Fanuc R J3, R J3iB, R 30iA Student Manual

FANUC Robotics System R-J3, R-J3iB & R-30iA ArcTool eLearn Student Manual MATELRNAT0511CE REV. A

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

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Table of Contents

1 FRAMES ..................................................................................................................... 1 1.1 SLIDE 2-TYPES OF FRAMES ..............................................................................................1 1.2 SLIDE 3-FRAME OVERVIEW...............................................................................................1 1.3 SLIDE 4-TWO DIMENSIONAL CARTESIAN COORDINATE.......................................................1 1.4 SLIDE 5-ONE QUADRANT ..................................................................................................1 1.5 SLIDE 6-THREE DIMENSIONAL CARTESIAN COORDINATE....................................................1 1.6 SLIDE 7-9-ORIENTATION IN WORLD MODE-MINOR AXES...................................................1 1.7 SLIDE 10-CARTESIAN COORDINATE SYSTEM .....................................................................1 1.8 SLIDE 11-WORLD FRAME..................................................................................................1 1.9 SLIDE 12-RIGHT HAND RULE ............................................................................................1 1.10 SLIDE 13-TOOL FRAME.....................................................................................................1 1.11 SLIDE 14-TOOL FRAME FEATURES....................................................................................1 1.12 SLIDE 15-ADJUSTING TOOL CENTER POINT.......................................................................1 1.13 SLIDE 16-ACTUAL TOOL CENTER POINT............................................................................1 1.14 SLIDE 17-METHODS OF DEFINING THE TOOL FRAME..........................................................1 1.15 SLIDE 18-TEACHING A TOOL CENTER POINT 6 POINT METHOD ..........................................1 1.16 SLIDE 19-TOOL CENTER POINT 6 POINT METHOD PROCEDURE .........................................1 1.17 SLIDE 20-VERIFY TCP......................................................................................................1 1.18 SLIDE 21-SELECTING A TOOL FRAME FROM THE JOG MENU...............................................1 1.19 SLIDE 22-HOW THE ROBOT FRAMES ARE LINKED...............................................................1 1.20 SLIDE 23-USER FRAME.....................................................................................................1 1.21 SLIDE 24- EXAMPLE OF USER & TOOL FRAME IN A TP PROGRAM.......................................1 1.22 SLIDE 25-SAMPLE PROGRAM UFRAME VS. WORLD FRAME ................................................1 1.23 SLIDE 26-USER FRAME PROCEDURE ................................................................................1 1.24 SLIDE 27-YOU TRY IT-USER FRAME..................................................................................1 1.25 SLIDE 28-REMOTE TOOL CENTER POINT...........................................................................1 1.26 SLIDE 29-FUNCTION KEY..................................................................................................1 1.27 SLIDE 30-RTCP INSTRUCTION..........................................................................................1 1.28 SLIDE 31-NO RTCP INSTRUCTION ....................................................................................1 1.29 SLIDE 32-JOG FRAME.......................................................................................................1 1.30 SLIDE 33-JOG FRAME PROCEDURE...................................................................................1 1.31 SLIDE 34-FRAMES SUMMARY............................................................................................1 1.32 SLIDE 35-QUIZ .................................................................................................................1

Table of Contents MATELRNAT0511CE REV. A

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2 INPUT/OUTPUT............................................................................................................ 1 2.1 SLIDE 2-ANALOG ..............................................................................................................1 2.2 SLIDE 3-DIGITAL INPUT/OUTPUT .......................................................................................1 2.3 SLIDE 4-DIGITAL...............................................................................................................1 2.4 SLIDE 5-ROBOT I/O ..........................................................................................................1 2.5 SLIDE 6-ROBOT I/O ..........................................................................................................1 2.6 SLIDE 7-MODEL A INPUT/OUTPUT .....................................................................................1 2.7 SLIDE 8-RACK ASSIGNMENT .............................................................................................1 2.8 SLIDE 9-MODEL A RACK ................................................................................................1 2.9 SLIDE 10-SLOT ASSIGNMENT............................................................................................1 2.10 SLIDE 11-MODEL A SLOT ASSIGNMENT.............................................................................1 2.11 SLIDE 12-STARTING POINT/CHANNEL ASSIGNMENT...........................................................1 2.12 SLIDE 13-MODEL A-STARTING POINT ASSIGNMENT ...........................................................1 2.13 SLIDE 14-CONFIGURING I/O..............................................................................................1 2.14 SLIDE 15-CONFIGURIG I/O STATUS...................................................................................1 2.15 SLIDE 16-COMPLEMENTARY SIGNALS ...............................................................................1 2.16 SLIDE 17-I/O DETAIL ........................................................................................................1 2.17 SLIDE 18-19-MONITORING/CONTROLLING I/O ...................................................................1 2.18 SLIDE 20-SIMULATING I/O.................................................................................................1 2.19 SLIDE 21-CONFIGURING GROUP I/O..................................................................................1 2.20 SLIDE 22-GROUP INPUT/OUTPUT ......................................................................................1 2.21 SLIDE 23-INPUT/OUTPUT REVIEW .....................................................................................1

3 PROGRAM INSTRUCTION.............................................................................................. 1 3.1 SLIDE 2-MODULE CONTENT ..............................................................................................1 3.2 SLIDE 3-DATA REGISTER ..................................................................................................1 3.3 SLIDE 4-POSITION REGISTER INSTRUCTIONS.....................................................................1 3.4 SLIDE 5-POSITION REGISTER ELEMENT.............................................................................1 3.5 SLIDE 6-PROGRAM INSTRUCTIONS....................................................................................1 3.6 SLIDE 7-BRANCHING INSTRUCTIONS..................................................................................1 3.7 SLIDE 8-LABEL DEFINITION INSTRUCTION LBL[X] ...............................................................1 3.8 SLIDE 9-UNCONDITIONAL BRANCH CALL.........................................................................1 3.9 SLIDE 10-CONDITIONAL BRANCHING INSTRUCTIONS ..........................................................1 3.10 SLIDE 11-IF REGISTER .....................................................................................................1 3.11 SLIDE 12-EXAMPLE #1 IF REGISTER ..............................................................................1


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3.12 SLIDE 13-EXAMPLE #2 IF REGISTER ..............................................................................1 3.13 SLIDE 14-IF INPUT/OUTPUT ..............................................................................................1 3.14 SLIDE 15-EXAMPLE #3 IF / OR.......................................................................................1 3.15 SLIDE 16-IF PROCEDURE .................................................................................................1 3.16 SLIDE 17-YOU TRY IT IF REGISTER ................................................................................1 3.17 SLIDE 18-SELECT INSTRUCTIONS....................................................................................1 3.18 SLIDE 19-SELECT INSTRUCTION PROCEDURE..................................................................1 3.19 SLIDE 20-SELECT INSTRUCTIONS YOU TRY IT...............................................................1 3.20 SLIDE 21-WAIT INSTRUCTION...........................................................................................1 3.21 SLIDE 22-REMARK INSTRUCTION ....................................................................................1 3.22 SLIDE 23-OVERRIDE INSTRUCTION.................................................................................1 3.23 SLIDE 24-MESSAGE INSTRUCTION..................................................................................1 3.24 SLIDE 25-TIMER INSTRUCTION ........................................................................................1 3.25 SLIDE 26-MODULE COMPLETE ..........................................................................................1

4 ARCTOOL PROGRAMMING ........................................................................................... 1 4.1 SLIDE 2-MODULE CONTENT ..............................................................................................1 4.2 SLIDE 3-ARCTOOL PROGRAM GUIDELINES ........................................................................1 4.3 SLIDE 4-WELD I/O............................................................................................................1 4.4 SLIDE 5-CONTROLLED START R-J3 THRU R-3IB ................................................................1 4.5 SLIDE 6-CONTROLLED START FOR R-30IA ........................................................................1 4.6 SLIDE 7@ CONTROLLED START WELD I/O EQUIPMENT SELECTION....................................1 4.7 SLIDE 8-SETTING UP THE WELDING SYSTEM .....................................................................1 4.8 SLIDE 9-WELD EQUIPMENT...............................................................................................1 4.9 SLIDE 10-SETTING LINCOLN EQUIPMENT...........................................................................1 4.10 SLIDE 11-ARC DEFAULTS INSTRUCTION DEMO ..................................................................1 4.11 SLIDE 12-ARC PROGRAMMING..........................................................................................1 4.12 SLIDE 13-WELD ENABLED KEY .........................................................................................1 4.13 SLIDE 14-ARC START .......................................................................................................1 4.14 SLIDE 15-ARC END...........................................................................................................1 4.15 SLIDE 19-ARC WELD SCHEDULE.......................................................................................1 4.16 SLIDE 20-DELAY TIME ......................................................................................................1 4.17 SLIDE 21-ARC START SCHEDULE DEMO ............................................................................1 4.18 SLIDE 23-WEAVE INSTRUCTIONS ......................................................................................1 4.19 SLIDE 24-ARC WEAVE SETUP...........................................................................................1


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4.20 SLIDE 25-WEAVE SCHEDULE ............................................................................................1 4.21 SLIDE 26-WEAVE INSTRUCTION PROGRAM........................................................................1 4.22 SLIDE 28-PATH JOGGING..................................................................................................1 4.23 SLIDE 29-TORCHMATE .....................................................................................................1 4.24 SLIDE 30-TORCHMATE VIDEO...........................................................................................1 4.25 SLIDE 31-INSTALLING & ALIGNING THE TOUCH BLOCK .......................................................1 4.26 SLIDE 32-SETUP TORCHMATE ..........................................................................................1 4.27 SLIDE 33-EXECUTE TM_ADJST MACRO...........................................................................1 4.28 SLIDE 34-VIEW THE TCP OFFSETS ...................................................................................1 4.29 SLIDE 35-COURSE OVERVIEW ..........................................................................................1

5 MODIFYING A PROGRAM.............................................................................................. 1 5.1 SLIDE 2-MODIFYING PROGRAMS .......................................................................................1 5.2 SLIDE 3-INSERT .............................................................................................................1 5.3 SLIDE 4-DELETE.............................................................................................................1 5.4 SLIDE 5-COPY ................................................................................................................1 5.5 SLIDE 6-PASTE...............................................................................................................1 5.6 SLIDE 7-PASTE-F2 LOGIC ...............................................................................................1 5.7 SLIDE 8-9 PASTE F3 POS-ID .......................................................................................1 5.8 SLIDE 10-11 PASTE F4 POSITION ..............................................................................1 5.9 SLIDE 12-REVERSE PASTE...........................................................................................1 5.10 SLIDE 13-PASTE - F1 R-LOGIC ......................................................................................1 5.11 SLIDE 14-PASTE F1 R-LOGIC .....................................................................................1 5.12 SLIDE 15-PASTE F2 R-POS-ID ....................................................................................1 5.13 SLIDE 16-PASTE F2 R POS-ID ....................................................................................1 5.14 SLIDE 17-PASTE F4 R-POS.........................................................................................1 5.15 SLIDE 18-PASTE F4 R-POS.........................................................................................1 5.16 SLIDE 19-PASTE F3 RM-POS-ID .................................................................................1 5.17 SLIDE 20-PASTE F3 RM-POS-ID .................................................................................1 5.18 SLIDE 21-PASTE F5 RM-POS......................................................................................1 5.19 SLIDE 22-PASTE F5 RM-POS......................................................................................1 5.20 SLIDE 23-FIND ................................................................................................................1 5.21 SLIDE 24-REPLACE........................................................................................................1 5.22 SLIDE 25-RENUMBERING..............................................................................................1 5.23 SLIDE 26-COMMENT ......................................................................................................1


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5.24 SLIDE 27-UNDO ..............................................................................................................1 5.25 SLIDE 28-YOU TRY IT .......................................................................................................1 5.26 SLIDE 29-MODULE REVIEW...............................................................................................1

6 MACRO COMMANDS.................................................................................................... 1 6.1 SLIDE 2-MODULE CONTENT ..............................................................................................1 6.2 SLIDE 3-OVERVIEW OF MACROS .......................................................................................1 6.3 SLIDE 4-TEACH PENDANT USER KEYS ..............................................................................1 6.4 SLIDE 5-MACRO COMMAND ASSIGNMENTS........................................................................1 6.5 SLIDE 6-OPERATOR PANEL BUTTONS ...............................................................................1 6.6 SLIDE 7-MANUAL FUNCTIONS MACROS .............................................................................1 6.7 SLIDE 8-SETTING UP MACRO COMMANDS..........................................................................1 6.8 SLIDE 9-YOU TRY IT .........................................................................................................1 6.9 SLIDE 10-MACRO REVIEW ................................................................................................1

7 PRODUCTION SETUP ................................................................................................... 1 7.1 SLIDE 2-AGENDA..............................................................................................................1 7.2 SLIDE 3-REMOTE/LOCAL MODE ........................................................................................1 7.3 SLIDE 4-PRODUCTION SETUP IN SYSTEM CONFIG MENU....................................................1 7.4 SLIDE 5-PRODUCTION SETUP ...........................................................................................1 7.5 SLIDE 6-PRODUCTION START CHECKS ..............................................................................1 7.6 SLIDE 7-PRODUCTION SETUP GENERAL CONTROLS........................................................1 7.7 SLIDE 8-STYLE SELECT USING DIN START METHOD PROCEDURE ......................................1 7.8 SLIDE 9-SUMMARY ...........................................................................................................1

8 FILE MANAGEMENT..................................................................................................... 1 8.1 SLIDE 2-MODULE CONTENT ..............................................................................................1 8.2 SLIDE 3-DISPLAY PROGRAM FILES....................................................................................1 8.3 SLIDE 4-COPY A PROGRAM...............................................................................................1 8.4 SLIDE 5-DELETE PROGRAM FILES.....................................................................................1 8.5 SLIDE 6-7-ABORTING A PROGRAM ....................................................................................1 8.6 SLIDE 8-YOU TRY IT .........................................................................................................1 8.7 SLIDE 9-TYPES OF FILES ..................................................................................................1 8.8 SLIDE 10-STORAGE DEVICES............................................................................................1 8.9 SLIDE 11-SET THE DEFAULT DEVICE & GENERATE A DIRECTORY.......................................1 8.10 SLIDE 12-YOU TRY IT .......................................................................................................1


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8.11 SLIDE 13-BACKUP UP FILES VS. CONTROLLER BACKUP.....................................................1 8.12 SLIDE 14-BACKUP FILES USING THE FILE MENU ...............................................................1 8.13 SLIDE 15-LOADING FILES USING THE FILE MENU..............................................................1 8.14 SLIDE 16-BACKUP UP A CONTROLLER AS IMAGES..............................................................1 8.15 SLIDE 17-RESTORING CONTROLLER IMAGES.....................................................................1

System R-J3, R-J3iB & R-30iA

1

Course Overview

Course Overview

1 Frames

2 Input/Output

3 Program Instruction

4 - ArcTool Programming

4 Modify a Program

5 Macro Commands

6 Robot Setup for Production

7 File Management

Module Contents Frames:

World Frame,

Tool Frame,

User Frame and within user frames, the Remote Tool Center Point which is only available in some applications,

Jog Frame

Input/Output:

After successfully completing this module, you should know the different types of Inputs and Outputs and how to configure them.

There are several types of I/Os, but in this module, the different types of Inputs and Outputs are:

Robot

Digital;

Analog

Group

Inputs and Outputs are electrical signals that enable the robot controller to communicate with End of Arm Tooling, process equipment, other external sensors and other devices.

Course Overview MATELRNAT0511CE REV. A

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Program Instructions

Data Register

Position Register Instruction

Branching Instructions

Label

Unconditional

JMP LBL

CALL

Conditional

Wait Instructions

Miscellaneous Instructions

Remark

Override

Message

Timer

ArcTool Programming

ArcTool Program Guideline

Weld I/O

Setup and Select Weld Equipment

ArcTool Instructions

ArcTool Default Instructions

Arc Weld Schedule

Delay Time

Weld Enable

Weave Patterns

Weave Instructions

Weave Schedule

Torchmate


3

Modifying a Program

Inserting blank lines into a Program.

Deleting lines from a Program

Copying and Pasting lines within a Program

Finding program instructions within a Program

Replacing Items

Renumbering Positional IDs

Turning ON and OFF Comments

And the UNDO function

Macro Commands

Overview of Macros

Setting Up Macro Commands

Assigning a Macro to a Teach Pendant User Key,Manual Functions or Operator Panel Buttons

Robot Setup for Production

Learn how setup a robot for production using the teach pendant.

Cover various production modes, system and Cell I/O configurations.

A video to reinforce the step by step process needed to configure the settings

File Management

Copying and Deleting Programs,

Backup all or specific types of files to a specific device.

Learn how to load program from the backup device

Then wrap-up with how to do an image backup and Restore


4


5Frames 1 1 FRAMES

Frames

Frames

Audio:

Welcome to Frames. In this course we will investigate what type of frames there are. We will see how to set them up and what they are used for.

Frames MATELRNAT0511CE REV. A

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1.1 Slide 2-Types of Frames

Frames

Types of Frames

World frame - default frame of the robot Tool frame - user defined frame User frame - user defined frame

RTCP Remote Tool Center Point HandlingTool, DispenseTool, and

SpotTool+ only)

Jog frame - user defined frame

Audio:

This course will cover all the frames available within FANUC software. The robot uses four kinds of frames which are World Frame, Tool Frame, User Frame and within user frames, the Remote Tool Center Point which is only available in

some applications, and finally wrap up with Jog Frame


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1.2 Slide 3-Frame Overview

Audio:

1. But first, an overview of what a frame is. A frame is an intersection of three planes at right angles to each other. The point where all three planes intersect is called the origin point. Where X,Y & Z values are all 0. Here are more examples of a Frame with the Origin point in different positions.

2. Any point can be located within a frame by providing three positive or negative numbers to represent the X,Y & Z distances from the origin. This kind of system is called a Cartesian coordinate system.

3. The frame itself is a set of numbers used to describe the location, and orientation about the X,Y,Z axes of the reference frame.


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1.3 Slide 4-Two Dimensional Cartesian Coordinate

Frames

I

Two Dimensional Cartesian Coordinate y-axis

x-axis

Origin = 0

+

+

II

III IV

I

x values

yvalues

I >0 >0IIIIIIV

0

>0


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1.4 Slide 5-One Quadrant

Audio:

To determine the robots position in millimeters we use this scale to figure this out. The result is positive 600 in the x direction and positive 800 in the y direction


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1.5 Slide 6-Three Dimensional Cartesian Coordinate

Audio:

In the three dimensional Cartesian Coordinate system we are adding another axis to the plane. X axis becomes forward and backward movement. Y axis becomes a side to side movement. Z is the UP and DOWN movement.

The values reflect the location for positional information, the values shown in this slide reflects

Distance from the origin along the X axis which reflects in example 600

Distance from the origin along the Y axis which is 800

Distance from the origin from the Z axis which is negative 700


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1.6 Slide 7-9-Orientation in WORLD mode-Minor Axes

Frames

Orientation in WORLD mode Minor Axes

Major Axes

Minor Axes

Roll (R) Rotation around Z

OrientationYaw (W) Rotation around XPitch (P) Rotation around Y

Frames

Orientation in WORLD mode Minor Axes

Major Axes

Minor Axes

Roll (R) Rotation around Z

OrientationYaw (W) Rotation around XPitch (P) Rotation around Y

Audio:

The orientations of a position is expressed in three dimensions also, but are measured in degrees of rotation about the x, y, and z axes.

Use the minor axes from the teach pendant when jogging about the x, y and z axes

When rotating Yaw it is Rotating around X


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1.7 Slide 10-Cartesian Coordinate System

Frames

Cartesian Coordinate System

+X=1800mm

+Y=1000mm

+Z=800mm

-BCKEDT- LINE 0 AUTO ABORTED

POSITION JOINT 100 %

World Tool: 1

Configuration: N U T, 0, 0, 0

x: 1800.000 y: 1000.000 z: 800.000

w: -146.360 p: -33.432 r: -22.691

[ TYPE ] JNT USER WORLD

Teach Pendant POSN menu

0

Audio:

Putting it all together this robots position in Cartesian is positive 1800 millimeters in the x direction, positive 1000 millimeters in the y direction and positive 800 in the z direction all from the origin.

The robots orientation is negative 146 degrees about X which is the yaw value and negative 33 degrees about Y which is the pitch value and negative 22 degrees about Z which is the roll value.

You can view the robots positional values from the Position menu on the Teach Pendant.


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1.8 Slide 11-World Frame

Frames

World Frame

J2

J2

ORIGIN OF WORLD FRAME

J1

J1

Audio:

Starting with World Frame.

1. The World Frame is the default frame of the robot. It cannot be changed by the user.

2. The origin of the world frame is located on the centerline of the J1-axis and at the height of the centerline of the J2-axis.

3. The location of this origin never changes.

4. And the orientation of the World frame never changes.


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1.9 Slide 12-Right Hand Rule

Frames

Right Hand Rule

+X

+X+Y

+Y

+Z

+Z

Audio:

The directions of the World frame can be represented by the right hand rule. Also the World coordinates can be better understood if you stand behind or by the side of the robot and then use the right handed rule.


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1.10 Slide 13-Tool Frame

Frames

Tool Frame

+X

+Y

+ZA Tool frame is

defined using the Cartesian

coordinate system

Default Tool Frame Origin

+X

+Y

+Z

Tool Center Point has moved from the faceplate to the tool

Audio:

Now we will discuss the Tool Frame.

Its origin is called the tool center point (TCP). By default, the TCP is located at the center of the robots faceplate. When you set up a Tool frame, also called a UTool, you move the TCP from the robots faceplate to define the point on the applicator, gun, torch, or other tool where the painting, welding, sealing, handling, or other application work is to be done.


16

1.11 Slide 14-Tool Frame Features

Audio:

So why define a Tool Center Point.

An important reason to define a TCP is simply to jog the TCP to the workpiece which makes programming easier. Some software applications are based on a correctly defined TCP. For an Example, in a SpotTool servo gun application, the TCP is tied to the tip wear compensation.

Another important reason to define a TCP is to have consistency from robot to robot, especially in a plant that has many cells.


17

1.12 Slide 15-Adjusting Tool Center Point

Audio:

Here is another example of the default Tool Frame located on the Face Plate. When the tool is mounted, it does not take into account the actual position of the tooling where the work is to be done. Therefore if you jog the robot using default tool coordinates you will be unable to control the position of the robot relative to the center of the attached tooling.

In order for the Tool coordinates X,Y,& Z to refer to the center of the tooling, you must adjust the Tool Frame offset as shown here.


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1.13 Slide 16-Actual Tool Center Point

Frames

Actual Tool Center Point

Audio:

Here are some examples of different toolings Tool Frame Offsets. in PaintTool, the TCP is approximately 12 inches from the end of the applicator, but this can vary depending on your particular applicator; in ArcTool, the TCP is the tip of the wire; in SpotTool+, the TCP is where the tips of the gun meet when they are closed; in HandlingTool, the TCP is where the gripper closes to pick the part up.


19

1.14 Slide 17-Methods of Defining the Tool Frame

Frames

Methods of Defining the Tool Frame

Three Point Method defines just the location of the tool frame when the values

cannot be measured and directly entered

Six Point Method defines the location and orientation of the tool frame when the

values cannot be measured and directly entered.

Direct Entry Method used when tool dimensions are known and can be entered

directly into Tool Frame settings. Direct Entry must be used with 4-axis robots

Audio:

There are three ways to define a tool Frame:

The Three Point Method, the Six Point Method, and the Direct Entry Method. Use the three point method to define just the location of the tool frame when the values

cannot be measured and directly entered 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 direct entry method provides for direct numerical entry of known tool dimensions. Direct

Entry is used when tool dimensions are known and can be entered directly into Tool Frame settings. Direct Entry must be used with 4-axis robots, such as the M410iB and the A520iB.

In this exercise you will set up the Tool Frame using the 6 point method.


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1.15 Slide 18-Teaching a Tool Center Point 6 Point Method

Audio:

This video (which will repeat) is displaying the 6 point method which requires you to teach 6 points. The first 3 approach points are used to define the location of the Tool Center Point and are the same approach points as in the 3 Point method. The three additional points define the direction vector for the tool. These three additional points define orientation, measured in degrees of rotation about an axis. W stands for Yaw. Yaw rotates about the X axis. P stands for Pitch, and rotates about the Y axis. R, for Roll, rotates about the Z axis. All are measured in degrees.

When recording the Orient origin point or to simplify teaching points 4, 5, and 6, 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.

When you teach the Orient Origin point it is often helpful to start with all of the Zero position reference marks aligned. Then you can move the minor axes until the tool is squared up with the World Frame. Just be sure the robot is not in singularity. Then you can record the Orient Origin point.


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1.16 Slide 19-Tool Center Point 6 Point Method Procedure

Audio:

The following video will show how to define a Tool Center Point using the 6 point method. You will teach 3 different approach points, an Orient origin point and then define your Positive X and Positive Z direction points. In the process of learning the 6 point method, you will learn the 3 Point Method as well.

1 The first thing you need to do is turn the Teach Pendant to the ON position, then press the key. From the pop-up menu cursor down to SETUP and press the key.

2 Press the TYPE key and cursor down to FRAMES and press the key. Upon selecting Frames, the Tool frame setup is the default screen.

3 Press the DETAIL key to select TOOL Frame #1.

4 To name this Tool Frame, press key. You will name this tool frame POINTER, after you have typed the name PRESS the key.

5 Select the 6 point method from the function key . 6 You begin by teaching 3 points on a fixed reference, with the orientation of the tool 90

degrees different on each point. This is all that is required when teaching a 3 point method.

7 You will now jog the tool to the approach point #1 and HOLD the key and PRESS RECORD to record it.

MENUS

ENTER

ENTER

F5 SHIFT

F2

ENTERENTER

F2

F1


22

8 Now cursor down to approach point #2 . Remember you need 3 different planes recorded. Now jog the tool to approach point #2, and again hold the key and PRESS RECORD.

9 Release the key and cursor down to APPROACH point 3. Jog the tool to approach point 3 position then press and HOLD the key plus the key to record this position.

10 This completes the 3 point method. The 6 point method continues to the next step of defining the Orient Origin point. 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.

11 In the final 2 steps you define the Positive X and Positive Z directions of the Tool Frame. First we will define the Positive X direction by jogging the tool from the Orient Origin point at least 250 mm, then HOLD the key and PRESS the RECORD.

12 Finally you need to define the Positive Z Direction. Start by moving back to the Orient Origin point being careful that the tool doesnt move the part.

13 Now jog the tool at least 250mm in the direction that you want to define as the Positive Z direction and HOLD the key and PRESS the RECORD.

The Tool Frame have now been defined.

F5SHIFT

F5SHIFT

SHIFT F5SHIFT

SHIFT F5


23

1.17 Slide 20-Verify TCP

Frames

Verify TCP

Audio:

If the TCP was taught correctly, it will move in the direction you want when you jog in X, Y, or Z.

When you rotate the tool, it should rotate about the Tool center point. The TCP should remain stationary.


24

1.18 Slide 21-Selecting a Tool Frame from the Jog Menu

Frames

Selecting a Tool Frame from the Jog Menu

Tool #1 Tool #2

+Tool ( .=10) 2Jog 0User 3Group 2

Audio:

When there are multiple tools and groups defined on a robot, you can use the jog menu to verify and change the following jogging information:

TOOL, JOG, and USER frame number of each frame.

Additionally, you can change motion group number be aware that before changing motion group number, the frame number that is displayed is the frame number defined within that motion group.

First press plus the coordinate key on the Teach Pendant. Select TOOL and enter the number of the frame you want. Then press the coordinate key without the shift key until desired coordinate system is selected.

After you have taught the Tool Center Point and that tool is selected, you can test the tool by jogging in the Tool Frame you have just taught.

SHIFT


25

1.19 Slide 22-How the Robot Frames are linked

Frames

How the Robot frames are linked

Robot

Tool Frame (TCP)

Positional data

User Frame origin

Taught PositionJ P[1] 100% FINE

Audio:

In Summary, the Tool Frame Offset tells the controller where the Tool frame is relative to the center of the faceplate

Positional data tells the controller where the Tool frame is, relative to the User frame. In this example, there is a defined User Frame that is not using the default world frame.

User frame offset data (UFRAME) tells the controller where the defined USER frame is relative to World frame. This is the next subject.


26

1.20 Slide 23-User Frame

Frames

User Frame

+Z

-Z

+Y

-Y+X

-X+Z

-Z

+Y

-Y

+X-X

X PLANE

X PL

ANE

Y PLANE

Y PLANE

Z PLANE

Z PL

ANE

World Frame

You can define up to 9 user frames within R-J3 controllers

User Frame is this offset in

the X,Y,Z,W,P,R

User frame - user defined frame

User:

Now lets discuss the User Frame

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.

If you do not set up the location and orientation of the user frame before you create a program, then the user frame will be set, by default, to the world frame origin point.

When jogging the robot in User coordinates and you have not defined a user frame, then the XYZ motion will be the same as XYZ motion in world.

If you jog the robot in User Coordinates, and a user frame has been defined and that defined user frame is selected, you must remember that the X, Y, & Z origin point is referenced from the defined user frame, not the center of the robot, like World Coordinates does.

You can define up to nine user frames within the R-J3 controllers

There are three methods of setting the Uframe: The Three Point Method, the Four Point Method and the Direct Entry Method.


27

1.21 Slide 24- Example of User & Tool Frame in a TP Program

Frames

Example of User & Tool Frame in a TP Program

Program Position Detail

Audio:

Each time a point is taught in a program, the recorded positional data provides the location of the TCP, expressed as X, Y, & Z, relative to the origin of the currently selected User Frame. The orientation of the Tool Frame, expressed as W, P, & R, for Yaw, Pitch and Roll, is also relative to the User Frame.

Therefore, if no Tool Frame has been taught, the X, Y, & Z positional data will reference from the center of the robot faceplate and not the center of the attached tool. However, if a Tool frame has been taught, and, that Tool Frame is selected, the X, Y, Z, W, P, & R data will reference the actual Tool Center Point.


28

1.22 Slide 25-Sample Program UFrame vs. World Frame

Frames

Sample Program UFrame vs. World Frame

Program is referenced from UFrame

Program Points

Audio:

One of the benefits of defining a user frame is when multiple programs are based on a user frame which can be referenced from the workpiece and when the workpiece moves, then editing the user frame would adjust all programs based on that user frame.


29

1.23 Slide 26-User Frame Procedure

Audio:

This video will show you how to define a User Frame using the 3 point method.

1 First turn the Teach Pendant to the ON position, then press the key. From the pop-up menu cursor down to SETUP and press the key.

2 Now press the TYPE key and cursor down to FRAMES and press the key. Upon selecting Frames, the Tool frame setup is the default screen.

3 Select User frame from the function key labeled OTHER and press

4 Press DETAIL function key to define and name the user frame. 5 You can name the user frame within the Comment line; however this has already been

defined. To delete the existing name and rename it hold the Shift key plus arrow right to delete one character at a time. We will rename it to be called BOX. The Teach Pendant recognizes the Frame number and not the comment name you provide.

6 Press the softkey labeled method to select the method that you will be using when defining the User Frame

7 Jog the robot to the Orient origin point position and record it using the and Record key

8 Next, you define the Positive X direction by jogging the robot from the Orient Origin point at least 250 mm, then HOLD the key and PRESS the RECORD key.

MENUS

F5SHIFT

ENTER F3

ENTER

ENTER

F2

F5SHIFT

F2

F1


30

9 Now jog the tool at least 250mm in the direction that you want to define as the Positive Y direction and HOLD the key and PRESS the RECORD key.

10 This completes the procedure on how to define a user frame using the three point method 11 Now we will demonstrate using the newly defined the User Frame. newly

12 When you press the plus the key, you can verify the user frame number that is selected.

This completes the demonstration on how to create a three point user frame.

SHIFT

SHIFT COORD

F5


31

1.24 Slide 27-You Try It-User Frame

Audio:

This is your opportunity to recall the steps needed to define a User Frame using the 3 point method.

You can name the user frame within the Comment line; however this has already been defined. We will rename it to be called BOX.

We will Jog the robot to the Orient origin point position

We will jog the robot from the Orient Origin point 250 mm.

We will jog the tool at least 250mm in the direction that defines the Positive Y direction.


32

1.25 Slide 28-Remote Tool Center Point

Frames

Remote Tool Center Point

+Y

+X

+ZTool

Frame

+Y-X

+ZUser Frame

(Remote Tool Center Point)

Audio:

In this section, we will cover the Remote Tool Center Point

A remote tool is an external tool within the robots working envelope that performs work on a part that is delivered by the robot. In situations where the robot carries the workpiece and the tool is stationary, you can make use of the User Frame to provide special movement of the workpiece about the tool. In these situations the User Frame is called a Remote Tool Center Point.

You can define a user frame whose origin is at the external tool to allow moving the part relative to the external tool.

When the user frame is employed this way, it is called a Remote Tool Center Point.

You must first define a user frame before you can use the Remote Tool Center Point feature when jogging the robot. If you want to include remote tool center point moves in a program, you must include Remote Tool Center Point instructions in the program.


33

1.26 Slide 29-Function Key

Frames

Function Key

FCTN

Audio:

The controller must have the Remote Tool Center Point software option installed.

To jog the robot in Remote Tool Center Point, you must press the Function key on the Teach Pendant, select Toggle Remote TCP and press enter. Once you have selected the Remote TCP function and you are using XYZ coordinates, the selected Remote Tool Center Point, along with the coordinate system will be displayed in the teach pendant window. In this example Remote TCP one and Tool Coordinate is displayed in the Teach Pendant window.

When this function is enabled and the remote tool center point user frame has been defined, you can jog the robot with the part around the remote tool.


34

1.27 Slide 30-RTCP Instruction

Audio:

if you want to use the Remote Tool Center Point option in your Teach Pendant program, you must decide where it is needed and then place it on the end of the program-line statement using the CHOICE menu to display Motion Options to select RTCP. Notice in this animation, which provides multiple views of the same motion, how the robot with part will jog around the remote tool. When you are done viewing this slide, press the next slide icon.


35

1.28 Slide 31-No RTCP Instruction

Audio:

Here is an example of the resulting path of a robot using a Teach Pendant program without the Remote Tool Center Point option. This example also shows multiple views of the same motion. Notice how the robot with part is not accurate when rotating around the tool.


36

1.29 Slide 32-Jog Frame

Frames

Jog Frame

Jog FrameWorld Frame

You can set up as many as 5 different jog frames for each robot

Audio:

We will wrap up with Jog Frame

The Jog Frame provides a convenient way to jog the robot relative to a particular workpiece.

In this example, A Jog frame was defined to move along a part when the part is oriented differently from the world frame.

This displays two examples: the world frame and the jog frame.

The benefits of defining a jog frame, are that it makes jogging easier when teaching points, and it will remove the need to "tack while jogging, if a part is skewed in relation to the world frame. Remember that Jog frames can be taught anywhere inside the robots workspace.

You may like to think of a Jog Frame as another right hand rule defined somewhere within the work envelope.

NOTE that a Jog Frame has no effect on program data!

Before you can use a jog frame, you must set up its location and orientation.

You can set up as many as five different jog frames for each robot.


37

You can select one jog frame to be active at a time per motion group.

Once the Jog Frame has been defined and is selected, the robot can be jogged in that frame.

There are two methods you can use to define a jog frame:

The Direct Entry method and the Three Point method

1. The direct entry method provides for direct recording and numerical entry of the frame position.

2. This method allows you to designate the origin with the actual values for x, y, z, w, p, and r when they are already known.

Usually however, the frame data is unknown. In that case you can use the three point method to teach a jog frame.


38

1.30 Slide 33-Jog Frame Procedure

Audio:

In this video you will learn how to define a jog frame.

1 First, turn on the Teach Pendant, then select Setup from the key.

2 Now press the function key labeled TYPE and cursor down to FRAMES and press the key.

3 Select Jog frame from the function key labeled OTHER and press

4 Press DETAIL function key to define and name the jog frame.

5 Press to name this frame BOX, then press again

6 Select the function key labeled METHOD and select 3 point. 7 Place the robot at the top left hand corner of the box and record the origin point. When the

robot is positioned at this point, press Shift plus to Record this position. For the X direction, jog the robot in the direction that you want the jog frame plus X direction

to be. Any coordinates can be utilized to get to the directions. Coordinates do not have any bearing on the final outcome in defining the jog frame.

8 Now jog the robot so that the pointer is half way down the box to represent the +Y direction.

MENU

+X

F5

ENTER

F2

F2

ENTER

ENTER F3

ENTER F1


39

9 Press to record the direction 10 Now test the frame that was just created. Change the coordinates to jog frame.

11 When you bring up the jog menu with the plus the key, you will see that jog frame number 1 is active

This completes the Jog Frame setup procedure

1.31 Slide 34-Frames Summary

Frames

Frames Summary

World frame - default frame of the robot Tool frame - user defined frame User frame - user defined frame

RTCP Remote Tool Center Point HandlingTool, DispenseTool, and SpotTool+ only)

Jog frame - user defined frame

Audio:

You have completed the frames module. In this module understanding the different types of frames has been the key topic. We learned that world frame is always the default frame of the robot. An important reason to define a tool frame is simply jog the TCP to the work piece which makes programming easier. User frame is a frame that you can setup in any location and any orientation. User frames are used so that positions in a program can be recorded relative to the origin of the frame.

A remote tool is an external tool within the robots working envelope that performs work on a part that is delivered by the robot. And the course wrapped up with Jog frame which simply provides a convenient way to jog the robot relative to a particular work piece.

+Y

SHIFT COORD

F5 SHIFT


40

1.32 Slide 35-Quiz

Frames

Quiz

Now is your opportunity to test your knowledge

You must pass with an 80% or higher You may retake the questions as many times

as necessary, but you must close out of the course before retaking it again.

Click here to begin the Quiz

Audio:

If you have any questions or would like to provide feedback, please contact [email protected]

And now in the next slides you will have the opportunity to test your knowledge of the information that has been provided.


41Input/Output 2

2 INPUT/OUTPUT

Input/Output

Module ObjectivesAfter successfully completing this module you should know the different types of I/O and how to configure them:

Audio:

Welcome to Input, Output

After successfully completing this module, you should know the different types of Inputs and Outputs and how to configure them.

There are several types of I/Os, but in this module, the different types of Inputs and Outputs are: Robot; Digital; Analog and Group.

Inputs and Outputs are electrical signals that enable the robot controller to communicate with End of Arm Tooling, process equipment, other external sensors and other devices.

Input/Output MATELRNAT0511CE REV. A

42

2.1 Slide 2-Analog

Input/Output

Analog

Substance

Pressure Transducer - Analog

Typical Voltage Values

-10 volts to +10 volts

Audio:

First, what are Analog signals Analog Signals are created from sensors, or transducers in the work cell, or sent from a Robot controller via its control module to a transducer within the cell to effect a change. This signal is normally an electrical voltage within an accepted range of values that is transmitted to or from an I/O circuit-board or module connected to a robot controller.

Notice, in this example, that as the substance fills the tank, the pressure transducer puts out an analog voltage that is used to determine when to open the valve and release the substance.

Analog input devices convert external analog signals into numbers for use by the controller. Analog Output devices send analog signals out to external devices. Typical voltages of analog inputs and Outputs are from negative 10 to positive 10 volts


43

2.2 Slide 3-Digital Input/Output

Input/Output

Digital Input/Output

Light switch is OFFON

Audio:

A Digital Input and Output signal is a control signal sent to or from the controller. Digital signals can have only one of two possible states: ON or OFF.


44

2.3 Slide 4-Digital

Input/Output

Digital

Substance

Float with Switch Digital ONOFF

Audio:

Here is an example of a Digital signal. As a substance fills the tank, a switch, connected to the float at the top of the tank will disconnect to break a connection. This becomes a digital OFF signal, and is used to stop the flow of substance. Then as the substance drains out of the tank, the floats switch will make the connection to turn the substance-flow on.


45

2.4 Slide 5-Robot I/O

Audio:

Robot Inputs and Outputs are digital signals usually used to manipulate the End of Arm Tooling. These signals are sent through the

End Effector or the EE connector located on the robot. Although all robot have it, not all robots use it.


46

2.5 Slide 6-Robot I/O

Audio:

This example shows how the programming instruction would be written to manipulate the End of Arm Tooling utilizing Robot Outputs.


47

2.6 Slide 7-Model A Input/Output

Audio:

Heres how to configure Digital AND ANALOG Inputs and Outputs:

When all appropriate I/O hardware has been installed and connected, you must configure the I/O. Configuring I/O establishes the correspondence between the signal number and the physical port. Each signal, or signal-sequence must be configured to a rack, a slot in the rack, and the channel number or starting point. You can change this configuration depending on the kind of I/O you are using. Model A I/O is unique, in the fact that some FANUC software will be automatically configured, similar to the PC-worlds Plug and Play.


48

2.7 Slide 8-Rack Assignment

Input/Output

Rack Assignment

The rack is the first part of the address for an I/O signal

The following ground rules apply to assigning I/O rack numbers Racks are numbered sequentially Process I/O is always rack 0 Model A or Model B I/0 Starts at rack 1 PLC I/O is always rack 16 DeviceNet is always rack 81-84 ControlNet is always Rack 85/86

Audio:

The rack is the first part of the address for an I/O signal.

The following ground rules apply to assigning I/O rack numbers: Racks are numbered sequentially Process I/O is always rack 0 Model A or Model B I/0 Starts at rack 1 PLC I/O is always rack 16 DeviceNet is always rack 81-84 and ControlNet is always rack 85 & 86.


49

2.8 Slide 9-Model A Rack

Input/Output

Model A - RackRack

Audio:

The rack is the physical location on which the input or output process I/O board or modular I/O is mounted. Your system can contain multiple racks.


50

2.9 Slide 10-Slot Assignment

Input/Output

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

The following rules apply to slot assignment Slot numbers are assigned sequentially Valid numbers are 1 through 9, no letters The first process I/O board is always assigned slot 1 Slot numbers cannot be used twice in the same rack

Audio:

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.

The following rules apply to slot assignment: Slot numbers are assigned sequentially Valid numbers are 1 through 9, no letters The first process I/O board is always assigned slot 1 And slot numbers cannot be used twice in the same rack.


51

2.10 Slide 11-Model A Slot Assignment

Audio:

The first opening within the Rack is for the Interface card. The remaining slots are for the Input and Output cards.

Here is an example of a model A I/O inside a controller.


52

2.11 Slide 12-Starting Point/Channel Assignment

Input/Output

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

Audio:

Starting points for digital signals are the physical position on the I/O module or process I/O board that identifies the first point in a range.

Analog Signals use channels that are the physical position of the port on a process I/O board or a terminal number for I/O card.


53

2.12 Slide 13-Model A-Starting Point Assignment

Input/Output

Model A - Starting Point Assignment

I/O Signal Connections

Audio:

This is an example of a digital I/O card. It has 16 inputs or outputs. The signal terminals are labeled A0 through A7 and B0 through B7. Digital input/output one is terminal A0. Digital input 2 is terminal A1, continuing through the first 8 input/outputs. Digital input 9 is terminal B0, and the remaining input/outputs continue on terminals B1 through B7. The schematic diagram indicates the proper wiring for power, ground and connection for each input/output signal.


54

2.13 Slide 14-Configuring I/O


55

Audio: We are now ready to Configure Digital I/O:

1 Press the key and select I/O.

2 Then press the [TYPE] key and select Digital you will see the following screen.

3 The IN/OUT key will let you toggle between Inputs and Outputs.

4 Now press the CONFIG Key to get to the configuration screen. 5 First set your range or the number of ports you want to configure. In this example we will

change the range from 1 thru 64 to 1 thru 16.

6 Then cursor over and assign the Rack, Slot and Starting Point.

It is important that once you have completed your I/O configuration that you power down the controller and power it back up to get the changes to take effect.

MENU

F2

F3

F1


56

2.14 Slide 15-Configurig I/O Status

Audio:

The Status line describes the current status of the I/O.

ACTIVE - the assignment is valid and active.

INVALID the assignment is invalid based on the I/O hardware present when the controller was turned ON. Invalid will appear when you choose incorrect values for that module

PENDING - the assignment is valid, but not active.

UNASSIGNED - An assignment has not been made.


57

2.15 Slide 16-Complementary Signals

Input/Output

41 2 3 5

DO[1] DO[2] DO[3] DO[4] DO[5]

F1 F2 F3 F4 F5

41 2 3 5

DO[1] DO[2] DO[3] DO[4] DO[5]

F1 F2 F3 F4 F5F1 F2 F3 F4 F5

41 2 3 5

DO[1] DO[2] DO[3] DO[4] DO[5]

41 2 3 5

DO[1] DO[2] DO[3] DO[4] DO[5]

F1 F2 F3 F4 F5F1 F2 F3 F4 F5

41 2 3 5

DO[1] DO[2] DO[3] DO[4] DO[5]

Complementary Signals

Audio:

If Output signals are configured as a complementary pair, a command to turn that signal ON will also turn its paired output OFF.

In this example Digital Outputs 1 and 2 are setup to be complementary. By manipulating Digital Output 1, we can also manipulate Digital output 2.

In this example the cursor is on Digit Output 1, we have turned it OFF then Digital Output 2 will automatically turn ON. Only outputs can be set as complementary pairs. So Digital Output 1 and 2 can be a paired together, then 3 and 4 together, 5 and 6 are together and so on.


58

2.16 Slide 17-I/O Detail

Input/Output

F1 F2 F3 F4 F5Next

I/O Detail

Audio:

The I/O Detail key lets you name, set the polarity of and configure complementary pairs for each Input or Output.

Complementary pairs are always defined on the odd output.

To access the detail screen, from the I/O screen press the next key then press the DETAIL key. To name the I/O, with the cursor on the Comment line, press the key. To set the output to be complementary, cursor down to Complementary and press the TRUE key. You must power down the controller and power it back up to get the changes to take effect.

F4 ENTER

F4


59

2.17 Slide 18-19-Monitoring/Controlling I/O

Input/Output

Monitoring/Controlling I/O

WARNING:

BEFORE FORCING A SIGNAL BE SURE THATIT IS SAFE TO DO SO.

SIGNALS SHOULD BE FORCED FOR TESTINGAND TROUBLESHOOTING PURPOSES ONLY.

AFTER COMPLETION OF TESTING OR TROUBLESHOOTING BE SURE TO RETURN ALL

I/O SIGNALS TO THEIR NORMAL CONDITION.

Audio:

BEFORE FORCING A SIGNAL BE SURE THAT 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 CONDITION.


60

Input/Output

DO [1]

DO [2]

DO [3]

DO [4]

DO [5]

DO [6]

DO [7]

DO [8]

DO [9]

DO [10]

DO [11]F1 F2 F3 F4 F5

Monitoring/Controlling I/O

Audio:

The Teach Pendant can be used to monitor and control Input and Output signals. Monitoring I/O is using the teach pendant to see the I/O being manipulated in a program. Controlling I/O is turning the signals ON or OFF manually. As seen in this example Digital Outputs can be manually forced ON or OFF without being simulated.


61

2.18 Slide 20-Simulating I/O

Input/Output

OFF

ON

F1 F2 F3 F4 F5

Simulating I/O

Audio:

Simulating a Input allows us to change the bit for the signal without a signal actually going into or out of the controller. Digital Input signals must be Simulated first and then the signal can be manually forced ON or OFF.


62

2.19 Slide 21-Configuring Group I/O

Input/Output

Configuring Group I/O

F1 F2 F3 F4 F5

Power OFF then ON to enable changes.

Audio:

Group I/O is made up of a sequence of digital I/O signals that is interpreted as a binary integer.

When configuring group I/O, you first need to look at the configuration of the I/O you want to group. In this example we will configure Digital Outputs (DO) 1-16 to Group Output #1. To view the configuration, go into the I/O screen and press CONFIG. Digital Outputs 1-16 are assigned to Rack 1, Slot 1 and our starting point will be 1. Now press the TYPE key to view the Group Outputs. Press the CONFIG key to configure the Group Output.

Insert Rack information from the Digital Outputs configuration, in example, we used Rack 1, Slot 1 and Starting Point 1 and the range of digital output we used is 16.

Once you have configured your Group Outputs you must power down the controller and power it back up to gets the changes to take effect.

F2

F2 F1


63

2.20 Slide 22-Group Input/Output

Input/Output

Group Input/Output

2 3 5

Binary Bits

41 2 3 5

DO[1] DO[2] DO[3] DO[4] DO[5]

1 2 4 8 16

41 2 3 5

DO[1] DO[2] DO[3] DO[4] DO[5]

41 2 3 5

DO[1] DO[2] DO[3] DO[4] DO[5]

41 2 3 5

DO[1] DO[2] DO[3] DO[4] DO[5]

1: GO [1] = 21: GO [1] = 101: GO [1] = 17

Audio:

Once the Group I/O are configured you can manipulate multiple I/O with binary bits.

When Group Output #1 is set to 2 the Binary bit 2 is switched ON.

When Group Output #1 is set to 10 both Binary bits 2 and 8 are switched ON.

And when Group Output #1 is set to 17, Binary bits 1 and 16 are switched ON.

An example of using Group I/O might to turn ON multiple colors of paint or turn on several items simultaneously by using one number.


64

2.21 Slide 23-Input/Output Review

Input/Output

Input/Output Review

Robot Inputs and Outputs are signals between the robot and the controller.

An analog signal is an input or output voltage that has a range of values within the I/O board or module that is being used.

Digital signals can have only one of two possible states: ON or OFF.

Group I/O is made up of a sequence of digital I/O signals that is interpreted as a binary integer.

Click here to begin the Quiz

Audio:

In Review Robot Inputs and Outputs are signals between the robot and the controller. An analog signal is an input or output voltage that has a range of values within the I/O board

or module that is being used. Digital signals can have only one of two possible states: ON or OFF. Group I/O is made up of a sequence of digital I/O signals that is interpreted as a binary

integer. This concludes the Input/Output Module. The next four slides will provide you the

opportunity to test your knowledge and comprehension.


65Program Instruction 3

3 PROGRAM INSTRUCTION



Audio:

Welcome to the Program Instructions Module

Program Instruction MATELRNAT0511CE REV. A

66

3.1 Slide 2-Module Content


Module Content

Data Register Position Register Instruction Branching Instructions

Label Unconditional

JMP LBL CALL

Conditional Wait Instructions Miscellaneous Instructions

Remark Override Message Timer

Audio

This module will cover Data Registers, Position Register Instruction, Unconditional and Conditional Branching,

Wait Instructions and Miscellaneous Instructions which are Remark, Override, Message and Timer


67

3.2 Slide 3-Data Register


Data Register

Registers are 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 32

Can be changed during initial setup or during control start

Direct vs Indirect

Direct R[3]= 2

Indirect R [R [3] ] = 5

Internal Register

External RegisterR[R[3]=2] or R[2]

Audio:

Registers are very powerful programming tools. When used correctly, registers can be utilized as counter, to set program flags, or to adjust program speed. A register stores one number. The default number of registers is 32, however up to 999 registers are available.

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[3]= 2 is used, the current contents of register 3 is replaced with the value 2.

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. In the example shown Register 3 is the internal register and statement shown (R[R[3]]) is the external register. Since in the previous instruction value of the internal register 3 is 2, the external register number addresses register 2 instead of register 3. Therefore, the result of the second instruction is that the contents of the external register 2 is to be replaced with the value 5.

You can increase the number of registers during a controlled start.


68

3.3 Slide 4-Position Register Instructions


POSITION REGISTER InstructionsPR[GRPn:x]=[value]

Audio:

Position registers can be used to store global positions, such as a home or a maintenance position which contain x,y,z,w,p,r, configuration.

Position Registers allow positions to be predefined for shared use by many programs.

Position register instructions can manipulate the robot positions. They include assignment, addition, and subtraction instructions.

The following is the instruction syntax

The Group number is needed if there is more than one group defined. The x is the position register number direct or indirect. For clarification of direct or indirect, refer to the slide Register Instructions

The value choices are LPOS which is the current Cartesian coordinates in xyzwpr and configuration; JPOS which is Current joint angles; UTOOL number is the Tool Frame; UFRAME number is the User frame; PR number is the Position Register and P number is the Position.

The operator choices are addition, subtraction or carriage return to terminate without adding an operator

The maximum number of the same arithmetic operator you can have in one instruction is 5.


69

3.4 Slide 5-Position Register Element


POSITION REGISTER Element PR [i, j]

Direct:Position Register element #

Indirect:Position register #= contents of R[x]

Indirect:Position register element #= contents of R[x]

Direct:Position Register element #For Cartesian Positions: For Joint positions1=x 1=joint 12=y 2=joint 23=z 3=joint 34=w 4=joint 45=p 5=joint 56=r 6=joint 67=config n=joint n

/PROG PREG_ELE 1: !POSITION REG VALUE 2:J P[1:ABOVE JOINT] 100% FINE3:J P[2] 100% FINE 4: PR[1]=LPOS 5: PR[1,2]=600 6:L PR[1] 100.0inch/min FINE 7:J P[1:ABOVE JOINT] 100% FINE/END

x, y, z, w, p, r, configx,600,z, w, p, r, config

Audio:

Position register element instructions manipulate a specific position register element. A position register element is one element of a specified position register. Where the designation for i represents the position register number and the j represents the position register element.

The program example shown, line 4 is changing Position register 1 to equal the current Cartesian coordinates position in line 3 (x,y,z,w,p,r,config) as explained in the previous slide.

Program line number 5 is using position register element 2 which is y shown in the table, to equal 600.

Program Line 6 will move the robot in a linear move to position register 1 with 100 inches per minute travel speed and Fine termination.


70

3.5 Slide 6-Program Instructions



Instruction

1 Registers

2 I/O

3 IF/SELECT

4 WAIT

5 JMP/LBL

6 CALL

7 Miscellaneous

8 next page--

Instruction

1 Skip

2 Payload

3 Offset/Frames

4 Multiple control

5 Program control

6 MACRO

7 Tool Offset

8 next page--

Instruction

1 LOCK PREG

2 MONITOR/MON. END

3

4

5

6

7

8 next page--

Audio:

While creating or editing a program from the select menu, all instructions can be displayed while the cursor is on the program line number or at the END of the program. The function 1 key labeled INSTRUCTION will provide a list as shown here.


71

3.6 Slide 7-Branching Instructions


Branching Instructions

1. Label Definition Instruction 2. Unconditional Branching Instructions 3. Conditional Branching Instructions

Audio:

Starting with Branching instructions

Branching Instructions cause the program to branch, or jump, from one place in a program to another. There are three kinds of branching instructions:

1. Label definition instruction

2. Unconditional branching instructions

3. Conditional branching instructions


72

3.7 Slide 8-Label Definition Instruction LBL[x]


Label Definition Instruction LBL[x] LBL[x: comment]

Direct:Label number

Indirect:R[x] where label #= contents of R[x]

As many as 16 numbers, letters,

blank spaces, the punctuation ;, :, , , (, ), and the characters * , _and @

1: LBL [1]2: J P[2] 100% CNT803: L P[3] 2000mm/s CNT804: L P[4] 2000mm/s CNT805: L P[5] 2000mm/s CNT806: L P[2] 2000mm/s CNT807: JMP LBL [1] END

JMP LBL[x] Unconditional Branching Instruction

Audio:

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.

Use the Jump Label instruction to branch to the specified label.

Watch the program flow. When it reaches the Jump Label 1, the program then looks for the label 1 to continue the program


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3.8 Slide 9-Unconditional Branch Call


Unconditional Branch - CallCALL program

Name of Program

1: J P[2] 100% CNT802: J P[3] 2000mm/s CNT803: L P[4] 2000mm/s CNT804: L P[5] 2000mm/s CNT805: L P[6] 2000mm/s CNT806: L P[2] 2000mm/s CNT807: CALL PROG2 8: L P[7] 2000mm/s CNT80END

PROG1PROG1 JOINT 100%

1: J P[1] 100% CNT802: J P[2] 2000mm/s CNT803: L P[3] 2000mm/s CNT804: L P[4] 2000mm/s CNT80END

PROG2PROG2 JOINT 100%

Audio:

Another Branch instruction you could use is the CALL instruction.

The CALL program instruction causes the program to branch to another program and execute it. When the called program finishes executing, it returns automatically to the main program at the first instruction after the call program instruction. It is not necessary to add a call statement in the second program to return back to the first program as it will automatically return when it reaches the program END.


74

3.9 Slide 10-Conditional Branching Instructions


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.

Audio:

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 which branch to a specified label or program if certain conditions are true. There are register IF instructions and input/output IF instructions.

And there is the SELECT instructions which branch to one of several jump or call instructions, depending on the value of a register.


75

3.10 Slide 11-IF Register


IF Register

IF R[x] [operator] [value] [action]Direct:

Register #

Indirect:R[x] where register #=

contents of R[x]

= equal

not equal

< less than

greater than or equal

constant value

R[x] where value = contents of R[x]

JMP LBL[x]

CALL program

Condition

IF R [1] = 1 AND R [2] = 2 AND DI [2] = ON, JMP LBL [2]

Audio:

Register IF instructions compare the value contained in a register with another value and then take an action if the comparison is true.

For an IF instruction, conditions can be connecting using AND or OR.

Looking at the example shown, the IF is checking to see if Register 1 is equal to 1 AND Register 2 is equal to 2 AND Digital Input 2 is ON. When all three conditions are true, then the action is to jump to label 2.


76

3.11 Slide 12-Example #1 IF Register


Example #1 IF Register

IF R[1] >= 3000 and R[2] = 5 and DI[2]=ON, JMP LBL [2]

R[1: Number of welds]R[2: Number of Tip Dresses]DI[2: Zone is Clear]

Audio:

In this example, Register 1 is tracking the number of welds

Register 2 is tracking the number of tip dresses

Digital Input 2 is used to determine if the Zone is clear

So If the number of welds in register 1 is greater than or equal to 3000 and the caps have already been shaved or dressed more than five times which is determined by the value in register 2 AND the zone is clear which Digital Input [2] is equal to ON of other equipment then jump to another part of the program to execute the Cap Change program which means its time to change weld caps.


77

3.12 Slide 13-Example #2 IF Register


Example #2 IF Register

R[1: Number of parts on the pallet]R[2: Number pallets stacked]DO[2: Request for Fork Truck]

If R[1] >= 30 and R[2] = 5, JMP LBL [2]...LBL 2DO[2]=ON

Audio:

In example 2 IF the number of parts on the pallet is greater than or equal to 30 which is determined by register 1 number value indicates that the pallet is full AND the number of pallets stacked in register 2 is equal to 5 then jump to another part of the program to turn on the light beacon Digital Output [2] for the Fork Truck indicating that these are ready to go.


78

3.13 Slide 14-IF Input/Output


IF Input/Output

IF [I/O] [operator] [value] [action]

DO[x]

DI[x]

RO[x]

RI[x]

SO[x]

SI[x]

UO[x]

UI[x]

= equal

not equalR[X]OnOffDO[x]DI[x]RO[x]RI[x]SO[x]SI[x]UO[x]UI[x]

JMP LBL[x]

CALL program

Condition

IF DI [10]=ON OR R [7]=R [8], JMP LBL [2]

Audio:

Input/output IF instructions compare an input or output value with another value and take an action if the comparison is true.

You cannot mix the AND or OR operators in the same operation.

Here is an example of using an OR operator. The IF is checking to see if Digital Input #10 is ON -OR- Register 7 has the same value as Register 8. In the event one of the two conditions is true, then the action will jump to label 2.


79

3.14 Slide 15-Example #3 IF / OR


Example #3 IF / OR

DO[10: Conveyor Running]R[7: Number of parts processed]R[8: Maximum number of parts]

LBL [1]...If DO[10] = OFF OR R[7] = R[8], JMP LBL [2]...JMP LBL [1]LBL [2]END

Audio:

In example 3, If the conveyor Digital Output [10] has been shut off, or if the number of parts processed in register 7 equals the number of parts needed in register 8, then the logic jumps to the end of the program. Otherwise the program jumps back to the beginning to continue to run until it processes all the parts needed.


80

3.15 Slide 16-IF Procedure

Audio:

This video will demonstration the steps to create an IF Register program instructions.

1 Select the program to be edited. 2 Arrow down to the End to add the new Program Instruction or insert a new program line if

needed.

3 Turn the Teach Pendant switch to the On position. 4 Press the NEXT key to add the new Program Instruction

5 Press key labeled INSTRUCTION 6 Arrow down to highlight the IF/SELECT instruction

7 Press to select the instruction 8 Select the appropriate operator for the IF statement. This demonstration is using the equal

operator, press to select it.

9 Press again to select Register statement 10 Select the Register number for the IF instruction. This demonstration will use a constant

value to compare against Register 1

11 Enter in the constant value to compare with.

ENTER

ENTER

ENTER

F1


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This completes a condition portion of the If statement. Arrow down to select AND if you desire another condition

3.16 Slide 17-You Try It IF Register

Audio:

Here you will need recall all the steps needed to create an IF Register program instruction.


82

3.17 Slide 18-SELECT Instructions


SELECT Instructions

MAIN2:1:LBL[1]2: SELECT R[5:PRGSLCT]=1 CALL PROG13: =2 CALL PROG24: =3 CALL PROG35: ELSE JMP LBL[1]L P[7] 2000mm/s CNT80END

Audio:

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.

In the program example shown, once the program has captured a valid number, it will execute this program once and then it will move on to the next instruction.


83

3.18 Slide 19-SELECT Instruction Procedure

Audio:

This video will demonstration all the steps that are needed to call specific programs based on a Registers value utilizing the SELECT branching instructions.

1 Select and edit the program to add the instructions to. Tturn on the teach pendant.

2 Press the Next key to display the instruction choice.

3 Press Function 1 to select the instruction 4 Arrow down to line 3 labeled IF/SELECT

5 Press to select the instruction. All the IF and SELECT choices will appear. You must press line 8 labeled next page to view the SELECT instruction choices. We will use all three SELECT instructions listed here to accomplish the task.

6 Select the first item labeled SELECT Register equal to. 7 Enter register 5 8 Press Enter 9 Now select Constant 10 Within Register 5, determine if the content contains the value 1. 11 If the value is 1, then issue a CALL instruction to PROGRAM 1

ENTER

SELECT

F1


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12 To add additional branching instructions, we need to insert two more select conditions.

13 Arrow down to IF/SELECT and press 14 Once again, select NEXT PAGE to view the SELECT instruction choices. 15 This time select item 2 labeled equal 16 Now we will determine if Register 5, contains the value 2. 17 Select the CALL instruction 18 If the register 5 contains the value 2, select the program name PROG2 19 Now we will repeat the process to insert another CALL instruction to Program name

PROG 3

20 Now insert the ELSE JUMP LABEL

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Fanuc R J3, R J3iB, R 30iA Student Manual

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