R-30iA_HandlingTool_Operator_Manual_[B-82594EN-2_02].pdf

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FANUC > series
R-30*A
HANDLING TOOL
OPERATOR’S MANUAL
B-82594EN-2/02
Before using the Robot, be sure to read the "FANUC Robot Safety Manual (B-80687EN)" and
understand the content.
• No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.
The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.
In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as ”impossible”.
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B-82594EN-2/02
TABLE OF CONTENTS
TABLE OF CONTENTS
Volume 1 of 2
1 INTRODUCTION ..................................................................................... 1
1.1
MANUAL PLAN ............................................................................................. 2
1.2
WORKERS .................................................................................................... 5
1.3
GENERAL SAFETY PRECAUTIONS ............................................................ 6
1.4
SAFETY PRECAUTIONS ............................................................................ 11
2 OVERVIEW ........................................................................................... 17
2.1
APPLICATION TOOL SOFTWARE ............................................................. 19
2.1.1
System Setting ........................................................................................................19
2.1.2
Jog Feed of the Robot.............................................................................................19
2.1.3
Program ..................................................................................................................19
2.1.4
Test Operation (Test Execution) ............................................................................20
2.1.5
Automatic Operation (Operation Execution) .........................................................20
2.2
ROBOT........................................................................................................ 21
2.3
CONTROLLER ............................................................................................ 22
2.3.1 Teach Pendant ........................................................................................................23
2.3.1.1 Display Screen of the Teach Pendant ................................................................ 28
2.3.2 Operator Panel ........................................................................................................32
2.3.3 Remote Controller ..................................................................................................33
2.3.4 CRT/KB..................................................................................................................33
2.3.5 Communication ......................................................................................................33
2.3.6 Input/Output ...........................................................................................................34
2.3.7 Peripheral I/O .........................................................................................................34
2.3.8 Motion of the Robot ...............................................................................................35
2.3.9 Emergency Stop Devices........................................................................................35
2.3.10 Extended Axis ........................................................................................................35
3 SETTING UP THE HANDLING SYSTEM ............................................. 36
3.1
I/O................................................................................................................ 37
3.1.1
Digital I/O...............................................................................................................43
3.1.2
Group I/O ...............................................................................................................50
3.1.3
Analog I/O..............................................................................................................54
3.2
ROBOT I/O .................................................................................................. 59
3.3
PERIPHERAL I/O ........................................................................................ 63
3.4
OPERATOR’S PANEL I/O ........................................................................... 74
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TABLE OF CONTENTS
B-82594EN-2/02
3.5 I/O Link SCREEN ........................................................................................ 77
3.5.1 I/O Link List Screen ...............................................................................................77
3.5.2 Model B Unit List Screen.......................................................................................78
3.5.3 Signal Count Setting Screen...................................................................................80
3.6 I/O CONNECTION FUNCTION ................................................................... 82
3.7 SIMULATED INPUT SKIP FUNCTION ........................................................ 84
3.8 SETTING AUTOMATIC OPERATION ......................................................... 86
3.8.1 Robot Service Request (RSR) ................................................................................87
3.8.2 Program Number Selection (PNS) .........................................................................90
3.8.3 Prog Select Screen..................................................................................................94
3.8.4 Cell Interface I/O..................................................................................................102
3.9 SETTING COORDINATE SYSTEMS ........................................................ 107
3.9.1 Setting a Tool Coordinate System........................................................................109
3.9.2 Setting a User Coordinate System ........................................................................120
3.9.3 Setting a Jog Coordinate System..........................................................................131
3.10 SETTING A REFERENCE POSITION....................................................... 137
3.11 JOINT OPERATING AREA ....................................................................... 141
3.12 USER ALARM ........................................................................................... 143
3.13 VARIABLE AXIS AREAS ........................................................................... 145
3.14 INTERFERENCE PREVENTION AREA FUNCTION................................. 147
3.15 SYSTEM CONFIG MENU ......................................................................... 151
3.16 SETTING THE GENERAL ITEMS ............................................................. 158
3.17 OTHER SETTINGS ................................................................................... 160
4 PROGRAM STRUCTURE ................................................................... 161
4.1
PROGRAM DETAIL INFORMATION......................................................... 164
4.1.1
Program Name......................................................................................................164
4.1.2
Program Comment................................................................................................165
4.1.3
Subtype.................................................................................................................165
4.1.4
Group Mask..........................................................................................................166
4.1.5
Write Protection ...................................................................................................166
4.1.6
Interruption Disable..............................................................................................167
4.1.7
Stack Size .............................................................................................................167
4.2
LINE NUMBER, PROGRAM END SYMBOL, AND ARGUMENT .............. 170
4.3
MOTION INSTRUCTIONS ........................................................................ 173
4.3.1
Motion Format......................................................................................................174
4.3.2
Position Data ........................................................................................................176
4.3.3
Feedrate ................................................................................................................182
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B-82594EN-2/02
TABLE OF CONTENTS
4.3.4 Positioning Path....................................................................................................185
4.3.5 Additional Motion Instructions ............................................................................186
4.4 PALLETIZING INSTRUCTIONS ................................................................ 200
4.4.1 Palletizing Instruction...........................................................................................200
4.4.2 Palletizing Motion Instruction..............................................................................201
4.4.3 Palletizing End Instruction ...................................................................................201
4.5 REGISTER INSTRUCTIONS..................................................................... 202
4.5.1 Register Instructions.............................................................................................203
4.5.2 Position Register Instructions...............................................................................205
4.5.3 Position Register Axis Instructions ......................................................................206
4.5.4 Arithmetic Palletizing Register Instructions.........................................................208
4.6 I/O INSTRUCTIONS .................................................................................. 210
4.6.1 Digital I/O Instructions.........................................................................................210
4.6.2 Robot I/O Instructions ..........................................................................................211
4.6.3 Analog I/O Instructions ........................................................................................213
4.6.4 Group I/O Instruction ...........................................................................................214
4.7 BRANCH INSTRUCTIONS........................................................................ 215
4.7.1 Label Instruction...................................................................................................215
4.7.2 Program End Instruction ......................................................................................216
4.7.3 Unconditional Branch Instructions.......................................................................216
4.7.4 Conditional Branch Instructions...........................................................................217
4.7.5 Arguments ............................................................................................................221
4.8 WAIT INSTRUCTIONS .............................................................................. 231
4.8.1 Time-specified Wait Instruction...........................................................................231
4.8.2 Conditional Wait Instructions ..............................................................................231
4.9 SKIP CONDITION INSTRUCTION ............................................................ 235
4.10 OFFSET CONDITION INSTRUCTION ...................................................... 238
4.11 TOOL OFFSET CONDITION INSTRUCTIONS ......................................... 239
4.12 FRAME INSTRUCTIONS .......................................................................... 240
4.13 PROGRAM CONTROL INSTRUCTIONS .................................................. 242
4.13.1 Halt Instruction.....................................................................................................242
4.13.2 Abort Instruction ..................................................................................................242
4.14 OTHER INSTRUCTIONS .......................................................................... 243
4.14.1 RSR Instruction ....................................................................................................243
4.14.2 User Alarm Instruction .........................................................................................244
4.14.3 Timer Instruction ..................................................................................................244
4.14.4 Override Instruction .............................................................................................245
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