R-J3iC Controller FSSB line setting

FANUC Robot series

R-J3iC Controller

FSSB line setting

20-OCT-2006 Version 1.0

23-OCT-2006 Version 1.1
07-NOV-2006 Version 1.2

Contents

1. DEFINITION OF FSSB LINE .......................................................................................... 2

2. SETTING 1 (FSSB LINE) ................................................................................................. 3

3. SETTING 2 (NUMBER OF TOTAL AXES ON FSSB LINE 1) ....................................... 3

4. SETTING 3 (HARDWARE START AXIS) ........................................................................ 4

5. SETUP EXAMPLES .......................................................................................................... 5

5.1. Example 1.............................................................................................................. 5

5.2. Example 2.............................................................................................................. 6
5.3. Example 3.............................................................................................................. 7

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 R-J3iC Controller FSSB line setting

This document describes the FSSB LINE and HARDWARE START AXIS setting that is
necessary to set up when system has auxiliary axes or multi robots with R-J3iC
controller.

1. Definition of FSSB line

FSSB(FANUC Serial Servo Bus) line is defined as follows.

Amplifier
FSSB line 2
FSSB line that originates
from COP10A-2 connector
main board of axis control card

COP10A-2 Amplifier(robot) Amplifier

(Upper connector)

axis
control COP10A-1
card (Lower connector) COP10B COP10A

FSSB line 1
FSSB line that originates
from COP10A-1 connector Amplifier
of axis control card

auxiliary
axis
board FSSB line 3
FSSB line that originates
from auxiliary axis board

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 R-J3iC Controller FSSB line setting

2. Setting 1 (FSSB line)

Please enter the number of FSSB line that added axis is connected to.

**** GROUP 2 INDEPENDENT AXES SETUP ****

-- FSSB configuration setting --

1: FSSB line 1 (main axis card)
2: FSSB line 2 (main axis card)
3: FSSB line 3 (auxiliary axis board)
Select FSSB line >
Default value = 1
Please enter the value
from 1 to 3

There are three FSSB lines from 1 to 3. Usually, the first FSSB line is used unless the
system has many auxiliary axes or multi robots. This setting is necessary for extended
axis and each motion groups, except for group 1.

3. Setting 2 (Number of total axes on FSSB line 1)

Please enter the number of total axes on FSSB line 1.
This setting is necessary only when added axis is on FSSB line 2.

Total number of axes on FSSB 1 >

Please enter the number of total axes on FSSB line 1.

The number includes robot axes.

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 R-J3iC Controller FSSB line setting

4. Setting 3 (Hardware start axis)

Please enter the start axis number of the first axis in the total hardware configuration
of the system. This setting is necessary only when you set up the first axis in a motion
group. It is not necessary when you add 2nd or later auxiliary axis in the group.

**** GROUP 2 INDEPENDENT AXES SETUP ****

-- Hardware start axis setting --

Enter hardware start axis
Please enter the number
(Valid range: 1 - 16)
within valid range

Valid range of hardware start axis differs according to the FSSB line to which auxiliary
axis is connected.

FSSB line Valid hardware start axis

1 7~16 (*1)
2 *~24 (*2)
3 25~40 (*3)

(*1) It is possible to use the number less than 7 when the robot does not have six axes.
(*2) The lower limit of hardware start axis for 2nd FSSB line differs according to the
total axis number that is connected to the 1st FSSB line.
In case that total axis number on the 1st FSSB line is a multiple of 4:
* = (Total axis number on the 1st FSSB line) + 1
In case that total axis number on the 1st FSSB line is not a multiple of 4:
* = (Multiple of 4 that is greater than and nearest to the total axis number on
the 1st FSSB line) + 1
(*3) The lower limit of hardware start axis for 3rd FSSB line is 25 irrespective of the
number of axes on 1st and 2nd FSSB line.

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 R-J3iC Controller FSSB line setting

5. Setup Examples

5.1. Example 1

axis FSSB line 1 Amp.1 Amp.2

control
card

Group 1 Group 2
robot(6 axes) Independent
axis(1 axis)
FSSB line 2 no axis

When system configuration is like above figure, please set up as follows.

Motion group FSSB line Total number of axes Hardware start axis
on FSSB line 1
1 1 No need to set up 1
2 1 No need to set up 7

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 R-J3iC Controller FSSB line setting

5.2. Example 2

axis FSSB line 1 Amp.1 Amp.2 Amp.3

control
card

Group 1 Group 2 Group 3

robot(6 axes) robot(6 axes) Independent
axis(1 axis)
FSSB line 2 Amp.4 Amp.5

Group 4 Group 5
Independent Independent
axis(1 axis) axis(1 axis)

When system configuration is like above figure, please set up as follows.

Motion group FSSB line Total number of axes Hardware start axis
on FSSB line 1
1 1 No need to set up 1
2 1 No need to set up 7
3 1 No need to set up 13
4 2 13 17(*)
5 2 No need to change(13) 18

(*) Hardware start axis of the 1st axis on the 2nd FSSB line must be the
(multiple of 4) + 1.
Hardware start axis of group 4 is not 14 but 17 for the above hardware configuration.

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 R-J3iC Controller FSSB line setting

5.3. Example 3

axis FSSB line 1 Amp.1 Amp.2 Amp.3

control
card

Group 1 Group 2 Group 2

robot(6 axes) robot(6 axes) 7th axis

FSSB line 2 no axis

auxiliary FSSB line 3 Amp.4 Amp.5 Amp.6

axis
board

Group 3 Group 4 Group 5

robot(6 axes) robot(6 axes) Independent
axis(1 axis)

When system configuration is like above figure, please set up as follows.

Motion group FSSB line Total number of axes Hardware start axis
on FSSB line 1
1 1 No need to set up 1
2 1 No need to set up 7
3 3 No need to set up 25(*)
4 3 No need to set up 31
5 3 No need to set up 37

(*) The number of hardware axis starts from 25 for 3rd FSSB line irrespective of the
number of axes on 1st and 2nd FSSB line.
Hardware start axis of group 3 is not 14 but 25 for the above hardware configuration.

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