P[3] 100% FINE
4: J P[4] 100% FINE
P2
P3
5: J P[5] 100% FINE
6: J P[2] 100% FINE
7: J P[1] 100% FINE
END
P5
P4
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5
Test program in STEP and in Continuous from the Teach Pendant, refer
to Procedure 7-8 and Procedure 7-9.
6
Power down the controller, refer to Procedure 5-3
Completed:
Instructor: ________________________________
8
Motion Instruction
211
HandlingTool Application Programming
HandlingTool Application Programming
8 MOTION
INSTRUCTION
Motion Instruction
• A motion instruction directs the robot to move in
a specified way to a specific location in the
workcell using a specified speed. A motion
instruction includes:
– Motion type - How the robot moves to the position
– Positional information - Where the robot moves
– Termination type - How the robot ends the move to the
position
– Speed - How fast the robot moves to a position
– Motion options - Additional commands that perform specific
tasks during robot motion
FANUC Robotics
NOTE: Wrist Joint (W/JNT) is a motion option that allows the
robot to move only in Linear or Circular.
Motion Instruction
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8.1 Motion Type
Motion type defines how the robot will move to the destination
position. There are three motion types:
• Joint
•
Linear
•
Circular
Joint Motion
J P[2] 50% FINE
HandlingTool Application Programming
Joint Motion
• Causes the robot to move all required axes to the
destination position simultaneously. The motion
of each axis starts and stops at the same time.
• Is programmed at the destination position.
• Speed is specified as a percentage of the total
default speed, or in seconds. The actual speed of
the move is dependant on the speed of the
slowest axis.
FANUC Robotics
HandlingTool Application Programming
TPP Programming
J P[1] 100% FINE
• Motion Type
- Set for each move
- Selected from default table
- Up to 4 default statements
- Can be changed from TP
FANUC Robotics
Motion Instruction
MATAGHAND1007CE
Figure 8-1 Joint Motion Type
213
214
Motion Instruction
MATAGHAND1007CE
Linear Motion
L P[2] 100mm/sec FINE
HandlingTool Application Programming
Linear Motion
• Causes the robot to move the tool center point in
a straight line from the start position to the
destination position.
• Is programmed at the destination position.
• Speed is specified in millimeters per second,
centimeters per second, inches per minute,
degrees per second, or seconds.
FANUC Robotics
During a linear move, the orientation of the tool changes gradually
as the robot moves from the start position to the destination
position, depending on how the destination position is
programmed.
Figure 8-2 Linear Motion Type
Motion Instruction
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Circular Motion
HandlingTool Application Programming
C P[2]P[3] 100mm/sec
FINE
Circular Motion
• Causes the robot to move the tool center point in
an arc from the start position through an
intermediate to the destination position.
• Is programmed at the intermediate position.
• Speed is specified in inches per minute,
millimeters per second, and centimeters per
minute.
FANUC Robotics
When you add a motion instruction that has circular motion type,
the following appears on the screen:
The first position, P[2] in the example, is the intermediate position.
The intermediate position is automatically recorded as the current
robot position when you add the motion instruction. The second
position, P[3] in the example, is the destination position. You
must record the destination position, after you add the circular
motion instruction, using the TOUCHUP function key, F3 .
If you change an existing point to ‘C’, that position becomes the
‘via’ or intermediate position.
The following program instructions can be used to create a full
circle.
J P[1] 100% FINE
C P[2]
P[3] 100mm/sec
C P[4]
P[1] 100mm/sec FINE
Circular Orientation
Control at Intermediate
(Via) Point
Circular orientation control at the intermediate ‘via’ point ensures
that the robot will go through the ‘via’ point at the taught
orientation point. Orientation is smoothly changed between the
start, via, and end points.
216
Motion Instruction
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Figure 8-3 Circular Motion Type
J P[1] 100% FINE
C P[2]
P[3] 100mm/sec
C P[4]
P[1] 100mm/sec
FINE
Restart of Circular
Motion
A single-step stop occurs at the destination position of a circular
motion instruction. You can then jog the robot.
Figure 8-4 Restart of Circular Motion Instruction
When program execution is restarted after a single-step stop and
jogging, the robot moves, using linear motion, which is the
simplest circular motion to the end point of the previous circular
motion.
Motion Instruction
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Figure 8-5 Restart of Circular Motion Instruction
Guidelines for
Teaching a Small
Circular Arc
Small circular arcs can lead to large changes in orientation
motion. This might be unexpected to a less experienced
operator; however, large changes in orientation during motion are
a legitimate result of motion planning according to the taught
positions and orientations.
Because of the possibility of surprise with respect to large
changes in orientation during motion when teaching a small
circular arc, follow the instructions outlined in this section for both
forward and backward motion.
Since the relative location of each point with respect to the others
defines the circle in space, having an accurate tooling
representation ensures that what you see is what the controller
and the motion planner use for calculations.
Motion Instruction
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Use the following guidelines when you teach a small circular arc:
• Do not teach small circles if at all possible. You can always
teach a very good approximation to a small circle using
multiple linear segments. If you must teach small circles, be
careful to follow all of the guidelines listed here.
•
Use extreme caution and care when you teach circles that
have radii in the same order of magnitude as the tool length.
The longer the tool, the more sensitive the definition of the
circular arc becomes. If the tool axis is at an angle with the
last joint of the robot, the effect is even more pronounced,
since the major axes of the robot become involved in
achieving the desired orientation along the arc.
•
Never start a program from a circular instruction. Since the
current position of the robot is used as the starting point of the
circle, the resulting circular arc is more than likely not what
you had intended. The same applies to programs that are
stopped on a circular instruction and restarted after you abort
the program.
•
Ensure that tool frame ($UTOOLand $MNUTOOL) settings,
for both XYZ and WPR, are as accurate as possible. This
minimizes the discrepancy between what the operator sees
and the numbers that the motion planner uses to plan the
circular path.
•
When you recover from an EMERGENCY STOP or a similar
condition that causes servo power to be turned OFF, reduce
the speed override to 1% before you resume circular motion.
•
Do not teach points too close to each other. Try to space
them out evenly around the circular arc.
•
Do not try to teach circular arcs that span angles larger than
180° with one circular instruction. Break the circular arc into
two or more instructions. This ensures that a small change in
one point will not result in a large change in the executed
circle.
•
Keep the change in orientation to a minimum. It is difficult to
visualize the change in orientation as the circle becomes
smaller or the tool becomes longer.
•
Pay close attention to the case where the z-axis of the
UTOOL frame looks perpendicular to the plane of the circle.
In this case, the elevation angle is close to zero degrees and
the azimuth angle is very sensitive to the direction of the zaxis of the UTOOL frame.
Motion Instruction
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For example, if the z-axis of UTOOL is not perfectly
perpendicular to the plane of the circle, then the azimuth angle
could be very different, depending on the actual direction of
the z-axis. As a result, the system might display the error
message, ‘CRC large orient change’.
In this case, you might get better and more accurate circles if
8.2 Positional
Information
•
You do not set the z-axis of the UTOOL frame to be
perpendicular to the plane of the circle; and/or
•
You enter the orientation manually instead of teaching it
with the robot.
Positional information describes the location, orientation, and
configuration of the tool center point when a motion instruction is
added to a program. Positional information is recorded when the
motion instruction is added to the program.
Positional information is made up of seven components. These
components are represented by the position command, P[n].
HandlingTool Application Programming
TPP Programming
TPP Motion Command
J P[1] 100% FINE
• Position
- Positions numbered in sequence as programmed
- Can be assigned to a position register and used
globally
FANUC Robotics
Figure 8-6 Positional Information
Motion Instruction
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HandlingTool Application Programming
Orientation & Configuration
Orientation
Yaw (W) – Rotation around X
Pitch (P) – Rotation around Y
Roll (R) – Rotation around Z
X
Y
Z
FANUC Robotics
•
Location components, (x,y,z), describe the three-dimensional
location of the position.
•
Orientation components, (w,p,r), describe rotation about x,
rotation about y, and rotation about z.
•
The configuration component describes the condition of the
axes when the robot arrives at the destination position.
Orientation of the wrist axes at the destination position
remains the same, but the orientation of the other axes might
change.
Motion Instruction
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In the motion instruction, positional information is represented as
a position command, P[n], or position register, PR[x]. The n is the
position number. The x is the position register number. A
position command stores positional information with the motion
instruction in the program. A position register stores positional
information in a storage location separate from the motion
instruction
The position number identifies the position. Position numbers are
automatically assigned when a motion instruction is added to a
program. The first number assigned is [1], the second [2], and so
forth.
If you add a position before an already existing position, the
position number is incremented from the last numbered position
regardless of its place in the program. You can request that
positions be renumbered so that the position numbers are
sequential in your program.
When you delete positions, all other taught positions keep their
current numbers unless you request that they be renumbered.
Positions can also have comments of one to 16 characters. You
specify these when you add or modify positional information.
Frame Number of
Positional Data
The User Frame (UF) and User Tool frame number (UT) are
displayed at the top of the Position Detail screen.
These fields indicate the current frame number.
UF: User Frame number
• 0 = world coordinate
• 1–9 = normal UFRAME number
UT: User Tool frame number
• 0 = not valid
• 1–10 = normal UTOOL number
Motion Instruction
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8.3 Speed
Speed defines how fast the robot moves to a position.
The motion type used determines the units of speed. Depending
on the motion type you want, you can specify speed in millimeters
per second, centimeters per minute, inches per minute, rotational
degrees per second, or seconds.
When a program is running, you can change the speed override
using the +% and –% keys on the teach pendant, if
$MCR.$GENOVERRIDE=TRUE. The value ranges from .01%
(very fine) to 100 percent of the programmed speed.
Programmed speed is the speed specified in the program.
NOTE: The programmed speed cannot exceed the capability
of the robot. If programmed speed cannot be met, a warning
message will occur.
HandlingTool Application Programming
TPP Programming
Motion Command
J P[1] 100% FINE
• Speed
– Speed programmed for each move
– Selected from default table
– Can be modified from TP
FANUC Robotics
J P[1] 50% FINE
J P[1] 2 sec FINE
L P[2] 2 sec FINE
Joint motion uses
• A percentage (%) of the total default speed. Joint motion
speed can have a value of 1% to 100% of the maximum joint
speed limit.
•
Seconds (sec), the length of time the motion lasts. Seconds
can have a value of .1 to 3200. This is used for motion that
requires an exact time span. If a program is paused and then
resumed during execution of motion that uses seconds, the
controller will be held in a busy and running state until the
portion of time that had been executed elapses again. Then,
the robot will complete the motion using the remaining amount
of time.
Motion Instruction
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Figure 8-7 Example of the Sec Speed Feature
L P[1] 100mm/sec
FINE
or
C P[1] 100mm/sec
FINE
Linear and circular motions use
• Millimeters per second (mm/sec), with a range of values from
1 to 2000 millimeters per second.
•
Centimeters per minute (cm/min), with a range of values from
1 to 12000 centimeters per minute.
•
Inches per minute (inch/min), with a range of values from 0.1
to 4724.41 inches per minute.
•
Seconds (sec), the length of time the motion lasts. This is
used for motion that requires an exact time span. If a
program is paused and then resumed during execution of
motion that uses seconds, the controller will be held in a busy
and running state until the portion of time that had been
executed elapses again. The robot will then complete the
motion using the remaining amount of time.
WARNING
If you change the motion type of a positional instruction
from linear to joint, the speed value can change from
mm/sec to a default value of high as 100%. Be sure to
check the speed value before you execute the instruction;
otherwise, you could injure personnel or damage
equipment.
L P[1] 90 deg/sec
FINE
Rotational control of axes around the tool center point uses
rotational degrees per second (deg/sec), with a default range of
values from 1 to 500 degrees per second.
Variable Motion
Speed
You can specify motion speed by using a register in a motion
instruction. The value of the specified register defines motion
speed. This is called variable motion speed.
WARNING
Before you run a program, make sure you are aware of
any register values used to set speed in a motion
instruction, otherwise, unexpected motion could occur
that could injure personnel or damage equipment.
Motion Instruction
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The following examples show various motion type instructions
that take their speed value from a register (R[ ]).
•
•
•
Joint motion type
¾ J P[2] R[1]% CNT100
Linear motion type
¾ L P[1] R[2]mm/sec FINE
Circular motion type
¾ C P[2]
¾
P[3] R[3]cm/min FINE
The following features are changed to accommodate variable
motion speed:
• Default motion instructions include an instruction that uses
variable motion speed.
•
The Motion Modify screen, displayed when you select
REPLACE for a motion instruction on the [EDCMD] menu,
includes items for specifying variable motion speed.
•
Specific motion speed values are valid for variable motion
speed. Refer to Table 8-1 for valid variable motion speed
values. If the specified register value is not a valid speed
value (exceeds the speed limit or is out-of-range), an error will
occur during the execution of the motion instruction.
Table 8-1 Range of Register Values to Specify a Variable Motion Speed
Unit
%
Sec
mm/sec
cm/min
Inch/min
deg/sec
Range of Register Values
1 to 100
0.1 to 3200.0
1 to 2000
1 to 12000
0.1 to 4724.31
1 to 500
Motion Instruction
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8.4 Termination Type
Termination type defines how the robot ends the move in the
motion instruction. The following termination types are available:
• Fine
•
Fine Termination Type
J P[1] 50% FINE
Continuous
Fine termination type causes the robot to stop at the destination
position before moving to the next position.
HandlingTool Application Programming
TPP Programming
TPP Motion Command
J P[1] 100% FINE
• Termination
- Selected from default table
- Can be changed from TP
FANUC Robotics
Motion Instruction
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Figure 8-8 Robot Motion with Fine Termination Type
Continuous
Termination Type
J P[1] 50% CNT50
Continuous termination type allows the robot to decelerate as it
approaches the destination position but does not stop at it before
it accelerates toward the next position. A value from 0 to 100
defines how close the robot comes to the destination position. At
CNT0 the robot is closest, with maximum deceleration. At
CNT100 the robot is farthest, with minimum deceleration.
NOTE: Programming certain instructions, such as WAIT,
causes the robot to stop at the destination position and execute
the instruction before it executes the next instruction.
Motion Instruction
MATAGHAND1007CE
ÎÎ Î
ÎÎ
Figure 8-9 Robot Motion with Continuous Termination Type
227
228
Motion Instruction
MATAGHAND1007CE
8.5 Defining Default
Motion
Instruction
Information
Motion instructions tell the robot to move to an area in the
workcell in a specific way. When you create a program you can
define, in advance, the way you want the robot to move when you
add a motion instruction. You do this by defining default motion
instruction information. Default motion instructions can include
application–specific instructions to perform your work, as well as
other motion options.
After you have defined the default instructions you can add them
to the program. You select one of the available default
instructions to be the current default instruction by moving the
cursor to that instruction. You can define and change default
instructions any time while you write or modify a program.
Modifying Default
Motion Instructions by
Adding Option Fields
(adding instructions)
You can also add other instructions not included in the default
motion instruction to your program. To add these instructions,
select the kind of instruction you want to add to the program and
use the information on the screen to enter specific instruction
information.
You add all instructions using the same general procedure.
Motion instructions, however, require some specific information.
Motion Instruction
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MATAGHAND1007CE
Procedure 8-1 Defining Default Motion Instructions
Step
1
Continuously press the DEADMAN switch and turn the teach
pendant ON/OFF switch to ON.
2
Press EDIT .
3
Press F1 , POINT.
You will see a list of default motion instructions.
NOTE: If the instructions listed are the ones you want to use,
do not modify them. Cursor to the instruction you next want to
use and press ENTER . Continue with ‘Adding Instructions’
found later in this Procedure.
4
To modify the default motion instructions, press F1 ,
ED_DEF.
5
Cursor to the default instruction you want to modify.
6
Use the appropriate arrow and function keys to modify the
component and press ENTER .
If the [CHOICE] function key is displayed, press F4 to
display a list of values for the selected component.
For example, to change the speed value, move the cursor to
100%. Type a new value and press ENTER . The new
value will be displayed. Each time you add this instruction to
the program the new value will be used.
7
Repeat Steps 5 through 7 for each default instruction that you
want to modify.
8
When you are finished defining default motion
instructions, cursor to the instruction you next want to be
the default instruction and press F5 , DONE.
230
Motion Instruction
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8.6 Predefined
Positions
HandlingTool Application Programming
Predefined Positions
• You can define a predefined position in the
following ways:·
– Macros - These use position registers that contain the
predefined position. ·
– Programs - These also use position registers that contain the
predefined position. ·
– Position registers ·
– Reference Positions
FANUC Robotics
You can use predefined positions in a program. A predefined
position is a position you define that can be used several times in
a program or in other programs. For example, predefined
positions might include a position for maintenance, a perch
position, or a "safe" position.
Robot motion to or from a predefined position is often tied to an
input signal. The robot must wait until the input signal is received
before it can move to or from the predefined position. This allows
the system to control when the robot is allowed to move to the
predefined position.
An output signal can also be used to indicate to the system that
the robot has reached the predefined position.
Motion Instruction
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Home Position
The home position is a position away from the workpiece transfer
area. Program the robot to move to home before the first position,
between cycles, and any time the robot must be away from
workcell activity.
Figure 8-10 Home Position
NOTE: "Home Position" is an input signal in UOP not a
predefined position. It can be one of the Reference Positions, but
these are not utilities or built-ins used to send the robot to the
"HOME" position.
232
Motion Instruction
MATAGHAND1007CE
Repair Position
The repair position is a position where robot repair operations are
performed. Program the robot to move to the repair position any
time repair operations must be performed. Record the repair
position away from other equipment and the transfer area.
Figure 8-11 shows an example of a repair position.
NOTE: "Repair Position" is not a predefined position, but you
can use one of the reference positions for this purpose. A user
program with the same trained position must be run to move the
robot to "REPAIR" position.
Figure 8-11 Repair Position
Motion Instruction
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MATAGHAND1007CE
Safe Position
The safe position, is away from fixtures and the workpiece
transfer area. Program the robot to move to the safe position any
time it is necessary to move the robot away from other workcell
activities.
Figure 8-12 Safe Position
NOTE: "Safe Position" is not a predefined position, but you
can use one of the reference positions for this purpose. A user
program with the same trained position must be run to move the
robot to "SAFE" position.
Other Positions
You can define any other positions to be predefined positions.
Define any position that the program uses more than once as a
predefined position. This minimizes the time it takes to create and
modify your program.
Motion Instruction
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HandlingTool Application Programming
8.7 Position
Registers
Position Register Instructions
• Stores position information for use in programs
– Stores x,y,z,w,p,r, configuration
• Default setting depends on software version
– Can have a maximum of 200 position registers
– Change number of position registers at controlled start
FANUC Robotics
A position register stores positional information (x,y,z,w,p,r,
configuration). Up to 200 position registers are available for all
programs in the controller combined. The default number of
position registers is 100. Position registers are identified by
numbers.
You can increase the number of position registers at controlled
start. Refer to the "System Operations" appendix of the Setup and
Operations Manual for information on performing a controlled
start.
There are two kinds of position register instructions:
• Instructions that manipulate position registers, PR[x]
•
Instructions that manipulate position register elements, PR[i,j]
If your system is configured to have more than one group, you
can set the group mask when you create any position register
instruction. The group mask allows you to use function keys to
specify:
• Whether the group mask will be used. If the group mask is not
used, the position register instruction affects the default group
only.
•
The group or groups that the position register instruction will
affect.
Motion Instruction
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MATAGHAND1007CE
Procedure 8-2 Displaying and Setting Position Registers
Step
1
Press DATA .
2
Press F1 , [TYPE].
3
Select Position Registers. You will see a screen similar to the
following.
R indicates the position has been recorded.
* indicates the position has not been recorded.
CAUTION
Position registers are used in programs. Do not modify
position register values unless you are sure how the
position register is used in the system; otherwise, you
could affect how programs are executed.
4
To add a comment:
a Move the cursor to the position register number and press
ENTER .
b Move the cursor to select a method of naming the
comment.
c Press the function keys whose labels correspond to the
name you want to give to the comment. These labels
vary depending on the naming method you chose in Step
b.
d For example, if you chose Upper Case, press a function
key corresponding to the first letter. Press that key until
the letter you want is displayed in the comment field.
Press the right arrow key to move the cursor to the next
space. Continue until the entire comment is displayed.
BACK
e To delete a character, press SPACE .
f When you are finished, press ENTER .
Motion Instruction
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MATAGHAND1007CE
5
To change the value of the position register, enter the new
value by recording a position (Step 6 ), or entering positional
information (Step 8 ).
6
To record a position:
a Press and hold the DEADMAN switch and turn on the
teach pendant.
b Jog the robot to the position you want.
c Hold down the SHIFT key and press F3 , RECORD. The
* (asterisk) will change to an R to indicate the position
has been recorded.
The user frame, UF, and the tool frame, UT, will be set to 15
(FHex), which indicates that the currently active user frame and
tool frame will be used. Refer to Section Frame Setup (Chapter 6)
for information on setting up frames.
NOTE: If you want to change the user frame or tool frame
value after you have recorded the position register, you must
select the new user frame or tool frame, record the position
register, and then manually enter the desired coordinates in order
for the changed frame to take effect. Refer to Step 8 for
information on entering position register information manually.
7
To move to a recorded position register:
a Press and hold the DEADMAN switch and turn on the
teach pendant.
b Press and hold the SHIFT key and press F2 ,
MOVE_TO.
Motion Instruction
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MATAGHAND1007CE
8
To enter positional information manually,
a Press F4 , POSITION. You will see a screen similar to the
following.
NOTE: R indicates the position has been recorded.
* indicates the position has not been recorded.
b To change the format of the position from Cartesian
coordinates to joint angles or from joint angles to
Cartesian coordinates, press F5 , [REPRE] and select
the coordinate system. The proper joint angles or
Cartesian coordinates will be displayed. The position is
automatically converted.
NOTE:Joint angles are useful to zero-position the
robot or to control the motion of a positioning table.
c To change a position component, move the cursor to
the component, type the value, and press ENTER .
d To change the motion group number, press F1 ,
GROUP, type the group number, and press ENTER .
This only applies to systems that have been set up for
multiple groups.
e To change the configuration, press F3 , CONFIG.
Select the proper configuration by pressing the up or
down arrow key.
f To display the extended axis position information,
press F2 , PAGE. This only applies to systems that
include extended axes.
g When you are finished, press F4 , DONE.
9
To clear a position register press F5 , CLEAR. This
converts all positional information to all asterisks (*******).
Motion Instruction
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MATAGHAND1007CE
10 To save all position registers into a file:
a Press MENU .
b Select FILE.
c Press F1 , [TYPE].
d Select File.
e Press F5 , [UTIL].
f Select Set Device.
g Move the cursor to the device you want and press
ENTER .
h While the DATA Position Reg screen is displayed, press
FCTN .
i
Select SAVE. The position registers will be saved to the
file, POSREG.VR, on the default device.
11 To use a position register as a motion statement within a
TP program:
a Record a bogus position
b Edit the position number – example: J P[1] 100% FINE
c Press F4 CHOICE and select PR from the list. Result:
J PR[1:HOME] 100% FINE
d Enter the PR number that was recorded from the DATA
screen.
Motion Instruction
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MATAGHAND1007CE
NOTES:
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Motion Instruction
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HandlingTool Application Programming
Enabling Objectives Lab 9/10
•
•
•
•
Modify default motion instruction
Create a pre-defined position.
Modify motion instruction components
Observe effect that changes on motion
instruction have on program
• Execute a program from the Standard Operators
Panel
• Lab #10 create a circular program
FANUC Robotics
Motion Instruction
241
MATAGHAND1007CE
Lab 9
Motion Instruction
Student Name: _______________________________________________________________
Assignment:
Condition:
Step:
The student will:
• Modify default motion instruction
•
Create a pre-defined position.
•
Modify motion instruction components
•
Observe effect that changes on motion instruction have on program
•
Execute a program from the Standard Operators Panel
•
Use a position register as one of the motion line of instructions
A FANUC robot and controller loaded with HandlingTool application
software.
1
Power up the robot in a safe fashion
2
Select and open the program created for lab 8 named PROG1.
3
Change line one of the program to a predefined position by recording it
to a position register and call it HOME. Refer to 8.6, Predefined
Positions
4
Change motion types, speed values, and termination type on some of
the points.
5
Modify a position in the program to us a XY and Z value a position
register that was defined, refer to Procedure 8-2, step 11.
PROG1:
PR(HOME)
1: J PR[1:HOME] 100% FINE
2: J P[2] 100% FINE
3: L P[3] 2000mm/s CNT100
4: L P[4] 1000mm/s FINE
P2
P3
5: L P[5] 1500mm/s CNT50
6: L P[2] 2000mm/s CNT75
7: J PR[1] 100% FINE
END
P5
P4
Motion Instruction
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MATAGHAND1007CE
6
Display and modify the Default Motion Instructions.
7
Perform all testing and test run your program from the teach pendant,
then execute it from the cycle start on the operator panel.
8
OPTIONAL: Create and test run a circle program.
9
Power down the robot safely.
Completed:
Instructor: _______________________________
Motion Instruction
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MATAGHAND1007CE
Lab 10
Optional Program
Student Name: _______________________________________________________________
Assignment:
Objective:
This program follows the path of a circle by putting together two arcs. Each
arc requires three points: a start, an intermediate, and a destination position.
The objective of this program is to:
•
Familiarize the student with the circular motion type.
•
Allow student to practice creating a circle path.
Circle
Program:
J P[1] 100% FINE
C P[2]
P[3] 100mm/sec
C P[4]
P[1] 100mm/sec
FINE
To program a complete circle, add two circular motion instructions, which will
generate two intermediate positions and two destination positions. The
circular motion instructions can be added by:
• Inserting a line.
•
Returning to DEFAULT
•
Selecting [INST].
•
Editing a default instruction to add the circular motion instruction.
•
Teaching a point with the current default and then modifying the line to
become a circular motion statement.
Completed:
Instructor: ________________________________
244
Motion Instruction
MATAGHAND1007CE
NOTES:
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9
Copying and Editing
Programs
245
HandlingTool Application Programming
9 COPYING & EDITING PROGRAMS
HandlingTool Application Programming
Writing and Modifying a Program
FANUC Robotics
It is highly recommended that, while modifying a program, a copy of
the original program is created in case the original program has to
be restored into the system. This chapter covers the procedure
needed to accomplish this task. The ED_CMD softkey, within the
programming menu, allows you make modifications to a program.
The menu items generated by this key are covered in depth on this
chapter.
9.1 Copying a
Program
Programs can be copied within the SELECT menu. This means that
both the original program and the copied program will be on
controller memory. Use procedure to copy programs within the
SELECT menu.
Copying and Editing Programs
246
MATAGHAND1007CE
Procedure 9-1 Copying a program within the SELECT menu
Condition
Step
ƒ
A program has been created.
ƒ
The program you want to copy is listed on the SELECT screen.
1
Press SELECT . You will see a screen similar to the
following.
Select
No.
1
2
3
4
5
6
Program name
SUB1
MAIN25
PRG7
JOB0001
PROC0010
TEST
50983 BYTES FREE
Comment
TP [
TP [
TP [
TP
TP
TP
]
]
]
2
Move the cursor to the program you want to copy.
3
Press NEXT and then press F1 , COPY. You will see a
screen similar to the following.
1 Words
2 Upper Case
3 Lower Case
4 Options
Select
---
--Insert--
Copy Teach Pendant Program ---
From:
To:
[SUB1
[
]
]
--End--
Press Enter for next item
4
Type the program name to which to copy the selected
program. Press ENTER .
5
If necessary, type the sub type for the copied program and
press ENTER .
6
Copy the selected program:
• If you do not want to copy the selected program, press
F5 , NO.
•
If you want to copy the selected program, press F4 ,
YES.
The selected program will be copied. The SELECT menu will
be displayed. If the copied program has a new name, it will be
displayed in the SELECT menu.
Copying and Editing Programs
247
MATAGHAND1007CE
If you no longer want to have a program loaded on controller
memory (displayed on the SELECT menu) you can delete it. If you
want to keep a copy of the program, save it to a storage device
before you delete it from the SELECT menu.
9.2 Deleting a
Program
NOTE: Deleting a program from controller memory does not
delete it from the storage device, if a copy exists on one of those
devices.
Procedure 9-2 Deleting a Program from the SELECT Menu
Condition
ƒ
The program you want to delete is listed on the SELECT menu.
Step
1
Press SELECT . You will see a screen similar to the
following.
Select
No.
1
2
3
4
5
6
Program name
SUB1
MAIN25
PRG7
JOB0001
PROC0010
TEST
50983 BYTES FREE
Comment
TP [
TP [
TP [
TP
TP
TP
]
]
]
2
Move the cursor to the name of the program you want to
delete.
3
Press NEXT , >, and then press F3 , DELETE. See the
following screen for an example.
Select
No. Program name
1
SUB1
2
MAIN25
3
PROG_1
4
PROG_1
5
VARS
6
Delete OK ?
50983 BYTES FREE
Comment
[
[
PC [
VR [
VR [
]
]
]
]
]
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4
Delete the program:
• If you do not want to delete the selected program, press
F5 , NO.
•
If you want to delete the selected program, press F4 , YES.
The program will be deleted from controller memory. The
SELECT menu will be displayed and the deleted program
will no longer be listed.
NOTE: You cannot delete a program that is paused, assigned to
a macro, or write-protected. If the program is paused, you must abort
it (press FCTN and select ABORT ALL). If the program is assigned
to a macro, it must be "unassigned" first on the SETUP Macro
screen.
9.3 Modifying a
Program
NOTE: You cannot modify details if the program is set up as a
system level macro. These macros are identified with the letter "s" at
the far right side of the Macro Setup screen.
Selecting a Program
You select a program by choosing the program name from a list of
existing programs in controller memory. Refer to Chapter 16,
"Program and File Manipulation," for more information on loading
programs.
Modifying Other
Instructions
When you modify other instructions, you change any element of the
instruction.
Inserting Instructions
When you insert instructions, you place a specified number of new
instructions between existing instructions. When you insert an
instruction, the instructions that follow the new instruction are
automatically renumbered.
Deleting Instructions
When you delete instructions, you remove them from the program
permanently. When you remove an instruction the remaining
instructions are automatically renumbered.
Modify Motion
Instruction
Each of the five components of a motion instructions can be
changed by moving the cursor to the component and pressing F4 ,
[CHOICE], or entering new numeric data.
Touching up a Motion
Instruction
When you touch up a motion instruction, only the positional data at
that memory location is changed. Other components of the motion
instruction are unchanged.
Copying and Pasting
Instructions
When you copy and paste, you select a group of instructions, make
a copy of the group, and insert the group at one or more locations in
the program. You can paste copied program instructions using the
methods described in
Finding and Replacing
Instructions
When you find and replace, you find specific instructions and, if
desired, replace those instructions with new instructions. This
function is useful, for example, when setup information that affects
the program is changed. It is also useful when you need to find a
specific area of a long program quickly.
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Renumbering Positions
You can renumber positions in the program. When you add positions
in a program, the first available position number is assigned to the
position, regardless of its place in the program. When you delete
motion instructions, all remaining positions keep their current
numbers. Renumbering reassigns all position numbers in the
program so that they are in sequential order.
Undoing Operations
You can undo an operation to recover from the last incorrect or
faulty operation. You can undo the previous operation to edit the
program, and you can redo the last Undo operation. Several
modifications for one line can be recovered with a single Undo
operation if you have not modified any other line in between
modifications.
You cannot Undo an operation when any of the following conditions
exist:
• The controller has been turned off and turned on
•
Another program has been selected
•
You are using a CRT and keyboard
•
The teach pendant ON/OFF switch is OFF
•
The program is write-protected
•
The teach pendant does not have enough available memory
In addition, Undo will not work if you have executed any of the
following instructions in a program:
• Line tracking instructions
•
On-the-fly
•
On-line touch up
NOTE: If power fails in the process of performing an Undo
operation, unexpected results can occur, and the desired
modification is not guaranteed to have taken effect when power is
restored.
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Procedure 9-3 Modifying a Program
Condition
Step
ƒ
All personnel and unnecessary equipment are out of the
workcell.
ƒ
The program has been created and all detail information has
been set correctly
1
Select a program to modify:
a Press SELECT .
b Press F1 , [TYPE].
If F1 , [TYPE], is not displayed on the screen, press
NEXT , until it is displayed.
c Select the list you want:
•
All displays all programs.
•
TP Programs displays all teach pendant programs.
•
KAREL Progs displays all KAREL programs.
•
Macro displays all macro programs.
•
Cond displays all conditional programs.
NOTE: You cannot modify details if the program is set up as a
system level macro. These macros are identified with the letter "s"
at the far right side of the macro setup screen.
d Move the cursor to the name of the program you want to
modify and press ENTER .
e Continuously press the DEADMAN switch and turn the
teach pendant ON/OFF switch to ON.
WARNING
Recorded positions are not affected by UFRAME, and
UFRAME has no effect during playback. However, position
registers are recorded with respect to the current UFRAME.
If you change UFRAME, any recorded position registers will
also change.
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2
To touch up and modify motion instructions:
a Move the cursor to the line number of the motion instruction
you want to modify.
b To change only the position component of the motion
instruction, jog the robot to the new position, press and
hold in the SHIFT key and press F5 , TOUCHUP. If F5 ,
TOUCHUP, is not displayed, press >, NEXT .
WARNING
If you change the motion type of a positional instruction
from linear to joint you can cause the speed value to
change from mm/sec to a default value as high as 100%. Be
sure to check the speed value before you execute the
instruction; otherwise, you could injure personnel or
damage equipment.
c To change other motion instruction components, move
the cursor to the component using the arrow keys, and
press the appropriate function keys to modify the
component:
• If function key labels are available, press the appropriate
one.
• If no function key labels are available, press F4 ,
[CHOICE], and select a value.
• To change the position value, move the cursor to the
position number and press F5 , POSITION. The
position screen will be displayed showing the Cartesian
coordinates or joint angles of the selected position. Move
the cursor to the component you want to change and
enter the new value using the number keys. To make
other changes, use the function keys, described here.
Position Detail
P[1] UF:0 UT:1
X 1829.992
mm
Y
.050
mm
Z 1170.024
mm
CONF: N
W -179.998
P -90.000
R
0.000
0
0
deg
deg
deg
¾ To change the motion group number, press F1 ,
GROUP. This applies only to systems that have
been set up for multiple groups.
¾ To display components for extended axes,
press F2 , PAGE. This only applies to systems that
include extended axes.
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MATAGHAND1007CE
¾ To change the configuration between flip (F) and
no-flip or normal (N), press F3 , CONFIG, and then
use the up and down arrow keys to change F to N
and N to F.
NOTE: Joint angles are useful for zeropositioning the robot or for non-kinematic motion
control such as controlling the motion of a positioning
table.
¾ To change the format of the position from Cartesian
coordinates to joint angles or from joint angles to
Cartesian coordinates, press F5 , [REPRE] and
select the coordinate system. The position is
converted automatically.
¾ When you are finished, press F4 , DONE.
CAUTION
When you change the representation from Cartesian to
joint, the user frame and tool frame values currently in
effect will be used to calculate the joint angles. After you
have changed from Cartesian to joint, if you modify user
frames and tool frames, these changes will have no effect
on the position with joint representation, regardless of the
motion type of the motion instruction that contains the
position.
d Repeat Steps a through c for each motion instruction you
want to modify.
3
To modify other instructions:
a Move the cursor to the line number of the instruction you
want to modify.
b Move the cursor to the component you want to modify and
press the appropriate key:
•
If function key labels are available, press the
appropriate one.
•
If no function key labels are available, press F4 ,
[CHOICE], and select a value.
c Repeat Steps a and b for each instruction you want to
modify.
4
To insert instructions:
a Decide where you want to insert the instruction. Move the
cursor to the line following that point. The cursor must be
on the line number. For example, if you want to insert
between lines 5 and 6 place the cursor on line 6.
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MATAGHAND1007CE
b Press NEXT until F5 , [EDCMD] is displayed.
c Press F5 , [EDCMD].
d Select Insert.
e Type the number of lines to insert and press ENTER . A
blank line will be inserted into the program for each line
you want inserted. All lines in the program will be
renumbered automatically. Your program will look similar
to the following.
5: J P[4] 50% CNT50
6:
7:
8:
9: J P[5] 50% CNT10
f Move the cursor to the line number of any inserted line and
add any instruction.
5
To delete instructions:
a Move the cursor to the line number of the instruction you
want to delete. If you want to delete several instructions in
consecutive order, move the cursor to the first line to be
deleted.
CAUTION
If you delete an instruction, it will be permanently removed
from the program. Be sure you want to remove an
instruction before you continue; otherwise, you could lose
valuable information.
b Press NEXT , >, until F5 , [EDCMD] is displayed.
c Press F5 , [EDCMD].
d Select Delete.
e To delete a range of lines, move the cursor to select the
lines to be deleted. The line number of each line to be
deleted will be highlighted as you move the cursor.
f Delete the line or lines:
•
If you do not want to delete the selected line(s),
press F5 , NO.
•
To delete the selected line(s) press F4 , YES.
NOTE: You can copy instructions from one program and paste
them within that program or into another program.
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MATAGHAND1007CE
6
To copy and paste instructions:
a Press NEXT , > until F5 , [EDCMD] is displayed.
b Press F5 , [EDCMD].
c Select Copy.
d Move the cursor to the first line to be copied.
e Press F2 , COPY.
f Move the cursor to select the range of lines to be copied.
The line number of each line to be copied will be
highlighted as you move the cursor.
g Press F2 , COPY, again.
h Decide where you want to paste the lines. Move the cursor
to the line following that point. The cursor must be on the
line number.
i
Press F5 , PASTE.
j
Press the function key that corresponds to the way you want
to paste the copied lines (refer to Table 9-1 for details and
examples of each paste method):
k Repeat Step 6.i through Step 6.j to paste the same set of
instructions as many times as you want.
•
LOGIC ( F2 ) - adds the lines exactly as they were,
does not record positions, and leaves the position
numbers blank.
•
POS_ID ( F3 ) - adds the lines exactly as they were
and retains the current position numbers.
•
POSITION ( F4 ) - adds the lines exactly as they were
and renumbers the copied positions with the next
available position numbers. All positional data is
transferred.
•
CANCEL ( F5 ) - cancels the paste, but the copied
lines are retained so you can paste them elsewhere.
•
R-LOGIC ( NEXT + F1 ) - adds the lines in reverse
order, does not record the positions, and leaves the
position numbers blank.
•
R-POS-ID ( NEXT + F2 ) - adds the lines in reverse
order and retains their original position numbers.
•
RM-POS-ID ( NEXT + F3 ) - pastes all instructions
except motion instructions in reverse order. Motion
instructions are created using the current (first) and
next (second) motion instruction: Original position
numbers are retained. Refer to Table 9-1 for details
and an example.
Copying and Editing Programs
MATAGHAND1007CE
Table 9-1 Paste Methods
Copied program instructions:
1: J P[1] 100% CNT100
2: L P[2] 500mm/sec CNT80
3: DO[1] = ON
4: J P[3] 50% CNT50
5: L P[4] 10mm/sec FINE
6: CALL HOME
Method
LOGIC (F2)
Pasted Program Instructions
7: J P[...] 100% CNT100
8: L P[...] 500mm/sec CNT80
9: DO[1] = ON
10: J P[...] 50% CNT50
11: L P[...] 10mm/sec FINE
12: CALL HOME
7: J P[1] 100% CNT100
POS_ID (F3) •
Pastes the lines exactly as they were copied
8: L P[2] 500mm/sec CNT80
•
Retains the original position numbers
9: DO[1] = ON
10: J P[3] 50% CNT50
11: L P[4] 10mm/sec FINE
12: CALL HOME
7: J P[5] 100% CNT100
POSITION
•
Pastes the lines exactly as they were copied
(F4)
•
Renumbers the copied positions with next available 8: L P[6] 500mm/sec CNT80
9: DO[1] = ON
position numbers
10: J P[7] 50% CNT50
•
Retains copied positional data
11: L P[8] 10mm/sec FINE
12: CALL HOME
CANCEL (F5) Cancels the paste and retains the copied lines so you can paste them elsewhere
7: CALL HOME
R-LOGIC
•
Pastes the lines in reverse order
8: L P[...] 10mm/sec FINE
(NEXT+F1) •
Does not record positions
9: J P[...] 50% CNT50
•
Leaves the position numbers blank
10: DO[1] = ON
11: L P[...] 500mm/sec CNT80
12: J P[...] 100% CNT100
7: CALL HOME
R-POS-ID
•
Pastes the lines in reverse order
8: L P[4] 10mm/sec FINE
(NEXT+F2) •
Retains the original position numbers
9: J P[3] 50% CNT50
10: DO[1] = ON
11: L P[2] 500mm/sec CNT80
12: J P[1] 100% CNT100
7: CALL HOME
R-POS
•
Pastes the instructions in reverse order
8: L P[8] 10mm/sec FINE
(NEXT+F4) •
Renumbers the copied positions with the next
9: J P[7] 50% CNT50
available position numbers
10: DO[1] = ON
11: L P[6] 500mm/sec CNT80
12: J P[5] 100% CNT100
•
•
•
Description
Pastes the lines exactly as they were copied
Does not record positions
Leaves the position numbers blank
255
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MATAGHAND1007CE
Method
Rm-POS-ID
(NEXT+F3)
•
•
•
•
•
•
RM-POS
(NEXT+F5)
•
•
•
•
•
•
Description
Pasted Program Instructions
Pastes all instructions except motion instructions in 1st:
J P[i] 100% CNT100, Offset,PR[x]
reverse order
Motion instructions are created using the current
(first) and next (second) motion instruction:
2nd:
o Motion type, speed, and motion-related options
L P[j] 50 mm/sec FINE ACC150 PTH
are used from the second motion instruction
o Positional data, termination type, and nonmotion-related options are used from the first Result:
motion instruction
L P[j] 50mm/sec FINE ACC150 PTH
o The bottom motion instruction in the copied
L P[i] 50mm/sec CNT100
area is pasted as is
Offset,PR[x] ACC150 PTH
Retains the original position numbers
7: CALL HOME
Modal instructions, such as I/O, are pasted in
reverse order, but the states are not changed (ON to 8: L P[4] 10mm/sec FINE
9: L P[3] 10mm/sec CNT50
OFF, or OFF to ON); you must modify these after
10: DO[1] = ON
the paste
11: J P[2] 50% CNT80
UTOOL and UFRAME change instructions and
12: L P[1] 500mm/sec CNT100
position register instructions are pasted in reverse
order, but the frame numbers and register numbers
are not changed; you must modify these after the
paste
Motion instructions that contain the following motion
options are only copied in reverse order and cause a
warning to be displayed:
o Application commands
o SKIP
o INC (incremental motion)
o Continuous turn
o TIME BEFORE/AFTER
Pastes all instructions except motion instructions in 1st:
J P[k] 100% CNT100, Offset,PR[x]
reverse order
Motion instructions are created using the current
(first) and next (second) motion instruction:
2nd:
o Motion type, speed, and motion-related options
L P[l] 50 mm/sec FINE ACC150 PTH
are used from the second motion instruction
o Positional data, termination type, and nonmotion-related options are used from the first
Result:
motion instruction
L P[l] 50mm/sec FINE ACC150 PTH
o The bottom motion instruction in the copied area L P[k] 50mm/sec CNT100
is pasted as is
Offset,PR[x] ACC150 PTH
Renumbers the copied positions with the next
7: CALL HOME
available position numbers
8: L P[8] 10mm/sec FINE
Modal instructions, such as I/O, are pasted in
reverse order, but the states are not changed (ON to 9: L P[7] 10mm/sec CNT50
10: DO[1] = ON
OFF, or OFF to ON); you must modify these after
11: J P[6] 50% CNT80
the paste
12: L P[5] 500mm/sec CNT100
UTOOL and UFRAME change instructions and
position register instructions are pasted in reverse
order, but the frame numbers and register numbers
are not changed; you must modify these after the
paste
Motion instructions that contain the following motion
options are only copied in reverse order and cause a
warning to be displayed:
o Application commands
o SKIP
o INC (incremental motion)
o Continuous turn
o TIME BEFORE/AFTER
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MATAGHAND1007CE
l
7
When you are finished copying and pasting instructions,
press PREV
To find instructions:
a Move the cursor to the line number of any instruction.
b Press NEXT until F5 , [EDCMD], is displayed.
c Press F5 , [EDCMD].
d Select Find.
e Select the kind of instruction to find.
f When prompted, enter the necessary information.
The system searches forward from the current cursor
position for the item you want. If it finds an instance of
the item, it highlights it on the screen.
g To find the next instance of the item, press F4 , NEXT.
h When you are finished finding items, press F5 , EXIT.
i
8
If you pressed F5 , EXIT, press PREV . You do not need
to press PREV if you pressed F4 , NEXT, until all
instances had been found.
To replace instructions:
a Move the cursor to the line number of any instruction.
b Press NEXT until F5 , [EDCMD], is displayed.
c Press F5 , [EDCMD].
d Select Replace.
e Select the instruction you want to replace from the list of
instructions. Follow the information on the screen to
specify the instruction.
The system finds the first instance of the existing
instruction and highlights it.
f Select the replacement item and enter the necessary
information.
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MATAGHAND1007CE
g Decide how to replace the instruction:
9
•
To replace the existing instruction with a new
instruction in all instances, press F2 , ALL. The
system will prompt you to confirm that you want to
replace all instances of the instruction.
•
To replace the existing instruction with the
new instruction, press F3 , YES. The system will
prompt you to search for the next one.
•
To ignore this instance and find the next, press
F4 , NEXT, and the system will find the next
instance, if there is one.
•
To stop the cancel and replace operation,
press F5 , EXIT.
To renumber positions:
a Move the cursor to the line number of any instruction.
b Press NEXT , >, until F5 , [EDCMD], is displayed.
c Press F5 , [EDCMD].
d Select Renumber.
e Renumber the positions:
10
•
If you do not want to renumber positions press
F5 , NO.
•
To renumber positions press F4 , YES.
To undo an operation:
a Press NEXT , >, until F5 , [EDCMD], is displayed.
b Press F5 , [EDCMD].
c Select Undo.
d Undo the operation. The recovered operation is displayed.
•
If you do not want to undo the operation, press
F5 , NO.
•
To undo the operation, press F4 , YES.
e To cancel the undo operation, press F5 , [EDCMD] ,
then press Undo. Press F4 , YES, to redo the operation.
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MATAGHAND1007CE
WARNING
If you have used Undo, you should thoroughly test the
modified program at a low motion speed before allowing it
to run continuously. Otherwise, you could injure
personnel or damage equipment.
11 To display comments on the teach pendant program
screen, see the following screen for an example.
PNS0001
1:
2:
[END]
R[2:COUNTER1]=DI[3:HAND1]
DO[1:HAND1ACK]=ON
12 Press F5 , [EDCMD].
PNS0001
1:
2:
[END]
1/3
R[2:COUNTER1]=DI[3:HAND1]
DO[1:HAND1ACK]=ON +----------------+
| 1 Insert
|
| 2 Delete
|
| 3 Copy
|
| 4 Find
|
| 5 Replace
|
| 6 Renumber
|
| 7 Comment
|
| 8 Undo
|
+---------+
|
13 If you select Comment, the comments turn off.
PNS0001
1:
2:
[END]
R[2]=DI[3]
DO[1]=ON
1/3
14 Press F5 , [EDCMD], again. If you select Comment, the
comments turn on.
PNS0001
1:
2:
[END]
15
R[2:COUNTER1]=DI[3:HAND1]
DO[1:HAND1ACK]=ON
1/3
When you are finished, turn the teach pendant ON/OFF
switch to OFF and release the DEADMAN switch.
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MATAGHAND1007CE
HandlingTool Application Programming
Enabling Objectives Lab 11
• Select, Modify Motion Instruction, and Execute a
Program
– Know how to copy a program
– Know how to modify existing motion instructions
– Know how to add additional instructions
– Know how to execute a program from the Standard
Operators Panel
FANUC Robotics
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261
MATAGHAND1007CE
Lab 11
Select/Modify and Execute a Program
Student Name: _________________________________________________________
Assignment: The student will:
• Select an existing program from the menu structure
Condition:
Step:
•
Copy a program
•
Insert new lines into the program.
•
Copy program and paste program lines within the program.
•
Execute a program from the Standard Operators Panel
A FANUC robot and controller loaded with HandlingTool application
software.
1
Power up the robot in a safe fashion
2
Select the PROG1 (your first program).
3
Copy this program and name it PROG2 and perform the current
assignment on the new program, refer to Procedure 9-3 Modifying
a Program.
4
Utilize the insert feature on ED_CMD to create new lines.
5
Highlight a group of lines from within the program and paste it on
a different section of the program utilizing the different paste
options refer to Table 9-1 Paste Methods.
PROG2:
1: J PR[1:HOME] 100% FINE
2: J P[2] 100% FINE
3: L P[3] 2000mm/s CNT75
4: L P[4] 2000mm/s CNT75
5: L P[5] 2000mm/s CNT75
6: L P[2] 2000mm/s CNT75
7: L P[5] 2000mm/s CNT75
8: L P[4] 2000mm/s CNT75
9: L P[3] 2000mm/s CNT75
10: J P[2] 100% FINE
11: J PR[1:HOME] 100% FINE
END
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MATAGHAND1007CE
6
Perform all testing and test run your copied program from the
teach pendant, and then execute it from the cycle start button on
the operator panel.
7
Modify and TOUCHUP other motion instruction components to
alter the execution of the task at your discretion.
8
Power down the robot safely.
Completed:
Instructor: ________________________________
10
Program Instructions
263
HandlingTool Application Programming
10 PROGRAM INSTRUCTIONS
HandlingTool Application Programming
Program Instructions
• All instructions can be displayed when you press
INST F1
FANUC Robotics
HandlingTool Application Programming
TPP Branching Instructions
• Unconditional branching
– Jump (JMP LBL)
– CALL
• Conditional branching
– Permits selection of option depending on specific conditions
¾ Boolean Expression
¾ Integer Expression
¾ Option controlled by I/O signal or integer variable
FANUC Robotics
Program Instructions
264
MATAGHAND1007CE
10.1 Unconditional
Branching
Instructions
Branching instructions enable a program to have logical flow. In
other words, these instructions will determine the next step to be
executed on a program environment. Branching instructions
come in two forms; unconditional and conditional.
NOTE: All instructions can be found within the F1 key that
displays INST.Unconditional branching instructions jump from one
place in a program to another any time they are executed. There
are two kinds of unconditional branching instructions:
• Jump instructions - Cause the program to branch to a
named label but do not have to return to the main program.
•
CALL instructions - Cause the program to branch to a
remote program. The program is executed, and the motion
control returns to the main program on the line just following
the CALL instruction.
10.1.1 JMP LBL[x]
HandlingTool Application Programming
JMP LBL
• JMP LBL [ ]
– Unconditional branch instruction
– Program jumps to another line regardless of input or output
– Two-part instruction
– JPM LBL is the instruction that causes the program to jump
to another line in the program
– LBL is the instruction line that the program jumps to
J P[1] 100% FINE
JMP LBL[2]
J P[2] 100% FINE
LBL[2]
FANUC Robotics
The JMP LBL[x] instruction causes the program to branch to the
specified label.
Figure 10-1 JMP LBL[x]
10.1.2 CALL program
The CALL program instruction causes the program to branch to
another program and execute it. When the called program
finishes executing, it returns to the main program at the first
instruction after the call program instruction.
Program Instructions
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MATAGHAND1007CE
Figure 10-2 CALL program
NOTE: If you have the Parameters for CALL Program option,
you can include parameters in the CALL program instruction The
program end instruction signals the end of a program.
10.1.3 END
Figure 10-3 Program End Instruction
Program Instructions
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MATAGHAND1007CE
10.2 Conditional
Branching
Instructions
Conditional branching instructions branch from one place to
another in a program, depending on whether certain conditions
are true. There are two kinds of conditional branching
instructions:
• IF instructions – Branch to a specified label or program if
certain conditions are true. There are register IF instructions
and input/output IF instructions
•
SELECT instructions – Branch to one of several jump or call
instructions, depending on the value of a register
10.2.1 IF R[x]
[operator]
[value] [action]
HandlingTool Application Programming
IF Structure
• Register IF instructions compare the value
contained in a register with another value and
take an action if the comparison is true.
FANUC Robotics
10.2.2 IF [I/O]
[operator]
[value] [action]
Input/output IF instructions compare an input or output value with
another value and take an action if the comparison is true.
Figure 10-4 I/O IF Instruction for DI/DO, RI/RO, SI/SO and UI/UO
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Figure 10-5 I/O IF Instruction for R, AI/AO, GI/GO and System Variable
Operator
For an IF instruction, conditions can be connecting using AND or
OR, as follows:
•
AND operator
IF [cond1] AND [cond2] AND ..., [action]
For example,
1: IF R [1] = 1 AND R [2] = 2 AND DI [2] = ON, JMP LBL [2]
•
OR operator
IF [cond1] OR [cond2] OR ..., [action]
For example,
1: IF DI [10]=ON OR R [7]=R [8], JMP LBL [2]
NOTE: You cannot mix the AND and OR operators in the
same operation.
When you replace the operator between AND and OR, any
operators taught in the same line are also replaced automatically
and the following message is displayed.
TPIF-062 AND operator was replaced to OR
TPIF-063 OR operator was replaced to AND
The maximum number of logical conditions that can be taught in
the same operation is 5.
IF [cond1] OR [cond2] OR [cond3] OR [cond4] OR [cond5], [action]
+--------------------------------------------+
Max 5 logical conditions
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10.2.3 SELECT R[x]
A select instruction compares the value of a register with one of
several values and takes an action if the comparison is true:
• If the value of the register equals one of the values, the jump
or call instruction associated with that value is executed.
•
If the value of the register does not equal one of the values,
the jump or call instruction associated with the word ELSE is
executed.
HandlingTool Application Programming
SELECT Program Structure
TPP example illustrates the SELECT branching
R[1]=GI[1]
SELECT R[1] = 1 JMP LBL[1]
2 JMP LBL[2]
3 JMP LBL[3]
ELSE
JMP LBL[4]
LBL[1]
J P[1] 100% FINE
JMP LBL[5]
LBL[2]
J P[2] 100% FINE
JMP LBL[5]
LBL[3]
J P[3] 100% FINE
JMP LBL[5]
LBL[4]
J P[4] 100% FINE
ABORT
LBL[5]
FANUC Robotics
Figure 10-6 Select Instruction
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10.3 Label
Definition
Instruction
LBL[x]
A label marks the location in a program that is the destination of a
program branch. A Label is defined using a label definition
instruction.
A comment can be added to describe the label. After a label has
been defined, it can be used with conditional and unconditional
branching instructions.
Figure 10-7 LBL[x]
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10.4 Register
Instructions
HandlingTool Application Programming
Register Instructions
• Arithmetic Registers used to store numbers
• Numbers can be used for arithmetic operations,
track part count, cycle count,
• May contain group I/O data
• Default number of registers is 100
– Can be changed during initial setup or during control start
FANUC Robotics
Registers are very powerful programming tools. When used
correctly, registers can be utilized as counters, to set program
flags, or to adjust program speed. Position registers can be used
to store global positions, such as a home or a maintenance
position. A register stores one number. A position register stores
positional information (x,y,z,w,p,r, configuration).
10.5
Registers
10.5.1 Register
Addressing
A register stores one number. Up to 999 registers are available
for all the programs in the controller combined. The default
number of registers is 100. Registers are identified by numbers.
You can increase the number of registers during a controlled
start. Register instructions manipulate register data arithmetically.
Many instructions employ direct or indirect addressing techniques.
When direct addressing is used, the actual value is entered into
the instruction. For example, if the register instruction R[2]= 5 is
used, the current contents of register 2 is replaced with the
value 5.
When indirect addressing is used, the instruction contains a
register within a register. This indicates that the actual value of
the internal register becomes the register number of the external
register.
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Figure 10-8 Direct and Indirect Addressing Example
In the figure above, the first instruction illustrates direct
addressing. This instruction causes the current contents of
register 3 to be replaced with the value 2.
The second instruction in Figure 10-8 illustrates indirect
addressing. In this instruction, R[3] is the internal register and
R[R[3]] is the external register. Since in the previous instruction
the value of the internal register R[3] is 2, the external register
number becomes R[R[3]=2] or R[2]. Therefore, the result of the
second instruction is that the contents of the external register,
R[2], is to be replaced with the value 5.
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R[x] = [value]
The R[x] = [value] instruction stores a value in a register. See
Figure 10-9 R[x] = [value]
Figure 10-9 R[x] = [value]
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R[x]=[value][operator][
value]
The R[x] = [value] [operator] [value] instructions store the result of
an arithmetic operation in a register. The arithmetic operations are
• Addition
•
Subtraction
•
Multiplication
•
Division
•
Whole number division (DIV)
•
Remainder division (MOD)
See Figure 10-10.
You can use multiple arithmetic operators in a single instruction.
However, there are the following limitations:
• You can mix + and – in the same instruction. Arithmetic
operations within an instruction that mixes + and – will be
performed from left to right. You cannot mix * or / in an
instruction that already contains + or –.
•
You can mix * and / in the same instruction. Arithmetic
operations within an instruction that mixes + and – will be
performed from left to right. You cannot mix + or – in an
instruction that already contains * or /.
•
The maximum number of arithmetic operators you can have in
the same instruction is 5.
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Figure 10-10 R[x] = [value] [operator] [value]
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Procedure 10-1 Displaying and Setting Registers
Step
1
Press DATA .
2
Press F1 , [TYPE].
3
Select Registers. You will see a screen similar to the
following.
CAUTION
Registers are used in programs. Do not modify register
values unless you are sure how the register is used in the
system; otherwise, you could affect how programs are
executed.
4
To add a comment
a Move the cursor to the register number and press
ENTER .
b Move the cursor to select a method of naming the
comment: Upper Case, Lower Case, Punctuation,
Options.
c Press the function keys whose labels correspond to the
name you want to give to the comment. These labels
vary depending on the naming method you chose in Step
b.
For example, if you chose Upper Case, press a function
key corresponding to the first letter. Press that key until
the letter you want is displayed in the comment field.
Press the right arrow key to move the cursor to the next
space. Continue until the entire comment is displayed.
BACK
To delete a character, press SPACE .
d When you are finished, press ENTER .
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5
To change the value of the register
a Move the cursor to the register value.
b Type the new value and press ENTER .
10.6 Looping
Instructions
In addition to conditional and unconditional branching instructions,
there are three looping instructions that can be created using a
combination of IF, JMP LBL, Register and I/O instructions. In
conventional programming these are the FOR…DO loop, the
REPEAT loop, and the WHILE loop.
10.6.1 FOR…DO Loop
The FOR…DO loop creates a loop that repeats a series of
program instructions for a specified number of iterations. This
loop can be created to either count up or count down. It uses a
combination of the IF, JMP LBL, and arithmetic register
instructions. A sample program is shown below.
R[1] = 5
R[2] = 0
LBL[1]
J P[1] 100% FINE
J P[2] 100% FINE
J P[3] 100% FINE
J P[4] 100% FINE
R[2] = R[2] + 1
IF R[2] ≥ R[1] JMP LBL[2]
JMP LBL[1]
LBL[2]
END
This loop repeats the program for five iterations, and then ends
the program. It is an example of a loop that counts up to a
specific number. The program can be modified to count down as
shown below.
R[1] = 5
LBL[1]
J P[1] 100% FINE
J P[2] 100% FINE
J P[3] 100% FINE
J P[4] 100% FINE
R[1] = R[1] - 1
IF R[1] ≤ 0 JMP LBL[2]
JMP LBL[1]
LBL[2]
END
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10.6.2 While Loop
A second type of looping construct is the WHILE loop. This loop
is also called a top-testing construct. It tests for a specific
program condition before it executes the loop. If the condition is
satisfied, it will execute the loop, if the condition is not satisfied, it
will not execute the loop. The following is an example of the
WHILE loop. The program will continue to run as long as DI[1] is
on. It will stop running when it detects DI[1] is off
LBL[1]
IF DI[1] = OFF JMP LBL[2]
J P[1] 100% FINE
J P[2] 100% FINE
J P[3] 100% FINE
J P[4] 100% FINE
JMP LBL[1]
LBL[2]
END
10.6.3 Repeat Loop
The third type of looping construct is the REPEAT loop. It is
called a bottom-testing construct. It will always execute the loop
at least once, regardless of the program condition it is monitoring.
As long as the condition is satisfied, it will continue to execute the
loop. It stops executing the loop once the condition is no longer
satisfied. The following is an example of a REPEAT loop.
LBL[1]
J P[1] 100% FINE
J P[2] 100% FINE
J P[3] 100% FINE
J P[4] 100% FINE
IF DI[1] = ON JMP LBL[1]
END
10.6.4 Position
Register
Instructions
PR[GRPn:x] = [value]
PR[GRPn:x] position register instructions manipulate the position
register. They include assignment, addition, and subtraction
instructions.
The PR[GRPn:x] = [value] instruction stores positional information
in a position register.
Figure 10-11 PR[GRPn:x]=[value]
PR[GRPn:x]=[value]
Group number (1–3)
Direct:
Position register number
(1–32)
Indirect:
Position register number =
Contents of R[x]
LPOS, the current Cartesian coordinates
in (x,y,z,w,p,r, config)
JPOS, the current joint angles
PR[x], Contents of PR[x],
where x = Position register number
P[x], Contents of P[x],
where x = Position number
UFRAME []
UTOOL []
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PR[GRPn:x]=[value]
[operator] [value]
The PR[GRPn:x] = [value] [operator] [value] instructions store the
result of an arithmetic operation in a register. The arithmetic
operations are addition and subtraction.
You can use multiple arithmetic operators in a single instruction.
However, there are the following limitations:
• You cannot mix +, -, or */ in the same instruction.
•
The maximum number of arithmetic operators you can have in
the same instruction is 5.
Figure 10-12 PR[GRPn:x] = [value] [operator] [value]
Program Instructions
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10.6.5 PR[i,j] Position
Register
Element
Instructions
PR[i,j] position register element instructions manipulate a specific
position register element. A position register element is one
element of a specified position register. In the designation PR[i,j],
the i represents the position register number and the j represents
the position register element.
Position register element instructions include assignment,
addition, and subtraction instructions.
Figure 10-13 Position Register Element PR[i,j]
PR[i, j]
Direct:
Position
register
element
number
(1–10)
Indirect:
Position register
number =
contents of R[x]
PR[i,j] =[value]
Figure 10-14 PR[i,j] = [value]
Indirect:
Position register element number=contents of R[x]
Direct: Position register element number
For Cartesian positions: For joint positions:
1=x
1 = joint 1
2=y
2 = joint 2
3=z
3 = joint 3
4=w
4 = joint 4
5=p
5 = joint 5
6=r
6 = joint 6
7 = config
n = joint n
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10.7 WAIT [item]
[operator] [value]
[time]
HandlingTool Application Programming
Wait Instructions
• Delays program execution until specified
conditions are true or until amount of time
elapses
– Timeout
– Time Interval
– Input/Output
FANUC Robotics
WAIT condition instructions delay program execution until
specified conditions are true or until an amount of time elapses (a
timeout occurs). The timeout can be specified as one of the
following:
• Forever - the program will wait until the condition is true.
•
Timeout, LBL[i] - the program will wait for the time specified
in Timeout. If the condition is still not true, the program will
branch to the specified label.
Specify the timeout by setting the system variable
$WAITTMOUT to a time, in milliseconds. The default timeout
value is 3000 milliseconds. You can set $WAITTMOUT using
the parameter name instruction.
Program Instructions
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Figure 10-15 WAIT Condition for DI/DO, RI/RO, SI/SO, and UI/UO
Figure 10-16 WAIT Condition for R, GI/GO, AI/AO, and Parameters
Operators
For WAIT instructions, logical instruction editing can contain
multiple logical statements connected by AND or OR operators.
•
AND operator
WAIT [cond1] AND [cond2] AND ...
For example,
1: WAIT DI [1] = ON AND DI [2] = ON, TIMEOUT, LBL [1]
•
OR instruction
WAIT [cond1] OR [cond2] OR ...
For example,
1: IF DI [10] = ON OR R [7] = R [8], JMP LBL [2]
NOTE: You cannot mix the AND and OR operators in the
same operation.
If an instruction contains multiple ORs or ANDs, and you change
282
Program Instructions
MATAGHAND1007CE
following message is displayed:
TPIF-062 AND operator was replaced to OR
TPIF-063 OR operator was replaced to AND
The maximum number of logical condition; which can be taught in
the same operation is 5. For example
WAIT [cond1] OR [cond2] OR [cond3] OR [cond4] OR [cond5]
+--------------------------------------------+
Max 5 logical conditions
10.7.1 WAIT time
The WAIT time instruction delays program execution for a
specified time. The time in a WAIT time instruction is specified in
seconds, with a minimum unit of 0.01 seconds.
Figure 10-17 Wait Time
Program Instructions
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NOTES:
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HandlingTool Application Programming
Enabling Objectives Lab 12
• Create and run a counter program
• Create and run an offset program
• Assign and set registers and position registers
FANUC Robotics
Program Instructions
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Lab 12
Register Instructions
Student Name: _______________________________________________________________
Assignment:
Condition:
Step:
Refer to
Section 10.6.5
The student will:
• Create and run a counter program.
•
Create and run an offset program.
•
Assign and set registers and position registers
A FANUC robot and controller loaded with HandlingTool application software
1
Power up controller.
2
Copy PROG2 and name the new program COUNTER.
3
Modify this program to cycle a predefined number of cycles and then
end program.
4
To accomplish this you need to:
5
Assign a register at the DATA screen as your counter register.
6
Initialize register outside the main loop within the program.
7
Increment register within each loop.
8
Use a conditional branching instruction to monitor the number of cycles
executed while the program runs.
COUNTER:
DATA REGISTERS :
1: R[1:COUNTER] = 0
1. R[1 :COUNTER] = 0
2: J PR[1:HOME] 100% FINE
3: LBL [1]
POSITION REGISTERS :
4: J P[2] 100% CNT80
1. PR[1 :HOME] = R
5: L P[3] 2000mm/s CNT80
6: L P[4] 2000mm/s CNT80
7: L P[5] 2000mm/s CNT80
8: L P[2] 2000mm/s CNT80
9: R[1:COUNTER]=R[1:COUNTER]+1
10: IF R[1:COUNTER]<5 JMP LBL [1]
11: J PR[1:HOME] 100% FINE
END
Program Instructions
286
MATAGHAND1007CE
9
Copy COUNTER program and name it OFFSET.
10
Modify this program to move up a specific distance a predetermined number of
times.
11 To accomplish this you need to:
12 Assign a position register to store the positional offset and manually
enter a value of zero on all six elements at the DATA screen.
13 Initialize both registers (counter and offset – use same counter register
from previous program) outside main loop.
14 Increment counter register within each loop.
15 Increment the Z element of offset register by about 25mm on each cycle.
16 Use a conditional branching instruction to monitor the number of cycles
executed while the program runs.
OFFSET:
DATA REGISTERS :
1: PR[2,3:OFFSET] = 0
1. R[1 :COUNTER] = 0
2: R[1:COUNTER] = 0
3: J PR[1:HOME] 100% FINE
POSITION REGISTERS :
4: LBL [1]
1. PR[1 :HOME] = R
5: L P[2] 2000mm/s CNT80 OFFSET PR[2:OFFSET]
2. PR[2:OFFSET] = R
6: L P[3] 2000mm/s CNT80 OFFSET PR[2:OFFSET]
7: L P[4] 2000mm/s CNT80 OFFSET PR[2:OFFSET]
8: L P[5] 2000mm/s CNT80 OFFSET PR[2:OFFSET]
9: L P[2] 2000mm/s CNT80 OFFSET PR[2:OFFSET]
10:PR[2,3:OFFSET]=PR[2,3:OFFSET]+25
11: R[1:COUNTER]=R[1:COUNTER]+1
PR [2] : X=0.00 Y=0.00
Z=0.00
W=0.00 P=0.00
R=0.00
R=Recorded
12: IF R[1:COUNTER]<5 JMP LBL [1]
13: J PR[1:HOME] 100% FINE
END
Completed:
Instructor: ___________________________________
Program Instructions
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NOTES:
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HandlingTool Application Programming
Enabling Objectives Lab 13 & 14
•
•
•
•
•
•
Continue practicing the concept of saving programs before
modifications
Practice modifying a program by inserting lines and
addition instructions
Use the LBL and JUMP LBL
Create a program that calls a group of programs in a
specified sequence utilizing unconditional branching
instructions.
Create two programs that will call a specific program based
on a program select register utilizing branching
instructions IF and SELECT.
Understand the differences between IF and SELECT
instructions.
FANUC Robotics
Program Instructions
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Lab 13
Modifying Programs using Branching Instructions
Assignment:
Condition:
Step:
The student will create a program that runs an infinite loop:
• Continue practicing the concept of saving programs before
modifications
•
Practice modifying a program by inserting lines and addition
instructions
•
Use the LBL and JUMP LBL
A FANUC robot and controller loaded with HandlingTool application
software.
1
Power up the robot in a safe fashion.
2
Copy PROG2 and name the new program PROG3.
3
Modify PROG3 to run on an infinite loop utilizing the insert feature on
ED_CMD to create new lines.
PROG3
1: J PR[1:HOME] 100% FINE
2: LBL [1]
3: J P[2] 100% CNT80
4: L P[3] 2000mm/s CNT80
5: L P[4] 2000mm/s CNT80
6: L P[5] 2000mm/s CNT80
7: L P[2] 2000mm/s CNT80
8: WAIT 1 SEC
9: JMP LBL [1]
END
4
Perform all testing and test run your copied program from the teach
pendant, and then execute it from the cycle start button on the operator
panel.
5
Modify and TOUCHUP other motion instruction components to alter the
execution of the task at your discretion.
6
Power down the robot safely.
Program Instructions
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Lab 14
Calling Programs
Student Name: _______________________________________________________________
Assignment:
Condition:
Step:
The student will:
• Create a program that calls a group of programs in a specified
sequence utilizing unconditional branching instructions.
•
Create two programs that will call a specific program based on a
program select register utilizing branching instructions IF and
SELECT.
•
Understand the differences between IF and SELECT instructions.
A FANUC robot and controller loaded with HandlingTool application software
1
Power up controller.
2
Create a new program called MAIN. This program will:
3
Loop forever calling a group of programs in a specific sequence.
4
Verify that none of the programs being called by MAIN contain an infinite
loop (PROG3).
MAIN:
1: LBL [1]
2: CALL PROG1
3: CALL PROG2
4: CALL PROG3
5: JMP LBL[1]
END
5
Create a new program called MAIN1. This program will:
6
Loop forever until a value within a specific range has been entered on
the program select register.
MAIN1:
1:LBL[1]
2: IF R[5:PRGSLCT]=1 CALL PROG1
3: IF R[5:PRGSLCT]=2 CALL PROG2
4: IF R[5:PRGSLCT]=3 CALL PROG3
5: JMP LBL [1]
END
7
Once the program has captured a valid number, it will execute this
program until a new valued has been entered.
Program Instructions
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8
Create a new program called MAIN2. This program will:
9
Loop forever until a value within a specific range has been entered on
the program select register.
MAIN2:
1:LBL[1]
2: SELECT R[5:PRGSLCT]=1, CALL PROG1
3:
=2, CALL PROG2
4:
=3, CALL PROG3
5: ELSE JMP LBL[1]
END
10 Once the program has captured a valid number, it will execute this
program once and then it will move on to the next instruction.
11 Verify that all programs run as expected.
12 Power down the controller.
Completed:
Instructor: ________________________________
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NOTES:
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11
I/O Programming
Instructions & Operation
293
HandlingTool Application Programming
11 I/O PROGRAMMING INSTRUCTIONS & OPERATION
Inputs and outputs (I/O) are electrical signals that enable the
controller to communicate with the robot, end-of-arm tooling, and
other external devices, such as sensors and actuators.
To use I/O in a program instruction, you must do the following:
1. Identify the I/O hardware you need.
2. Install the I/O hardware, if necessary.
3. Connect the I/O hardware to the necessary devices.
4. Configure the I/O using the teach pendant. This informs the
controller software of the I/O you installed and connected so it
can be used by the robot.
HandlingTool Application Programming
I/O Setup and Operation
•
•
•
•
Types of I/O
Types of hardware
Configuring
Monitoring/Controlling
FANUC Robotics
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I/O Programming Instructions & Operation
MATAGHAND1007CE
HandlingTool Application Programming
I/O Setup and Operation
• Types of I/O
– Analog
– Digital
– Group
– Standard Operator Panel (SOP)
– User Operator Panel (UOP)
– PLC
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I/O Programming Instructions & Operation
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11.1.1
Input/Output (I/O)
The I/O system provides the interface between the controller,
teach pendant, robot, and any other external device in your
workcell.
Controller I/O can consist of the following types of I/O software:
• User Operator Panel (UOP Inputs (UI)
•
User Operator Panel (UOP Outputs (UO)
•
Standard Operator Panel (SOP) Inputs (SI)
•
Standard Operator Panel (SOP) Outputs (SO)
•
Robot Inputs (RI)
•
Robot Outputs (RO)
•
Digital Inputs (DI)
•
Digital Outputs (DO)
•
Group Inputs (GI)
•
Group Outputs (GO)
•
Analog Inputs (AI)
•
Analog Outputs (AO)
•
PLC Inputs
•
PLC Outputs
FANUC allows the following hardware I/O:
• Process I/O
•
Model A
•
Model B
•
Allen- Bradley Remote I/O
•
DeviceNet
•
Ethernet IP
•
Controlnet
•
Profibus
The quantity of I/O can change, except for RI/RO, UOP, and SOP
I/O signals, which are fixed. The number of RI and RO signals
can vary slightly depending on the number of axes in your
system.
11.1.2
Remote I/O Interfaces
The controller has the capability to use certain signals from a
remote device. These signals can include
• UOP signals
•
Safety fence
•
RSR and PNS
•
External Emergency stop
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I/O Programming Instructions & Operation
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HandlingTool Application Programming
I/O Setup and Operation
• I/O is how the robot communicates with the
workcell
• I/O signals are either digital or analog
• Digital signals
– 24 VDC or 120 VAC
– Can be sourcing or sinking
FANUC Robotics
HandlingTool Application Programming
Analog signals
• Uses voltage or current to represent signal in
workcell
• Must be scaled
• Converted to/from digital word
– 12 bit binary word
– -2000 to +2000 counts
• Analog signals
– -10 to +10 VDC
– -20 to +20 ma current
FANUC Robotics
I/O Programming Instructions & Operation
MATAGHAND1007CE
11.2
Hardware
The following kinds of I/O hardware are available:
• Modular (Model A) I/O
•
Distributed (Model B) I/O
•
Process I/O
HandlingTool Application Programming
Process I/O
•
•
•
•
Analog and Digital Signals on same circuit board
Used Primarily in arc welding applications
Interface between robot and weld controller
Includes UOP, RSR/PNS connections
FANUC Robotics
HandlingTool Application Programming
Model A (Modular) I/O
• Discrete I/O modules
• Communicates with CPU through interface
module
• Requires backplane in controller
• Digital in/out
– 8/16/32 inputs
• Analog in/out
– 2/4 channels
FANUC Robotics
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HandlingTool Application Programming
Model B (Distributed ) I/O
• Discrete I/O modules
– Can have both input and output on same unit
• Digital Only
• 24 VDC or 120 VAC
• Serial communications with CPU via interface
module
• No backplane required
FANUC Robotics
HandlingTool Application Programming
Robot I/O
•
•
•
•
•
•
•
Digital Signal
24 VDC
All robots have it, not all robots use it
Accessed on robot at EE connector
Used to control EOAT
8 Inputs/8 Outputs
Hardwired into controller CPU board
– R-J2 Controller direct connection from CPU to robot
– R-J3 Controller connection from Servo Amp to robot
FANUC Robotics
I/O Programming Instructions & Operation
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HandlingTool Application Programming
SOP (Standard Operator Panel) I/O
•
•
•
•
24 VDC signal
Operator Panel Switches(except ON/OFF)
Communicates Directly to controller CPU
Controls program execution
– Cycle Start, Hold
• Indicates/Resets fault condition
– Fault/Fault Reset
FANUC Robotics
HandlingTool Application Programming
SOP (Standard Operator Panel) I/O
• Can be used to select programs
– User 1/User 2
• Warns of low backup battery for CMOS/SRAM
memory
– Battery
– Also warns of low SPC batteries on R-J2 paint controllers
FANUC Robotics
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HandlingTool Application Programming
UOP (User Operator Panel) I/O
•
•
•
•
Originally, UOP was a custom control panel
Partially duplicated functions of SOP
Connected to controller by digital I/O lines
PLC now performs most UOP functions, UOP
lines still used by controller
• Dedicated digital lines between controller and
panel/PLC
• Can be discrete signal lines or serial digital data
over coaxial or twisted pair cable
• Predefined signals with specific meanings and
functions
FANUC Robotics
HandlingTool Application Programming
PLC I/O
•
Allows direct communication between controller CPU and
PLC CPU
– Allen Bradley (ABRIO) or GE Fanuc (GENIUS)
– Must install software option
•
•
•
•
•
•
PLC sees controller as I/O rack
Eliminates extensive and often complicated wiring between
controller and PLC
Simplifies cell setup and communications
Enables PLC to control R-J2/R-J3 controller I/O
Requires installation of ABRIO or GENIUS board in
controller
PLC I/O is digital signals only, does not support analog
FANUC Robotics
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HandlingTool Application Programming
Group I/O
• Provides access to more than one digital input or
output signal
• Allows program to monitor multiple signals as a
digital word
• Minimum 2 bits
• Maximum 16 bits
• Used in process control applications
FANUC Robotics
11.3
Types of Signals
Analog
An analog I/O signal (AI or AO) is an input or output voltage that
has a value within the range of the I/O board or module used.
Analog input devices convert external analog signals into numeric
signals for use by the controller. Analog output devices allow
analog signals to be send out to external devices. Typical values
of analog inputs and outputs are from -10 volts to 0 volts, or from
0 volts to +10 volts. These values depend on the particular device
used in your controller.
For teach pendant and KAREL programs, analog data is
converted into digits and is then read by the program as numbers.
Digital
A digital I/O signal (DI or DO) is a control signal sent to or from the
controller. Digital signals can have only one of two possible states:
ON or OFF. Digital signals provide access to data on a single
input or output signal line.
Group
Group I/O signals (GI or GO) are made up of a sequence of digital
I/O signals. These are interpreted as a binary integer.
A group signal is a group of up to 16 ones (1) and zeros (0),
indicated ON or OFF. Each bit in group input or output is a single
digital input or output line. Unused bits are assigned a "0."
If you group your digital I/O signals, you can control or monitor the
sequence of I/O signals within your program by setting or reading
a single group using the group I/O instructions.
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User Operator Panel
(UOP) I/O
The User Operator Panel (UOP) provides 18 input signals and 20
or 24 output signals (four are optional), that can be connected to a
remote device or a remote operator panel, to control the robot.
Most UOP I/O signals (UI or UO) are active when the robot is in a
remote condition (when the LOCAL/REMOTE keyswitch on the
operator panel is set to REMOTE). Signals that affect safety are
always active.
For systems with a process I/O board, the UOP signals are
configured by default to dedicated ports.
NOTE: If you configure UOP input and output signals, the UI
PLC I/O
Standard Operator
Panel (SOP) I/O
Robot I/O
and UO physical locations are actually DI/DO on the physical I/O.
The physical DI/DO can be double configured as both UI/UO and
DI/DO logicals. This allows you to control or monitor UI/UO signals
within your program by using the DI/DO instructions.
PLC I/O (PI or PO) is an optional feature that provides signals that
allow a cell controller (PLC) to access the discrete I/O within a
controller directly, in addition to transferring I/O signal status
information.
The cell controller views the robot I/O interface as a remote I/O
rack (RIO). When you use the RIO interface along with the PLC
I/O, outputs from the cell controller system are then stored to
outputs from the controller output modules, and inputs into the
controller input modules can be read as inputs into the cell
controller I/O system.
SOP I/O signals (SI or SO) correspond to internal controller
software panel digital input and output signals that control the
operator panel on the controller. You cannot change SOP I/O
assignments, but might find it to be useful to display them during
troubleshooting.
Robot I/O signals (RI or RO) consist of the input and output
signals between the controller and the robot. These signals are
sent to the EE (End Effector) connector located on the robot. The
number of robot input and output signals varies depending on the
number of axes in your system.
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11.4
Setting Up I/O
This section describes how to set up the following kinds of I/O:
• Digital inputs and outputs - DI[n] and DO[n]
•
Robot Inputs and outputs – RI[n] and RO[n]
•
Group inputs and outputs - GI[n] and GO[n]
These kinds of I/O signals are attached to physical ports and are
accessed from programs. The [n] corresponds to a signal number
or group number.
When you set up I/O, you do the following:
• Configure I/O
•
Simulate I/O
•
Control outputs and display inputs
•
Configure polarity and complementary outputs
•
Add comments about the I/O
When you configure I/O, you must define the following for each
signal or range of signals you configure:
• First point of range - for digital and UOP I/O only
•
Last point of range - for digital and UOP I/O only
•
Rack
•
Slot
•
Starting point – for digital only
•
Number of points - for group I/O only
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11.4.1 Configuring I/O
HandlingTool Application Programming
I/O Configuration
• Identifies location and type of signal to software
• Done as part of setup process
– Rack
– Slot
– Starting point - digital signal
– Channel - analog signal
FANUC Robotics
When all appropriate I/O hardware has been installed and
connections have been made, you must configure the I/O.
Configuring I/O establishes the correspondence between the
signal number or group number and the physical port.
Each signal or sequence of signal numbers is configured to a
rack, a slot in the rack, and the channel number or starting
number , when the software is loaded on the controller. You can
change this configuration. You configure I/O differently depending
on the kind of I/O you are using.
I/O Programming Instructions & Operation
MATAGHAND1007CE
Rack
HandlingTool Application Programming
Rack Assignment
• The rack is the first part of the address for an I/O
signal
• It is the physical location where the module or
board is mounted
• The following ground rules apply to assigning I/O
rack numbers
– Process I/O is always rack 0
– Model A or Model B I/0 Starts at rack 1
– Racks are numbered sequentially
– PLC I/O is always rack 16
– Devicenet is always rack 81-84
– Controlnet is always Rack 85/86
FANUC Robotics
When you configure I/O, you must define the following for each
signal or range of signals you configure:
• First point of range - for digital and UOP I/O only
•
Last point of range - for digital and UOP I/O only
•
Rack
•
Slot
•
Channel - for analog I/O only
•
Starting point - for digital, UOP, and group I/O only
•
Number of points - for group I/O only
Figure 11-1 Rack, Slot, Channel, and Starting Point
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The rack is the physical location on which the input or output
process I/O board or modular I/O module is mounted. Your
system can contain multiple racks. Refer to Table 11-1 Rack
Assignments for Different Kinds of I/O
Table 11-1 Rack Assignments for Different Kinds of I/O
Kind of I/O
Modular (Model A) I/O
Rack Assignment
Physical location on which the input or output
modules are mounted. First on SLC chain is
Rack 1.
• When used without distributed (Model B)
I/O, begins at Rack 1.
• When used with distributed (Model B) I/O,
the distributed system is Rack 1 and the
modular rack is Rack 2.
Distributed (Model B) I/O
Process I/O
Allen-Bradley Remote I/O
Interface
DeviceNet Interface
Genius Interface
Rack 1
Rack 0
Rack 16
Racks 81 - 84
Rack 16
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Slot
HandlingTool Application Programming
Slot Assignment
• The slot is the second part of the address for an
I/O signal
• The slot number distinguishes individual I/O
modules on a rack
• Identifies space on the rack where the individual
module is connected
• The following rules apply to slot assignment
– Model A valid numbers are 1 through 9, no letters
– Model B slot numbers determined by dip switch setting
– DeviceNet slot number is the MAC ID for the device
FANUC Robotics
The slot is the space on the rack where the modular I/O module is
connected. The meaning of slot depends on the kind of I/O you are using.
Refer to Table 11-2 Slot Assignments for Different Kinds of I/O.
Table 11-2 Slot Assignments for Different Kinds of I/O
Kind of I/O
Modular (Model A) I/O
Slot Assignment
The space on the rack where the I/O module is
connected.
Distributed (Model B) I/O
Determined by the DIP switch settings on the
unit.
Process I/O
Begin at Slot 1 for the first unit
Allen-Bradley Remote I/O Interface Slot 1
DeviceNet Interface
The slot number is the MAC Id for the device.
Genius Interface
Slot 1
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Starting Point
(for Digital,
Group, and UOP
I/O only)
HandlingTool Application Programming
Starting Point/Channel Assignment
• Starting points-digital signals
– The physical position on the I/O module or process I/O board
that identifies the first port in a range
• Channel-Analog Signals
– Physical position of the port on a process I/O
– Terminal number for modular I/O
FANUC Robotics
Starting point is the port number within the sequence of ports on the
board or module.
• For modular I/O, the starting point number refers to the terminal
number.
•
On a distributed basic I/O unit that has both digital inputs and digital
outputs, both inputs and outputs start at 1.
•
For expansion I/O units, mixed inputs and outputs are allowed.
¾ If the base and extension are the same (both digital inputs or
digital outputs), the ports on the extension module start at
(n+1), where n is the number of ports in the base module.
¾ If the base and extension are different, the ports on each start
at 1.
Refer to the FANUC Robotics Controller Maintenance Manual for the
relationship between starting point numbers and pin numbers on
connectors CRM2A and CRM2B on a process I/O board.
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11.4.2 Digital I/O Setup
HandlingTool Application Programming
Digital I/O
• The procedures for configuring digital I/O are the
same for the R-J2 and R-J3 controllers
• The primary differences are in the appearance of
the screens and information displayed
FANUC Robotics
A digital I/O signal (DI or DO) is a control signal sent to or from
the controller. Digital signals can have only one of two possible
states: ON or OFF. Digital signals provide access to data on a
single input or output signal line.
Complementary Output
Signals
You can configure digital output signals to be controlled
independently or in complementary pairs. If an output signal is
controlled independently, a command to turn that output signal
ON or OFF controls only that output signal. If an output signal is
controlled in a complementary pair, a command to turn that signal
ON will also turn its pair OFF. A command to turn the signal OFF
will also turn its pair ON.
Polarity
You can configure digital input/output signals with normal polarity
(active ON) or inverse polarity (active OFF).
Label Signals
Once signals are allocated they should always be labeled for
ease of troubleshooting and programming.
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Procedure 11-1 Setting up Digital I/O
NOTE: Analog and digital I/O is configured automatically by
the system at Cold start when the system variable
$IO_AUTO_CFG is set to TRUE. Use this procedure only if you
want to change the configuration.
Step
1
Press MENU .
2
Select I/O.
3
Press F1 , [TYPE].
4
Select the kind of I/O you want to set up: analog, digital, or
group. You will see either an input or output screen. Go to
the appropriate step:
5
For digital I/O, you will see a screen similar to the following.
I/O Digital In
#
SIM
STATUS
DI [
1]
U
OFF [
DI [
2]
U
OFF [
DI [
3]
U
OFF [
DI [
4]
U
OFF [
DI [
5]
U
OFF [
DI [
6]
U
OFF [
DI [
7]
U
OFF [
DI [
8]
U
OFF [
DI [
9]
U
OFF [
DI [ 10]
U
OFF [
Sorted by number
]
]
]
]
]
]
]
]
]
]
•
To change between the display of the input and output
screens, press F3 , IN/OUT.
•
To move quickly through the information, press and
hold the SHIFT key and press the down or up arrow
keys.
NOTE: By default, signals are displayed in signal number
order. Alternatively, they can be displayed in alphabetical order of
comment.
6
7
To sort the signals, do the following:
•
To sort by number, press NEXT and then F2 ,
NUM_SRT.
•
To sort by comment, press NEXT and then F3 ,
CMT_SRT.
To configure digital signals, move the cursor to the signals
you want to configure and press F2 , CONFIG. You will see
a screen similar to the following.
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I/O Digital Out
#
RANGE
RACK SLOT START STAT.
1 DO [
1- 16]
1
1
1 INVAL
2 DO [ 17- 19]
1
2
6 ACTIV
3 DO [ 20- 24]
0
0
0 UNASG
4 DO [ 25- 28]
1
2
1 ACTIV
5 DO [ 29- 100]
0
0
0 UNASG
6 DO [ 101- 356]
16
1
1 PEND
7 DO [ 357- 390]
0
0
0 UNASG
8 DO [ 391- 398]
1
3
0 INVAL
9 DO [ 399- 400]
0
0
0 UNASG
Power OFF, then ON to enable changes
Table 11-3 CONFIG Screen I/O Status
Status
ACTIV (Active)
INVAL (Invalid)
PEND (Pending)
UNASG (Unassigned)
Description
The assignment is valid and currently active.
The assignment is invalid, based on the digital
I/O hardware present when the controller was
turned on.
The assignment is valid but was made since
the last time the controller was turned on and is
therefore not active. You must turn off the
controller and then turn it back on to make the
change take effect.
An assignment has not been made.
a Move the cursor to RANGE and set the range.
Table 11-4 Range Setting Limitations
DI/DO[ FFF, LLL]
The first port number (FFF) must be greater than the last port number (LLL) of
the preceding line if it is not UNASG.
The first port number (FFF) must be greater than or equal to the FFF of the
preceding line if it is UNASG.
The first port number (FFF) must be greater than zero if there is no preceding
line.
The last port number (LLL) must be less than the first port number (FFF) in
the next line if it is not UNASG.
The last port number (LLL) must be less than or equal to the LLL of the next
line, if it is UNASG.
The last port number (LLL) must not be greater than the current value if there
is no next line.
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b Move the cursor to RACK, type the value, and press
ENTER .
c Move the cursor to SLOT, type the value, and press
ENTER .
d Move the cursor to START, type the value, and press
ENTER .
e To delete the assignment for a range of ports, either
set the RACK, SLOT, and START values to zero, or
press F4 , DELETE, and then confirm the deletion. After
a deletion, the range of ports will be merged with the
UNASG lines immediately above or below it
automatically.
8
To set polarity or complementary pairs for digital signal
from the DETAIL screen,
a If you are not already at the MONITOR screen, press F2 ,
MONITOR.
b Move the cursor to the input or output port you want to
configure.
c Press NEXT and then press F4 , DETAIL. You will see a
screen similar to the following.
I/O Digital Out
Port Detail
Digital Output:
1
2
3
Comment:
[
1]
[port-1 comment
Polarity:
Complementary[
1
]
INVERSE
, 2]:
TRUE
d To set polarity, move the cursor to Polarity and press
F4 for INVERSE, or F5 for NORMAL.
NOTE: Complementary will be displayed only for odd–
numbered digital output signals.
e To set complementary pairs, move the cursor to
Complementary and press F4 for TRUE, or F5 for
FALSE.
9
To add a comment for digital I/O signals,
10 From the Port Detail screen for the signals you want,
move the cursor to Comment and press ENTER .
11 Press the appropriate function keys to type the comment and
press ENTER .
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12 To set comments, complementary pairs, or polarity for the
previous signal, press F2 , PRV–PT, and for the next signal,
press F3 , NXT–PT.
13 To determine if the assignment is valid (verify it), press
NEXT , >, and then press F2 , VERIFY.
•
If the assignment is valid, the message, “Port assignment
is valid,” is displayed.
•
If the assignment is not valid, the message, “Port
assignment is invalid,” is displayed.
CAUTION
When all I/O is configured, save the information to the
default device so that you can reload the configuration
data if necessary. Otherwise, if the configuration is
altered, you will have no record of it.
14 To save the information (when all I/O is configured):
a Press MENU .
b Select FILE.
c Press F1 , [TYPE].
d Select File.
e Press F5 , [UTIL].
f Select Set Device.
g Move the cursor to the device you want and press
ENTER .
h Press MENU .
i
Select I/O.
j
Press FCTN .
k Select SAVE. The file will be saved to the DIOCFGSV.IO
file on the default device.
WARNING
You must turn off the controller and then turn it back on to
use the new information; otherwise, you could injure
personnel or damage equipment.
15 When you are finished configuring I/O, turn off the controller.
Then, turn on the controller so it can use the new information.
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11.4.3
Robot IO/Setup
HandlingTool Application Programming
Configuring I/O
• Robot I/O and SOP I/O are hardwired and not
assigned by rack, slot, starting point
• Robot I/O signals may be configured as
complimentary signals
• SOP signals may be monitored from the Teach
Pendant but not configured or controlled
FANUC Robotics
Robot I/O consists of the input and output signals between the
controller and the robot. These signals are sent to the EE (End
Effector) connector located on the robot. You can change the
status of outputs on the robot I/O screen.
You can do the following with robot signals:
• Force robot output signals ON or OFF
Complementary Output
Signals
Polarity
•
Configure complementary RO signals
•
Configure the polarity of RI and RO signals
•
Set comments
•
Display robot input and output signals
You can configure robot output signals to be controlled
independently or in complementary pairs. If an output signal is
controlled independently, a command to turn that output signal
ON or OFF controls only that output signal. If an output signal is
controlled in a complementary pair, a command to turn that signal
ON will also turn its pair OFF. A command to turn the signal OFF
will also turn its pair ON.
You can configure robot input/output signals with normal polarity
(active ON) or inverse polarity (active OFF).
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11.4.4 Group I/O setup
Group I/O signals (GI or GO) are made up of a sequence of digital
I/O signals. These are interpreted as a binary integer.
A group signal is a group of up to 16 ones (1) and zeros (0),
indicated ON or OFF. Each bit in group input or output is a single
digital input or output line. Unused bits are assigned a "0."
If you group your digital I/O signals, you can control or monitor the
sequence of I/O signals within your program by setting or reading
a single group using the group I/O instructions.
HandlingTool Application Programming
Configuring Group I/O
• Digital Input/Outputs are made up of a sequence
of digital I/O signals. These are interpreted as
binary integer
• Configured by Rack, Slot, Starting Point, and
Number of Points
– Minimum of 2
– Maximum of 16
– Points must be adjacent, no skips between points
FANUC Robotics
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Procedure 11-2 Setting Up Group I/O
Step
1
Press MENU .
2
Select I/O.
3
Press F1 , [TYPE].
4
Select the kind of I/O you want to set up: analog, digital, or
group. You will see either an input or output screen. Go to
the appropriate step:
5
For group I/O, you will see a screen similar to the following.
I/O Group Out
#
SIM
GO [
1]
*
GO [
2]
*
GO [
3]
*
GO [
4]
*
GO [
5]
*
GO [
6]
*
GO [
7]
*
GO [
8]
*
GO [
9]
*
GO [ 10]
*
VALUE
0
0
0
0
0
0
0
0
0
0
[
[
[
[
[
[
[
[
[
[
]
]
]
]
]
]
]
]
]
]
To change between the display of the input and output
screens, press F3 , IN/OUT.
To move quickly through the information, press and hold
the SHIFT key and press the down or up arrow keys.
6
Move the cursor to the I/O signal you want to configure.
7
Press F2 , CONFIG. You will see a screen similar to the
following.
I/O Group Out
GO #
1
2
3
4
5
6
7
8
9
RACK
0
0
0
0
0
0
0
0
0
SLOT
0
0
0
0
0
0
0
0
0
START PT
0
0
0
0
0
0
0
0
0
NUM PTS
0
0
0
0
0
0
0
0
0
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8
Configure the I/O:
a Move the cursor to RACK, type the value, and press
ENTER .
b Move the cursor to SLOT, type the value, and press
ENTER .
c Move the cursor to START PT, type the value, and press
ENTER . The starting point can be any number up to
and including 999.
d Move the cursor to NUM PTS, type the value, and press
ENTER . The number of points can be from 1 up to and
including 16. Refer to the following screen for a sample
display
I/O Group Out
GO #
1
2
3
4
5
6
7
8
9
RACK
1
0
0
0
0
0
0
0
0
SLOT
2
0
0
0
0
0
0
0
0
AUTO
JOINT 100 %
1/50
START PT NUM PTS
1
16
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
[ TYPE ] MONITOR IN/OUT
HELP >
e Cycle Start the controller (Turn the controller OFF then
ON)
f Press I/O, Type Group. The following is a sample screen
showing the Group I/O after it was configured.
AUTO
I/O Group Out
JOINT 100 %
#
SIM VALUE
1/50
GO[
1] U
0 [
]
GO[
2] *
*
[
]
GO[
3] *
*
[
]
GO[
4] *
*
[
]
GO[
5] *
*
[
]
GO[
6] *
*
[
]
GO[
7] *
*
[
]
GO[
8] *
*
[
]
GO[
9] *
*
[
]
GO[ 10] *
*
[
]
Sorted by port number.
[ TYPE ] CONFIG IN/OUT SIMULATE UNSIM >
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9
To add a comment:
a If you are not already at the MONITOR screen, press F2 ,
MONITOR.
b Move the cursor to the input or output group for which you
want to set a comment.
c Press NEXT and then press F4 , DETAIL. You will see a
screen similar to the following.
I/O Group Out
Port Detail
Group Output:
1
Comment:
[
[port-1 comment
1]
]
d Press ENTER , press the appropriate function keys to
type
the comment, and press ENTER .
e To set comments for the previous signal, press F2 ,
PRV–PT, and for the next signal, press F3 , NXT–PT.
10 To determine if the assignment is valid (verify it), press
NEXT and then press F2 , VERIFY.
•
If the assignment is valid, the message, “Port assignment
is valid,” is displayed.
•
If the assignment is not valid, the message, “Port
assignment is invalid,” is displayed.
CAUTION
When all I/O is configured, save the information to the
default device so that you can reload the configuration
data if necessary. Otherwise, if the configuration is
altered, you will have no record of it.
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11 To save the information (when all I/O is configured):
a Press MENU .
b Select FILE.
c Press F1 , [TYPE].
d Select File.
e Press F5 , [UTIL].
f Select Set Device.
g Move the cursor to the device you want and press
ENTER .
h Press MENU .
i
Select I/O.
j
Press FCTN .
k Select SAVE. The file will be saved to the DIOCFGSV.IO
file on the default device.
WARNING
You must turn off the controller and then turn it back on to
use the new information; otherwise, you could injure
personnel or damage equipment.
l
When you are finished configuring I/O, turn off the
controller. Then, turn on the controller so it can use the
new information.
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11.5
Controlling I/O
Controlling I/O allows you to test the I/O in your system for proper
function during testing operations. Controlling I/O includes:
• Forcing outputs
•
Simulating inputs and outputs
11.5.1 Forcing Outputs
HandlingTool Application Programming
Monitoring/Controlling I/O
• I/O can be controlled from the Teach Pendant
• Teach Pendant Can be used to Force or Simulate
a signal condition
• Simulating tells the software that a signal is
present regardless of the actual state of the
signal
– Can be used for troubleshooting or testing programs
– Does not send voltage or logic signal to work cell
FANUC Robotics
Forcing outputs is turning output signals on or off. Outputs can
also be forced within a program using I/O instructions. Use
Procedure 11-3 to force outputs outside of a program.
NOTE: RO[1] and RO[2] control the same signals as HAND 1,
and RO[3] and RO[4] control the same signals as HAND 2.
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MATAGHAND1007CE
HandlingTool Application Programming
Monitoring/Controlling I/O (cont.)
• Forcing sends a signal from the controller to the
work cell
– Digital ON/OFF
– Analog count
– Forcing signals
– Before forcing a signal be sure it is safe to do so
– Signals should be forced for testing and troubleshooting
purposes only
– After completion of testing or troubleshooting be sure to
return all I/O signals to their normal (unforced) condition
FANUC Robotics
HandlingTool Application Programming
Monitoring/Controlling I/O (cont.)
• Simulating signals
– Before simulating a signal be sure it is safe to do so.
– Signals should be simulated for testing and troubleshooting
purposes only
– After completion of testing or troubleshooting be sure to
return all I/O signals to their normal (unsimulated) condition
FANUC Robotics
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Procedure 11-3 Forcing Outputs
Condition
ƒ
The outputs you are forcing have been configured.
Step
1
Press MENU .
2
Select I/O.
3
Press F1 , [TYPE].
4
Select the kind of output you want to force: spot welding,
digital, analog, group, robot, UOP, or SOP.
WARNING
Forcing digital outputs causes connected devices to
function. Make certain you know what the digital output is
connected to and how it will function before you force it;
otherwise, you could injure personnel or damage
equipment.
For digital outputs for example, you will see a screen similar to the
following.
I/O Digital Input
#
SIM STATUS
DO[
1] U
OFF
DO[
2] U
ON
DO[
3] U
OFF
DO[
4] U
OFF
DO[
5] U
OFF
DO[
6] U
ON
DO[
7] U
OFF
DO[
8] S
OFF
DO[
9] U
OFF
DO[ 10] U
OFF
[
[
[
[
[
[
[
[
[
[
]
]
]
]
]
]
]
]
]
]
5
Move the cursor to the STATUS of the output you want to
force.
6
Press the function key that corresponds to the value you
want.
For digital, robot, UOP, and SOP outputs, press
•
F4 for ON
•
F5 for OFF
For analog and group outputs, move the cursor to value, and
use the numeric keys to type the value. Value entry is always in
decimal format. To change the displayed value from decimal to
hexadecimal, press F4 , FORMAT. Hexadecimal numbers are
followed by an ``H'' on the screen.
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HandlingTool Application Programming
11.5.2 Simulating I/O
Simulating I/O
• Simulating a signal allows us to change the bit for
the signal without a signal actually going into or
out of the controller
– By simulating an input signal, then switching it on, we can
test program response to an input without actually receiving
a signal from outside the controller
– By simulating outputs we can test a program even if we don’t
want peripheral devices connected to the controller to
operate
• When signals are simulated, no switching of I/O
hardware can occur, so signals must be
unsimulated before normal operation takes place
– We can easily unsimulate all I/O at once by pressing FCTN,
UNSIM ALL I/O
FANUC Robotics
WARNING
Be careful when using Release Wait. Overriding I/O or
wait periods can cause robot to move or equipment to
operate unexpectedly
Use Procedure 11-4 to simulate I/O
Procedure 11-4 Simulating and Unsimulating Inputs
Condition
ƒ
The input or output has been configured and is currently valid.
Step
1
Press MENU .
2
Select I/O.
3
Press F1 , [TYPE].
4
Select the type of input or output you want to simulate: digital,
analog, or group.
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For digital inputs for example, you will see a screen similar to the
following.
I/O Digital Input
#
SIM STATUS
DI[
1] U
OFF
DI[
2] U
ON
DI[
3] U
OFF
DI[
4] U
OFF
DI[
5] U
OFF
DI[
6] U
ON
DI[
7] U
OFF
DI[
8] S
OFF
DI[
9] U
OFF
DI[ 10] U
OFF
[
[
[
[
[
[
[
[
[
[
]
]
]
]
]
]
]
]
]
]
5
If you simulate a signal, you can force the status by setting
it to a value. When the signal is unsimulated, its actual status
is displayed.
6
Move the cursor to the SIM column of the signal you want to
simulate.
7
8
•
U means the signal is not simulated or unsimulated.
•
S means the signal is simulated.
Simulate or unsimulate the signal.
•
To simulate, press F4 , SIMULATE.
•
To unsimulate, press F5 , UNSIM.
To unsimulate all simulated signals, press FCTN and
then select UNSIM ALL I/O.
NOTE: If you disable Digital/Analog I/O from the TEST CYCLE
Setup screen, all I/O becomes simulated. When you re-enable
Digital/Analog I/O from the TEST CYCLE Setup screen, ports that
were simulated using the SIMULATE function key are still
simulated.
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HandlingTool Application Programming
UOP (User Operator Panel) I/O
•
•
•
•
Originally, UOP was a custom control panel
Partially duplicated functions of SOP
Connected to controller by digital I/O lines
PLC now performs most UOP functions, UOP
lines still used by controller
• Dedicated digital lines between controller and
panel/PLC
• Can be discrete signal lines or serial digital data
over coaxial or twisted pair cable
• Predefined signals with specific meanings and
functions
FANUC Robotics
Table 11-5 UOP Input Signals
UOP Input signal
*IMSTP
Always active
UI[1]
Description
This input is the immediate stop software signal. *IMSTP is a normally OFF signal held ON.
When it is set to OFF, it
•
Pauses a program if one is running
•
Immediately stops the robot and applies robot brakes
•
Shuts off power to the servos
Error code SRVO-037 *IMSTP Input (Group:i) will be displayed when this signal is lost. This
signal is always active
*HOLD
Always active
UI[2]
This input is the external hold signal. *Hold is a normally OFF signal, held ON. When it is set
to OFF, it will do the following:
•
Pause program execution
•
Slow motion to a controlled stop and hold
•
Optional Brake on Hold shuts off servo power after the robot stops
This input is the safety speed input signal. This signal is usually connected to the safety
fence. *SFSPD is a normally OFF signal held ON. When it is set to OFF it will do the
following:
•
Pause program execution
•
Reduce the speed override value to that defined in a system variable. This
value cannot be increased while *SFSPD is OFF.
•
Display error code message SYST009.
•
Not allow a REMOTE start condition. Start inputs from UOP or SOP are
disabled when SFSPD is set to OFF and only the teach pendant has motion
control with the speed clamped.
*SFSPD
Always active
UI[3]
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UOP Input signal
CSTOPI
Always active
UI[4]
Description
This input is the cycle stop input. The function of this signal depends on the system variable
$SHELL_CFG.$USE_ABORT.
If the system variable $SHELL_CFG.$USE_ABORT is set to FALSE, the CSTOPI Input
•
Clears the queue of programs to be executed that were sent by RSR signals
•
Automatic execution will be stopped after the current program has finished
executing
If the system variable $SHELL_CFG.$USE_ABORT is set to TRUE, the CSTOPI Input
•
Clears the queue of programs to be executed that were sent by RSR signals
•
Immediately aborts the currently executing program(s) for programs that were
sent to be executed by either RSR or PNS
This input is the external fault reset signal. When this signal is received the following will
FAULT_RESET
happen:
Always active
UI[5]
•
Error status is cleared
•
Servo power is turned on
•
The paused program will not be resumed
This input is the remote start input. The function of this signal depends on the system
START
variable $SHELL_CFG.$CONT_ONLY.
Active when the robot
is in a remote condition If the system variable $SHELL_CFG.$CONT_ONLY is set to FALSE the START input signal
(CMDENBL = ON)
•
Resumes a paused program
UI[6]
•
If a program is aborted, the currently selected program starts from the position
of the cursor.
If the system variable $SHELL_CFG.$CONT_ONLY is set to TRUE the START input signal
•
Resumes a paused program only. The PROD_START input must be used to
start a program from the beginning.
HOME
This input is the home input. When this signal is received the robot moves to the defined
Active when the robot
is in a remote condition home position. You configure the system to do this by setting up a macro program to run
when UI[7] is received.
(CMDENBL = ON)
UI[7]
This input is the enable input. This signal must be ON to have motion control ability. When
ENBL
this signal is OFF, robot motion cannot be done. When ENBL is ON and the REMOTE
Always active
switch on the operator panel is in the REMOTE position, the robot is in a remote operating
UI[8]
condition.
RSR 1-4
These items are the robot service request input signals. When one of these signals is
Active when the robot is
received, the corresponding RSR program is executed or, if a program is running currently,
in a remote condition
stored in a queue for later execution. RSR signals are used for production operation and can
(CMDENBL = ON)
be received while an ACK output is being pulsed.
UI[9-12]
These items are program number select input signals. PNS selects programs for execution,
PNS 1-8
Active when the robot is but does not execute programs. Programs that are selected by PNS are executed using the
START input or the PROD_START input depending on the value of the system variable
in a remote condition
$SHELL_CFG.$CONT_ONLY.
(CMDENBL = ON)
The PNS number is output by using the SNO signal (selected number output) and the
UI[9] - UI[16]
SNACK signal (selected number acknowledge) will be pulsed.
PNSTROBE
Active when the robot is
This item is the program number select strobe input signal.
in a remote condition
(CMDENBL = ON)
UI[17]
PROD_START
Active when the robot is his item is the Production Start Input when used with PNS will initiate execution of the
selected program from the PNS lines. When used without PNS, PROD_START executes
in a remote condition
the selected program from the current cursor position. Coordinate with CYCLE START.
(CMDENBL = ON)
UI[18]
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Table 11-6 UOP Output Signals
UOP Output Signal
CMDENBL
UO[1]
SYSRDY
UO[2]
PROGRUN
UO[3]
PAUSED
UO[4]
HELD
UO[5]
FAULT
UO[6]
ATPERCH
UO[7]
TPENBL
UO[8]
BATALM
UO[9]
BUSY
UO[10]
ACK 1-4
UO[11-14]
Description
This item is the command enable output. This output indicates that the robot is in a remote
condition. This signal goes on when the remote switch is turned to ON. This output only
stays on when the robot is not in a fault condition. When SYSRDY is OFF, CMDENBL is
OFF.
This output is the system ready output. This output indicates that the servo motors are
turned on.
This item is the program run output. This output turns on when a program is running.
This output is the paused program output. This output turns on when a program is paused.
This output is the hold output. This output turns on when the SOP HOLD button has been
pressed, or the UOP *HOLD input is OFF.
This output is the error output. This output turns on when a program is in an error condition.
If the robot is at reference position 1, the robot is at the home position.
This output is the teach pendant enable output. This output turns on when the teach pendant
is on.
This output is the battery alarm output. This output turns on when the CMOS RAM battery
voltage goes below 2.6 volts.
This output is the processor busy output. This signal turns on when the robot is executing a
program or when the processor is busy.
These items are the acknowledge signals output 1 through 4. These signals turn on when
the corresponding RSR signal is received.
These items are the signal number outputs. These signals carry the 8 bit representation of
the corresponding PNS selected program number. If the program cannot be represented by
an 8 bit number, the signal is set to all zeros or off.
This output is the signal number acknowledge output. This output is pulsed if the program is
selected by PNS input.
SNO 1-8
UO[11] - UO[18]
SNACK
UO[19]
The Standard Operator Panel (SOP) I/O screen indicates the
status of the standard operator panel signals. SOP input (SI)
signals and SOP output (SO) signals correspond to internal
controller software Panel Digital Input (PDI) signals and Panel
Digital Output (PDO) signals. Refer to Table 11-7 Standard
Operator Panel Input Signals and Table 11-8 Standard Operator
Panel Output Signals
11.6
Standard Operator
Panel (Sop) I/O Setup
Table 11-7 Standard Operator Panel Input Signals
0
1
PDI
Function
Not used
1
2
fault reset
2
3
remote
3
4
hold
4
5
USER PB#1
SI
Description
This is open for additional PDIs.
This input signal is normally turned OFF, indicating that the FAULT RESET
button is not being pressed.
This input signal is turned OFF, indicating that the controller is not set to
remote.
This input signal is normally turned ON, indicating that the HOLD push
button is not being pressed.
This signal is USR PB#1, which is normally turned OFF, indicating that
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5
6
6
7
7
8
9
10-15
8
9
10
11-16
USER PB#1 is not being pressed.
This signal is USR PB#2, which is normally turned OFF, indicating that
USER PB#2
USER PB#2 is not being pressed.
This input signal is normally turned OFF, indicating that the CYCLE START
cycle start
push button is not being pressed.
not used
This is open for additional PDIs.
CE/CR SELECT b0 This signal is used for the mode selection switch.
CE/CR SELECT b1 This signal is used for the mode selection switch.
not used
This is open for additional PDIs.
Table 11-8 Standard Operator Panel Output Signals
SO
0
1
PDO
Function
remote LED
1
2
cycle start
2
3
4
3
4
5
hold
fault led
BATTERY ALARM
5
6
usr led#1
6
7
usr led#2
7
8
8-15
9-16
teach pendant
enabled
not used
Description
This output signal indicates the controller is set to remote.
This output signal indicates the CYCLE START button has been pressed or
a program is running.
This output signal indicates a HOLD button has been pressed.
This output signal indicates a fault has occurred and has not been reset.
This output signal indicates the voltage in the battery is low.
For SpotTool+, this output signal echoes the Process Complete output
signal. For HandlingTool, this signal is not used. For other applications, this
output signal is user-definable.
For SpotTool+, this output signal echoes the UOP[ATPERCH] output signal.
For HandlingTool, this signal is not used. For other applications, this output
signal is user-definable.
This output signal indicates the teach pendant is enabled.
This is open for additional PDOs.
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11.7 Input/Output
Instructions
HandlingTool Application Programming
Input/Output Instructions
• Input/output, or I/O, instructions allow the
program to turn on and off output signals and
receive input signals. There are several kinds of
I/O instructions:
– Digital input and output instructions
– Robot digital input and output instructions
– Group input and output instructions
– PLC I/O
FANUC Robotics
11.7.1 Digital Input and
Output
Instructions
R[x] = DI[x]
Digital input (DI) and digital output (DO) signals are usercontrolled input and output signals. Use digital input and output
instructions to control digital input and output signals in a
program.
The R[x] = DI[x] instruction stores the condition of a digital input
signal line (ON=1, OFF=0) in a register. See Figure 11-2 R[x] =
DI[x].
Figure 11-2 R[x] = DI[x]
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DO[x] = ON/OFF
The DO[x] = ON/OFF instruction turns on or off the specified
digital output signal. See Figure 11-3 DO[x] = ON/OFF.
Figure 11-3 DO[x] = ON/OFF
DO[x] = PULSE [,width]
The DO[x]=PULSE [,width] instruction turns on the digital output
signal for the time specified. See Figure 11-4 DO[x] = PULSE
[,width].
Figure 11-4 DO[x] = PULSE [,width]
DO[x] = R[x]
The DO[x] = R[x] instruction turns on or off the specified digital
output signal based on the value of the register. A value of 0 turns
the specified digital output OFF. All values except zero turn the
specified digital output ON. See Figure 11-5 DO[x] = R[x].
Figure 11-5 DO[x] = R[x]
11.7.2
Robot Digital Input and
Output Instructions
Robot digital input (RI) and robot digital output (RO) signals are
used to communicate between the controller and the robot.
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R[x] = RI[x]
The R[x] = RI[x] instruction stores the condition of specified robot
digital input signal (ON=1, OFF=0) in a register. See Figure 11-6
R[x] = RI[x].
Figure 11-6 R[x] = RI[x]
RO[x] = ON/OFF
The RO[x] = ON/OFF instruction turns on or off the specified robot
digital output signal. See Figure 11-7 RO[x] = ON/OFF.
Figure 11-7 RO[x] = ON/OFF
RO[x] = PULSE [,width]
The RO[x]=PULSE [,width] instruction turns on the specified robot
digital output signal for the time specified. See Figure 11-8 RO[x]
= PULSE [,width].
Figure 11-8 RO[x] = PULSE [,width]
RO[x] = R[x]
The RO[x] = R[x] instruction turns on or off the specified robot
digital output signal based on the value of the register (1=ON,
0=OFF). See Figure 11-9 RO[x] = R[x].
Figure 11-9 RO[x] = R[x]
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11.7.3
Group Input and
Output Instructions
Group input (GI) and group output (GO) signals are several digital
input and output signals that have been assigned to a group, can
be read as a binary number, and can be controlled by one
instruction.
R[x] = GI[x]
The R[x] = GI[x] instruction places the decimal value of the binary
number on the specified group input into the specified register.
See Figure 11-10 R[x] = GI[x].
Figure 11-10 R[x] = GI[x]
GO[x] = value
The GO[x]=value instruction sends the binary equivalent of a
value on the specified group output lines. See Figure 11-11 GO[x]
= value.
Figure 11-11 GO[x] = value
UFRAME[i] = PR[x]
The UFRAME[i] = PR[x] instruction defines the specified user
frame using the information contained in a position register. See
the figure below UFRAME[i] = PR[x] .
UFRAME[i] = PR[x]
Direct:
User frame number (0–10)
Indirect:
R[x], where user frame
number = contents of R[x]
Direct: Position register
number
Indirect: R[x], where position
register number = contents
of R[x]
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UTOOL[i] = PR[x]
The UTOOL[i] = PR[x] instruction defines the specified tool frame
using the information contained in a position register. See the
figure below UTOOL[i] = PR[x] .
UTOOL[i] = PR[x]
Direct:
User tool number (0–10)
Indirect:
R[x], where user frame
number = contents of R[x]
UFRAME_NUM =
[value]
Direct: Position register
number
Indirect: R[x], where position
register number = contents
of R[x]
The UFRAME_NUM=[value] instruction sets the number of the
user frame to use in a program. A value of zero indicates that no
user frame is used. This means that world frame is used. . Refer
to Procedure 6-6 for information on setting up the user frame.
NOTE: To verify that this feature is enabled, check the value of
$USEUFRAME and be sure it is set to TRUE. Also, make sure
the UFRAME number is not zero before you teach data.
NOTE: You must execute the UFRAME_NUM = value
instruction after you insert it into a teach pendant program in order
for the subsequent positions to be recorded correctly with respect
to the proper user frame.
NOTE: This instruction can be used only if your system has
the User frame input option installed.
UFRAME_NUM[GRP1,2,3] = [value]
Direct: User frame
number (0–10)
Indirect: R[x], where
user frame number =
contents of R[x]
UTOOL_NUM = [value]
The UTOOL_NUM=[value] instruction sets the number of the tool
frame to use. A value of zero indicates that no tool frame is used.
This means that the frame defined by the faceplate coordinates is
used. See the figure below UTOOL_NUM=[value] . Refer to
Procedure 6-1 for information on setting up the tool frame.
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I/O Programming Instructions & Operation
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UTOOL_NUM[GRP1,2,3] = [value]
Direct: tool frame
number (0–10)
Indirect: R[x], where
tool frame number =
contents of R[x]
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NOTES:
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HandlingTool Application Programming
Enabling Objectives Lab 16
• Check the current controller I/O configuration.
• Create a group input and group output.
• Set up robot I/O signals.
FANUC Robotics
I/O Programming Instructions & Operation
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Lab 15
Input/Output
Student Name:____________________________________________________
Assignment:
Condition:
Step:
The student will:
• Check the current controller I/O configuration.
•
Create a group input and group output.
•
Set up robot I/O signals.
A FANUC robot and controller with HandlingTool application software and an
I/O simulator.
1
Power up the robot using Procedure 5-1 Turning On the Robot.
2
Set up Digital I/O signals 1 and 2 as complimentary signals.
3
Check the configuration of the controller digital I/O signals.
4
Set up a group of output signals.
5
Cycle power, and verify that the configuration changes have taken
effect.
6
Create a program and name it LIGHTS. Test run this program that
will utilize the grouped signals in binary sequence.
7
Use the teach pendant and I/O simulator box to change the status
of digital and group I/O signals, and monitor the condition of the
signals.
8
Practice simulating input signals and forcing output signals.
9
Reset all simulated signals back to normal condition and safely
power down the controller.
LIGHTS :
1. DO [1 :READY] =ON
2. WAIT DI [1 :START PROGRAM] = ON
3. DO [1 :READY] = OFF
4. R[1 :Group Output] = 0
5. LBL [1]
6. GO[1] = R[1 :Group Output]
7. R[1 : Group Output] = R[1 :Group Output] + 1
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8. WAIT .5 sec
9. IF R[1: Group Output] < R[2: MaxNumber], JMP LBL [1]
10. GO [1] = 0
[End]
Where :
R[1: Group Output] = Current value for GO [1]
R[2: MaxNumber ] = Maximum number of combinations.
Completed:
Instructor: ________________________________
12
Miscellaneous Instructions
339
HandlingTool Application Programming
12 MISCELLANEOUS INSTRUCTIONS
HandlingTool Application Programming
Program Instructions
• Miscellaneous Instructions
– Remarks
– Timer
– Override
– Message
FANUC Robotics
12.1 Remark
Instruction
The remark instruction allows you to annotate the program.
Remark information does not affect the execution of the program.
When you add a remark instruction, you enter the message to
display within the program. The remark instruction can be from 1
to 32 alphabetic, numeric, punctuation, and blank space
characters. The first character of a remark instruction is an
exclamation point (!).
12.2 OVERRIDE
Instruction
The OVERRIDE instruction sets the speed override to a
percentage value of the programmed speed
OVERRIDE = x %
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12.3 Timer
Instruction
Timer instructions allow you to start, stop, and reset up to ten
different timers in a program. Timers allow you to determine how
long a routine takes to execute, or how long your entire
production program takes to execute. Timers can be started in
one program and then stopped in another. The status of each
timer is displayed in the $TIMER[n] system variable, where n is
the number of the timer.
There are two teach pendant screens:
• Program timer listing screen
•
Program timer detail screen
Table 12-1 lists and describes each item on the program timer
listing screen. Table 12-2 lists and describes each item on the
program timer detail screen.
Table 12-1 Program Timer Listing Screen Items
ITEM
Timer[ ]
Count
Comment
DESCRIPTION
This item indicates the number of the timer. You use this number in the TIMER
instruction in your program. There are ten timers available.
This item indicates the length of time, in seconds, that the program or section of
program took to execute.
This item allows you to name or enter a comment about a timer.
Table 12-2 Program Timer Detail Screen Items
ITEM
Timer[ ]
Count
Comment
Start Program
Line
Stop Program
Line
DESCRIPTION
This item indicates the number of the timer. You use this number in the TIMER
instruction in your program. There are ten timers available.
This item indicates the length of time, in seconds, that the program or section of
program took to execute.
This item allows you to name or enter a comment about a timer.
This item indicates the name of the program that contains the TIMER start
instruction.
This item indicates the line number of the program where the counter started.
This item indicates the name of the program that contains the TIMER stop
instruction.
This item indicates the line number of the program where the counter stopped.
Miscellaneous Instructions
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MATAGHAND1007CE
Procedure 12-1 Displaying the Program Timer Screen
Step
1
Press MENU .
2
Select Status.
3
Press F1 , [TYPE].
4
Select Prg Timer. You will see a screen similar to the
following. If you do not see this screen, press F2 , LISTING.
PRG TIMER LISTING
1/10
count comment
1 Timer[ 1] 0.00(s) [
2 Timer[ 2] 0.00(s) [
3 Timer[ 3] 0.00(s) [
4 Timer[ 4] 0.00(s) [
5 Timer[ 5] 0.00(s) [
6 Timer[ 6] 0.00(s) [
7 Timer[ 7] 0.00(s) [
8 Timer[ 8] 0.00(s) [
9 Timer[ 9] 0.00(s) [
10 Timer[10] 0.00(s) [
5
]
]
]
]
]
]
]
]
]
]
To add or change a comment,
a Move the cursor to the comment line and press
ENTER .
b Select a method of naming the comment.
c Press the appropriate function keys to add the comment.
d When you are finished, press ENTER .
6
To display detailed information about a single timer,
a Move the cursor to the timer you want.
b Press F2 , DETAIL. You will see a screen similar to the
following.
7
To display the listing screen, press F2 , LISTING.
342
Miscellaneous Instructions
MATAGHAND1007CE
TIMER[x] = [action]
You can display the status of program timers on the STATUS Prg
Timer screen.
Figure 12-1 Timer
12.4 Message
Instruction
The MESSAGE instruction displays the specified message on the
USER screen. The message can be from 1 to 23 alphabetic,
numeric, punctuation, and blank space characters. If you want a
blank line between messages, leave the message content empty.
MESSAGE [message content]
Miscellaneous Instructions
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NOTES:
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Miscellaneous Instructions
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HandlingTool Application Programming
Enabling Objectives Lab 15
• Utilize some of the instructions introduced on
this chapter
• Write a “final” program as a team that will include
most of the instructions covered during the
programming portion of the class.
FANUC Robotics
Miscellaneous Instructions
345
MATAGHAND1007CE
Lab 16
Miscellaneous and Other TP Instructions
Student Name: _______________________________________________________________
Assignment:
The student will:
• Utilize some of the instructions introduced on this chapter
•
Condition:
Step:
Write a “final” program as a team that will include most of the
instructions covered during the programming portion of the class.
A FANUC robot and controller loaded with HandlingTool application
software.
1
Power up controller.
2
Write and execute program in robot lab as a team.
3
Program will:
a Require the operator to enter a value on a program select register at
the data screen within a specified range.
b Turn a “ready” light on, upon cycle start.
c Wait for input from the operator.
d Move to a ready position and check the current value of the program
select register.
e Based on that value the program will then activate a program and
upon completion, move back to the ready position and check again.
f If the value entered at the program select register is not within the
proper range, the program will:
g Send a signal to an “error” light.
h Prompt the operator for a valid number.
i
Wait for the operator to press a push button when ready to continue.
j
Move back to the ready position.
k In order to exit this program the operator must enter a value of 5 at
the program select register.
4
Verify that program runs as expected.
Miscellaneous Instructions
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1. !To start a TP Program Enter a value in R[2] .
2. J PR[1:HOME] 100% FINE
3. DO [7] = ON
4. WAIT DI [7] = ON
5. DO [7] = OFF
6. GO [1] = 15
7. LBL [5]
8. J P[1:APPRFXTR] 100% CNT 35
9.
10. SELECT R[2] = 1, CALL PROG1
11.
= 2, CALL PROG3
12.
= 3, CALL REPAIR
13.
= 4, CALL ZERO
14.
= 5, JMP LBL [15]
15.
ELSE JMP LBL[10]
16. JMP LBL [5]
17. LBL [10]
18. !REMARK-NOT A VALID CHOICE
19. DO [16] = ON
20. MESSAGE (R[2] OUT OF RANGE)
21. MESSAGE (ENTER A VALUE 1-5)
22. MESSAGE (NOW PRESS DI[16])
23. WAIT DI[16] = ON
24. DO [16] = OFF
25. JMP LBL [5]
26. LBL [15]
27. GO [1] = 0
28. J PR[1:HOME] 100% FINE
[END]
Once this has been tested and it works for all values you put into R[2] (line 9) the instruction
R[2] = GI[1]. The PLC, or in our case, the input switched 9-12 now determine the program to
execute.
Miscellaneous Instructions
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5
Other modifications to make:
6
Set DO[1] through DO[5] OFF at program start.
7
Send digital output 4 pulsed 600 ms prior to looping jump instruction.
8
After 4 MENU cycles, execute REPAIR.
9
Copy the lines for DO[1] through DO[5] OFF and paste them in reverse
order just before program end.
Other possible modifications you might work up:
Register 2 gets its value from a GI signal you enter at the simulation box
OR
Use DI[8] as a cycle stop switch to end the MENU program instead of
R[2]=5.
OR
Registers used as counters in each looping program can be accumulated
totally and displayed numerically as a group output.
OR
Modify the move to approach with a SKIP to LBL motion option. When DI[1]
is turned ON once the robot leaves the workpiece and before it reaches the
approach position, it should proceed at half speed to HOME, issue a USER
ALARM message to explain why the program is stopping, and then ABORT
the program using the ABORT Instruction.
OR
The output signal of a REFERENCE POSITION can trigger the start of the
program rather than a WAIT. Prompt the need to jog into the safe area.
10 Power down the robot
Completed:
Instructor: ________________________________
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NOTES:
____________________________________________________________________________
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____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
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13
13 SYSTEM
VARIABLES
$DMAURST
System Variables
349
HandlingTool Application Programming
The SYSTEM Variables status screen displays all system
variables. You can change the value of several system variables
using this screen. You can also change the value of a system
variable in a program using the Parameter name instruction.
$DMAURST
Minimum: 0 False: 0 True: 1
karel/Data: RW
Type: BOOLEAN
Program: RW
Control Start: RW
Memory Location: CMOS
Name: DEADMAN SWITCH automatic reset function
Description: When this system variable is 1 and the teach
pendant is enabled, you only need to grip the DEADMAN switch,
to automatically reset any faults. You do not need to push the
RESET key. The default value is 0.
Power Up: This change takes effect immediately.
User Interface Location: SYSTEM Variables screen
$FRM_CHKTYP
$FRM_CHKTYP
Minimum: Not available Maximum: Not available
Default: Not available KCL/Data: Not available
Program: RW UIF: Not available CRTL: Not available
Data Type: INTEGER Memory: Not available
Name: Switch Frame Check Type
Description: -1 = Prohibits FWD/BWD between two points which
have different frame numbers. -2 = System does not check frame
number at FWD and BWD. System does not change the frame
number ($MNUFRAME_NUM, $MNUTOOL_NUM) when user
FWD/BWD execute past a frame change. 2 = System does not
check frame number at FWD and BWD. System changes the
frame number ($MNUFRAME_NUM, $MNUTOOL_NUM) when
user FWD/BWD execute past a frame change.
Power Up: Changes to this variable take effect immediately.
System Variables
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$SCR_T.$runovlim
$SCR.$runovlim
Minimum: 1 Maximum: 100 Default: 50 KCL/Data: RW
Program: RW UIF: RW CRTL: RW Data Type: INTEGER
Memory: CMOS
Name: Program Run Speed Limit
Description: The ceiling speed override value when you execute
a program. If the current speed override is greater than the ceiling
speed override, the current speed override will be updated to the
ceiling speed override.
Power Up: Takes effect immediately
$SCR_GRP_T[1]
$SCR_GRP[1].$coord_mask
Minimum: 0 Default: 27 Maximum: 32767
karel/Data: RW
Program: RW
Control Start: RW
Type: SHORT
Memory Location: CMOS
Name: Mask for Available Jog Coordinate Frames
Description: Controls what jog frames the coordinate key cycles
through. There is a bit defined for each coordinate system
available:
Bit 0 = Joint Mode
Bit 1 = Jog Frame
Bit 2 = World Frame
Bit 3 = Tool Frame
Bit 4 = User Frame
Power Up: Changes take effect immediately.
User Interface Location: SYSTEM Variables screen
$SHFTOV_ENB
$SHFTOV_ENB
Minimum: 0 Default: 0 Maximum: 1
karel/Data: RW
Program: RW
Control Start: RW
Type: ULONG
Memory Location: CMOS
Name: Enables Shifted Override Setting
Description: If set to 0, the override will step up and down in fine
increments of 5%. This occurs regardless of whether you press
the SHIFT key.
If set to 1, the override steps up and down from 50% to 100% and
back if the SHIFT key is pressed. If the shift key is not pressed
the override moves in fine increments.
User Interface Location: SYSTEM Variables screen
System Variables
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Procedure 13-1 Displaying and Setting System Variables
WARNING
System variables control how the robot and controller
operate. Do not set system variables unless you are
certain of their effect; otherwise, you could injure
personnel, damage equipment, or disrupt the normal
operation of the robot and controller.
Step
1
Press MENU .
2
Select SYSTEM.
3
Press F1 , [TYPE].
4
Select Variables. You will see a screen similar to the
following.
SYSTEM Variables
1 $ANGTOL
2 $APPLICATION
3 $AP_MAXAX
4 $AP_PLUGGED
5 $AP_TOTALAX
6 $AP_USENUM
7 $ASCII_SAVE
8 $AUTOINIT
9 $BLT
10 $CHECKCONFIG
5
[3] of STRING [21]
0
2
16777216
[32] of BYTE
FALSE
2
0
FALSE
To change the value of a system variable
a Move the cursor to the variable you want to change.
To move the cursor a group of lines at a time, press
and hold the SHIFT key and press the up or down
arrow key.
b Type the new value.
c Press ENTER , or press a function key as prompted.
6
If the variable is an array, a list of array elements is
displayed or if the variable is a structure, a list of fields is
displayed.
a Move the cursor to the element or field you want to set
and press ENTER .
b Press PREV to return to the top level SYSTEM Variables
screen.
c Enter the necessary information.
System Variables
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MATAGHAND1007CE
7
To save the variables to a file
a Press MENU .
b Select FILE.
c Press F1 , [TYPE].
d Select File.
e Press F5 , [UTIL].
f Select Set Device.
g Move the cursor to the device you want and press
ENTER .
h From any of the SYSTEM Variables screens, press
FCTN .
i
Select SAVE. All the system variables will be saved to the
file, SYSVARS.SV, on the default device.
WARNING
You must turn off the controller and turn on the controller
to use the new information; otherwise, you could injure
personnel or damage equipment.
j
When you are finished, turn off the controller. Then, turn
on the controller so it can use the new information.
System Variables
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Lab 17
System Variable $SHFTOV_ENB and $DMAURST
Student Name: _______________________________________________________________
Assignment:
Condition:
Step:
The student will:
• Alter a system variable
A FANUC robot and controller loaded with HandlingTool application software
This is a team task.
1
On the Teach Pendant, press MENU and then select SYSTEM, and
then Variables. Move the cursor to $SHFTOV_ENB. What is the value?
2
If a 0, press SHIFT and an override up key a couple of times. The
manual jog speed increases by 5’s to 100%.
3
If a 1, the manual jog speed increases by large increments to 100%.
4
Change the value of $SHFTOV_ENB to the other value and test the
results again by pressing the SHIFT and he override down key.
5
If a 0, the manual jog speed decreases by 5’s to V FINE.
6
If a 1, it decreases by large increments to V FINE.
Before continuing, this variable in your plant is usually set to 1. Set
$SHFTOV_ENB to 1 now if it is presently 0.
Press just the override up key. Each time this key is pressed the jog
speed increments by 5’s to 100%.
Press the override down key and the speed will decrease by 5’s to 5%,
then by 1’s to 1%, to FINE, and then to V FINE.
7
Set $DMAURST to TRUE. This is the automatic reset of the DEADMAN
switch when the switch is made.
Completed:
Instructor: ________________________________
System Variables
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Lab 18
System Variable $SCR_GRP[1]
Student Name: _______________________________________________________________
Assignment:
Condition:
Step:
The student will:
• Alter a system variable
A FANUC robot and controller loaded with HandlingTool application
software. This is a team task.
1
Access System Menu
a
MENU
b SYSTEM
c TYPE
d SCR_GRP[1]
e Press the ENTER twice.
f Coord mask
2
Change the value to a number between 1-16
1 = Joint
2 = JG FRME
3 = Joint + JG Frame
4 = WORLD
5 = Joint + World
6 = Jog + World
7 = Joint + Jog + World
8 = Tool
9 = Tool + Joint
10= Jog Frame + Tool
11= Tool + Jog + Joint
12 = Tool + World
13= Tool + World + Joint
16 = User Frame
3
What do you get when using 14-30?
4
Put in 31
Completed:
Instructor: ________________________________
14
Macro Commands
355
HandlingTool Application Programming
HandlingTool Application Programming
14 MACRO
COMMANDS
Macro Overview
• A Macro is any program assigned the subtype
Macro
• A Macro, unlike ordinary programs, may be
conveniently executed from the MANUAL
FUNCTIONS screen or external signal
FANUC Robotics
HandlingTool Application Programming
Macro Commands
• Separate program
– Can contain motion and non motion instructions
• Runs under one of the following conditions
– Teach pendant user key is pressed
– Selected from MANUAL FCTNS menu
– I/O signal
– SOP input(USER1, USER2)
– Program Instruction
• To use a Macro
– The macro command program must be written
– Macro command must be defined
FANUC Robotics
This section describes how to set up macro commands from the
teach pendant, MANUAL FCTNS Macros screen, and operator
panel button.
NOTE: System level macros are application-specific
instructions that are predefined and cannot be changed by the
user. These macros are identified with the letter "s" at the far right
side of the Macro SETUP screen. You cannot change any
information about system level macros on any screen.
356
Macro Commands
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14.1
Setting Up Macro
Commands
HandlingTool Application Programming
Creating Macro
• Write a TPP program that will become Macro
– Change the program subtype in header to Macro
– Test Program
• Assign Macro
– SOP Button (USER1, USER2)
– USER Button on Teach Pendant
– Input Signal (DI, RI, UI) –
¾  Note: when using UI some system variables may need to be set
– Manual Functions Menu
– TP Key
FANUC Robotics
Macro commands must be set up before they can be used. You
can set them to run from a teach pendant user key, operator
panel button, input signal, or from the MANUAL FCTNS screen.
Teach Pendant User
Keys
You can set up a macro command to run when a teach pendant
user key is pressed alone or with the SHIFT key. If you want to
execute a program that contains robot motion when a user key is
pressed, you must set it up to run when the SHIFT key is
pressed.
CAUTION
Make certain that your application has not already
assigned functions to the teach pendant user keys;
otherwise, execution problems can occur
When you set up macro commands, you can define up to seven
macro commands to run when the user key is pressed alone
(UK[1] - UK[7]), and seven macro commands to run when the
user key is pressed with the SHIFT key (SU[1] - SU[7]). The
macro commands that require the user key to be pressed alone
(UK[1] - UK[7]) cannot contain any instructions that move the
robot, and the group mask must be set to [*,*,*,*,*] in the program
header information.
Macro Commands
357
MATAGHAND1007CE
Figure 14-1 Teach Pendant User Keys
ÏÏÏ
ÏÏÏ
ÏÏÏ
ÏÏÏ
ÏÏÏ
ÏÏÏ
ÏÏÏ
ÏÏÏ
ÏÏÏ
ÏÏÏ
ÏÏÏ
ÏÏÏ
ÏÏÏ
ÏÏÏÏ
ÏÏÏÏ
ÏÏÏ
ÏÏÏÏ
ÏÏÏÏ
ÏÏÏ
ÏÏÏÏ
ÏÏÏÏ
ÏÏÏÏ
ÏÏÏÏÏÏÏ
ÏÏÏ
MANUAL FCTNS Macro
Screen Items
TOOL
1
UK [1] and
SU [1]
TOOL
2
UK [2] and
SU [2]
MOVE
MENU
UK [3] and
SU [3]
SETUP
UK [4] and
SU [4]
POS
I/O
STATUS
UK [7]
and
SU [7]
UK [6]
and
SU [6]
UK [5]
and
SU [5]
You can set up a macro command program to be executed from
the MANUAL FCTNS Macros screen. After you set up a macro
command to run from this screen, you can then select a manual
functions menu item and press the SHIFT key and the EXEC
function key to execute the macro command. Refer to Section
14.2 Executing Macro Commands from the MANUAL FCTNS
menu.
Use Procedure 14-1 to set up a macro command to run from the
Manual Functions screen.
358
Macro Commands
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Operator Panel
Buttons
You can set up a macro command program to run when a button
on the operator panel is pressed. You can execute a macro
command when USER 1 (SP [4]) or USER 2 (SP [5]) is pressed
on the operator panel. See Figure 14-2 Operator Panel Buttons
for the operator panel buttons.
Figure 14-2 Operator Panel Buttons
Input Signals
You can set up a macro command program to be executed when
the input signal you specify is received. You can assign a macro
command to a digital input (DI), robot input (RI), or user operator
panel input (UI). By default, you can assign up to five macro
commands as input signals, or UOP input signals. You can
change the number of signals by modifying the value of the
$MACROMAXDRI system variable.
For digital input signals, indexes 0 through 999 are available. An
index of 0 indicates that no macro is assigned. You can assign
any of these index numbers to the macro command, but the
digital signal must be configured properly for the macro command
to execute.
For robot input signals, indexes 0 through the number of robot
input signals configured on your system, up to a maximum of 24,
are available. An index of 0 indicates that no macro is assigned.
For UOP input signals, indexes 0 through the number of UOP
input signals configured on your system are available. An index of
0 indicates that no macro is assigned.
WARNING
Before you copy a program with embedded macros from
one controller to another, compare the SETUP menu
macro lists of the two controllers. Be sure that the list on
the first controller matches the list on the second
controller. If they are not identical, DO NOT copy the
program; otherwise, when you run a program that uses
macros, you could injure personnel or damage equipment.
Macro Commands
359
MATAGHAND1007CE
Procedure 14-1 Setting Up Macro Commands
Condition
Step
ƒ
A macro program has been created.
ƒ
The macro program has been tested and runs properly.
1
Press MENU .
2
Select SET UP .
3
Press F1 , [TYPE].
4
Select Macro. You will see a screen similar to the following.
Macro Command
Instruction name Program Assign
1 [
] [
] [ 0]
2 [Hand open
] [hndopen1]UK[ 1]
3 [Hand close
] [hndclse1]MF[ 4]
4 [
] [
] [ 0]
5 [
] [
] [ 0]
6 [
] [
] [ 0]
7 [
] [
] [ 0]
8 [
] [
] [ 0]
9 [
] [
] [ 0]
10 [
] [
] [ 0]
5
Move the cursor to a blank Instruction name and press
ENTER .
6
Name the instruction.
7
Select a method of naming.
8
Press the appropriate function keys to type a name.
9
When you are finished press ENTER .
NOTE: Before you perform the next step, you must have a
written and tested macro program.
10 Select the instruction you want to assign:
11 Move the cursor to Program and press F4 , [CHOICE].
12 Select the macro program you want assigned to the
instruction name and press ENTER .
13 Assign the macro command:
14 Move the cursor to Assign and press F4 , [CHOICE].
15 Select the macro command assignment you want and press
ENTER :
Macro Commands
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NOTE: You cannot assign macro commands that include
motion instructions to UK.
• For a user key without SHIFT , select UK.
•
For a user key with SHIFT , select SU.
•
For a MANUAL FCTNS menu item, select MF.
•
For an operator panel button, select SP.
•
For a digital input, select DI.
•
For a robot input, select RI.
•
For a UOP input, select UI.
•
To remove an assignment, select -- .
Refer to Table 14-1 Macro Command Assignments
Table 14-1 Macro Command Assignments
User Key on Teach User Key on
MANUAL
Input
Pendant without Teach Pendant FCTNS Screen Signals
SHIFT (UK)
with SHIFT
Item (MF)
(DI, RI, UI)
(SU)
MF [ 1]-MF [ 99] Digital inputs DI[0] - DI[99]
SU [ 1]
UK [ 1]
Robot inputs RI[0] - RI[n]
SU [ 2]
UK [ 2]
UOP inputs UI[0] - UI[n]
SU [ 3]
UK [ 3]
SU [ 4]
UK [ 4]
n: number of signals
SU [ 5]
UK [ 5]
configured in your system
SU [ 6]
UK [ 6]
SU [ 7]
UK [ 7]
16 Move the cursor to the assignment number, enter the
number, and press ENTER . The number that you assign to
the manual function item defines the item number on the
manual functions screen.
NOTE: You cannot modify the instruction name or the
program of a system level macro. These macros are
identified with the letter "s" at the far right side of the macro
setup screen.
17 If you want to modify an entry, move the cursor to the item
you want to change and enter a new value (or, PRESS F2 ,
CLEAR, to the remove current value from the item and then
begin typing).
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18 To save the information
a Press MENU .
b Select FILE.
c Press F1 , [TYPE].
d Select File.
e Press F5 , [UTIL].
f Select Set Device.
g Move the cursor to the device you want and press
ENTER .
h Display the macros screen.
i
Press FCTN .
j
Select SAVE. The file will be saved to the SYSMACRO.SV
file on the default device.
NOTE: Be sure to save any teach pendant programs that are
affected by the macro command assignments you are making.
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After you have set up macro commands you can run them, using
one of the following methods:
• Press a teach pendant user key
14.2 Executing
Macro
Commands
•
Press the SHIFT key and a teach pendant user key
•
Select a MANUAL FCTNS Macros screen item
•
Execute a macro program from within another program using
the macro command instruction
• Receive an input signal (DI, RI, or UI)
The method you use depends on how you set up the macro
command to execute. This section describes how to execute a
macro command from the MANUAL FCTNS Macros screen
WARNING
Before you copy a program with embedded macros from
one controller to another, compare the SETUP screen
macro lists of the two controllers. Be sure that the list on
the first controller matches the list on the second
controller. If they are not identical, DO NOT copy the
program; otherwise, when you run a program that uses
those macros, the robot could injure personnel or damage
equipment.
For UK, SU, and MF, the teach pendant must be ON and for SP,
DI, RI, UI, the teach pendant must be OFF.
Teach Pendant User
Keys
Use Procedure 14-3 Assign Macro to USER key on Teach
Pendant to execute a macro command that has been assigned to
a teach pendant user key.
Procedure 14-2 Assigning a Macro to SOP
Step
1
On the Teach Pendant press MENU
2
Select SETUP
3
Press TYPE F1
4
Select Macro
5
Move Cursor to a blank instruction name and press ENTER
6
Cursor to Program Column and Press CHOICE F4
7
Select program name and press ENTER
8
Cursor to Assign Column and press CHOICE F4
Macro Commands
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9
Select SP[4] for USER1 and press ENTER
10 Select SP[5] for USER2 and press ENTER
11 Verify program operation
Procedure 14-3 Assign Macro to USER key on Teach Pendant
Step
1
On teach pendant press MENU
2
Select SET UP
3
Press F1 TYPE
4
Select Macro
5
Move Cursor to a blank instruction name and press ENTER
6
Cursor to Program Column and Press CHOICE F4
7
Select program name and press ENTER
8
Cursor to Assign Column and press CHOICE F4
9
Select UK for user key without shift
10 Select SU for user key with shift
11 Assign number 1 through 7
12 Verify program operation
Procedure 14-4 Assign Macro to a Digital Input
Step
1
On teach pendant press MENU
2
Select SET UP
3
Press TYPE F1
4
Select Macro
5
Move Cursor to a blank instruction name and press ENTER
6
Cursor to Program Column and Press CHOICE F4
7
Select program name and press ENTER
8
Cursor to Assign Column and press CHOICE F4
9
For a digital input select DI
10 For a robot input select RI
11 For a UOP input select UI
12 Verify program operation
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Procedure 14-5 Assign Macro to a Manual Functions Key
Step
1
On teach pendant press MENU
2
Select SET UP
3
Press TYPE F1
4
Select Macro
5
Move Cursor to a blank instruction name and press ENTER
6
Cursor to Program Column and Press CHOICE F4
7
Select program name and press ENTER
8
Cursor to Assign Column and press CHOICE F4
9
Select Manual Functions MF
10 Assign number 1 through 99
11 Verify program operation
Macro Commands
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NOTES:
____________________________________________________________________________
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HandlingTool Application Programming
Enabling Objectives Lab 19
• Create or modify an existing program as a
MACRO.
• Setup the MACRO to run from:
– A TP key
– USER 1 or USER 2 on the SOP
– A digital input
– Manual Functions screen
FANUC Robotics
Macro Commands
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Lab 19
MACRO COMMANDS
Student Name:____________________________________________________
Assignment:
The student will:
• Create or modify an existing program as a MACRO.
•
Setup the MACRO to run from:
-
Condition:
Step:
A TP key
USER 1 or USER 2 on the SOP
A digital input
Manual Functions screen
A FANUC robot and controller loaded with HandlingTool application
software.
1
Power up the robot controller and recover from all faults.
2
Create a new program or modify and existing program as a MACRO
3
Verify that the program(s) runs without problems by running it manually.
4
Follow Procedure 14-2 through Procedure 14-5 to set a MACRO to the
following:
a A Teach Pendant key
b USER 1 or USER 2 on the SOP
c A digital input
d Manual Functions screen
5
Power down the robot safely.
Completed:
Instructor: ________________________________
368
Macro Commands
MATAGHAND1007CE
NOTES:
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15
Program Adjust
369
HandlingTool Application Programming
15 PROGRAM
ADJUST
HandlingTool Application Programming
Program Adjust
• Program adjust allows you to:·
– Adjust taught positions
– Adjust robot speed – linear and joint
– Positional adjustment may be relative to the USER or TOOL
frame
FANUC Robotics
Program adjust allows you to modify positional data of a program
relative to different frames and handling rail axes, multiple groups,
and line tracking. You can adjust positional offsets (values that
specify how much of a difference there is between the current
positional value and the positional value you want), robot speed,
and rail axes. This can also be used to edit a program while
another program is running.
NOTE: Program adjust cannot correct for errors in mastering.
HandlingTool Application Programming
PROGRAM ADJUST
• Allows modification of a program while it is
executing.
• The Teach Pendant is disabled.
• Program components that can be modified are:
– Positional offsets (linear and rotational)
– Speed (joint and linear)
• Up to ten program schedules are available for use.
• A Program Adjust Schedule contains:
– A number assigned to identify the schedule of 10 possible
– The name of the program being adjusted
– The starting and ending line numbers affected by the
adjustment
– The Positional offset value in X,Y,Z, W, P, and R
– A linear robot speed
– A joint robot speed
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HandlingTool Application Programming
Program Adjust Schedules
• A program is executing.
Cursor to an open
schedule.
• To define a new specific
schedule, press DETAIL.
• To modify an existing
schedule, cursor to the
program name and press
DETAIL.
FANUC Robotics
HandlingTool Application Programming
Program Adjust (Cont.)
–CLR_ALL saves the
current data & clears
all data from the
schedule.
–CLR_ADJ saves the
current data & clears
the adjustments on the
schedule.
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Program Adjust
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15.1 Adjusting a
Program or a
Schedule
When you make program adjustments, the changes you make are
grouped together into a program adjust schedule. You can use as
many as 99 program adjust schedules to adjust program
information during program or production run.
Program Adjust
Schedules
The program adjust schedule contains:
• A number you assign to identify the schedule.
Program Adjust
Guidelines
•
The name of the program being adjusted.
•
The starting and ending line numbers to be affected by the
adjustment.
•
The frame adjustment reference: either USER or TOOL.
•
The positional offset value in x, y, z, w, p, and r in USER
frame adjustment, or x, y, z, x rotation, y rotation, and z
rotation in TOOL frame adjustment.
•
A linear robot speed.
•
A circular robot speed.
•
A joint robot speed.
•
The motion group selection.
•
A rail mode adjustment if you have rail axis as an integrated
linear axis in the first group.
Use the following program adjust sequence as a guideline for
your program adjustments:
1
Edit the schedule to make the program adjustments you
want.
2
ENABLE the program adjust schedule. The changes will take
effect as soon as the robot motion system can process the
new information. Allow for one complete cycle through the
program after enabling the adjustment to ensure that all
positions are adjusted.
3
To remove the adjustment, DISABLE the offset. Allow for one
complete cycle of the program for all positions to disable the
adjustments.
4
To make additional adjustments, clear the schedule
(CLEAR_ADJ) and confirm. This will lock in the adjustments
to the program and reset the program adjustment values to
zero.
5
If the offset is a temporary adjustment, continue to use the
offset until the temporary condition no longer exists and then
DISABLE the offset.
6
Use Procedure 15-1 to adjust program information during
program or production run.
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Procedure 15-1 Adjusting Programs During Program or Production Run
Condition
ƒ
The program you want to adjust is currently selected.
NOTE: Be sure robot is in AUTO and running
Step
1
Press MENU .
2
Select UTILITIES.
3
Press F1 , [TYPE].
4
Select Prog Adjust. Depending on the application you are
using, you will see a screen similar to the following.
5
Select a program and line numbers to adjust.
To adjust program parameters for the current program if it is
not listed on the screen, select an unused schedule (********)
and press F2 , DETAIL. The current program name will be
entered automatically.
6
Press F2 , DETAIL. You will see a screen similar to the
following.
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7
To display the DETAIL for a different program,
a Move the cursor to Program name.
b Press F4 , [CHOICE].
c Move the cursor to the name of the program you want and
press ENTER .
8
To display the DETAIL for a different schedule, press F3 ,
SCHED, and type the schedule number.
9
To display the next schedule DETAIL automatically, press
SHIFT and F3 , SCHED.
a Select item 2, Starting line number, and type the starting
line number where you want the changes to take effect.
If you enter a line number that is out of the range of
program lines, the last line number in the program will be
entered automatically.
b Select item 3, Ending line number, and type the ending
line number where you want the changes to stop taking
effect. If you enter a line number that is out of the range
of program lines, the last line number in the program will
be entered automatically.
NOTE: The ending line must be greater than or equal to the
starting line number specified in item 2. To change only one line
number, the ending line number must be the same as the starting
line number.
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10 To select the units (inches or millimeters) for x, y, and z
offsets, press F2 , UNITS.
11 To toggle between USER frame and TOOL frame, move
the cursor to item 4, Offset relative to, and press either F4 ,
USER, or F5 , TOOL.
12 To adjust x, y, and z offsets, select the item and type the
new offset value. To indicate negative offsets, use the minus
sign. The range of x, y, and z offsets is +/- 26.00 mm
(1.024 of an inch).
13 To adjust w, p, and r offsets, select the item and type the
new offset value. These offsets are always shown in degrees.
To indicate negative offsets, use the minus sign. The range
of w, p, and r offsets is +/- .500 dg.
NOTE: If Offset relative to is set to TOOL frame, instead of
adjusting w, p, and r values, you will adjust the “x rotation,” “y
rotation,” and “z rotation.
14 To change linear or circular speed, select Linear/Circular
Speed and type the new speed value. A value of 0 indicates
no change.
15 To change joint speed, select Joint Speed and type the new
speed value. A value of 0 indicates no change.
16 To select the motion group for multiple group processes,
select Motion group and press F4 , [CHOICE]. You can
select Single Group, All, or an individual group that is loaded
on the controller.
•
Single Group indicates that only the first is being adjusted
in this process. If only the first group is loaded, then Single
Group is the only choice on the pop-up menu.
•
All indicates that all motion groups in the teach pendant
program are being adjusted in this process.
•
If more than one group is loaded on the controller, the
value for $SCR_GRP.$robot_id is displayed as a selection
for individual groups from a pop-up menu. This selection
allows you to adjust any individual group.
17 To adjust y for the robot rail or all, select the item and
press F2 , [CHOICE], to make a selection.
Program Adjust
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NOTE: Adjust Y for is displayed only if rail axis is loaded as an
integrated linear axis in the first motion group.
NOTE: If Frame Adj refer to is set to TOOL frame, only
ROBOT is available.
18 If you want to clear the x, y, z, w, p, and r portion of this
schedule, press NEXT , and then press F2 , CLR_ADJ. This
- Changes the x, y, z, w/x rotation, p/y rotation, and r/z
rotation offset values in the schedule to 0
- Retains the program name and line numbers
- Resets the position to include the adjusted positional
information
•
To clear, press F4 , YES. You will see the message
“Schedule cleared successfully.”
•
To cancel, press F5 , NO.
19 When you are finished adjusting program parameters
and the program is not currently running, press F4 ,
ENABLE. This activates the program adjustments you made
and changes the program. The adjustments take effect and
become permanent to the program as soon as the robot
motion system processes them.
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NOTE: If a motion instruction contains a PR[n] (position
register) or INC (Incremental motion option), it will not be
adjusted.
20 To test the adjustments if the program is not running,
refer to section 7.5.
21 If you are not satisfied with the adjustments, press F5 ,
DISABLE. (F5, DISABLE, appears after you have enabled
adjustments.) This returns the program positions to the
values they had before you enabled the schedule. The
disable feature takes effect as soon as the robot motion
system can process it. The changes are permanent.
If you are not satisfied with speed changes, you must EDIT
the schedule to enter new speed values and then press F4 ,
ENABLE.
NOTE: DISABLE does not change linear speed or joint speed.
You must change them to the original values by selecting each
value and entering a new value.
Before you can run the program the new program adjustments
must be complete.
22 To save the changes to your program permanently,
a Press F4 , ENABLE, to enable the changes.
b Press NEXT .
c Press CLR_ALL.
•
This activates the program adjustments you made
and makes permanent changes to the program.
•
This changes the x, y, z, w/x rotation, p/y rotation,
and r/z rotation offset values displayed on the
screen to 0.
•
This changes the linear speed and joint speed
values displayed on the screen to 0.
•
This clears the program name and line numbers
displayed on the screen.
•
To clear, press F4 , YES.
•
To cancel, press F5 , NO.
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23 To copy schedule information from one program to
another, press NEXT , and then press F1 , COPY. Type
the schedule number you want to copy to a specified
schedule and press ENTER .
24 The message “Please wait, copying schedule...” is displayed
for the moment. You will see the message “Schedule copied
successfully.”
25 If the adjustment fails, the specific cause of error is posted
and the line number where the error occurred is displayed.
The schedule status is changed to PARTENABLED (or
partial enabled). See the following screen for an example.
26 Press F5 , DISABLE, to disable the schedule.
27 Determine the cause of the error.
- Fix the error in the program.
OR
- Change the ending line number to be one less than where
the error occurred.
28 Press F4 , ENABLE, to enable the schedule.
NOTE: Do not use a partially adjusted program.
NOTE: When a schedule status is either PARTENABLED or
PARTDISBLED, you will not be able to use CLR_ADJ or
CLR_ALL to make partial adjustments permanent. Also, if you
change any adjusted fields, the status changes to EDIT and you
will be unable to recover positions lost due to power failure.
Program Adjust
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Program Adjust
Create Schedule
Make Adjustments
Enable Adjustments
Verify Adjustments
Make
adjustments
permanent?
Yes
Clear
Adjustment
Clear All
No
Disable
Adjustment
Clear
Adjustment
Clear All
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NOTES:
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
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____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
____________________________________________________________________________
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Program Adjust
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HandlingTool Application Programming
Enabling Objectives Lab 20
• Program Adjust
– Select and execute a looping TP program from cycle start
– While in production mode, monitor execution and investigate
the LOOK softkey
– Adjust a line(s) of program data during execution
FANUC Robotics
Program Adjust
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Lab 20
Program Adjust
Student Name: _______________________________________________________________
Assignment:
Condition:
Step:
The student will:
• Select and execute a looping TP program from cycle start
•
While in production mode, monitor execution and investigate the
LOOK softkey
•
Adjust a line(s) of program data during automatic cycle
A FANUC robot and controller loaded with HandlingTool application
software. Use a looping program that you have created
1
Power up the robot safely. Remove all faults from the robot. Abort any
running program.
2
Execute a program using cycle start with the REMOTE Key in LOCAL.
If the program does not loop, insert appropriate instructions.
Do not stop production mode during Prog Adjust execution!
3
During production, press EDIT and monitor the program. Pay close
attention to the motion. Notice the line numbers for the program position
above the table where adjustments might be needed. Use LOOK Mode
if you are uncertain of the line numbers. In the LOOK mode, you can
move the cursor about.
4
Select the Prog Adjust Menu. The program is still executing.
Move the cursor to unused schedules and enter the line number or
range of line numbers to be adjusted. Once enabled, adjustments take
effect within the next full cycle:
5
Adjust the entire movement above the table down 10 mm (or your
choice) and to the robot’s left 50 mm (or your choice) on one schedule if
possible.
6
Adjust two positions close to the table without touching it.
Program Adjust
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MATAGHAND1007CE
7
Angle adjustments change a maximum of 0.5 degrees only. They are
hard to see without small angle monitoring devices. So there is no need
to use this feature.
8
You may adjust linear and/or joint speeds. Check to see if all linear
speeds will become the value you set for linear or if the linear speeds
become proportionate to the rates previously set – Do both a 325 mm/
sec and a 115 mm/sec become 600 mm/sec. What appears to be the
answer? ____________________________________________________
ENABLE and/or DISABLE the adjustments as needed. With the
adjustment enabled, to save the data, press NEXT , and CLR_ADJ if
you want to continue or CLR_ALL if you are done with that particular
schedule.
9
Return robot to HOME position. Power down the robot safely.
Completed:
Instructor: ________________________________
16
Program and File
Manipulation
HandlingTool Application Programming
16 PROGRAM AND FILE MANIPULATION
HandlingTool Application Programming
Memory Architecture
FANUC Robotics
HandlingTool Application Programming
Controller Memory
• Flash ROM
– Doesn’t require battery backup
– Stores the majority of controller system software
– Can be likened to a CD-ROM drive on a home PC
¾ Data can be read from, but normally not written to Flash ROM
¾ The contents of Flash ROM can be erased and reloaded from outside
the controller
• C-MOS/SRAM
– Needs battery back-up
– Stores user data (TPP programs and system variable data)
compressed
– Can be likened to the hard drive on a home PC
FANUC Robotics
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Program and File Manipulation
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MATAGHAND1007CE
16.1.1 Using a Memory
Card Interface
The memory card interface is integral to all controllers and is
located on the operator panel.
Procedure 16-1 Using the Memory Card Interface
Condition
ƒ
You are using either an SRAM memory card or a PCMCIAATA Flash card that is based on one of the following
standards:
– JEIDA “IC Memory Card Guideline Version 4.0”
– PCMCIA “PC Card Standard R. 2.0”
Step
1
Identify the memory card interface located on the operator
panel. See Figure 16-1.
Figure 16-1 Memory Card Interface Location
CAUTION
The memory card interface is fragile. Use care when
inserting the memory card to avoid damage to the
connector.
2
Insert the memory card or the Flash card as shown in Figure
16-1
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16.1.2
Setting the Default
Device
Setting the default device specifies which device to use when
manipulating programs and files. You must set the default
device before you can perform any program or file
manipulations, including formatting a memory card. You can set
the default device to
• Memory card (MC:)
•
Floppy disk – a floppy disk drive connected to a controller
port, such as the PS-100, PS-110, or PS-200.
•
Serial printer – A serial printer connected to a controller port.
•
Flash File Storage disk (FR:) - built-in storage for controller
system files.
•
UD1 = USB
•
Client tag (C1: – C8:) – used if the FTP option is installed.
The client devices displayed are the client devices that have
been defined and started.
•
Memory device (MD:) - treats the controller’s program
memory as if it were a file device.
•
Console device (CONS:) - used for debug purposes only.
This displays the conslog.ls and constail.ls powerup log files.
•
RAM disk – RAM disk, specified by RD:
•
MF device (MF:) – a composite device that searches the
RAM Disk (RD:) and flash file storage disk (FR:) devices, in
that order, for a specified file.
After you set the default device, the device will remain the
default until you change it.
Use Procedure 16-2 to set the default device.
Program and File Manipulation
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MATAGHAND1007CE
Procedure 16-2 Setting the Default Device
CAUTION
If devices such as a printer, floppy disk drive, or vision
system are connected to the controller, always turn on the
robot first, then turn on these devices; otherwise,
equipment could be damaged.
Condition
ƒ
If you are setting the default device to memory card or floppy
disk, the memory card or floppy disk must be properly
installed.
Step
1
Press MENU .
2
Select FILE.
3
Press F1 , [TYPE].
4
Select File. You will see a screen similar to the following.
5
Press F5 , [UTIL].
6
Select Set Device.
Program and File Manipulation
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MATAGHAND1007CE
7
Move the cursor to the device you want to select and press
ENTER . You will see a screen similar to the following.
The default device is now set. The default device name is
displayed on the FILE screen, under the word “FILE.”`
16.1.3 Formatting
Devices
You must format the SRAM memory card, the FLASH ATA
memory card or a floppy disk only before you use them for the
first time. Use Procedure Procedure 16-3 to format a memory
card.
The RAM disk is formatted automatically for you each time you
change the disk size.
CAUTION
Formatting deletes all the files on a memory card or disk.
Do not format a memory card or disk that contains files
you want to keep.
HandlingTool Application Programming
File Manipulation
• First choose a Storage Device
– This is called setting the default device
• The following storage devices can be used to
store programs and files:
– PS-100/PS-110
– IBM PC or compatible personal computers
– PCMCIA Memory Card
FANUC Robotics
Program and File Manipulation
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MATAGHAND1007CE
HandlingTool Application Programming
File Manipulation
• File backup
– Creates a backup copy of specific SRAM files
• Steps
– Press MENUS
– Select FILE
– Press F1 [TYPE] and select FILES (if necessary)
FANUC Robotics
HandlingTool Application Programming
File Manipulation
Setting a Device
Within the FILE menu, this display is a similar screen:
LINE 0
AUTO ABORTED
FILE
JOINT 100 %
MC: *.*
1/23
1 *
*
(all files)
2 *
KL (all KAREL source)
3 *
CF (all command files)
4 *
TX (all text files)
5 *
LS (all KAREL listings)
6 *
DT (all KAREL data files)
7 *
PC (all __________________
8 *
TP (all | 1 Set Device
|
9 *
MN (all | 2 Format
|
10 *
VR (all | 3 Make DIR
|
Press DIR to generate ----------+
+[ TYPE ] [ DIR ] LOAD [BACKUP]|UTIL |>
F1
F2
F3
F4
F5
Press F5 [UTIL] (a pop-up
menu appears
Select Set Device
FANUC Robotics
Program and File Manipulation
MATAGHAND1007CE
HandlingTool Application Programming
Setting the Device (cont.)
A pop-up menu will appear:
1 Floppy disk
2 Serial Printer
3 FROM Disk (FR:)
4 RAM Disk (RD:)
FILE
JOINT 100 %
5 MF Disk (MF:)
6 FTP (C1:)
7 Mem Card (MC:)
8 -- NEXT --
1 *
*
(all files)
2 *
KL (all KAREL source)
3 *
CF (all command files)
4 *
TX (all text files)
5 *
LS (all KAREL listings)
6 *
DT (all KAREL data files)
Press DIR to generate directory
[ TYPE ] [ DIR ] LOAD [BACKUP][UTIL ]>
F1
F2
F3
F4
F5
Cursor to the device you want to select and press ENTER.
The default device is now set. The default device name displays
under the word ‘FILE’.
FANUC Robotics
389
Program and File Manipulation
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HandlingTool Application Programming
Formatting the Device
When you select Format from the F5 UTIL function key, the
following menu appears. Press F4 YES to confirm formatting.
TEST
FILE Format
MC: *.*
LINE 0
AUTO ABORTED
JOINT 100 %
1/23
Formatting MC:
************* WARNING ****************
ANY DATA ON THE DISK WILL BE LOST!
Format disk?
YES
NO
F4
F5
When you press F4 YES, name the disk (optional) or press
ENTER. The format will begin.
FANUC Robotics
Program and File Manipulation
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Procedure 16-3 Formatting a Memory Card from the File Menu
NOTE: This procedure can also be used to format floppy disks
(FLPY:).
Condition
Step
ƒ
The default device is set to MC:. Refer to Procedure 16-2.
ƒ
The FLASH ATA or SRAM memory card is not write protected
(if it has the write protect option).
1
Hold the card to be formatted with the label toward you and
insert it into the interface.
2
Press MENU .
3
Select FILE.
4
Press F5 , [UTIL] and select 2 to format the card.
5
Select Format. You will see a screen similar to the following.
6
Format the card:
7
•
If you do not want to format the memory card, press
F5 , NO.
•
To format the memory card, press F4 , YES. You will
see a screen similar to the following.
Use the appropriate function keys and numeric keys to type a
volume label, such as mcard1, and press ENTER .
Formatting a memory card takes a few seconds. When the
formatting is complete the teach pendant FILE menu will be
displayed.
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16.1.4 Backing Up Files
Procedure 16-4 File Backup
Condition
ƒ
Memory Device needed
Step
1
Press MENU , then select File
2
Press F1 [TYPE], then select Files
3
Press F4 [BACKUP], then select All of above
4
Press F4 [YES] and the file backup will begin
5
Press F2 [DIR] to view the backup files
When you back up a file, you save it from controller memory to
the default device so that you have a second copy of the file. You
can back up program, system, application, diagnostic, and error
log files to the default device using the FILE screen.
NOTE: To back up all memory on the controller, use the
Controller Backup and Restore function.
Program Files
When you back up program files, all teach pendant program files
currently loaded onto controller memory (listed on the SELECT
menu) and default motion instruction files (DF_xxxx.DF) will be
saved to the default device.
System Files
System files are binary files that store default values for system
variables, servo parameter data, and mastering data. They
contain information specific to the controller, robot, and software.
When you backup system files, all system variable, servo
parameter, and mastering data currently on controller memory is
saved to the default device.
Table 16-1 lists and describes the various kinds of system files.
NOTE: Some system files are application–specific;
therefore, the files displayed in Table 16-1 might vary
according to your setup.
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Table 16-1 System Files
NAME
DIOCFGSV.IO
FRAMEVAR.SV
NUMREG.VR
POSREG.VR
SYSMACRO.SV
SYSMAST.SV
SYSPASS.SV
SYSSERVO.SV
SYSVARS.SV
DESCRIPTION
This file contains I/O configuration information.
This file contains frame information.
This file contains register information.
This file contains position register information.
This file contains macro command setup information that is created when macro
commands are set up. This file must have all supporting macro files loaded before
it can be restored.
This file contains dynamic mastering data that is automatically created when the
robot is mastered.
This file contains password setup information.
This file contains servo parameter data that the robot needs to function. The
values in this file are loaded automatically when the controller is turned on.
This file contains system variable default values for your system. The
$STYLE_NAME system variable, which contains style names, is included in
SYSVARS.SV. When you back up system files, your style names will be backed
up also.
Application Files
Application files are all program variable files. When you select
“Application,” all files listed in the $FILE_APPBCK system
variable will be saved. Important .VR files are listed in this system
variable. You should not modify this system variable.
Application Teach
Pendant Program Files
Application teach pendant program files are teach pendant
program files with file type .TP, .DF, or .MN. The names of the
application TP files are stored in the system variable
$FILE_AP2BCK.
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Diagnostic Files
Diagnostic files are ASCII files that provide you with a snapshot of
the special diagnostic files on the memory device. Diagnostic
files are the files with extension .DG. The names of the
diagnostic files are stored in the system variable $FILE_DGBCK.
The first element of this system variable is set to summary.dg.
Remaining elements are, by default, uninitialized and you can set
these elements to specific diagnostic file names to be backed up.
Backdate.dt
This file is created and saved on the default device when System
files Backup, Application Backup, and All of above Backup is
performed. This file contains information about the date and time
of the file backup and information about the software version and
software options loaded on the controller.
Use Procedure 16-5 to back up system and program files.
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Types of Files
To manipulate a file you must know the type of file you are
manipulating. Table 16-2 lists several types of files available.
During your work on the controller, you might only work with a
few types of files. You can determine the file type by looking at
the file name as it is displayed on the FILE menu. The file name
consists of a file name, followed by a period, followed by a twoletter file type:
file.XX
where file is the file name and XX is the file type.
Table 16-2 Types of Files
File Type
Bit map file (.BMP)
Command file (.CF)
Condition handler file (.CH)
Default file (.DF)
Diagnostic file (.DG)
Data file (.DT)
I/O file (.IO)
KAREL file (.KL)
Listing file (.LS)
Part model file (.ML)
Mnemonic(.MN)
Macro (.MR)
P-Code file (.PC)
PMC (.PMC)
Process (.PR)
System file (.SV)
Description
This file type contains bit map images used in robot vision
systems.
This file type contains text (ASCII) files that contain a
sequence of KCL commands for a command procedure.
This file type contains files that are used as part of the
condition monitor feature.
This file type contains binary files that contain the default
motion instructions for teach pendant programming.
This file type is an ASCII file that provides you with a
snapshot of the special diagnostic files on the memory
device. The names of the diagnostic files are stored in the
system variable $FILE_DGBCK.
This file type contains text (ASCII) or binary files that
contain any data that is needed by the user.
This file type contains binary files that store configuration
data.
This file type contains text (ASCII) files that contain the
KAREL language statements for a KAREL program.
This file type contains text (ASCII) files that contain the
listing of a KAREL language program, and line numbers for
each KAREL statement. Listing files are also generated
when a teach pendant screen is printed.
Listing files also include error log files and other special
diagnostic files.
This file type contains part model information used in robot
vision systems.
Files of this type are supported in previous versions of
PaintTool.
This file type contains programs with a macro sub type.
This file type contains binary files that contain the translated
version of a .KL KAREL program file. This is the file that is
actually loaded into controller memory and executed.
This file type contains Programmable Machine Controller
(PMC) information.
This file type contains programs with a process sub type.
This file type contains binary files that store default values
for system variable, servo parameter data, and mastering
data.
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File Type
Teach pendant program file
(.TP)
Text file (.TX)
Variable listing file (.VA)
Variable file (.VR)
Description
This file type contains binary files that contain teach
pendant instructions for teach pendant programs.
This file type contains text (ASCII) files that contain systemdefined or user-defined text.
This file type contains text (ASCII) files that contain the
listing of KAREL variables or system variables.
This file type contains binary files that contain variable data
for a KAREL program.
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Procedure 16-5 Backing Up System and Program Files
WARNING
If devices such as a printer, floppy disk drive, or vision
system are connected to the controller, always turn on the
robot first, then turn on these devices; otherwise,
equipment could be damaged.
Condition
ƒ
If you are backing up files to a memory card or floppy disk, the
memory card or floppy disk is installed properly.
Step
1
Set the default device to the device you want:
2
Press MENU .
3
Select FILE.
4
Press F5 , [UTIL].
5
Select Set Device.
6
Move the cursor to the device you want and press ENTER .
7
Press F4 BACKUP
8
Select an item that you want to back up from Table 16-3
and press ENTER .
Table 16-3 File Types Listings and Descriptions
FILE TYPE
System Files
Teach Pendant Programs
Application Files
Application Teach Pendant
Programs
Error Log Files
Diagnostic Files
All of Above
DESCRIPTION
This item displays the first system file in the $FILE_SYSBCK system variable.
This item displays the first teach pendant program loaded into controller memory.
This item displays the first application file in the $FILE_APPBCK system variable.
This item displays the first application teach pendant program in the
$FILE_AP2BCK system variable.
This item displays the first error log file in the $FILE_ERRBCK system variable.
This item displays the first diagnostic file in the $FILE_DCBCK system variable.
This item selects all of the various file types for back up. When you select this
option, all files on the default device are deleted before the backup is performed.
If the destination device is networked, however, the files are not deleted. When
the backup is complete, a file called BACKDATE.DT is created that contains the
date and time of the backup. Also, at the completion of the backup operation, the
FILE menu is displayed, which allows you to generate a directory of the default
device by pressing DIR.
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9
Choose the backup operation that you would like to perform
from Table 16-4 and press the appropriate function key.
Table 16-4 Back Up Operations
IF YOU WANT TO
Back up the current file
Skip to the next file
ON THE TEACH
PENDANT PRESS
F4, YES
F5, NO
Back up all files
F3, ALL
Exit Procedure
F2, EXIT
RESULT
This item backs up the
current file then
displays the next file in
the queue.
This item skips the
current file and displays
the next file in the
queue.
This item backs up all
files in the queue. If the
file already exists, you
will be prompted to
either overwrite or skip
the file, or cancel
backing up that file.
This item cancels the
backup operation.
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16.1.5
Generating a Directory
of Files
Directory Subsets
A directory is a list of files on a specific storage device. You can
display a directory of files on the following devices:
• Memory card: ATA Flash File storage or SRAM memory cards
•
Ethernet
•
Flash File storage disk
•
Floppy disk
•
Memory device
Some devices contain hundreds of files. You can display a
directory of all files, or a subset of the files. When you generate a
directory of files, you can choose from among the following file
subsets:
• *.* - all files
•
*.BMP - bit map image files
•
*.CF - command files
•
*.CH - condition handler files
•
*.DF - default files
•
*.DT - data files
•
*.IO - I/O files
•
*.KL - KAREL program files
•
*.LS - listing files
•
*.ML - part model files
•
*.MN - teach pendant program files
•
*.PC - p-code files
•
*.PMC - PMC files
•
*.SV - system files
•
*.TP - teach pendant program files
•
*.TX - text files
•
*.VA - variable listing files
•
*.VR - variable files
•
ASCII Files - Text files, including files of type .KL, .CF, .TX,
.LS, .DT, .ML, and .VA
•
Loadable Files - Files that can be loaded into controller
memory, including files of type .PC, .TP, .MN, .VR, .SV, .IO,
and .DF.
Use Procedure 16-6 to generate a directory of files.
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Procedure 16-6 Generating a Directory of Files
CAUTION
If devices such as a printer, floppy disk drive, or vision
system are connected to the controller, always turn on the
robot first, then turn on these devices; otherwise,
equipment could be damaged.
Step
1
Set the default device to the device you want:
2
Press MENU .
3
Select FILE.
4
Press F1 , [TYPE].
5
Select File.
6
Press F5 , [UTIL].
7
Select Set Device.
8
Move the cursor to the device you want and press ENTER
9
Press MENU .
10 Select FILE.
11 Press F1 , [TYPE].
12 Select File.
13 Press F2 , [DIR]. You will see a screen similar to the
following.
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14 Select the subset of files you want to display and press
ENTER . If you select *.TP to display all teach pendant files,
you will see a screen similar to the following.
To select another subset of files, press F2 , [DIR], and
repeat Step 4.
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If you no longer want to have a program loaded on controller
memory (displayed on the SELECT menu) you can delete it. If you
want to keep a copy of the program, save it to a storage device
before you delete it from the SELECT menu.
16.2 Deleting a
Program
NOTE: Deleting a program from controller memory does not
delete it from the storage device, if a copy exists on one of those
devices.
Procedure 16-7 Deleting a Program from the SELECT Menu
Condition
ƒ
The program you want to delete is listed on the SELECT menu.
Step
1
Press SELECT . You will see a screen similar to the
following.
Select
No.
1
2
3
4
5
6
Program name
SUB1
MAIN25
PRG7
JOB0001
PROC0010
TEST
50983 BYTES FREE
Comment
TP [
TP [
TP [
TP
TP
TP
]
]
]
2
Move the cursor to the name of the program you want to
delete.
3
Press NEXT , >, and then press F3 , DELETE. See the
following screen for an example.
Select
No. Program name
1
SUB1
2
MAIN25
3
PROG_1
4
PROG_1
5
VARS
6
Delete OK ?
50983 BYTES FREE
Comment
[
[
PC [
VR [
VR [
]
]
]
]
]
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4
Delete the program:
• If you do not want to delete the selected program, press
F5 , NO.
•
If you want to delete the selected program, press F4 , YES.
The program will be deleted from controller memory. The
SELECT menu will be displayed and the deleted program
will no longer be listed.
NOTE: You cannot delete a program that is paused, assigned to
a macro, or write-protected. If the program is paused, you must abort
it (press FCTN and select ABORT ALL). If the program is assigned
to a macro, it must be "unassigned" first on the SETUP Macro
screen.
Restoring Files
HandlingTool Application Programming
File Manipulation
• Restoring Files
– Files are restored after reloading software due to a software
crash
– Files may be individually loaded using the load procedures
previously described
– Restoring files will automatically reload all *.sv, *.tp, *.io, *.df.
and *.vr files
– KAREL *.pc and *.kl files must be loaded
FANUC Robotics
You restore files from a disk when you have previously backed up
the files using BACKUP on the FILE screen (Section 16.1.4). You
can restore the following groups of files if you have previously
backed them up using BACKUP:
• System files
•
Teach pendant programs
•
Application files
Use Procedure 16-5 to restore BACKUP files using the FILE
menu. This procedure will restore all files on the default device
that were backed up using the BACKUP command. Refer to
Section 16.1.4 for more information on backing up files.
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CAUTION
When you load or restore the file FRAMEVAR.SV,
SYSVARS.SV, or SYSMAST.SV, make sure the motion
configuration (items such as the number of motion groups
and extended axes) of your system is the same as the
motion configuration of the system on which the
FRAMEVAR.SV, SYSVARS.SV, or SYSMAST.SV files were
created. Otherwise, your system might not function
properly.
WARNING
Do not restore SYSVARS.SV, SYSMAST.SV, or
SYSSERVO.SV files from an R-J3 controller to an R-J3iB
controller. In most cases, this information is not
compatible between R-J3 and R-J3iB. If you restore R-J3
system files on R-J3iB, the controller might not function
properly and you could injure personnel or damage
equipment.
Procedure 16-8 Loading Files Using the FILE Menu
CAUTION
If devices such as a printer, floppy disk drive, or vision
system are connected to the controller, always turn on the
robot first, then turn on these devices; otherwise,
equipment could be damaged.
Condition
ƒ
If you are loading files from memory card or floppy disk, the
memory card or floppy disk is installed properly.
Step
1
Set the default device to the device you want:
2
Press MENU .
3
Select FILE.
4
Press F1 , [TYPE].
5
Select File.
6
Press F5 , [UTIL].
7
Select Set Device.
8
Move the cursor to the device you want and press ENTER .
9
Press MENU .
10 Select FILE.
11 Generate a directory of the default device that contains the
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file you want to load. Refer to Procedure 16-6.
12 Move the cursor to the name of the file you want to load and
press F3 , LOAD. You will see a screen similar to the
following.
CAUTION
When you load or restore the file FRAMEVAR.SV,
SYSVARS.SV, or SYSMAST.SV, make sure the motion
configuration (items such as the number of motion groups
and extended axes) of your system is the same as the
motion configuration of the system on which the
FRAMEVAR.SV, SYSVARS.SV, or SYSMAST.SV files were
created. Otherwise, your system might not function
properly.
WARNING
Do not restore SYSVARS.SV, SYSMAST.SV, or
SYSSERVO.SV files from an R-J3 controller to an R-J3iB
controller. In most cases, this information is not
compatible between R-J3 and R-J3iB. If you restore R-J3
system files on R-J3iB, the controller might not function
properly and you could injure personnel or damage
equipment.
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13 Load the file(s):
•
To load the file(s) you selected, press F4 , YES.
•
If you do not want to load the file(s) you selected, press
F5 , NO.
14 If the program already exists:
•
To overwrite, press F3 , OVERWRITE.
•
To skip the file, press F4 , SKIP.
•
To cancel, press F5 , CANCEL.
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Loading programs allows you to load programs from the default
device onto controller memory. A program must be loaded into
controller memory and listed on the SELECT menu before it can
be modified or executed. Use Procedure 16-9 to load programs.
16.3 Loading
Programs
Procedure 16-9 Loading a Program
CAUTION
If devices such as a printer, floppy disk drive, or vision
system are connected to the controller, always turn on the
robot first, then turn on these devices; otherwise,
equipment could be damaged.
Condition
ƒ
If you are loading programs from a memory card or floppy disk
drive, the memory card or floppy disk is installed properly.
Step
1
Set the default device:
2
Press MENU .
3
Select FILE.
4
Press F1 , [TYPE].
5
Select File.
6
Press F5 , [UTIL].
7
Select Set Device.
8
Move the cursor to the device you want and press ENTER .
9
Press SELECT . You will see a screen similar to the
following.
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10 Press NEXT , and then press F3 , LOAD. You will see a
screen similar to the following.
11 Type the program name to load and press ENTER .
NOTE: Do not include the file extension.
12 Load the selected program:
•
If you do not want to load the selected program, press F2
, NO.
•
If you want to load the selected program, press F1 , YES.
NOTE: If you see the message “Protection error occurred,”
the same program already exists on the controller and it is write
protected. To load that program, change its name and then load
it.
NOTE: If you see the error message SCIO-016, you are trying
to load a program that uses the remote TCP motion option but do
not have the remote TCP motion option loaded on your controller.
If this happens, load the remote TCP option at controlled start and
then reload the program. Refer to the FANUC Robotics Software
Installation Manual for information on how to load this option.
The program you specified will be loaded from the default device
onto controller memory. The SELECT menu will be displayed
and the loaded program will appear on the menu.
NOTE: If the program you are loading is a line or rail tracking
program and was made on an off-line PC, you must manually
process all the line tracking information before you can run the
program in production. Refer to section 7.3 Testing a Program for
more information.
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16.3.1 Loading an
ASCII Teach
Pendant
Program
When robots are equipped with the ASCII upload option, you can
load teach pendant programs that are saved as ASCII files (.LS)
directly onto the robot. ASCII teach pendant programs can be
stored offline and manipulated without the specialized software
required for handling binary programs. You can use general
purpose text editors such as those used for email to do the
following.
• Archive programs offline for code reuse in the same or
different robots.
•
Examine human–readable hardcopy programs away from a
robot.
•
Edit programs away from a robot with standard tools such as
Microsoft(tm) notepad.
•
Generate programs using standard text–based scripting tools
such as perl.
•
Use less expensive robot simulators than those limited to
binary support.
Robots equipped with the ASCII Upload option can read text–
based, human–readable programs that were printed by the same
or a compatibly configured robot.
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16.4
Controller Backup as Images
This feature allows you to back up a controller with minimal system interaction. It will make a
memory image of the F-ROM and S-RAM memory controller modules.
Procedure 16-10 Backing up a Controller as Images
All personnel and unnecessary equipment are out of the
workcell
Condition ƒ
WARNING
DO NOT turn on the robot if you discover any problems or
potential hazards. Report them immediately. Turning on a
robot that does not pass inspection could result in serious
injury.
ƒ
The R-30iA controller is plugged in and is working properly.
ƒ
The teach pendant ON/OFF switch is OFF and the DEADMAN
switch is released.
ƒ
The REMOTE/LOCAL setup item in the System Configuration
Menu is set to LOCAL.
ƒ
You have a memory card that has enough free space.
NOTE: You should use a memory card with enough free space
to hold the full controller image files. For example, a 16MB FROM and 2MB S-RAM configuration will require a card with more
than 18MB of free space and has been formatted using the R30iA controller.
Step
1
If the controller is turned on, turn the power disconnect circuit
breaker to OFF.
2
Press and hold the F1 and F5 keys on the teach pendant.
3
Turn the power disconnect circuit breaker to ON. You will see
a screen similar to the following.
***BOOT MONITOR for R-30iA CONTROLLER***
Base System Version V7.xxxx (FRNA)
Initializing file devices ... done.
1.
Configuration Menu
2.
All software installation (MC:)
3.
INIT start
4.
Controller backup/restore
5.
Hardware diagnosis
6.
Maintenance
7.
All software installation (ETHERNET)
Select : _
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4
Release all of the keys.
5
Select Controller backup/restore and press ENTER . You will
see a screen similar to the following.
***BOOT MONITOR for R-30iA CONTROLLER***
**** BACKUP/RESTORE MENU ****
0.
Return To Main Menu
1.
Emergency Backup
2.
Backup Controller As Images
3.
Restore Controller Images
4.
Bootstrap To Cfg Menu
Select:
6
Select Backup controller as Images and press ENTER . You
will see a screen similar to the following.
***BOOT MONITOR for R-30iA CONTROLLER***
** Device Selection **
1. Memory card (MC:)
2. Ethernet (TFTP:)
7
Select Memory card (MC:) and press ENTER . You will see a
screen similar to the following.
***BOOT MONITOR for R-30iA CONTROLLER***
**** BACKUP Controller as Images ****
Module size to backup:
FROM: 16 Mb SRAM: 2 Mb
Please Insert MC: which has at least
1Mb free space.
Are you ready?[Y=1/N=else]:
8
Place a memory card enough free space to hold the full
controller image files. For example, a 16MB F-ROM and 2MB
S-RAM configuration will require a card with 18MB of free
space.
9
Type 1 and press ENTER . The memory files will be written
to the memory card. You should see messages similar to the
following.
Writing MC:\FROM00.IMG (1/18)
Writing MC:\FROM01.IMG (2/18)
Writing MC:\FROM02.IMG (3/18)
. . .
Writing MC:\SRAM0x.IMG (18/18)
NOTE: If BMON crashes or hangs during “Writing
MC:\SRAM0x.img...,” this could be an indication of problems with
the SRAM memory. If this occurs, contact a FANUC Robotics
Service Representative.
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NOTE: If the memory card does not have enough free space
for the next image file, you will need to insert a new memory card.
If this occurs, you will see the following message:
**Not enough free space on MC:
CHANGE card and Press ENTER>
10 When all the image files have been written to the memory
card, you will see a message similar to the following.
DONE!!
Press ENTER to return>
11 Press ENTER to display the main BMON menu.
CAUTION
Be sure to label this memory card properly so that you can
restore it to the correct configuration. Otherwise, if you
restore an incorrect configuration you will lose valuable
data and possibly corrupt the controller.
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16.4.1 Restoring Controller Images
This feature allows you to restore the F-ROM and S-RAM controller memory from an image
backup. It can only be restored to a controller with the same memory configuration, or
larger.
Procedure 16-11 Restoring Controller Images
All personnel and unnecessary equipment are out of the
workcell
Condition ƒ
WARNING
DO NOT turn on the robot if you discover any problems or
potential hazards. Report them immediately. Turning on a
robot that does not pass inspection could result in serious
injury.
ƒ
The R-30iA controller is plugged in and is working properly.
ƒ
The teach pendant ON/OFF switch is OFF and the DEADMAN
switch is released.
ƒ
The REMOTE/LOCAL setup item in the System Configuration
Menu is set to LOCAL.
ƒ
You have a memory card that has the controller images
backed up in Procedure 16-11 Restoring Controller Images
CAUTION
A restore from a controller backup will be unsuccessful if
the memory configuration of the restored CPU is different
from the backup CPU.
Step
1
If the controller is turned on, turn off the power disconnect
circuit breaker.
2
Press and hold the F1 and F5 keys on the teach pendant.
3
Turn the power disconnect circuit breaker to ON. You will see
a screen similar to the following
***BOOT MONITOR for R-30iA CONTROLLER***
Base System Version V7.xxxx (FRNA)
Initializing file devices ... done.
1.
Configuration Menu
2.
All software installation (MC:)
3.
INIT start
4.
Controller backup/restore
5.
Hardware diagnosis
6.
Maintenance
7.
All software installation (ETHERNET)
Select : _
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4
Release all of the keys.
5
Select Controller backup/restore and press ENTER . You will
see a screen similar to the following.
***BOOT MONITOR for R-30iA CONTROLLER***
**** BACKUP/RESTORE MENU ****
0.
Return To Main Menu
1.
Emergency Backup
2.
Backup Controller As Images
3.
Restore Controller Images
4.
Bootstrap To Cfg Menu
Select:
6
Select Restore Controller Images and press ENTER . You
will see a screen similar to the following.
***BOOT MONITOR for R-30iA CONTROLLER***
** Device Selection **
1. Memory card (MC:)
2. Ethernet (TFTP:)
7
Select Memory card (MC:) and press ENTER . You will see a
screen similar to the following.
***BOOT MONITOR for R-30iA CONTROLLER***
**** RESTORE Controller Images ****
Module size to backup:
FROM: 16 Mb SRAM: 2 Mb
CAUTION: You SHOULD have image files
From the same size of FROM/SRAM.
If you don’t, this operation will cause
Fatal damage to the controller.
Are you ready?[Y=1/N=else]:
8
Place a memory card with the controller images backed up in
Procedure 16-10 Backing up a Controller as Images
9
Type 1 and press ENTER . The files will be read from the
memory card and restored into the controller. You should
see the following messages:
Clearing FROM (total 16 Mb)
1M & 2M area ... done
2M & 4M area ... done
. . .
Reading MC:\SRAM01.IMG ... Done
-- Restore complete -Press ENTER to return>
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10 Press ENTER to display the main BMON menu.
11 Turn the controller off and then on again to accept the new
image information.
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HandlingTool Application Programming
Enabling Objectives Lab 21
• Perform a backup of all Teach Pendant Programs
• Copy all Teach Pendant Programs *.tp, files to a
backup device
• Load all Teach Pendant Programs *.tp files back
into the controller from the backup device
FANUC Robotics
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Lab 21
Program and File Manipulation
Student Name:____________________________________________________
Assignment:
Condition:
Step:
The student will:
• Locate the 3 v Lithium battery
•
Perform a backup of all Teach Pendant Programs
•
Copy all Teach Pendant Programs *.tp, files to a backup device
•
Load all Teach Pendant Programs *.tp files back into the controller
from the backup device
A FANUC robot and controller loaded with HandlingTool application
software.
1
The instructor will point out the location of the 3 v Lithium battery
2
Power up the robot using Procedure 5-1 Turning on the Robot.
3
Install the memory card in the controller using Procedure 16-1 Using the
Memory Card Interface.
4
Set the backup device using Procedure 16-2 Setting the Default Device.
Set the default device to Memory Card.
5
Format the memory card.
6
Back up all files to the memory card using Procedure 16-5 Backing Up
System and Program Files.
7
Delete the Programs that were created during class.
8
Load the Teach Pendant Programs *.tp, files from the memory card to
the controller. Refer to Procedure 16-9 Loading a Program
Completed:
Instructor: ________________________________
Program and File Manipulation
418
MATAGHAND1007CE
Lab 22
Image Backup and Restore
Student Name: _______________________________________________________________
Assignment:
Condition:
Step:
The student will:
• Backup and restore software using an appropriate storage device
A non-production FANUC robot and an R-30iA controller
1
Insert PCMCIA card
2
Set the device and format the device
3
Perform an Image Backup – Refer to Procedure 16-10 Backing up a
Controller as Images
4
Perform an Image Restore – Refer to Procedure 16-11 Restoring
Controller Images
Completed:
Instructor: ________________________________
17
Post-Test
419
HandlingTool Application Programming
17 POST-TEST
Name ___________________________________ Date _____________________________
This test is designed to evaluate your knowledge of FANUC HandlingTool Application
Programming upon completion of this course. Each question has four possible answers and a
place to indicate, ”I don’t know.” Choose the one that best answers the question. There is only
one right answer.
Score
/25
1. Turning the Teach Pendant ON:
A
Activates the default program (MAIN)
B
Enables communications with external devices
C
Gives motion control solely to the operator via the Teach Pendant
D
Energizes robotic arm
E
I Don’t Know
2. Which must have been accomplished to avoid hard-stops and overtravels?
A
Set UTOOL offsets.
B
Set Software limits.
C
Set UFRAME offsets.
D
Move each robot joint at least +/- 20 degrees and reset.
E
I don’t know
3. SHIFT and the hardkey COORD will display the following menu:
A
The “POSITION” menu.
B
The “utilities” menu.
C
The “jog” menu.
D
The “manual functions” menu.
E
I Don’t Know
Post-Test
420
MATAGHAND1007CE
4. SHIFT and POINT are needed to do what?
A
Change robot speed
B
Request the positional screen to appear
C
Record the current position of the robot
D
Execute a MACRO program and return the robot to HOME
E
I Don’t Know
5. In the motion command “J P[2] 100% FINE”, If you wanted to change
the “FINE” component to a “CNT100” what buttons would you press?
A
FCTN followed by ABORT ALL
B
SHIFT and FWD
C
SELECT followed by NEXT
D
Select component, then press [CHOICE]
E
I Don’t Know
6. To switch manually from one program to another, you have to be in
which screen?
A
Select
B
Edit
C
Status
D
Position
E
I Don’t Know
7. How many Robot I/O points are standard on the RJ3iB controller?
A
4
B
6
C
16
D
32
E
I Don’t Know
Post-Test
MATAGHAND1007CE
8. Which softkey is pressed to display the current motion instruction
defaults from the EDIT screen?
A
POINT
B
NEXT
C
POSN
D
[INST]
E
I Don’t Know
9. Creating a program, which hard key should be pressed?
A
FCTN
B
FWD
C
Select
D
Hold
E
I Don’t Know
10. When using the Prog Adjust utility, which is correct?
A
All adjustments are relative to the TOOL frame
B
Pressing CLR_ADJ or CLR_ALL will save the current enabled/disabled data
values
C
The maximum single linear adjustment allowed is 100 mm
D
Program Adjust is performed from the Status Setup Screen
E
I Don’t Know
11. Which of these tasks can be performed from the FILE menu?
A
Execute a program from a storage device.
B
Get a directory of the default device
C
List the program names for execution, teaching data, or editing
D
Print a program found on a disk
E
I Don’t Know
421
Post-Test
422
MATAGHAND1007CE
12. If while jogging the robot, you get an “In singularity” error, what must
you do?
A
Jog the robot in Tool
B
Change to the correct user frame
C
Joint jog J5 +/- at least 10 degrees
D
Press the position key and reset the axis limits
E
I Don’t Know
13. The “Program Header Information” at the DETAIL softkey enables you
to modify the following program information, except:
A
Program name
B
Group mask
C
Active tool frame
D
Program sub type
E
I Don’t Know
14. What is the suggested type of motion used to move the robot to a Home
position?
A
Linear
B
Simultaneous
C
Joint
D
Circular
E
I Don’t Know
15. Which softkey allows you to enter additional program instructions into
a Teach Pendant program?
A
[ED_DEF]
B
EDIT
C
DETAIL
D
[INST]
E
I Don’t Know
Post-Test
423
MATAGHAND1007CE
16. Which of the following is a type of I/O signal?
A
UIP I/O
B
SIP I/O
C
Digital I/O
D
Configuration I/O
E
I Don’t Know
17. Which of the following hardkeys would bring the menu item ABORT
ALL to the TP Screen?
A
FCTN
B
HOLD
C
RESET
D
E-STOP
E
I Don’t Know
18. If you would like to look at the positional data of P[3] in the instruction
“J P[3] 100% FINE”, what buttons would you press?
A
Press the DATA hardkey, then F1 [TYPE], and choose 2 for PR[ ]
B
Press POSN hardkey to see the data directly
C
Cursor to the 3 of P[3] and press F5 POSITION
D
Press STATUS, NEXT, and F2 DETAIL
E
I Don’t Know
19. What are the two menus from which you can save Teach Pendant files?
A
SELECT & FILE
B
SELECT & DATA
C
SYSTEM & FILE
D
ED_CMD & CONFIG
E
I Don’t Know
Post-Test
424
MATAGHAND1007CE
20. Which is not a valid way to execute an assigned MACRO?
A
Pressing a Teach Pendant user key
B
Pressing the “USER 1” button on the SOP
C
Executing an item from the Manual Functions screen
D
Holding PREV and NEXT
E
I Don’t Know
21. Which instruction will increment Register 7 (R[7]) by 1?
A
R[7] = 1
B
R[7] + 1
C
R[7] ++
D
R[7] = R[7] + 1
E
I Don’t Know
22. What instruction will send program flow out to a sub-program?
A
JMP/LBL
B
REMARK
C
CALL
D
SELECT
E
I Don’t Know
23. What are the two (2) possible actions of an IF/SELECT statement?
A
SELECT & Set an OUTPUT
B
JMP/LBL & SELECT
C
Set an OUTPUT & CALL
D
CALL & JMP/LBL
E
I Don’t Know
24. To switch between JOINT, WORLD, TOOL, JGFRM, & USER for jogging
purposes, you need to press which of the following keys?
A
Hold the SHIFT & FWD keys
B
Press POSN key
C
SHIFT & COORD keys
D
COORD key
E
I don’t know
Post-Test
425
MATAGHAND1007CE
25. Where is Position Register (PR[ ]) data valid?
A
Within the current program only
B
Globally throughout the controller
C
Nowhere, Position registers are an instruction and therefore do not have data
D
Within a maximum of 2 programs
E
I Don’t Know
.
426
Post-Test
MATAGHAND1007CE
A
A
Password Setup
Passwords
427
HandlingTool Application Programming
A password is a combination of up to 12 letters, numbers, and
symbols, used to allow authorized personnel access to various
operations and screens. The password feature can be an option
and might not be used at your site. Password protection is
inactive unless the password feature is installed and the Install
user is defined. The password feature is included in the KAREL
product but password protection is inactive unless the Install user
is defined.
Four password levels provide access to specific operations and
menus. Table A-1. summarizes the four levels of password
authorization.
Table A-1 Password Levels
Level
Install
Operations
Assigns user names , passwords , and levels Clears usernames
and passwords Disables and enables the Password Log Sets the
number of Password users in the system Can perform all Setup,
Program, and Operator operations.
NOTE: There can be only one install user.
Setup
Program
Operator
Performs operations typically used to set up your system.
Performs more advanced operations.
Performs basic operations.
NOTE: By default, the system is set to Operator level access
when the controller is turned on.
CAUTION
If you do not know the Install password, you will be
unable to perform several functions. Contact your FANUC
Robotics technical representative if you lose or forget
your Install password.
Password Operations
If you want to use passwords, you must first identify the Install
User for your site. The Install user must assign the Install
username and password and then log in . After logging in, the
Install user assigns usernames, levels, and passwords for each
user.
NOTE: No passwords can be used until the Install username
and password are assigned.
Passwords
428
MATAGHAND1007CE
After the Install User assigns your username, password level, and
password, you must log in to work at your assigned level. When
you log in, you select your username and type your password.
Only one user can be logged in for a given device. Valid devices
include the following: teach pendant, CRT/keyboard, and KCL.
When you are finished working, you should log out . If you do not
log out, the system will timeout in the number of minutes specified
as the Default User Timeout. After the Default User Timeout
expires, or you log out, the system reverts to the Operator level
and other users can log in. If you forget to log out, other users can
log you out.
If Log events is set to ENABLE by the Install User on the SETUP
Passwords screen, password information is logged on the
ALARM screen. The Password Log contains information about
changes to important data, which user made the changes, and
when the changes were made.
If you are the Install User, refer to Section A.1. for information on
assigning usernames, password levels and passwords.
NOTE: If you have HandlingTool, when you log out of the
password screens, the menuing system will default to the QUICK
menus. You can use an option on the Controlled start TOOL
SETUP screen to change this default setting. If you set the line
"Password: Oper. full menus" to YES then, when you log out of
the password screen, the menu system will display the FULL
menus
A.1
Install User
Password
Operations
The Install User must:
• Assign the Install username and password
•
Assign usernames, levels, and passwords for all other users
•
Enable, disable, and display the Password Log
Passwords
429
MATAGHAND1007CE
Procedure A-1 Assigning Usernames and Default Passwords for each
Password Level
Step
1
Press MENU .
2
Select SET UP .
3
Press F1 , [TYPE].
4
Select Passwords. You will see a screen similar to the
following.
SETUP Passwords
Current user:
Current level:
Default user timeout:
None
OPERATOR
0 min
Timeout occurs in:
Log events:
Number of users:
0 min
DISABLE
10
Press F2 , USERS. You will see a screen similar to the
following.
5
SETUP Passwords
1
USERNAME
PWD
*
LEVEL
TIME(min)
INSTALL
0
NOTE: The Install username and password must be set up
first.
6
Assign the Install username and password:
7
Press ENTER .
8
Use the arrow and function keys to type the Install username.
When you are finished, press ENTER . You will see a
screen similar to the following.
Uppercase
Lower Case
Punctuation
4 Options
SETUP Passwords
--Set password for BOB
Old password:
New password:
Verification:
‘
‘
‘
--Insert—
‘
‘
‘
Old Value:
NOTE: The password must contain at least three characters.
Passwords
430
MATAGHAND1007CE
CAUTION
Make a written note of the Install password. If you do not
know the Install password, you will be unable to perform
several functions. Contact your FANUC Robotics technical
representative if you lose or forget your Install password.
9
Type the new password and press ENTER .
10 Type the new password again to verify that the first one is
correct and press ENTER . You will see a screen similar to
the following.
Would you like to be logged in?[YES]
YES
NO
11 If you want to log in press F4 , YES. If you do not want to
log in press F5 , NO.
NOTE: You must log in as the Install User to enter other users.
If you press F4 , YES, you will see a screen similar to the
following.
SETUP Passwords
USERNAME
PWD
LEVEL
1 @BOB
*
INSTALL
2
*
3
*
4
*
5
*
6
*
7
*
8
*
9
*
Password has been set
TIME(min)
15
0
0
0
0
0
0
0
0
NOTE: If you are logged in, the @ will be displayed to indicate
the current user name.
Passwords
431
MATAGHAND1007CE
12 To assign the next username, password, and level,
13 Move the cursor to the next available username, press
ENTER , and use the function keys to type the username.
14 Move the cursor to PWD, press ENTER , and use the
function keys to type the password.
15 Move the cursor to LEVEL, press F4 , [CHOICE], and select
a level.
16 Move the cursor TIME and type a Default User Timeout
value. You can adjust the Default User Timeout value from 0
to 10080 minutes (seven days).
NOTE: If the Default User Timeout value is 0 when you log in,
a timeout will not occur.
17 Repeat Step 12.Step a. through Step 12.Step d. for each
user you want to have access to the system.
18 To clear the current username and password, press
NEXT , and then press F2 , CLEAR.
19 To clear all usernames and passwords for all users
except the Install user, press NEXT , and then press F3 ,
CLR_ALL.
20 To modify the number of usernames in the system,
CAUTION
If you modify the number of usernames to be fewer than
the number of users currently assigned, some users will
be deleted from the system.
21 Press PREV to display the first SETUP Passwords screen.
22 Move the cursor to Number of users and press ENTER . You
can set the number of users to a minimum of 10 and a
maximum of 100.
If you are increasing the number of users, you will see the
following prompt.
Enter number of users for passwords:
23 Type the new number of users and press ENTER . You will
see a screen similar to the following.
432
Passwords
MATAGHAND1007CE
Changing number of users.
If you want to decrease the number of users, you will
see the following prompt.
Reconfiguring.
DELETE users?[NO]
YES
NO
To delete the users press F4 , YES. To cancel the
operation press F5 , NO.
24 Turn off the controller then turn it on again to accept the new
list of users.
25 To log out press F3 , LOGOUT.
NOTE: After the Default User Timeout expires, or you log out,
the system reverts to the Operator level for that device. If the
controller is turned off, all devices revert back to the Operator
level.
Passwords
433
MATAGHAND1007CE
A.1.1 Program and
Set Up User
Password
Operations
Program and Setup users can:
• Log in (Procedure A-2
•
Log out (Procedure A-3)
•
Change their password (Procedure A-4)
•
Display the Password Log (Procedure A-6)
Procedure A-2 Logging In
Condition
ƒ
Passwords have already been set up.
ƒ
No user is currently logged in. Only one user can be logged in
at a time.
NOTE: If you do not know your username and password,
contact the Install User.
Step
1
Display the Setup Password Screen
•
if you are using FULL menus:
2
Press MENU .
3
Select SETUP.
4
Press F1 , [TYPE].
5
Select Passwords.
•
If you are using QUICK menus,
6
Press MENU .
7
Select SETUP PASSWORDS.
8
Press F2 , USERS.
9
Move the cursor to your username.
10 To log in, press F2 , LOGIN. You will see a screen similar to
the following.
1
Uppercase
2 Lower Case
3 Punctuation
4 Options
SETUP Passwords
--Password for MARY
Enter password:
Old Value:
--Insert--
'
'
Passwords
434
MATAGHAND1007CE
11 Type your password and press ENTER .
12 If you want to change the timeout value, move the cursor to
the TIMEOUT value for the current user and type a new
timeout value. You can adjust the Default User Timeout value
from 0 to 10080 minutes (seven days).
NOTE: If the Default User Timeout value is 0 when you log in
to the teach pendant or CRT device. The timeout will not occur.
NOTE: Only one user can be logged in at a time for a given
device. If another user is currently logged in, you must choose
whether or not to log them out before you can log in. You will see
the following prompt only on the teach pendant or the CRT
window.
User JACK logged in.
Force logout?[NO]
YES
NO
13 To log out the current user press F4 , YES. Otherwise
press F5 , NO.
If you select F4 , YES, you will see a screen similar to the
following.
SETUP Passwords
1
2
3
4
5
6
7
8
9
USERNAME
JACK
@MARY
PWD
*
*
*
*
*
*
*
*
LEVEL
INSTALL
SETUP
TIME(min)
0
15
0
0
0
0
0
0
0
NOTE: If you are logged in, the @ will be displayed to indicate
the current user name.
Passwords
MATAGHAND1007CE
Procedure A-3 Logging Out
Condition
Step
ƒ
Passwords have already been set up
ƒ
You are currently logged in
1
Display the Setup Password Screen:
•
If you are using FULL menus,
2
Press MENU .
3
Select SETUP.
4
Press F1 , [TYPE].
5
Select Passwords.
•
If you are using QUICK menus,
6
Press MENU .
7
Select SETUP PASSWORDS.
8
To log out, press F3 , LOGOUT. After you log out the
system reverts to the Operator level.
NOTE: When you log out, time out, or are an Operator
user, the QUICK menus will be displayed.
Procedure A-4 Changing Your Password
Condition
Step
ƒ
Passwords have already been set up.
ƒ
You are currently logged in.
1
Display the Setup Password Screen:
•
If you are using FULL menus,
2
Press MENU .
3
Select SETUP.
4
Press F1 , [TYPE].
5
Select Passwords.
•
If you are using QUICK menus,
6
Press MENU .
7
Select SETUP PASSWORDS.
435
Passwords
436
MATAGHAND1007CE
SETUP Passwords
1
Current user:
Current level:
Default user timeout:
AAAA
INSTALL
15 min
2
3
4
Timeout occurs in:
Log events:
Number of users:
4 min
DISABLE
10
8
Press F4 , PASSWRD. You will see a screen similar to the
following.
1
Uppercase
2 Lower Case
3 Punctuation
4 Options
SETUP Passwords
--Set password for AAAA
Old password:
New password:
Verification:
'
'
'
--Insert--
'
'
'
Old Value:
9
Type the old password and press ENTER .
10 Type the new password and press ENTER .
11 Type the new password again to verify the first one is correct,
and press ENTER .
12 Press F3 , Logout.
Passwords
437
MATAGHAND1007CE
A.2
Password Log
If the Log Events item is set to ENABLE by the Install user on the
SETUP Passwords screen, the following events will be displayed
in the Password Log:
• Password events
•
Programming events
•
File manipulation events
Each time an event occurs, such as when a user logs in or when
a program is created, the event is logged in the Password Log.
Only the Install user can enable the Logs Events item. Use
Procedure 3.38. to enable the Password Log.
Any user can display the Password Log. Use Procedure 3.39. to
display the Password Log.
Refer to Table A-2. for a listing of the password error messages
(PWD).
Table A-2 Password Error Messages
Message
Password Events
PWD-001 Login (%s) Install
PWD-002 Logout (%s) Install
PWD-003 Login (%s) Setup
PWD-004 Logout (%s) Setup
PWD-005 Login (%s) Program
PWD-006 Logout (%s) Program
PWD-007 Password Timeout (%s)
PWD-031 QUICK MENU forced
PWD-032 Login (%s) Install from KCL
PWD-033 Login (%s) Install from Teach
Pendant
PWD-034 Login (%s) Install from
CRT/Keyboard
PWD-035 Logout (%s) Install from KCL
PWD-036 Logout (%s) Install from Teach
Pendant
PWD-037 Logout (%s) Install from
CRT/Keyboard
PWD-038 Login (%s) Setup from KCL
PWD-039 Login (%s) Setup from Teach
Pendant
PWD-040 Login (%s) Setup from
CRT/Keyboard
PWD-041 Logout (%s) Setup from KCL
PWD-042 Logout (%s) Setup from Teach
Pendant
PWD-043 Logout (%s) Setup from
CRT/Keyboard
Description
The specified user logged in at the Install level.
The specified user logged out from the Install level.
The specified user logged in at the Setup level.
The specified user logged out from the Setup level.
The specified user logged in at the Program level.
The specified user logged out from the Program level.
The specified user's timeout expired.
QUICK menus have been displayed.
The specified user logged in at the Install level from KCL.
The specified user logged in at the Install level from the teach pendant.
The specified user logged in at the Install level from CRT/Keyboard.
The specified user logged out at the Install level from KCL.
The specified user logged out at the Install level from the teach pendant.
The specified user logged out at the Install level from CRT/Keyboard.
The specified user logged in at the Setup level from KCL.
The specified user logged in at the Setup level from the teach pendant.
The specified user logged in at the Setup level from the CRT/Keyboard.
The specified user logged out at the Setup level from KCL.
The specified user logged out at the Setup level from the teach pendant.
The specified user logged out at the Setup level from the
CRT/Keyboard.
438
Passwords
MATAGHAND1007CE
Message
Description
PWD-044 Login (%s) Program from Teach The specified user logged in at the Program level from the teach
Pendant
pendant.
PWD-045 Login (%s) Program from
The specified user logged in at the Program level from the
CRT/Keyboard
CRT/Keyboard.
PWD-046 Logout (%s) Program from Teach The specified user logged out at the Program level from the teach
Pendant
pendant.
PWD-047 Logout (%s) Program from
The specified user logged out at the Program level from the
CRT/Keyboard
CRT/Keyboard.
PWD-048 Password Timeout (%s) from
The specified user's password timeout expired from KCL.
KCL
PWD-049 Password Timeout (%s) from
The specified user's password timeout expired from the teach pendant.
Teach Pendant
PWD-050 Password Timeout (%s) from
The specified user's password timeout expired from CRT/Keyboard.
CRT/Keyboard
Programming Events
PWD-008 Create Program %s.TP
The specified program has been created.
PWD-009 Delete program %s.TP
The specified program has been deleted.
PWD-010 Rename %s.TP %s.TP
The specified program has been renamed to the name specified.
PWD-011 Set %s.TP subtype from %s to
The subtype of the specified program has been changed.
%s
PWD-012 Set %s.TP comment
The comment of the specified program has been changed.
PWD-013 Set %s.TP group mask
The group mask of the specified program has been changed.
PWD-014 Set %s.TP write protect on
Write protection for the specified program has been set to on.
PWD-015 Set %s.TP write protect off
Write protection to the specified program has been set to off.
PWD-016 Set %s.TP ignore pause on
Ignore pause for the specified program has been set to on.
PWD-017 Set %s.TP ignore pause off
Ignore pause for the specified program has been set to off.
PWD-018 Write line %d, %s.TP
The specified line has been added to the specified program.
PWD-019 Delete line %d, %s.TP
The specified line has been deleted from the specified program.
PWD-020 Write pos %d, %s.TP
The specified position has been added to the specified program.
PWD-021 Delete pos %d, %s.TP
The specified position has been deleted from the specified program.
The specified position has been renumbered to the specified position, in
PWD-022 Renumber pos %d as %d, %s.TP
the specified program.
PWD-023 Set application data %s.TP
Application data has been set in the specified program.
PWD-024 Delete application data %s.TP
Application data has been deleted from the specified program.
File Manipulation Events
PWD-025 Load %s
The specified file has been loaded.
PWD-026 Load %s as Program %s
The specified file has been loaded as the specified program.
Passwords
439
MATAGHAND1007CE
Procedure A-5 Enabling the Password Log
Condition
ƒ
You are logged in as the Install User.
Step
1
Press MENU .
2
Select SETUP.
3
Press F1 , [TYPE].
4
Select Passwords. You will see a screen similar to the
following.
SETUP Passwords
1
Current user:
Current level:
Default user timeout:
AAAA
INSTALL
15 min
2
3
4
Timeout occurs in:
Log events:
Number of users:
4 min
DISABLE
10
5
To disable or enable the Password Log,
6
Move the cursor to Log events.
7
To enable log events, press F4 , ENABLE.
8
To disable log events, press F5 , DISABLE.
Passwords
440
MATAGHAND1007CE
Procedure A-6 Displaying the Password Log
Condition
Step
ƒ
The Install User has set Log events to ENABLE
ƒ
You are logged in at the Install, Program, or Setup level.
ƒ
FULL menus are displayed.
1
Press MENU .
2
Select ALARM.
3
Press F1 , [TYPE].
4
Select Password Log. You will see a screen similar to the
following.
Password Log
1 PWD -035 Login (BOB) Install from CR
2 PWD -031 QUICK MENU forced
3 PWD -039 Logout (BOB) Install from C
4 PWD -052 Pwd Timeout (MARY) from Teac=
5 PWD -034 Login (MARY) Install from Te
6 PWD -031 QUICK MENU forced
7 PWD -038 Logout (MARY) Install from T
5
To get more information about a specific error, move the
cursor to the error and press F5 , HELP. You will see a
screen similar to the following.
DETAIL Alarm
PWD -035 Login (BOB) Install from
CRT/Keyboard
Password Log
1 PWD -035 Login (BOB) Install from CR
2 PWD -031 QUICK MENU forced
3 PWD -039 Logout (BOB) Install from C
4 PWD -052 Pwd Timeout (MARY) from Teac=
5 PWD -034 Login (MARY) Install from Te
Passwords
441
MATAGHAND1007CE
A.3
Password
Level Screen
Permissions
Depending on which level you are logged in, to the following
password screen permissions are available:
• n/a = The screen is not displayed
•
C = The information on the screen can be displayed, changed
and operations can be performed
•
D = The screen can only be displayed (you cannot change
any information on the screen)
Table A-3. lists each device type and the corresponding password
level permissions for each device.
Table A-3 Devices for Password Level Screen Permissions
Device
Operation Access
Allows all password levels access to screens based on Table
Teach Pendant
A-4.
Allows all password levels access to screens based on Table
CRT/Keyboard
A-4
If the CRT/Keyboard option is not loaded, then only the install
KCL (option only) or setup password levels are granted access to perform KCL
commands.
Table A-4. lists each screen and the corresponding password
level permissions for each level.
Table A-4 Password Level Screen Permissions
Teach Pendant Screen Password Level
Install Setup Program Full Operator Quick Operator
Hints
D
D
D
D
D
Program Adjust
C
C
D
D
n/a
Auto TCP
C
C
C
C
n/a
Program Toolbox
C
C
C
C
n/a
Utilities
Program Shift
C
C
D
D
n/a
Mirror Image
C
C
D
D
n/a
Tool Offset
C
C
C
C
n/a
Frame Offset
C
C
C
C
n/a
Test Run
C
C
C
C
C
Test Cycle
Debug Ctl
C
C
C
C
n/a
Macro Manual Functions C
C
C
C
C
Manual Functions
Error Recovery
C
C
C
C
n/a
Alarm
C
D
D
D
D
Alarm
Recovery
C
C
C
C
n/a
Password Log
C
D
D
D
n/a
I/O
Digital
C
C
D
D
D
Analog
C
C
D
D
n/a
Menu
Passwords
442
MATAGHAND1007CE
Menu
Setup
File
Status
User
User2
Select
Teach Pendant Screen Password Level
Install Setup Program Full Operator Quick Operator
Group
C
C
D
D
D
Robot
C
C
D
D
D
UOP
C
C
D
D
n/a
SOP
C
C
D
D
n/a
Inter Connect
C
C
D
D
n/a
I/O Link Device
C
C
D
D
n/a
PLC I/O
C
C
D
D
n/a
General Setup
C
C
D
D
n/a
Frame Setup
C
C
D
D
D
Port Init
C
C
D
D
n/a
Macro
C
C
D
D
n/a
Reference Position
C
C
D
D
n/a
User Alarm
C
C
D
D
n/a
Override Select
C
C
D
D
n/a
RSR/PNS
C
D
D
D
n/a
Passwords
C
C
C
C
C
Host Communications C
D
D
D
n/a
Space Check
C
C
C
C
n/a
Error Recovery
C
C
C
C
n/a
Group Motion
C
C
C
C
n/a
Coordinated Motion
C
D
D
D
n/a
Line Track Setup
C
C
C
C
n/a
Encoder Setup
C
C
C
C
n/a
Continuous Turn
C
C
C
C
n/a
Softfloat
C
C
C
C
n/a
Shell Config
C
C
D
D
n/a
Menu Utility
C
C
D
D
n/a
Easy normal
C
C
D
D
n/a
Profibus
C
C
C
C
n/a
Collision Guard
C
C
C
C
n/a
Shapes
C
C
D
D
n/a
File
C
C
C
D
n/a
File Memory
C
C
C
D
n/a
Controller Backup
C
C
C
C
n/a
Axis Status
C
D
D
D
D
Software Version
C
C
C
C
n/a
Safety Signals
C
C
C
C
n/a
Display Memory
C
C
C
C
n/a
Program Timer
C
D
D
D
n/a
System Timer
C
D
D
D
n/a
Exec-History
C
D
D
D
n/a
Conditions
C
D
D
D
n/a
Prod Status
C
D
D
D
n/a
User Status
C
D
D
D
n/a
Program
C
D
D
D
n/a
Profibus
C
C
C
C
n/a
User
C
C
C
C
n/a
User2
C
C
C
C
n/a
Select
C
C
C
C
n/a
Passwords
443
MATAGHAND1007CE
Menu
Edit
Data
Position
System
Tools
Vision
Other
Teach Pendant Screen Password Level
Install Setup Program Full Operator Quick Operator
Edit
C
C
C
C
n/a
Register
C
C
C
D
D
Position Register
C
C
C
D
D
Palletizing Register
C
C
C
C
n/a
KAREL Vars
C
C
C
C
n/a
KAREL Posns
C
C
C
C
n/a
Position
C
C
C
C
C
System Variables
C
C
C
D
n/a
Master/Calibrate
C
D
D
D
n/a
Axis Limits
C
C
D
D
n/a
Clock
C
C
D
D
n/a
Overtravel Release
C
C
C
C
n/a
System Config
C
D
D
D
n/a
Motion Performance
C
D
D
D
n/a
Tool1
C
C
C
C
C
Tool2
C
C
C
C
C
Vision
C
C
C
C
n/a
KCL
C
C
D
D
D
KAREL Editor
C
C
C
C
C
444
Passwords
MATAGHAND1007CE
B
B
Error Facility Codes
445
HandlingTool Application Programming
Error Facility Codes
Table 17-1 Startup Methods
Start Method
Cold start
(START
COLD)
Controlled
start (START
CTRL)
Description
Initializes changes to
system variables
Initializes changes to I/O
setup
Displays the UTILITIES
Hints screen
Allows you to set up
application specific
information
Allows you to install options
and updates
Allows you to save specific
information
Allows you to start KCL
Allows you to print teach
pendant screens and the
current robot configuration
Allows you to unsimulate all
I/O
Does not allow you to load
teach pendant programs
B.1.1 Facility Name
and Code
Procedure
Turn off the controller. On the teach pendant, press and hold the
SHIFT and RESET keys and press the ON/OFF button on the
operator panel. After you see files beginning to load on the teach
pendant screen, release all of the keys.
Turn off the controller. On the teach pendant, press and hold the
PREV and NEXT keys and press the ON/OFF button on the operator
panel. After the Configuration Menu screen is displayed, release the
keys. Select Controlled start and press ENTER.
The facility name and code identify the type of error that occurred.
Facility information is displayed at the beginning of the error code:
PROG-048 PAUSE Shift released while
running
In the example, the facility name PROG corresponds to facility
code 3. The error code number is 048. Facility codes are used in
error handling from a KAREL program. The facility codes are
listed in Table A.2 Error Facility Codes.
Table 17-2 Error Facility Codes
Facility
Name
AG
APPL
APSH
ARC
ASBN
ATCP
BELL
CALB
CALM
CART
CD
CMND
Facility Code
(Decimal)
107
20
38
53
22
80
86
55
106
81
82
42
Facility Code
(Hexadecimal)
0x66
0x14
0x26
0x35
0x16
0x50
0x56
0x37
0x6a
0x51
0x52
0x2a
Description
Attach group error
Application manager
Application shell
Arc welding application
Mnemonic editor
Auto TCP softpart
BellTool
Robot calibration
CalMate
Cartesian filter softpart
Coordinated motion softpart
Command processor
Error Codes & Recovery
446
MATAGHAND1007CE
Facility
Name
CNTR
COMP
COND
COPT
CUST
DICT
DJOG
DMDR
DMER
DNET
DX
ELOG
ELSE
FABT
FCT
FILE
FIND
FLEX
FLPY
FRCE
FRSY
GBOX
GUI
GUID
Facility Code
(Decimal)
73
59
4
37
97
33
64
84
40
76
72
5
99
103
70
2
105
87
10
91
85
77
96
8
Facility Code
(Hexadecimal)
0x4g
0x3b
0x4
0x25
0x61
0x21
0x40
0x54
0x28
0x4c
0x48
0x5
0x63
0x67
0x46
0x2
0x69
0x57
0xa
0x5b
0x55
0x4d
0x60
0x8
HOST
HRTL
67
66
0x43
0x42
HSNS
IBSS
INTP
ISD
ISDT
71
88
12
39
95
0x47
0x58
0xc
0x27
0x5f
JOG
KCLI
LANG
LNTK
LODC
LSR
MACR
MARL
MCTL
MEMO
MENT
MHND
19
34
21
44
74
50
57
83
6
7
68
41
0x13
0x22
0x15
0x2c
0x4a
0x32
0x39
0x53
0x6
0x7
0x44
0x29
MIGE
MOTN
MUPS
OPTN
OS
PAIN
PAL2
PALT
PFMS
PRIO
49
15
48
65
0
52
78
26
75
13
0x31
0xf
0x30
0x41
0x0
0x34
0x4e
0x1a
0x4b
0xd
Description
Continuous turn softpart
Computer interface
Condition handler
Common options
Customer specific errors
Dictionary processor
Detached jog
Dual Motion Drive
Data monitor
DeviceNet
Delta Tool/Frame softpart
Error logger
Visual tracking
Wafer handling robot
Cutting tool
File system
Cell finder
FlexTool
Serial floppy disk system
Impedance control (force control)
Flash file system
Graphic Toolbox
Works/GUI errors
AMM project, lead through and
force control
Host communications general
Host communications run time
library
Height sensor softpart
Interbus-S
Interpreter internal errors
ISD (Integral Servo Dispenser)
ISDT (Integral Servo-Driven
Tool)
Manual jog task
KCL
Language utility
Line tracking
Load clutch
Laser welding
MACRO option
Material removal
Motion control manager
Memory manager
ME-NET
Material Handling shell and
menus
MIG-Eye tracking
Motion subsystem
Multi-pass motion
Option installation
Operating system
PaintTool application
Simple palletizing
Palletizing application
Profibus - FMS
Digital I/O subsystem
Error Codes & Recovery
447
MATAGHAND1007CE
Facility
Name
PROF
PROG
PMON
PWD
QMGR
ROUT
Facility Code
(Decimal)
92
3
28
31
61
17
Facility Code
(Hexadecimal)
0x5c
0x3
0x1c
0x1f
0x3d
0x11
RPC
RPM
RTCP
SCIO
93
43
89
25
0x5d
0x2b
0x59
0x19
SEAL
SENS
SHAP
SP
SPOT
SRIO
SRVO
51
58
79
56
23
1
11
0x33
0x3a
0x4f
0x38
0x17
0x1
0xb
SSPC
SVGN
SYST
TAST
TCPP
TG
THSR
TKSP
TOOL
TPIF
TRAK
TRAN
UAPL
VARS
VC
VISN
WEAV
WNDW
69
30
24
47
46
90
60
36
29
9
54
35
27
16
94
32
45
18
0x45
0x1e
0x18
0x2f
0x2e
0x5a
0x3c
0x24
0x1d
0x9
0x36
0x23
0x1b
0x10
0x5e
0x20
0x2d
0x12
B.1.2 Severity
Descriptions
Description
Profibus DP
Interpreter
PC monitor
Password logging
KAREL queue manager
Softpart built-in routine for
interpreter
RPC
Root Pass Memorization
Remote TCP
Syntax checking for teach
pendant programs
Sealing application
Sensor interface
Shape generation
Softparts utility loader
Spot welding application
Serial driver
FLTR & SERVO in motion subsystem
Special space checking function
Servo weld gun application
Facility code of system
Through-Arc Seam Tracking
TCP speed prediction
Triggering accuracy
Touch Sensing softpart
Translator/KCL scanner/parser
Servo tool change
Teach pendant user interface
Tracking softpart
Translator
UAMR
Variable Manager Subsystem
VC errors
Vision system
Weaving
Window I/O manager sub-system
The severity of the error indicates how serious the error is. The
severity is displayed after the error number. For example:
PROG-048 PAUSE Shift released
while running
NOTE: You can display the severity of the error code on the
ALARM screen. Refer to Procedure 5-4 Displaying the Alarm Log
$ER_SEV_NOAUTO[15] System Variable
The $ER_SEV_NOAUTO[1-5] system variable enables or
disables the automatic display of all error codes with a particular
severity. This is used in conjunction with the $ER_AUTO_ENB
system variable.
448
Error Codes & Recovery
MATAGHAND1007CE
Table B-3 Severity Descriptions
SEVERITY
PAUSE
STOP
SERVO
ABORT
SYSTEM
WARN
$ER_SEV_NOAUTO[1-5]
[1]
[2]
[3]
[4]
[5]
WARN errors only warn of potential problems or unexpected
circumstances. They do not directly affect any operations that
might be in progress. If a WARN error occurs, you should
determine what caused the error and what, if any, actions should
be taken.
For example, the WARN error Singularity position indicates a
singularity position was encountered during a move. No action is
required. However, if you do not want the motion to encounter a
singularity position, you can reteach the program positions.
PAUSE
PAUSE errors pause program execution but allow the robot to
complete its current motion segment, if any are in progress. This
error typically indicates that some action must be taken before
program execution can be resumed. PAUSE errors cause the
operator panel FAULT light to go on and the teach pendant
FAULT LED to go on.
Depending on the action that is required, you might be able to
resume a paused program at the point where the PAUSE error
occurred after you have corrected the error condition. If the
program can be resumed, you can either select the RESUME
function key or press the operator CYCLE START button, or
press the UOP CYCLE START button if the setting of the
REMOTE/LOCAL setup item on the System Configuration menu
is set to LOCAL.
STOP
STOP errors pause program execution and stop robot motion.
When a motion is stopped, the robot decelerates to a stop and
any remaining part of the current motion segment is saved,
meaning the motion can be resumed. STOP errors usually
indicate that some action must be taken before the motion and
program execution can be resumed.
Depending on the action that is required, you might be able to
resume the motion and program execution after correcting the
error condition. If the motion and program can be resumed, you
can either select the RESUME function key or press the operator
CYCLE START button if the setting of the REMOTE/LOCAL setup
item on the System Configuration menu is set to LOCAL. If the
robot is in production mode, you must choose the appropriate
recovery option.
Error Codes & Recovery
449
MATAGHAND1007CE
SERVO
SERVO errors shut off the drive power to the servo system and
pause program execution. SERVO errors cause the operator
panel FAULT light to go on and the teach pendant FAULT LED to
go on.
SERVO errors are usually caused by hardware problems and
could require trained service personnel. However, some SERVO
errors require you to reset the servo system by pressing the
operator panel FAULT RESET button or the teach pendant
RESET key. Others require a Cold start of the controller.
ABORT
ABORT errors abort program execution and STOP robot motion.
When an ABORT error occurs, the robot decelerates to a STOP
and the remainder of the motion is canceled. An ABORT error
indicates that the program has a problem that is severe enough to
prevent it from continuing to run.
You will need to correct the problem and then restart the program.
Depending on the error, correcting the problem might mean
editing the program or modifying the data.
SYSTEM
SYSTEM errors usually indicate a system problem exists that is
severe enough to prevent any further operation. The problem
could be hardware or software related.
You will need the assistance of trained service personnel to
correct SYSTEM errors. After the error has been corrected, you
will need to reset the system by turning off the robot, waiting a few
seconds, and turning on the robot.
If a program was executing when the error occurred, you will need
to restart the program.
ERROR
ERROR errors occur during the translation of a KAREL program.
When an ERROR error occurs, translation is stopped and a .PC
file is not generated. Fix the error in the program and retranslate
it. When you translate a program and no ERROR errors occur,
translation is successful and a .PC file is generated.
NONE
NONE errors can be returned as status from some KAREL built-in
routines and can also be used to trigger KAREL condition
handlers. NONE errors are not displayed on the teach pendant or
CRT/KB. They also are not displayed on the alarm log screen.
NONE errors do not have any effect on programs, robot motion,
or servo motors.
Table B-4 Effects of Error Severity summarizes the effects of error
severities.
Error Codes & Recovery
450
MATAGHAND1007CE
Table B-4 Effects of Error Severity
Severity
WARN
PAUSE
Program
No effect
Paused
STOP
SERVO
ABORT
SYSTEM
Paused
Paused
Aborted
Aborted
Robot Motion
No effect
The current move is completed then the
robot stops.
Decelerated STOP, motion retained
Decelerated STOP, motion retained
EMERGENCY STOP, motion canceled
EMERGENCY STOP, motion canceled
ERROR
NONE
No effect
No effect
No effect
No effect
B.1.3 Error Message
Text
Servo Motors
No effect
No effect
No effect
Power shutdown
No effect
Power shut down Requires
turning off/turning on the robot
No effect
No effect
The message text describes the error that has occurred. Message
text is displayed at the end of the error code. For example:
PROG-048 PAUSE Shift released while
Running
Some error messages might contain cause codes, percent (%)
notation, or hexadecimal notation. For more information on
displaying cause codes, refer to Procedure 5-4 Displaying the
Alarm Log.
Percent Notation (%)
A percent sign followed by the letter s (%s) indicates that a string,
representing a program name, file name, or variable name,
actually appears in the error message when the error occurs.
A percent sign followed by the letter d (%d) indicates that an
integer, representing a program line number or other numeric
value, actually appears in the error message when the error
occurs. For example:
INTP-327 ABORT (%^s, %d^5)
Open file failed
When this error occurs, the actual name of the file that could not
be opened will appear on the teach pendant error line instead of
%s. The actual program line number on which that error occurred
will appear on the teach pendant error line instead of %d.
Hexadecimal Notation
Hexadecimal notation is used to indicate the specific axes in
error, when one or more axes are in error at the same time.
Most robots have interaction limits, in addition to normal joint
limits. Even when all axes are within their respective limits an
error might occur. This could possibly be caused by the
interaction between multiple axes. In this case, hexadecimal
notation can help you to find the specific axis in error. For
example:
Error Codes & Recovery
451
MATAGHAND1007CE
MOTN-017 STOP limit error (G:1
A:6 Hex)
The number after the "A " is the hexadecimal digit that shows
which axes are out of limit. The "Hex " indicates that the axis
numbers are in hexadecimal format. Table B-5 Hexadecimal Error
Message Display lists the sixteen hexadecimal digits and the
corresponding axes that are in error.
NOTE: Hexadecimal digits for the decimal values of 10
through 15 are represented by the letters A through F
respectively. Refer to Table B-5 Hexadecimal Error Message
Display.
To determine which axes are in error, you must evaluate each
digit in the error message separately. Refer to Table A.5
Hexadecimal Error Message Display.
NOTE: If only one number appears in the error message after
the "A:", you must read it as the first digit.
Table B-5 Hexadecimal Error Message Display
MOTN-017 limit error(G:1 A:(3) (2) (1) HEX)
Hexadecimal Digit
Third Digit (3) Second Digit (2)
First Digit (1)
0
none
none
none
1
axis 9
axis 5
axis 1
2
n/a
axis 6
axis 2
3
n/a
axes 5 & 6
axes 1 & 2
4
n/a
axis 7
axis 3
5
n/a
axes 5 & 7
axes 1 & 3
6
n/a
axes 6 & 7
axes 2 & 3
7
n/a
axes 5, 6, & 7
axes 1, 2, & 3
8
n/a
axis 8
axis 4
9
n/a
axes 5 & 8
axes 1 & 4
A
n/a
axes 6 & 8
axes 2 & 4
B
n/a
axes 5, 6, & 8
axes 1, 2, & 4
C
n/a
axes 7 & 8
axes 3 & 4
D
n/a
axes 5, 7, & 8
axes 1, 3, & 4
E
n/a
axes 6, 7, & 8
axes 2, 3, & 4
F
n/a
axes 5, 6, 7, & 8
axes 1, 2, 3, & 4
Note: If only one number appears in the error message after the "A:", you must read it
as the first digit (1).
452
Error Codes & Recovery
MATAGHAND1007CE
Table B-6 Hexadecimal Notation and Axis in Error Examples
contains some examples of how to interpret Hexadecimal notation
in an error message.
Table B-6 Hexadecimal Notation and Axis in Error Examples
Error
MOTN-017 (G:1 A:6 Hex)
MJOG-013 (G:1 A:20 Hex)
MOTN-017 (G:1 A:100 Hex)
Explanation
Axes 2 and 3 are out of their interaction limit.
Axis 6 jogged to limit.
Axis 9 limit error.
C
C
Menu Maps
453
Menu Maps
HandlingTool Application Programming
The following pages provides you, the user, with a set of Menu
Maps to help in using the Teach Pendant Menu Structure.
Figure C-1 Menu Map 1 #1 Utilities
Figure C-2 Menu Map 1 #2 Test Cycle
454
Menu Maps
MATAGHAND1007CE
Figure C-3 Menu Map 1 #3 Manual Functions
Figure C-4 Menu Map 1 #4 Alarm
Menu Maps
MATAGHAND1007CE
Figure C-5 Menu Map 1 #5 I/O
Figure C-6 Menu Map 1 #6 Setup
455
456
Menu Maps
MATAGHAND1007CE
Figure C-7 Menu Map #7 File
Menu Map 1 #8 User
The items on the User Menu are user–defined. Refer to the Message Instruction.
Figure C-8 Menu Map 2 #3 Data
Menu Maps
MATAGHAND1007CE
Figure C-9 Menu Map 2 #4 Status
Figure C-10 Menu Map 2 #6 Status
457
458
Menu Maps
MATAGHAND1007CE
Figure C-11 Menu Map 2 # Browser
459
Index
HandlingTool Application Programming
FRAMES SETUP
Setting Up Tool Frame ...................... 107, 109, 114, 119
Setting Up User Frame ...................................... 129, 147
A
Axes
Extended ......................................................................71
Axis Limits.........................................87, 89, 451
B
battery alarm
G
Generating a Directory of Files ............. 405, 406
Group Input and Output Instructions............. 336
H
indicator .......................................................................34
Branching Instructions ...................................267
hold
indicator....................................................................... 34
HOLD and Recovery ..................................... 193
C
CALL Program ..............................................269
Communications ......................................55, 450
Continuous Testing ........................202, 203, 205
Coordinate Systems ...................................63, 64
cycle start
I
indicator
battery alarm................................................................ 34
cycle start .................................................................... 34
E-STOP ....................................................................... 34
fault ............................................................................. 34
fault reset..................................................................... 34
hold.............................................................................. 34
on/off ........................................................................... 34
remote.......................................................................... 34
remote/local................................................................. 34
user LED #1, #2 .......................................................... 34
indicator .......................................................................34
D
Devices.............................................................23
Input/Output (I/O).......................................... 299
Instructions
E
Branching .................................................................. 267
Call ............................................................................ 268
Jump .......................................................................... 268
Register ............................................................. 274, 282
E-STOP
indicator .......................................................................34
Extended Axes .................................................71
J
F
fault
indicator .......................................................................34
fault reset
indicator .......................................................................34
FILE MANIPULATION: ..............401, 405, 406
Frames
Jog..............................................................................152
Jog direct entry method..............................................159
Tool, Setup.................................................................103
World ...........................................................................67
Jog Frame ...................................... 127, 356, 360
Jog Menu ....................... 111, 118, 123, 124, 127
Jog Speed......................................................... 62
jog speed values............................................... 62
Jogging ............................................................ 57
K
Kinds of I/O ........................................... 310, 311
460
Index
MATAGHAND1007CE
M
R
Macro Commands ..........................................361
Mechanical Safety Precautions ........................23
MODE SELECT Switch ..................................35
MODE SELECT Switch (for Control Reliable
(RS-1/RS-4) option only).............................35
Motion.......42, 43, 173, 185, 198, 220, 221, 227,
228, 252, 258, 380, 450, 451
remote
Adding Instructions....................................................190
Defining Default ........................................................233
Linear.........................................................................218
MOTION
Type ...........................................................................220
Motion Control Buttons and Keys ...................42
Motion Groups .................................................70
Motion Instruction .........................................215
MOTION PROGRAMMING
Continuous Testing ............................................202, 203
Single Step Testing ....................................................197
TEST CYCLE............................................................328
Test Cycle Setup ........................................................194
MOTION PROGRAMMING: ...............198, 380
N
indicator....................................................................... 34
Remote I/O Interfaces.................................... 299
remote/local
indicator....................................................................... 34
Remote/Local Keyswitch................................ 192
Robot Digital Input and Output Instructions . 334
ROBOT SAFE................................................. 23
S
Safe Equipment................................................ 16
SAFETY
Mechanical Safety Precautions.................................... 23
Operating Safety Precautions ...................................... 24
People and Equipment Safe......................................... 16
Programming Safety Precautions .......................... 23, 24
Staying Safe .......................................................... 20, 21
Using Safety Enhancing Devices ................................ 17
Safety Operating Precautions .......................... 24
Safety Precautions ..................................... 23, 24
Safety Robot Installation ................................. 16
Setting Up a Safe Workcell ............................. 17
SETUP PROCEDURES
Monitoring/Forcing Outputs...................................... 324
Simulating Inputs and Outputs .................................. 327
Naming the Program ......................................183
O
on/off
indicator .......................................................................34
Operator Panel (B-Size Controller)..................33
P
Position
Home .........................................................................235
Repair.........................................................................236
Safe ............................................................................237
Positional Information ...................................223
Positions
Other ..........................................................................237
Power Up .........................................................57
Predefined Positions.......................................234
Program
Create.........................................................................167
Delete.................................................................251, 408
Modifying ..................................................................254
Naming ......................................................................177
Planning .....................................................................173
Testing .......................................................................191
Writing.......................................................................176
Signals Types of ............................................ 305
Single Step Testing................................ 197, 199
Singularity ....................................................... 69
Speed ............................. 195, 226, 227, 228, 380
SPOTWELD PROGRAMMING
TEST CYCLE ........................................................... 328
Standard Operator Panel Cycle Start Production
........................................................... 205, 207
Staying Safe During Automatic Operation...... 20
Staying Safe During Inspection ....................... 21
Staying Safe During Maintenance ................... 22
Staying Safe While Teaching or Manually
Operating the Robot..................................... 19
System Variables ........................................... 355
T
Teach Pendant..... 40, 48, 52, 190, 210, 359, 362,
363, 366, 368, 369, 399, 403, 415, 425, 445,
446, 449, 461
iPendant....................................................................... 41
Teach Pendant Programs ....................... 403, 425
Termination Type .................................. 173, 229
Continuous ................................................................ 230
Index
461
MATAGHAND1007CE
TEST CYCLE........................................195, 328
Test Cycle Setup ............................................194
Tool Frame.....104, 108, 109, 114, 119, 124, 356
TPP
Unconditional Branching Instructions .......................268
WAIT [item] [operator] [value] [time].......................284
WAIT time.................................................................286
Types of Files.................................................401
Types of Signals.............................................305
User Operator Panel (UOP) ..................... 55, 306
Using Safety Enhancing Devices..................... 17
V
Version Identification Status ........................... 90
W
U
WAIT
User Frame.....................................183, 225, 356
User Frames ...................................................133
user LED #1, #2
World Frame.................................................. 356
World Jogging ................................................. 66
Wrist Jogging................................................... 65
time............................................................................ 286
indicator .......................................................................34