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FANUC Robotics SYSTEM R-J3 Controller HandlingTool Software Installation Manual MARF3HD5109801E REV. A

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4.4 INSTALL ADDITIONAL SOFTWARE This section provides information on how to install or change the software currently loaded on your controller. This includes how to:        

 Authorize, install and set up options at controlled start  Modify robot library groups  Modify robot libraries and options  Set up a Nobot manually  Set up extended axes manually  Set up positioners manually  Modify program limits  Install updates and customizations

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4.4.1 Authorize, Install, and Set Up Options at Controlled Start Use Procedure 4-3 to authorize, install, and set up options at controlled start. Procedure 4-3 Authorizing, Reinstalling and Setting Up Options Condition

 

 The R-J3 controller is plugged in and is working properly.  You are trying to do one of the following: o o o o o

- Authorize an unauthorized option - Install an authorized option - Set up an installed option - Reinstall an option - Authorize, install, and set up an option purchased separately from the application software



  

 Enough system memory is available to install all application software. Refer to the readme.txt ASCII file on the R-J3 memory card for information on the amount of memory available for your application and required by each option.  The teach pendant ON/OFF switch is OFF and the DEADMAN switch is released.  The REMOTE/LOCAL keyswitch on the operator panel is set to LOCAL.  If you are updating controller software , you have backed up everything that you want to use on this controller. Refer to Appendix C for more information on backing up system files, programs, and application files.

Step



1 Perform a Controlled Start. If the controller is already in Controlled Start mode, go to Step 2 . o a If the controller is turned on, turn it off. o b Turn on the disconnect.

o

c Press and hold the PREV and NEXT keys on the teach pendant. While you hold these keys, turn the controller ON. You will see a screen similar to the following.

o

d Select Controlled start and press ENTER. After a few moments, you will see a screen similar to the following.

 

2 Press MENUS. 3 Select S/W INSTALL. You will see a screen similar to the following.



4 Move the cursor to Option and press ENTER. You will see a screen similar to the following.



5 Insert the memory card into the memory card interface (PCMCIA port). 6 To change the display from TITLE to ORDER NUMBER , move the cursor to the item you want to change and press F3, ORD NO. You will see a screen similar to the following.



 

7 To change the display from ORDER NUMBER to TITLE , press F3, TITLE.  If the option is not a requirement for your application, has been preauthorized for you, but has not yet been installed , you can decide whether or not to install it. The option status will be Authorized and will have a PAC code already assigned.

If this option was purchased with the application software and is a requirement for your application , the PAC code will already be available and the option will be authorized, installed and set up. The option status will be Installed. You do not need to do anything more to install or set up this option. If this option has not yet been authorized for installation wil l have an empty option status. 

8 To authorize, install and set up additional options that have been purchased separately from the application software refer to Table 4-1 . Table 4-1 . Authorizing, Installing and Setting Up Options Step Order 1.

To do this

Obtain the PAC code

You must do this The Product Authorization Codes (PAC) for each option you have purchased and want to install are available from FANUC Robotics North America. 1. Move the cursor to the name of the option you want to install. 2. Press F4, AUTH.

2.

Authorize

3. Type the PAC code for the option and press ENTER. 4. Press PREV to display the S/W INSTALL screen. The option status will be Authorized. 5. Go to Install to install the option. 1. Make sure the memory card is in the memory card interface. 2 Move the cursor to the name of the option you want to install.

3.

Install or Re-Install

3. Press F1, INSTALL. The software will install automatical ly. 4. When it is finished, the S/W INSTALL menu will be displayed. NOTE You will be notified if you need to insert a different memory card.

NOTE Some options will display the setup program automatically. Refer to the appropriate section to set up the option: o o o

Setup (optional) 4.

Some options have user-setable parameters. The setup function restores these parameters to their default values.

 Nobot - Refer to Section 4.4.4  Extended Axis - Refer to Section 4.4.5  Positioner - Refer to Section 4.4.6

1. Move the cursor to the name of the option you want to set up. 2. Press F2, SETUP. 3. When the option setup has finished, the S/W INSTALL screen will be displayed.

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4.4.2 Robot Library Groups Use Procedure 4-4 to modify or add a robot library. Use Procedure 4-5 to initialize the existing robot library group setup. Procedure 4-4 Initializing Robot Library Groups Step



1 Perform a Controlled Start. If the controller is already in Controlled Start mode, go to Step 2 . o a If the controller is turned on, turn it off. o b Turn on the disconnect.

o

c Press and hold the PREV and NEXT keys on the teach pendant. While holding these keys, turn the controller ON. You will see a screen similar to the following.

o

d Select Controlled start and press ENTER. You will see a screen similar to the following.

 

2 Press MENUS. 3 Select S/W INSTALL. You will see a screen similar to the following.



4 Select Robot Library and press ENTER. You will see a screen similar to the following. NOTE The following screen lists the robots that have been defined for your system.

 

5 Insert the memory card in the memory card interface. 6 To change the display from TITLE to ORDER NUMBER , press F3, ORD NO. You will see a screen similar to the following.



7 To change the display from ORDER NUMBER to TITLE , press F3, TITLE. NOTE If you want to install a Nobot, or positioner, you must add another group to your system (F5, ADD GRP) before you can set up the new information. NOTE The robot will re-execute a controlled start which will give you an opportunity to verify your changes before you perform a cold start.



8 To set up, add, change, and delete robot libraries that have been purchased separately from the application software refer to Table 4-2 . Table 4-2 . Authorizing, Installing and Setting Up Options Step Order

To do this

You must do this

1. Press F5, ADD GRP. 2. Press F1, INSTALL. 3. Insert the specified memory card in the memory card interface.

1.

Add a group and Install a robot library

4. Select the robot you want to install from the list of robots. 5. If a data file exists on your controller for that robot the robot will be set up automatically. If a data file does not exist for that robot, you must answer robot configuration questions. Refer to Appendix B for a list of the questions. NOTE: When you add a group, the teach pendant scr een might go blank for approximately 60 to 90 seconds for each group in the system.

2.

Delete a group

1. Press >, NEXT. 2. Press F1, DEL GRP. 1. Press F1, INSTALL.

3.

Re-Install a robot library

2. Insert the specified memory card in the memory card interface. 3. Select the robot you want to install from the list of robots.

Setup (optional) 4.

Some options have usersetable parameters. The SETUP function restores these parameters to their default values.

1. Move the cursor to the name of the option you want to set up. 2. Press F2, SETUP. 3. When the option setup has finished, the S/W INSTALL screen will be displayed.

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4.4.3 Robot Library and Extended Axis Maintenance Robot library and option maintenance allows you to modify the following information:

 

 Robot library setup  Extended axis setup

Procedure 4-5 Performing Robot Library and Option Maintenance Step



 

1 Perform a Controlled Start. If the controller is already in Controlled Start mode, go to Step 2 . o a If the controller is turned on, turn it off. o b Turn on the disconnect.

o

c Press and hold the PREV and NEXT keys on the teach pendant. While holding these keys, turn the controller ON. You will see a screen similar to the following.

o

d Select Controlled start and press ENTER. You will see a screen similar to the following.

2 Press MENUS. 3 Select MAINTENANCE. You will see a screen similar to the following.



4 To change the display from TITLE to ORDER NUMBER , press F2, ORD NO. You will see a screen similar to the following.

  

5 To change the display from ORDER NUMBER to TITLE , press F2, ORD NO. 6 Move the cursor to the title or order number of the robot library you want to modify. 7 Decide whether you want to perform AUTO setup or MANUAL setup. Refer to Table 4-3 . Table 4-3 . Auto and Manual Robot Library Setup ITEM AUTO

DESCRIPTION This item allows you to set up the robot library or option automatically using default values for each setup item.

This item allows you to set up the robot library or option manually by MANUAL allowing you to answer each setup question individually. Manual setup records your answers as the new default values. 

  

8 To modify your setup , o a Move the cursor to the order number or title of the item you want to modify. o b To perform an automatic setup , press F2, AUTO. The robot library questions will be answered automatically and will be displayed quickly on the screen. o c To perform a manual setup , press F3, MANUAL. The questions, if they exist, will be displayed on the screen and you will have to answer them. The default value for each question will be displayed. You can either accept the default or change it.  To set up a robot library manually, refer to Appendix B .  To set up a Nobot manually, go to Procedure 4-6 .  To set up an extended axis manually, go to Procedure 4-7 .



 To set up a positioner manually, go to Procedure 4-8 .

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4.4.4 Setting up a Nobot Manually Use Procedure 4-6 to modify the Nobot setup manually.

Procedure 4-6 Modifying the Nobot Setup Manually Condition

 

 A Nobot has been installed on your controller. Refer to Procedure 4-4 .  You have just finished Procedure 4-5 , have selected the Nobot you want to set up and have pressed F4, MANUAL.

You will see a screen similar to the following.

Step



1 Type the starting number of the motion group hardware and press ENTER. o  If you are adding a Nobot to a four-axis robot , the starting number is 5. o  If you are adding a Nobot to a robot that has more than four axes , the starting number is as follows: o - If you use the first FSSB, the starting number is (current total axes number + 1). o - If you use the second FSSB, the starting number is 9 for the first physical axis, 10 for the second, and so on.

Loading Servo Parameters 

2 Answer the remaining prompts according to the kind of multi-group device you have selected.

If you are configuring groups 2 or 3 you must select a Nobot, and you will be asked for the following:  o o o o o

 Link length information  Motor parameters  Limit parameters  Acceleration parameters  Mastering information

Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUC AC Servo Motor Beta Series Descriptions Manual for more information. You will see a screen similar to the following.

 

3 Type 1 and press ENTER. 4 Answer the remaining questions according to your system setup. Refer to Table 4-4 . Table 4-4 . Nobot Setup Configuration Information You Must Answer These Questions Alpha Motor Size

You Have These Choices

33. ACb0.5 38. ACa12 43. Aca100 34. ACa1 39. ACa22 The motor size 44. ACa150 can be found on 35. ACa2 40. ACa30 the motor name 45. ACa2.5 36. ACa3 41. ACa40 plate on your 49. ACaM3 robot.

Comments NOTE If the motor combination you specify is not supported, the message, "Motor type not found," will be displayed. The system will ask for the motor information again. Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual

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37. ACa6 42. ACb0.5B or the FANUC AC Servo Motor Beta 50. ACaM6 Series Descriptions Manual for more information. 51. ACaM9 69. ACaL50 97. ACaHV12 65. ACaL3 81. ACaC3 98. ACaHV22 66. ACaL6 82. ACaC6 99. ACaHV30 67. ACaL9 83. ACaC12 68. ACaL25 84. ACaC22 129. ACb1 130. ACb2 131. ACb3 132. ACb6

Motor Type

1. /2000 6. F/3000 2. /3000 7. F/2500 3. S/2000 8. L/3000 4. S/3000 9. /1200 5. F/2000 10. /1500

NOTE Some motor combinations might not be supported by the FANUC Robotics parts department.

Current Limit for Amplifier

1 2A 6 60A 11. 360A 2 4A 7 80A 3 12A 8 100A 4 32A 9 130A 5 40A 10 20A

NOTE If the motor combination you specified is not supported, the message, "Motor type not found," will be displayed. The system will ask for the motor information again.

Nobot Axis Type

Linear Axis Rotary Axis The gear ratio for linear axes is the number of millimeters traveled for one rotation of the motor. For example, if a 50mm pinion on the motor is directly coupled to the rack, and the radius of the pinion is 25mm, the gear ratio is 2(pi)(25) = 157.08.

Gear Ratio

Enter Gear Ratio If the axis has a gear box between the motor and pinion, divide the number by the gear ratio. For example, if the motor is connected to a 5:1 gear box and a 50mm pinion, the gear ratio is (2)(pi)(25)/5 = 31.416.

The gear ratio for rotary axes is in motor turns per single rotation of the rotary axes. The ratio is ng2:ng1, where ng is the number of teeth on a gear. ng1 is attached to the motor and ng2 is attached to the axis. For example, if gear 1 has 25 teeth and gear 2 has 50 teeth, the ratio would be 2:1.

Max Joint Speed Setting

Motor Direction

Suggested Speed = 200.040(deg/s) (Calculated with Max Motor Speed) (1:Change, 2:No Change)?

The direction determines which way the motor turns when the positive jog key is pressed, and should be consistent with axis alignment. TRUE indicates that the motor will NOBOT 1 Motion Sign turn counterclockwise when looking = TRUE at the motor shaft from the front. (1: TRUE, 2: FALSE) NOTE If the rotation is incorrect, you can modify it by performing a controlled start. Refer to Appendix A. Enter the upper limit.

Set the upper software limit of the axis to a value smaller than the hard stop.

Lower Limits

Enter the lower limit.

Set the lower software limit of the axis to a value smaller than the hard stop. This is usually 0 or a negative number.

Master Position

Enter the master position.

Upper Limits

ACC/DEC Time 1 and 2

Default Value of acc_time1 = 360(ms) (1:Change, 2:No Change)?

The sum of acc_time_1 and acc_time_2 is the time, in milliseconds, it will take for the axis to reach full joint speed. The min_acctime value is used for

Default Value of acc_time2 = 168(ms) (1:Change, 2:No Change)? Exponential Filter Setting

Exp Filter Valid = TRUE (1: TRUE, 2: FALSE)

Exponential Accel Time Setting

Current value = 20 msec (1: Change, 2: No Change)

MIN_ACCEL Time

Default Value of min_acctime = 256(ms) (1:Change, 2:No Change)? Load Ratio is:

Load Ratio

Load Inertia (Kg*cm*s**2) -------------------------Motor Inertia (Kg*cm*s**2) Load ratio? (0:None 1~5:Valid)

Select Amp Number

Enter amplifier number (1->16)

Select Amp Type

1. A06B-6100 series 6 axes amplifier 2. A06B-6093 Beta series (FSSB)

Brake Setting

Brake Number (0~4)?

acceleration/deceleration if the distance between the two points is short enough that the axis cannot reach full speed.

The load ratio adjusts the gain of the axis based on the load inertia and the motor inertia. A value of 0 continues the program without adjusting the gain. Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUC AC Servo Motor Beta Series Descriptions Manual for more information.

Servo Timeout

If enabled, SERVO OFF allows the Servo Off is Disable brakes to hold the axis and drop (1: Enable 2: Disable)? servo power after the specified time.

Servo Timeout Value Displayed if Servo Timeout is Enabled.

Servo Off Time (0.0~30.0)

If enabled, SERVO OFF allows the brakes to hold the axis and drop servo power after the specified time.



5 When you have finished answering the questions, you will see a screen similar to the following.

 

6 You can either continue adding axes, or exit.  If you want to add/delete other axes , type 2, Add/delete Nobot Axes, press ENTER, and repeat Steps 1 through 5 .  If you are finished , type 4, Exit and press ENTER. You will see a screen similar to the following.



  

7 Press PREV to display the Configuration Menu. 8 Select Cold start and press ENTER. 9 When the cold start is finished , master and calibrate the Positioner or Nobot. Refer to Chapter 5.

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4.4.5 Modifying an Extended Axis Manually Use Procedure 4-7 to modify the extended axis setup manually. Procedure 4-7 Modifying the Extended Axis Setup Manually Condition

 

 An extended axis has been installed on your controller. Refer to Procedure 4-4 .  You have just finished Procedure 4-5 , have selected the extended axis you want to set up, and have pressed F4, MANUAL.

Step



1 Answer each extended axis setup question according to your system setup. Refer to Table 4-5 . Table 4-5 . Extended Axis Setup Configuration Information You Must Answer These Questions

You Have These Choices

Comments

Select the group number to which the extended Select Group axis hardware is installed and press ENTER. (optional for Extended For example, if you are adding a rail to a sixmultiple axes to (1->3) axis robot, the group number is 1. The hardware groups only) specific information will be added later. Type the starting number of the extended axis hardware and press ENTER. o

Select Hardware

Enter hardware start number for the extended axes

o

o

 If you are adding an extended axis to a four-axis robot , the starting number is 5.  If you are adding an extended axis to a six-axis robot , the starting number is as follows: - If the servo amplifier of the first extended axis is connected to the first fiber optic link cable (FSSB), the starting number is 7.

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o

- If the servo amplifier of the first extended axis is connected to the first physical device on the second fiber optic link cable (FSSB), the starting number is 9. If the servo amplifier of the axis is connected to the second physical device on the second FSSB, the starting number is 10, and so on.



2 When you have finished answering the questions in Table 4-5 , you will see a screen similar to the following.



3 To add an extended axis , type 2 and press ENTER. To delete an extended axis , type 3 and press ENTER. You will see a screen similar to the following. NOTE If an "I" is displayed in place of an "*" under the extended axis name (E1, E2, E3) in the following screen, the axis is initialized.

NOTE If you choose to install axis 2, and the hardware start number is 7, the extended axis 2 will be connected to hardware port number 8.



4 Type the extended axis number you are adding (1, 2, or 3) and press ENTER.



5 Answer the remaining questions to set up your extended axis. Refer to Table 4-6 . Table 4-6 . Extended Axis Setup Configuration Information You Must Answer These Questions

You Have These Choices

Comments

33. ACb0.5 38. ACa12 43. Aca100 34. ACa1 39. ACa22 44. ACa150 35. ACa2 40. ACa30 45. ACa2.5 36. ACa3 41. ACa40 49. ACaM3 NOTE If the motor combination you 37. ACa6 42. ACb0.5B 50. ACaM6 specify is not supported, the message, Alpha Motor "Motor type not found," will be Size displayed. The system will ask for the 51. ACaM9 69. motor information again. ACaL50 97. The motor size ACaHV12 can be found on 65. ACaL3 81. ACaC3 Refer to the FANUC AC Servo Motor the motor name 98. ACaHV22 Digital Series Descriptions Manual or plate on your 66. ACaL6 82. ACaC6 the FANUC AC Servo Motor Beta robot. 99. ACaHV30 Series Descriptions Manual for more 67. ACaL9 83. information. ACaC12 68. ACaL25 84. ACaC22 129. ACb1 130. ACb2 131. ACb3 132. ACb6

Motor Type

1. /2000 6. F/3000 2. /3000 7. F/2500 3. S/2000 8. L/3000 4. S/3000 9. /1200 5. F/2000 10. /1500

Current Limit for Amplifier

1 2A 6 60A 11. 360A 2 4A 7 80A 3 12A 8 100A 4 32A 9 130A 5 40A 10 20A

NOTE Some motor combinations might not be supported by the FANUC Robotics parts department. NOTE If the motor combination you specified is not supported, the message, "Motor type not found," will be displayed. The system will ask for the motor information again.

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Refer to Appendix E for information on specifying amplifier information. 1. Integrated Rail (Linear axis) 2. Integrated Arm Extended Axis (Rotary axis) Type 3. Auxiliary Linear axis 4. Auxiliary Rotary axis

For auxiliary linear or rotary axes, the extended axis is not added into the robot position. For integrated rail or integrated arm the position on the rail (or arm) is added to the robot position. For integrated rail , the rail alignment is usually with respect to the user frame axes of the robot.

Integrated Rail For integrated arm , arm specific Direction 1:X 2:Y 3:Z or Integrated information is required. Typically, the Direction (1~3)? Arm only offset length is 0 except for cases where the first axis of the robot is replaced by an extension arm. The direction defines about which world axis the arm rotates. For a linear axis it is the number of mm's traveled for one rotation of the motor. For linear axes, the gear ratio is in millimeters of travel per revolution of motor. Gear Ratio

Enter Gear Ratio

For rotary axes, the gear ratio is in motor turns per single rotations of the rotary axes, which is 24. NOTE This number will be used to calculate acceleration variables. Gear ratio values of 80 - 100 are most common.

Max Speed Setting

For rotational axes you will be Suggested Speed = prompted to enter the 1000.000(mm/s) Max Joint Speed Setting . If you (Calculated with Max have entered a gear ratio of 80 - 100, motor speed) the default speed should not need to be (1:Change, 2:No changed. However, you might want to Change)? change this number if it seems too fast

or slow for your application. For linear axes you will be prompted to enter the Suggested Speed . If you have entered a gear ratio of 80, for example, your suggested speed will be 2667 mm/sec. If this seems high, you can slow it down to the 1500 - 2000 mm/sec range.

Motion Sign Setting

Ext_axs 1 Motion Sign = TRUE (1:TRUE, 2:FALSE)?

Upper Limits

Enter the upper limit.

Lower Limits

Enter the lower limit.

Master Position

Enter the master position.

ACC/DEC Time 1 and 2

Default Value of acc_time1 = 256(ms) (1:Change, 2:No Change)? Default Value of acc_time2 = 128(ms) (1:Change, 2:No Change)?

Exponential Accel Time Setting

Current value = 20 msec (1: Change, 2: No Change)

MIN_ACCEL Time

Default Value of min_acctime = 256(ms) (1:Change, 2:No Change)?

Load Ratio

Load Ratio is:

The direction determines which way the motor turns when the positive jog key is pressed, and should be consistent with axis alignment. NOTE If the rotation is incorrect, you can modify it by performing a controlled start. Upper and lower limits will be displayed in millimeters (mm) if a linear axis is used, and in degrees (deg) if a rotational axis is used.

The sum of acc_time_1 and acc_time_2 is the time, in milliseconds, it will take for the axis to reach full joint speed. The min_acctime value is used for acceleration/deceleration if the distance between the two points is short enough that the axis cannot reach full speed.

The load ratio adjusts the gain of the axis based on the load inertia and the

Load Inertia motor inertia. (Kg*cm*s**2) -------------------------- A value of 0 continues the program Motor Inertia without adjusting the gain. (Kg*cm*s**2) Refer to the FANUC AC Servo Motor Load ratio? (0:None Digital Series Descriptions Manual or 1~5:Valid) to the FANUC AC Servo Motor Beta Series Descriptions Manual for more information. NOTE The amplifier number is the number of the amplifier that is connected to the extended axis you are adding. Amplifiers are numbered sequentially.

Select Amp Number

Type the number of the amplifier for the axis and press ENTER.

For example, a standard S-420i, 6-axis robot with one additional extended axis has two amplifiers; one for the 6axis robot (#1) and one for the extended axis (#2). In this case, you will enter the number 2 in Step 4 as the number of the amplifier that is connected to the extended axis you are adding. Refer to Table E-2 for typical robot model servo amplifier configurations.

Select Amp Type

1. A06B-6100 series 6 axes amplifier 2. A06B-6093 Beta series (FSSB)

Brake Setting

Brake Number (0~4)?

Servo Off is Disable Servo Timeout (1: Enable 2: Disable)? Servo Timeout Value Displayed if Servo Timeout is Enabled.

Servo Off TIme (0.0~30.0)

If enabled, SERVO OFF allows the brakes to hold the axis and drop servo power after the specified time. If enabled, SERVO OFF allows the brakes to hold the axis and drop servo power after the specified time.



6 When you have finished answering the questions, you will see a screen similar to the following.



7 When you have finished type 4, Exit, and press ENTER. NOTE In a multi-group system, press 0, Exit, to display the Robot Maintenance Menu and go to Step 9 .

  

8 Press the FCTN key to display the Robot Maintenance Menu. 9 Select START (COLD) and press ENTER. 10 When the controller is turned on , master and calibrate the robot or Positioner/Nobot. Refer to Chapter 5.

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4.4.6 Modifying Positioners Manually Use Procedure 4-8 to modify the positioner setup manually. Procedure 4-8 Modifying the Positioner Setup Manually Condition

 

 A positioner axis has been installed on your controller. Refer to Procedure 4-4 .  You have just finished Procedure 4-5 , have selected the positioner you want to set up, and have pressed F4, MANUAL. Refer to Table 4-7 . Table 4-7 . Positioner Setup Configuration Information You Must Answer These Questions

Hardware Start Axis Setting

You Have These Choices

Hardware Start Axis (1..16)

Comments Type the hardware starting number for the first axis of the positioner. For example, if a two-axis positioner is added to an M-6i (without any additional axes in the follower group) the hardware start number of the positioner is seven, because the M-6i has six axes. For more complex arrangements of axes and groups, you must determine the amplifier and axis numbers based on the hardware installed in your system. NOTE The positioner setup requires that all axes of multiple-axis positioners be installed in order sequentially, starting from the base axis and going to the table top axis. The axis of the positioner that contains the workpiece, fixture, or work surface of the positioner must be assigned last. The hardware installation must reflect this.

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Kinematics Type



Known kinematics

Type 1 if all offsets between neighboring axes are known accurately.

Unknown kinematics

Type 2 if the relationship between axes is unknown.

1 When you have finished setting up the items in Table 4-7 , you will see a screen similar to the following.

Add or Delete Positioner Axes

 

2 Type 2, Add POSITIONER Axis, or 3, Delete POSITIONER Axis, and press ENTER. 3 The axes will be numbered automatically as you add them. The first axis is axis one. Refer to Table 4-8 . Table 4-8 . Positioner Setup Configuration Information You Must Answer These Questions

You Have These Choices

33. ACb0.5 38. ACa12 43. Aca100 34. ACa1 39. ACa22 44. ACa150 35. ACa2 40. ACa30 45. ACa2.5 36. ACa3 41. ACa40 Alpha Motor 49. ACaM3 Size 37. ACa6 42. ACb0.5B 50. ACaM6 51. ACaM9 69. ACaL50 97. ACaHV12 65. ACaL3 81. ACaC3 98.

Comments

NOTE Select ACa0.5 for the  0.5 motor. NOTE If the motor combination you specify is not supported, the message, "Motor type not found," will be displayed. The system will ask for the motor information again. Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or the FANUC AC Servo Motor Beta Series Descriptions Manual for more information.

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ACaHV22 66. ACaL6 82. ACaC6 99. ACaHV30 67. ACaL9 83. ACaC12 68. ACaL25 84. ACaC22 129. ACb1 130. ACb2 131. ACb3 132. ACb6

Motor Type

1. /2000 6. F/3000 2. /3000 7. F/2500 3. S/2000 8. L/3000 4. S/3000 9. /1200 5. F/2000 10. /1500

NOTE Some motor combinations might not be supported by the FANUC Robotics parts department.

NOTE If the motor combination you specified is not supported, the message, 1 2A 6 60A 11. 360A "Motor type not found," will be displayed. The system will ask for the 2 4A 7 80A Current Limit motor information again. 3 12A 8 100A for Amplifier 4 32A 9 130A 5 40A 10 20A Refer to Table E-1 and Table E-2 for information on specifying servo amplifier information.

Amplifier Number Setting

Amplifier Number (1>16)

1. A06B-6100 series Amplifier 6 axes amplifier Type Setting 2. A06B-6093 Beta series (FSSB) Axis Type Setting Direction

The six-axis amplifier is assigned as amplifier 1, by default. The positioner axes typically begin on amplifier 2. Refer to Table E-1 and Table E-2 for information on specifying servo amplifier information. NOTE Alpha series amplifiers with JS1B or JS2B connectors are selection 2, Alpha C series. MIG EYE uses a C Series amplifier on the rotator axis.

1. Linear Axis 2. Rotary Axis Select the direction of linear or rotary

Setting

1: +X 3: +Y 5: +Z 2: -X 4: -Y 6: -Z

motion relative to the frame you want to establish for the positioner device; this is not necessarily aligned with the robot WORLD frame. For example, the first axis of the positioner could be defined as +Z, but could be aligned with the robot x-axis. Refer to the FANUC Robotics SYSTEM R-J3 Controller Coordinated Motion Setup and Operations Manual for more information.

Offset Setting NOTE Axis 1 has a value of 0 for the x, Enter Offset X (mm)? y, and z offsets. Each of axes 2, 3, and so only if Enter Offset Y (mm)? forth will have non-zero offset values. kinematics is Enter Offset Z (mm)? used The gear ratio for linear axes is the number of millimeters traveled for one rotation of the motor. For example, if a 50mm pinion on the motor is directly coupled to the rack, and the radius of the pinion is 25mm, the gear ratio is 2(pi)(25) = 157.08.

Gear Ratio Setting

Gear Ratio (motrev/axs-rev)

If the axis has a gear box between the motor and pinion, divide the number by the gear ratio. For example, if the motor is connected to a 5:1 gear box and a 50mm pinion, the gear ratio is (2)(pi)(25)/5 = 31.416. The gear ratio for rotary axes is in motor turns per single rotation of the rotary axes. The ratio is ng2:ng1, where ng is the number of teeth on a gear. ng1 is attached to the motor and ng2 is attached to the axis. For example, if gear 1 has 25 teeth and gear 2 has 50 teeth, the ratio would be 2:1. Commercial gear drives are generally labeled for items such as gear ratio, maximum RPM, and torque maximum. Look at tags or labels on the equipment for this information.

Suggested Speed = 200.040 mm/sec Maximum (Calculated with Max Speed Setting Motor Speed) (1:Change, 2:No Change)

Current value = Motion Sign TRUE Setting (1: TRUE, 2: FALSE)

The direction determines which way the motor turns when the positive jog key is pressed, and should be consistent with axis alignment. TRUE indicates that the motor will turn counterclockwise when looking at the motor shaft from the front. NOTE If the rotation is incorrect, you can modify it by performing a controlled start. Refer to Appendix A.

Upper Limit Setting

Enter the upper limit.

Set the upper software limit of the axis to a value smaller than the hard stop.

Lower Limit Enter the lower limit Setting

Set the lower software limit of the axis to a value smaller than the hard stop. This is usually 0 or a negative number.

Master Position

Enter the master position.

Current value = 384 Accel Time 1 msec (1:Change, 2:No Setting Change) Current value = 192 Accel Time 2 msec (1:Change, 2:No Setting Change) Exp Filter Valid = Exponential TRUE Filter Setting (1: TRUE, 2: FALSE) Current value = 20 Exponential msec Accel Time (1: Change, 2: No Setting Change) Minimum

Current value = 384

The sum of acc_time_1 and acc_time_2 is the time, in milliseconds, it will take for the axis to reach full joint speed. The min_acctime value is used for acceleration/deceleration if the distance between the two points is short enough that the axis cannot reach full speed.

Accel Time Setting

msec (1: Change, 2: No Change) Load Ratio is:

Load Ratio Setting

The load ratio adjusts the gain of the axis based on the load inertia and the motor inertia.

Load Inertia (Kg*cm*s**2) A value of 0 continues the program -------------------------- without adjusting the gain. Motor Inertia (Kg*cm*s**2) Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual or Load ratio? (0:None the FANUC AC Servo Motor Beta Series 1~5:Valid) Descriptions Manual for more information.

Brake Number Setting

Type the brake number (0..4)

Servo Off Setting

Current value = If enabled, SERVO OFF allows the TRUE brakes to hold the axis and drop servo (1: TRUE, 2: FALSE) power after the specified time.

Servo Off Time Setting Displayed if Servo Timeout is Enabled. 

Servo Off Time (0..30 sec)

4 When you have finished answering all the questions in Table 4-8 , you will see a screen similar to the following.



5 You can either continue adding or deleting axes, or exit.

If you want to add/delete other axes , type 2, Add/delete POSITIONER Axes and repeat Steps 1 through 4 . If you are finished , type 4, Exit. You will see a screen similar to the following.

  

6 Press PREV to display the Configuration Menu. 7 Select Cold start and press ENTER. 8 When the controller is turned on , master and calibrate the robot. Refer to Chapter 5.

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4.4.7 Program Limits Setup Program Limits Setup allows you to modify individual software limits related to your program. Table 4-9 lists the items you can modify. Use Procedure 4-9 to modify program limits. Table 4-9 . Program Limits Setup Configuration Information ITEM

DESCRIPTION

User Tasks default: 3

This item indicates the maximum number of user programs that can be run simultaneously.

minimum: 1 maximum: 4 Numeric Registers default: 200 minimum: 1

This item indicates the maximum number of numeric registers available in a program.

maximum: 999 Position Registers default: 100 minimum: 1

This item indicates the maximum number of position registers available in a program.

maximum: 200 Pallet Registers (if the TPP Palletizing option is installed) default: 32

This item indicates the maximum number of pallet registers in a program.

minimum: 1 maximum: 127 Macros default: 120 This item indicates the maximum number of macros available. minimum: 1 maximum: 150 User Alarms default: 10 minimum: 1

This item indicates the maximum number of user alarms that can be defined.

maximum: 999 Tracking Queues

This item indicates the maximum number of tracking queues available in a program.

(optional) default: 10 minimum: 1 maximum: 100 Trace Length default: 200 This item indicates the length of the execution history list. minimum: 1 maximum: 999 Procedure 4-9 Modifying Program Limits Step



1 Perform a Controlled Start. If the controller is already in Controlled Start mode, go to Step 2 . o a If the controller is turned on, turn it off. o b Turn on the disconnect.

o

c Press and hold the PREV and NEXT keys on the teach pendant. While you hold these keys, turn the controller ON. You will see a screen similar to the following.

o

d Select Controlled start and press ENTER. You will see a screen similar to the following.

 

2 Press MENUS. 3 Select PROGRAM SETUP. You will see a screen similar to the following.



4 Set each item as desired. Refer to Table 4-9 . NOTE You must perform a cold start for the new settings to take effect.



5 Perform a cold start: o a Press FCTN. o b Select START (COLD).

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4.4.8 Install Updates and Customizations Use Procedure 4-10 to install a software update or a customization. Procedure 4-10 Installing Updates and Customizations Step



1 Perform a Controlled Start. If the controller is already in Controlled Start mode, go to Step 2 . o a If the controller is turned on, turn it off.

 

o

b Turn on the disconnect.

o

c Press and hold the PREV and NEXT keys on the teach pendant. While you hold these keys, turn the controller ON. You will see a screen similar to the following.

o

d Select Controlled start and press ENTER. After a few moments, you will see a screen similar to the following.

2 Press MENUS. 3 Select S/W INSTALL. You will see a screen similar to the following.

 

4 Insert the memory card that contains the update or customization you want to install into the memory card interface. 5 To install an update , move the cursor to Update and press ENTER. To install a customization , move the cursor to Customization and press ENTER. The files will be copied to the controller. When they are finished, the S/W Install screen will be displayed.

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