FANUC Robotics SYSTEM R-J3 Controller HandlingTool Software

Installation Manual

MARF3HD5109801E REV. A

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4.4 INSTALL ADDITIONAL SOFTWARE

This section provides information on how to install or change the software currently loaded on
your controller. This includes how to:

  Authorize, install and set up options at controlled start

  Modify robot library groups
  Modify robot libraries and options
  Set up a Nobot manually
  Set up extended axes manually
  Set up positioners manually
  Modify program limits
  Install updates and customizations

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4.4.1
Authorize, Install, and Set Up Options at Controlled Start

Use Procedure 4-3 to authorize, install, and set up options at controlled start.
Procedure 4-3 Authorizing, Reinstalling and Setting Up Options

Condition

  The R-J3 controller is plugged in and is working properly.

  You are trying to do one of the following:
o - Authorize an unauthorized option
o - Install an authorized option
o - Set up an installed option
o - Reinstall an option
o - Authorize, install, and set up an option purchased separately from the
application software
   Enough system memory is available to install all application software. Refer to the
readme.txt ASCII file on the R-J3 memory card for information on the amount of
memory available for your application and required by each option.
  The teach pendant ON/OFF switch is OFF and the DEADMAN switch is released.
  The REMOTE/LOCAL keyswitch on the operator panel is set to LOCAL.
  If you are updating controller software , you have backed up everything that you
want to use on this controller. Refer to Appendix C for more information on backing up
system files, programs, and application files.
Step

 1 Perform a Controlled Start. If the controller is already in Controlled Start mode, go to

Step 2 .
o a If the controller is turned on, turn it off.
o b Turn on the disconnect.

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

o d Select Controlled start and press ENTER. After a few moments, you will see a
screen similar to the following.
 2 Press MENUS.
 3 Select S/W INSTALL. You will see a screen similar to the following.

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

 5 Insert the memory card into the memory card interface

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

 7 To change the display from ORDER NUMBER to TITLE , press F3, TITLE.
  If the option is not a requirement for your application, has been preauthorized
for you, but has not yet been installed , you can decide whether or not to install it. The
option status will be Authorized and will have a PAC code already assigned.
If this option was purchased with the application software and is
a requirement for your application , the PAC code will already be available and the option
will be authorized, installed and set up. The option status will be Installed. You do not need to do
anything more to install or set up this option.

If this option has not yet been authorized for installation wil l have an empty option status.

 8 To authorize, install and set up additional options that have been purchased separately
from the application software refer to Table 4-1 .

Table 4-1 . Authorizing, Installing and Setting Up Options

Step
To do this You must do this
Order
The Product Authorization Codes (PAC) for
each option you have purchased and want to
1. Obtain the PAC code
install are available from FANUC Robotics
North America.
1. Move the cursor to the name of the option
you want to install.

2. Press F4, AUTH.

3. Type the PAC code for the option and

2. Authorize
press ENTER.

4. Press PREV to display the S/W INSTALL

screen. The option status will be Authorized.

5. Go to Install to install the option.

1. Make sure the memory card is in the
memory card interface.

2 Move the cursor to the name of the option

you want to install.

3. Press F1, INSTALL. The software will

3. Install or Re-Install install automatical ly.

4. When it is finished, the S/W INSTALL

menu will be displayed.

NOTE You will be notified if you need to

insert a different memory card.
 NOTE Some options will display the setup
program automatically. Refer to the
appropriate section to set up the option:

o  Nobot - Refer to Section 4.4.4

o  Extended Axis - Refer to Section
4.4.5
o  Positioner - Refer to Section 4.4.6

Setup
1. Move the cursor to the name of the option
you want to set up.
(optional)
4. 2. Press F2, SETUP.
Some options have user-setable
parameters. The setup function
3. When the option setup has finished, the
restores these parameters to their
S/W INSTALL screen will be displayed.
default values.

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4.4.2
Robot Library Groups

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

Step

 1 Perform a Controlled Start. If the controller is already in Controlled Start mode, go to

Step 2 .
o a If the controller is turned on, turn it off.
o b Turn on the disconnect.

o c Press and hold the PREV and NEXT keys on the teach pendant. While holding
these keys, turn the controller ON. You will see a screen similar to the following.
 o d Select Controlled start and press ENTER. You will see a screen similar to the
following.

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

 4 Select Robot Library and press ENTER. You will see a screen similar to the following.

NOTE The following screen lists the robots that have been defined for your system.
 5 Insert the memory card in the memory card interface.
 6 To change the display from TITLE to ORDER NUMBER , press F3, ORD NO.
You will see a screen similar to the following.

 7 To change the display from ORDER NUMBER to TITLE , press F3, TITLE.

NOTE If you want to install a Nobot, or positioner, you must add another group to your
system (F5, ADD GRP) before you can set up the new information.

NOTE The robot will re-execute a controlled start which will give you an opportunity to
verify your changes before you perform a cold start.

 8 To set up, add, change, and delete robot libraries that have been purchased separately
from the application software refer to Table 4-2 .

Table 4-2 . Authorizing, Installing and Setting Up Options

Step
To do this You must do this
Order
 1. Press F5, ADD GRP.

2. Press F1, INSTALL.

3. Insert the specified memory card in the memory

card interface.

4. Select the robot you want to install from the list

of robots.
Add a group and Install a
1.
robot library
5. If a data file exists on your controller for that
robot the robot will be set up automatically. If a
data file does not exist for that robot, you must
answer robot configuration questions. Refer to
Appendix B for a list of the questions.

NOTE: When you add a group, the teach pendant

scr een might go blank for approximately 60 to 90
seconds for each group in the system.
2. Delete a group 1. Press >, NEXT. 2. Press F1, DEL GRP.
1. Press F1, INSTALL.

2. Insert the specified memory card in the memory

3. Re-Install a robot library card interface.

3. Select the robot you want to install from the list

of robots.
Setup
1. Move the cursor to the name of the option you
(optional) want to set up.

4. Some options have user- 2. Press F2, SETUP.

setable parameters. The
SETUP function restores 3. When the option setup has finished, the S/W
these parameters to their INSTALL screen will be displayed.
default values.

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4.4.3
Robot Library and Extended Axis Maintenance

Robot library and option maintenance allows you to modify the following information:
   Robot library setup
  Extended axis setup
Procedure 4-5 Performing Robot Library and Option Maintenance

Step

 1 Perform a Controlled Start. If the controller is already in Controlled Start mode, go to

Step 2 .
o a If the controller is turned on, turn it off.
o b Turn on the disconnect.

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

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

 2 Press MENUS.
 3 Select MAINTENANCE. You will see a screen similar to the following.
 4 To change the display from TITLE to ORDER NUMBER , press F2, ORD NO.
You will see a screen similar to the following.

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

Table 4-3 . Auto and Manual Robot Library Setup

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

 8 To modify your setup ,

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

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4.4.4
Setting up a Nobot Manually

Use Procedure 4-6 to modify the Nobot setup manually.

Procedure 4-6 Modifying the Nobot Setup Manually

Condition

  A Nobot has been installed on your controller. Refer to Procedure 4-4 .

  You have just finished Procedure 4-5 , have selected the Nobot you want to set up and
have pressed F4, MANUAL.

You will see a screen similar to the following.

Step

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

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

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

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

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

 3 Type 1 and press ENTER.

 4 Answer the remaining questions according to your system setup. Refer to Table 4-4 .

Table 4-4 . Nobot Setup Configuration Information

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

129. ACb1
130. ACb2
131. ACb3
132. ACb6
1. /2000 6. F/3000
2. /3000 7. F/2500 NOTE Some motor combinations
Motor Type 3. S/2000 8. L/3000 might not be supported by the
4. S/3000 9. /1200 FANUC Robotics parts department.
5. F/2000 10. /1500
1 2A 6 60A 11. 360A NOTE If the motor combination you
2 4A 7 80A specified is not supported, the
Current Limit
3 12A 8 100A message, "Motor type not found,"
for Amplifier
4 32A 9 130A will be displayed. The system will
5 40A 10 20A ask for the motor information again.
Linear Axis
Nobot Axis
Type
Rotary Axis
The gear ratio for linear axes is the
number of millimeters traveled for
one rotation of the motor. For
example, if a 50mm pinion on the
motor is directly coupled to the rack,
and the radius of the pinion is 25mm,
the gear ratio is 2(pi)(25) = 157.08.
Gear Ratio Enter Gear Ratio
If the axis has a gear box between the
motor and pinion, divide the number
by the gear ratio. For example, if the
motor is connected to a 5:1 gear box
and a 50mm pinion, the gear ratio is
(2)(pi)(25)/5 = 31.416.
 The gear ratio for rotary axes is in
motor turns per single rotation of the
rotary axes. The ratio is ng2:ng1,
where ng is the number of teeth on a
gear. ng1 is attached to the motor and
ng2 is attached to the axis. For
example, if gear 1 has 25 teeth and
gear 2 has 50 teeth, the ratio would
be 2:1.

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

The direction determines which way

the motor turns when the positive jog
key is pressed, and should be
consistent with axis alignment.
TRUE indicates that the motor will
NOBOT 1 Motion Sign
Motor turn counterclockwise when looking
= TRUE
Direction at the motor shaft from the front.
(1: TRUE, 2: FALSE)
NOTE If the rotation is incorrect,
you can modify it by performing a
controlled start. Refer to Appendix
A.
Set the upper software limit of the
Upper Limits Enter the upper limit. axis to a value smaller than the hard
stop.
Set the lower software limit of the
axis to a value smaller than the hard
Lower Limits Enter the lower limit.
stop. This is usually 0 or a negative
number.
Enter the master
Master Position
position.
Default Value of The sum of acc_time_1 and
acc_time1 = 360(ms) acc_time_2 is the time, in
ACC/DEC
(1:Change, 2:No milliseconds, it will take for the axis
Time 1 and 2
Change)? to reach full joint speed. The
min_acctime value is used for
 Default Value of acceleration/deceleration if the
acc_time2 = 168(ms) distance between the two points is
(1:Change, 2:No short enough that the axis cannot
Change)? reach full speed.
Exp Filter Valid =
Exponential
TRUE
Filter Setting
(1: TRUE, 2: FALSE)
Current value = 20
Exponential
msec
Accel Time
(1: Change, 2: No
Setting
Change)
Default Value of
MIN_ACCEL min_acctime = 256(ms)
Time (1:Change, 2:No
Change)?
The load ratio adjusts the gain of the
Load Ratio is: axis based on the load inertia and the
motor inertia.
Load Inertia
(Kg*cm*s**2) A value of 0 continues the program
-------------------------- without adjusting the gain.
Load Ratio
Motor Inertia
(Kg*cm*s**2) Refer to the FANUC AC Servo Motor
Digital Series Descriptions Manual
Load ratio? (0:None or the FANUC AC Servo Motor Beta
1~5:Valid) Series Descriptions Manual for more
information.
Select Amp Enter amplifier number
Number (1->16)
1. A06B-6100 series 6
Select Amp axes amplifier
Type 2. A06B-6093 Beta
series (FSSB)

Brake Setting Brake Number (0~4)?

 If enabled, SERVO OFF allows the
Servo Off is Disable
Servo Timeout brakes to hold the axis and drop
(1: Enable 2: Disable)?
servo power after the specified time.
Servo Timeout
Value
If enabled, SERVO OFF allows the
Servo Off Time
brakes to hold the axis and drop
Displayed if (0.0~30.0)
servo power after the specified time.
Servo Timeout
is Enabled.

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

 6 You can either continue adding axes, or exit.

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

 7 Press PREV to display the Configuration Menu.

 8 Select Cold start and press ENTER.
 9 When the cold start is finished , master and calibrate the Positioner or Nobot. Refer to
Chapter 5.
Back to top

4.4.5
Modifying an Extended Axis Manually

Use Procedure 4-7 to modify the extended axis setup manually.

Procedure 4-7 Modifying the Extended Axis Setup Manually

Condition

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

 1 Answer each extended axis setup question according to your system setup. Refer to
Table 4-5 .

Table 4-5 . Extended Axis Setup Configuration Information

You Must Write
You Have
Answer Your
These Comments
These Answer
Choices
Questions Here
Select the group number to which the extended
Select Group
axis hardware is installed and press ENTER.
(optional for Extended
For example, if you are adding a rail to a six-
multiple axes to (1->3)
axis robot, the group number is 1. The hardware
groups only)
specific information will be added later.
Type the starting number of the extended axis
hardware and press ENTER.

o  If you are adding an extended axis to a

Enter four-axis robot , the starting number is
hardware start 5.
Select
Hardware
number for o  If you are adding an extended axis to a
the extended six-axis robot , the starting number is as
axes follows:
o - If the servo amplifier of the first
extended axis is connected to the first
fiber optic link cable (FSSB), the
starting number is 7.
 o - If the servo amplifier of the first
extended axis is connected to the first
physical device on the second fiber optic
link cable (FSSB), the starting number is
9. If the servo amplifier of the axis is
connected to the second physical device
on the second FSSB, the starting number
is 10, and so on.

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

 3 To add an extended axis , type 2 and press ENTER.

To delete an extended axis , type 3 and press ENTER. You will see a screen similar to
the following.

NOTE If an "I" is displayed in place of an "*" under the extended axis name (E1, E2, E3)
in the following screen, the axis is initialized.

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

 4 Type the extended axis number you are adding (1, 2, or 3) and press ENTER.
 5 Answer the remaining questions to set up your extended axis. Refer to Table 4-6 .

Table 4-6 . Extended Axis Setup Configuration Information

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

129. ACb1
130. ACb2
131. ACb3
132. ACb6
1. /2000 6. F/3000
2. /3000 7. F/2500 NOTE Some motor combinations
Motor Type 3. S/2000 8. L/3000 might not be supported by the FANUC
4. S/3000 9. /1200 Robotics parts department.
5. F/2000 10. /1500
NOTE If the motor combination you
1 2A 6 60A 11. 360A
specified is not supported, the
2 4A 7 80A
Current Limit message, "Motor type not found," will
3 12A 8 100A
for Amplifier be displayed. The system will ask for
4 32A 9 130A
the motor information again.
5 40A 10 20A
 Refer to Appendix E for information
on specifying amplifier information.
1. Integrated Rail
For auxiliary linear or rotary axes, the
(Linear axis)
extended axis is not added into the
2. Integrated Arm
robot position.
Extended Axis (Rotary axis)
Type 3. Auxiliary Linear
For integrated rail or integrated arm
axis
the position on the rail (or arm) is
4. Auxiliary Rotary
added to the robot position.
axis
For integrated rail , the rail
alignment is usually with respect to
the user frame axes of the robot.

Integrated Rail For integrated arm , arm specific

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

For linear axes, the gear ratio is in

millimeters of travel per revolution of
motor.
Gear Ratio Enter Gear Ratio
For rotary axes, the gear ratio is in
motor turns per single rotations of the
rotary axes, which is 24.

NOTE This number will be used to

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

For linear axes you will be

prompted to enter the Suggested
Speed . If you have entered a gear
ratio of 80, for example, your
suggested speed will be 2667 mm/sec.
If this seems high, you can slow it
down to the 1500 - 2000 mm/sec
range.
The direction determines which way
the motor turns when the positive jog
key is pressed, and should be
Ext_axs 1 Motion
Motion Sign consistent with axis alignment.
Sign = TRUE
Setting
(1:TRUE, 2:FALSE)?
NOTE If the rotation is incorrect, you
can modify it by performing a
controlled start.
Upper Limits Enter the upper limit. Upper and lower limits will be
displayed in millimeters (mm) if a
Lower Limits Enter the lower limit. linear axis is used, and in degrees
(deg) if a rotational axis is used.
Enter the master
Master Position
position.
Default Value of The sum of acc_time_1 and
acc_time1 = 256(ms) acc_time_2 is the time, in
(1:Change, 2:No milliseconds, it will take for the axis to
Change)? reach full joint speed. The
ACC/DEC
min_acctime value is used for
Time 1 and 2
Default Value of acceleration/deceleration if the
acc_time2 = 128(ms) distance between the two points is
(1:Change, 2:No short enough that the axis cannot reach
Change)? full speed.
Current value = 20
Exponential
msec
Accel Time
(1: Change, 2: No
Setting
Change)
Default Value of
min_acctime =
MIN_ACCEL
256(ms)
Time
(1:Change, 2:No
Change)?
Load Ratio is: The load ratio adjusts the gain of the
Load Ratio
axis based on the load inertia and the
 Load Inertia motor inertia.
(Kg*cm*s**2)
-------------------------- A value of 0 continues the program
Motor Inertia without adjusting the gain.
(Kg*cm*s**2)
Refer to the FANUC AC Servo Motor
Load ratio? (0:None Digital Series Descriptions Manual or
1~5:Valid) to the FANUC AC Servo Motor Beta
Series Descriptions Manual for more
information.
NOTE The amplifier number is the
number of the amplifier that is
connected to the extended axis you are
adding. Amplifiers are numbered
sequentially.

For example, a standard S-420i, 6-axis

Type the number of robot with one additional extended
Select Amp the amplifier for the axis has two amplifiers; one for the 6-
Number axis and press axis robot (#1) and one for the
ENTER. extended axis (#2). In this case, you
will enter the number 2 in Step 4 as
the number of the amplifier that is
connected to the extended axis you are
adding.

Refer to Table E-2 for typical robot

model servo amplifier configurations.
1. A06B-6100 series 6
Select Amp axes amplifier
Type 2. A06B-6093 Beta
series (FSSB)
 Brake Setting Brake Number (0~4)?

Servo Off is Disable If enabled, SERVO OFF allows the

Servo Timeout (1: Enable 2: brakes to hold the axis and drop servo
Disable)? power after the specified time.
Servo Timeout
Value
If enabled, SERVO OFF allows the
Servo Off TIme
brakes to hold the axis and drop servo
Displayed if (0.0~30.0)
power after the specified time.
Servo Timeout
is Enabled.

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

 7 When you have finished type 4, Exit, and press ENTER.

NOTE In a multi-group system, press 0, Exit, to display the Robot Maintenance Menu
and go to Step 9 .
  8 Press the FCTN key to display the Robot Maintenance Menu.
 9 Select START (COLD) and press ENTER.
 10 When the controller is turned on , master and calibrate the robot or
Positioner/Nobot. Refer to Chapter 5.

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4.4.6
Modifying Positioners Manually

Use Procedure 4-8 to modify the positioner setup manually.

Procedure 4-8 Modifying the Positioner Setup Manually

Condition

  A positioner axis has been installed on your controller. Refer to Procedure 4-4 .
  You have just finished Procedure 4-5 , have selected the positioner you want to set up,
and have pressed F4, MANUAL. Refer to Table 4-7 .

Table 4-7 . Positioner Setup Configuration Information

You Must Write
You Have
Answer Your
These Comments
These Answer
Choices
Questions Here
Type the hardware starting number for the first
axis of the positioner. For example, if a two-axis
positioner is added to an M-6i (without any
additional axes in the follower group) the
hardware start number of the positioner is seven,
because the M-6i has six axes. For more
complex arrangements of axes and groups, you
must determine the amplifier and axis numbers
Hardware Hardware
based on the hardware installed in your system.
Start Axis Start Axis
Setting (1..16)
NOTE The positioner setup requires that all
axes of multiple-axis positioners be installed in
order sequentially, starting from the base axis
and going to the table top axis. The axis of the
positioner that contains the workpiece, fixture,
or work surface of the positioner must be
assigned last. The hardware installation must
reflect this.
 Known Type 1 if all offsets between neighboring axes
kinematics are known accurately.
Kinematics
Type
Unknown Type 2 if the relationship between axes is
kinematics unknown.

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

Add or Delete Positioner Axes

 2 Type 2, Add POSITIONER Axis, or 3, Delete POSITIONER Axis, and press ENTER.
 3 The axes will be numbered automatically as you add them. The first axis is axis one.
Refer to Table 4-8 .

Table 4-8 . Positioner Setup Configuration Information

You Must Write
Answer You Have These Your
Comments
These Choices Answer
Questions Here
33. ACb0.5 38.
ACa12 43. Aca100 NOTE Select ACa0.5 for the  0.5
34. ACa1 39. ACa22 motor.
44. ACa150
35. ACa2 40. ACa30 NOTE If the motor combination you
45. ACa2.5 specify is not supported, the message,
36. ACa3 41. ACa40 "Motor type not found," will be
Alpha Motor 49. ACaM3 displayed. The system will ask for the
Size 37. ACa6 42. motor information again.
ACb0.5B 50. ACaM6
Refer to the FANUC AC Servo Motor
51. ACaM9 69. Digital Series Descriptions Manual or
ACaL50 97. the FANUC AC Servo Motor Beta Series
ACaHV12 Descriptions Manual for more
65. ACaL3 81. information.
ACaC3 98.
 ACaHV22
66. ACaL6 82.
ACaC6 99.
ACaHV30
67. ACaL9 83.
ACaC12
68. ACaL25 84.
ACaC22

129. ACb1
130. ACb2
131. ACb3
132. ACb6
1. /2000 6. F/3000
2. /3000 7. F/2500 NOTE Some motor combinations might
Motor Type 3. S/2000 8. L/3000 not be supported by the FANUC
4. S/3000 9. /1200 Robotics parts department.
5. F/2000 10. /1500
NOTE If the motor combination you
specified is not supported, the message,
1 2A 6 60A 11. 360A "Motor type not found," will be
2 4A 7 80A displayed. The system will ask for the
Current Limit
3 12A 8 100A motor information again.
for Amplifier
4 32A 9 130A
5 40A 10 20A Refer to Table E-1 and Table E-2 for
information on specifying servo
amplifier information.
The six-axis amplifier is assigned as
amplifier 1, by default. The positioner
Amplifier axes typically begin on amplifier 2.
Amplifier Number (1-
Number
>16)
Setting Refer to Table E-1 and Table E-2 for
information on specifying servo
amplifier information.

1. A06B-6100 series NOTE Alpha series amplifiers with

Amplifier 6 axes amplifier JS1B or JS2B connectors are selection 2,
Type Setting 2. A06B-6093 Beta Alpha C series. MIG EYE uses a C
series (FSSB) Series amplifier on the rotator axis.

1. Linear Axis
Axis Type
Setting
2. Rotary Axis
Direction Select the direction of linear or rotary
Setting 1: +X 3: +Y 5: +Z motion relative to the frame you want to
2: -X 4: -Y 6: -Z establish for the positioner device; this is
not necessarily aligned with the robot
WORLD frame.

For example, the first axis of the

positioner could be defined as +Z, but
could be aligned with the robot x-axis.
Refer to the FANUC Robotics SYSTEM
R-J3 Controller Coordinated Motion
Setup and Operations Manual for more
information.
Offset Setting
NOTE Axis 1 has a value of 0 for the x,
Enter Offset X (mm)?
only if y, and z offsets. Each of axes 2, 3, and so
Enter Offset Y (mm)?
kinematics is forth will have non-zero offset values.
Enter Offset Z (mm)?
used
The gear ratio for linear axes is the
number of millimeters traveled for one
rotation of the motor. For example, if a
50mm pinion on the motor is directly
coupled to the rack, and the radius of the
pinion is 25mm, the gear ratio is
2(pi)(25) = 157.08.

If the axis has a gear box between the

motor and pinion, divide the number by
the gear ratio. For example, if the motor
is connected to a 5:1 gear box and a
50mm pinion, the gear ratio is
Gear Ratio Gear Ratio (mot-
(2)(pi)(25)/5 = 31.416.
Setting rev/axs-rev)
The gear ratio for rotary axes is in
motor turns per single rotation of the
rotary axes. The ratio is ng2:ng1, where
ng is the number of teeth on a gear. ng1
is attached to the motor and ng2 is
attached to the axis. For example, if gear
1 has 25 teeth and gear 2 has 50 teeth,
the ratio would be 2:1. Commercial gear
drives are generally labeled for items
such as gear ratio, maximum RPM, and
torque maximum. Look at tags or labels
on the equipment for this information.
 Suggested Speed =
200.040 mm/sec
Maximum (Calculated with Max
Speed Setting Motor Speed)
(1:Change, 2:No
Change)

The direction determines which way the

motor turns when the positive jog key is
pressed, and should be consistent with
axis alignment. TRUE indicates that the
Current value =
Motion Sign motor will turn counterclockwise when
TRUE
Setting looking at the motor shaft from the front.
(1: TRUE, 2: FALSE)
NOTE If the rotation is incorrect, you
can modify it by performing a controlled
start. Refer to Appendix A.
Upper Limit Set the upper software limit of the axis to
Enter the upper limit.
Setting a value smaller than the hard stop.
Set the lower software limit of the axis to
Lower Limit
Enter the lower limit a value smaller than the hard stop. This
Setting
is usually 0 or a negative number.
Master Enter the master
Position position.
Current value = 384
Accel Time 1 msec The sum of acc_time_1 and acc_time_2
Setting (1:Change, 2:No is the time, in milliseconds, it will take
Change) for the axis to reach full joint speed. The
min_acctime value is used for
Current value = 192 acceleration/deceleration if the distance
Accel Time 2 msec between the two points is short enough
Setting (1:Change, 2:No that the axis cannot reach full speed.
Change)
Exp Filter Valid =
Exponential
TRUE
Filter Setting
(1: TRUE, 2: FALSE)
Current value = 20
Exponential
msec
Accel Time
(1: Change, 2: No
Setting
Change)
Minimum Current value = 384
 Accel Time msec
Setting (1: Change, 2: No
Change)
The load ratio adjusts the gain of the axis
Load Ratio is: based on the load inertia and the motor
inertia.
Load Inertia
(Kg*cm*s**2) A value of 0 continues the program
Load Ratio -------------------------- without adjusting the gain.
Setting Motor Inertia
(Kg*cm*s**2) Refer to the FANUC AC Servo Motor
Digital Series Descriptions Manual or
Load ratio? (0:None the FANUC AC Servo Motor Beta Series
1~5:Valid) Descriptions Manual for more
information.

Brake
Type the brake
Number
number (0..4)
Setting

Current value = If enabled, SERVO OFF allows the

Servo Off
TRUE brakes to hold the axis and drop servo
Setting
(1: TRUE, 2: FALSE) power after the specified time.
Servo Off
Time Setting
Servo Off Time (0..30
Displayed if
sec)
Servo
Timeout is
Enabled.

 4 When you have finished answering all the questions in Table 4-8 , you will see a screen
similar to the following.
  5 You can either continue adding or deleting axes, or exit.

If you want to add/delete other axes , type 2, Add/delete POSITIONER Axes and repeat Steps
1 through 4 .

If you are finished , type 4, Exit. You will see a screen similar to the following.

 6 Press PREV to display the Configuration Menu.

 7 Select Cold start and press ENTER.
 8 When the controller is turned on , master and calibrate the robot. Refer to Chapter 5.

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4.4.7
Program Limits Setup

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

Table 4-9 . Program Limits Setup Configuration Information

ITEM DESCRIPTION
User Tasks
This item indicates the maximum number of user programs that
default: 3 can be run simultaneously.
minimum: 1

maximum: 4
Numeric Registers

default: 200
This item indicates the maximum number of numeric registers
available in a program.
minimum: 1

maximum: 999
Position Registers

default: 100
This item indicates the maximum number of position registers
available in a program.
minimum: 1

maximum: 200
Pallet Registers

(if the TPP Palletizing option

is installed)
This item indicates the maximum number of pallet registers in a
default: 32 program.

minimum: 1

maximum: 127
Macros

default: 120
This item indicates the maximum number of macros available.
minimum: 1

maximum: 150
User Alarms

default: 10
This item indicates the maximum number of user alarms that can
be defined.
minimum: 1

maximum: 999
Tracking Queues This item indicates the maximum number of tracking queues
available in a program.
(optional)

default: 10

minimum: 1

maximum: 100
Trace Length

default: 200
This item indicates the length of the execution history list.
minimum: 1

maximum: 999

Procedure 4-9 Modifying Program Limits

Step

 1 Perform a Controlled Start. If the controller is already in Controlled Start mode, go to

Step 2 .
o a If the controller is turned on, turn it off.
o b Turn on the disconnect.

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

o d Select Controlled start and press ENTER. You will see a screen similar to the
following.
  2 Press MENUS.
 3 Select PROGRAM SETUP. You will see a screen similar to the following.

 4 Set each item as desired. Refer to Table 4-9 .

NOTE You must perform a cold start for the new settings to take effect.

 5 Perform a cold start:

o a Press FCTN.
o b Select START (COLD).

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4.4.8
Install Updates and Customizations

Use Procedure 4-10 to install a software update or a customization.

Procedure 4-10 Installing Updates and Customizations

Step

 1 Perform a Controlled Start. If the controller is already in Controlled Start mode, go to

Step 2 .
o a If the controller is turned on, turn it off.
 o b Turn on the disconnect.

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

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

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

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