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© FANUC CORPORATION, 2012

R-30+B/R-30+B Mate/R-30+B Plus/R-30+B Mate Plus/

R-30+B Compact Plus/R-30+B Mini Plus CONTROLLER

< Robot !

OPERATOR'S MANUAL (Basic Function)

B-83284EN/09

Original Instructions

Thank you

very much for purchasing FANUC Robot. Before using the Robot, be sure to read the "FANUC Robot

SAFETY HANDBOOK

(B-80687EN)" and understand the content. No part of this manual may be reproduced in any form. All specifications and designs are subject to change without notice. The products in this manual are controlled based on Japan 's "Foreign Exchange and

Foreign Trade Law"

. The export from Japan may be subject to an export license by the government of Japan. Further, re-export to another country may be subject to the license of the government of the country from where the product is re -exported. Furthermore, the product may also be controlled by re -export regulations of the United States government. Should you wish to export or re-export these products, please contact FANUC for advice. In this manual, we endeavor to include all pertinent matters. There are, however, a very large number of operations that must not or cannot be performed, and if the manual contained them all, it would be enormous in volume. It is, therefore, requested to assume that any operations that are not explicitly described as being possible are "not possible".

B-83284EN/09 SAFETY PRECAUTIONS

s -1

SAFETY PRECAUTIONS

This chapter must be read before using the robot.

For detailed functions of the robot operation, read the relevant operator's manual to understand fully its

specification.

For the safety of the operator and the system, follow all safety precautions when operating a robot and its

peripheral equipment installed in a work cell.

For safe use of FANUC robots,

you must read and follow the instructions in "FANUC Robot SAFETY

HANDBOOK (B-80687EN)".

1 DEFINITION OF USER

The personnel can be classified as follows.

Operator:

• Turns the robot controller power on/off • Starts the robot program from operator panel

Programmer or Teaching operator:

• Operates the robot • Teaches the robot inside the safety fence

Maintenance technician:

• Operates the robot • Teaches the robot inside the safety fence • Performs maintenance (repair, adjustment, replacement) Operator is not allowed to work in the safety fence. Programmer/Teaching operator and maintenance technician is allowed to work in the safety fence.

Works carried out in the safety fence include transportation, installation, teaching, adjustment, and

maintenance. To work inside the safety fence, the person must be trained on proper robot operation.

SAFETY PRECAUTIONS B-83284EN/09

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Table 1

(a) lists the work outside the safety fence. In this table, the symbol "" means the work allowed to be carried out by the worker.

Table 1

(a) List of work outside the fence

Operator Programmer or

Teaching operator

M aintenance technician

Turn power ON/OFF to Robot controller

Select operating mode (AUTO, T1, T2)

Select remote/local mode

Select robot program with teach pendant

Select robot program with external device

Start robot program with operator's panel

Start robot program with teach pendant

Reset alarm with operator's panel

Reset alarm with teach pendant

Set data on teach pendant

Teaching with teach pendant

Emergency stop with operator's panel

Emergency stop with teach pendant { {

Operator's panel maintenance {

Teach pendant maintenance {

In the robot operating, programming and maintenance, the operator, programmer/teaching operator and maintenance technician take care of their safety using at least the following safety protectors. Use clothes, uniform, overall adequate for the work

Safety shoes

Helmet

2 DEFINITION OF SAFETY NOTATIONS

To ensure the safety of users and prevent damage to the machine, this manual indicates each precaution

on safety with "WARNING" or "CAUTION" according to its severity. Supplementary information is indicated by "NOTE". Read the contents of each "WARNING", "CAUTION" and "NOTE" before using the robot.

Symbol Definitions

WARNING

Used if

hazard resulting in the death or serious injury of the user will be expected to occur if he or she fails to follow the approved procedure.

CAUTION

Used if a hazard resulting in the

minor or moderate injury of the user, or equipment damage may be expected to occur if he or she fails to follow the approved procedure. NOTE Used if a supplementary explanation not related to any of WARNING and CAUTION is to be indicated. Check this manual thoroughly, and keep it handy for the future reference.

B-83284EN/09 TABLE OF CONTENTS

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TABLE OF CONTENTS

SAFETY PRECAUTIONS ............................................................................ s-1

1 PREFACE ................................................................................................ 1

1.1

ABOUT MANUAL .......................................................................................... 1

2 OVERVIEW ............................................................................................. 4

2.1

APPLICATION

TOOL SOFTWARE ............................................................... 5 2.1.1 System Setting .......................................................................................................... 5

2.1.2 Jog Feed of the Robot ............................................................................................... 5

2.1.3 Program .................................................................................................................... 5

2.1.4 Test Operation (Test Execution) .............................................................................. 6

2.1.5 Automatic Operation (Operation Execution) ...........................................................

6 2.2 ROBOT .......................................................................................................... 6

2.3

CONTROLLER .............................................................................................. 7

2.3.1 Teach Pendant .......................................................................................................... 9

2.3.2 Operator Panel ........................................................................................................ 29

2.3.3 Remote Controller .................................................................................................. 30

2.3.4 CRT/KB..................................................................................................................

30

2.3.5 Communication ...................................................................................................... 30

2.3.6 Input/Output ........................................................................................................... 31

2.3.7 Peripheral I/O ......................................................................................................... 31

2.3.8 Motion of the Robot ............................................................................................... 31

2.3.9 Emergency Stop Devices ........................................................................................ 32

2.3.10

Extended Axis ........................................................................................................ 32 3 SETTING UP THE ROBOT SYSTEM ................................................... 33

3.1

I/O ................................................................................................................ 33

3.1.1 Digital I/O............................................................................................................... 46

3.1.2 Group I/O ............................................................................................................... 50

3.1.3 Analog I/O .............................................................................................................. 53

3.2

ROBOT I/O .................................................................................................. 57

3.3

PERIPHERAL I/O ........................................................................................ 60

3.4 OPERATOR'S PANEL I/O ........................................................................... 67 3.5

I/O LINK SCREEN ....................................................................................... 70 3.5.1 I/O Link List Screen ............................................................................................... 70

3.5.2 Model B Unit List Screen ....................................................................................... 71

3.5.3

Signal Count Setting Screen ................................................................................... 72 3.6 I/O CONNECTION FUNCTION ................................................................... 73

3.7 SIMULATED INPUT SKIP FUNCTION ........................................................ 75 3.8 SETTING AUTOMATIC OPERATION ......................................................... 77

3.8.1 Robot Service Request (RSR) ................................................................................ 79

3.8.2

Program Number Selection (PNS) ......................................................................... 82

3.8.3 STYLE ................................................................................................................... 84

3.8.4 Prog Select Screen .................................................................................................. 87

3.8.5 Cell Interface I/O .................................................................................................... 93

3.8.6 Custom I/O ............................................................................................................. 97 3.9 SETTING COORDINATE SYSTEMS .......................................................... 98

TABLE OF CONTENTS B-83284EN/09

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3.9.1 Setting a Tool Coordinate System ........................................................................ 100

3.9.2 Setting a User Coordinate System ........................................................................ 114

3.9.3 Setting a Jog Coordinate System .......................................................................... 123

3.9.4 Setting a Cell Coordinate System ......................................................................... 127

3.9.5 Setting a Cell Floor ............................................................................................... 129

3.10 SETTING A REFERENCE POSITION ....................................................... 130 3.11 JOINT OPERATING AREA ....................................................................... 133 3.12

USER ALARM ........................................................................................... 135

3.13 VARIABLE AXIS AREAS ........................................................................... 136 3.14 INTERFERENCE PREVENTION AREA FUNCTION................................. 138 3.15 SYSTEM CONFIG MENU ......................................................................... 142 3.16 SETTING THE GENERAL ITEMS ............................................................. 151 3.17

PAYLOAD SETTING ................................................................................. 152

3.18

CLOCK ...................................................................................................... 156

3.19

OTHER SETTINGS ................................................................................... 157

4 PROGRAM STRUCTURE ................................................................... 158

4.1 PROGRAM DETAIL INFORMATION ......................................................... 160

4.1.1 Program Name ...................................................................................................... 160

4.1.2 Program Comment ................................................................................................ 161

4.1.3 Subtype ................................................................................................................. 161

4.1.4 Motion Group ....................................................................................................... 162

4.1.5 Write Protection ................................................................................................... 163

4.1.6 Ignore Pause ......................................................................................................... 163

4.1.7 Stack Size ............................................................................................................. 163

4.1.8 Collection ............................................................................................................. 165

4.2 LINE NUMBER, PROGRAM END SYMBOL, AND ARGUMENT .............. 165 4.3 MOTION INSTRUCTIONS ........................................................................ 167

4.3.1 Motion Format ...................................................................................................... 168

4.3.2 Position Data ........................................................................................................ 172

4.3.3 Feed Rate .............................................................................................................. 177

4.3.4 Positioning Path .................................................................................................... 179

4.3.5 Additional Motion Instructions ............................................................................ 180

4.4 PALLETIZING INSTRUCTIONS ................................................................ 196

4.4.1 Palletizing Instruction ........................................................................................... 196

4.4.2 Palletizing Motion Instruction .............................................................................. 197

4.4.3 Palletizing End Instruction ................................................................................... 197

4.5 REGISTER INSTRUCTIONS ..................................................................... 197

4.5.1 Register Instructions ............................................................................................. 198

4.5.2 Position Register Instructions ................................................................

199

4.5.3 Position Register Axis Instructions ...................................................................... 200

4.5.4 Position Register Instructions in Non-Motion Group Program ............................ 203

4.5.5 Arithmetic Palletizing Register Instructions ......................................................... 204

4.5.6 String Register, String Instructions ...................................................................... 205

4.6

I/O INSTRUCTIONS .................................................................................. 208

4.6.1 Digital I/O Instructions ......................................................................................... 208

4.6.2 Robot I/O Instructions .......................................................................................... 210

4.6.3 Analog I/O Instructions ........................................................................................ 211

4.6.4 Group I/O Instruction ........................................................................................... 211

4.7 BRANCH INSTRUCTIONS ........................................................................ 212

4.7.1 Label Instruction ................................................................................................... 212

4.7.2 Program End Instruction ...................................................................................... 213

B-83284EN/09 TABLE OF CONTENTS

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4.7.3 Unconditional Branch Instructions ....................................................................... 213

4.7.4 Conditional Branch Instructions ........................................................................... 214

4.7.5 IF_THEN/ELSE/ENDIF Statement ..................................................................... 217

4.7.6 Arguments ............................................................................................................ 222

4.7.7 Wizard to Input Arguments .................................................................................. 230

4.7.7.1 Overview ......................................................................................................... 230

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