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FANUC Robotics

SYSTEM R-J2 ControllerHandlingTool Setup and

Operations Manual

Version 4.40-1

MARO2HT4405801E REV. B

This publication contains proprietary information of FANUC Robotics North America, Inc. furnished for customer use only. No other uses are authorized without the express written permission of FANUC Robotics

North America, Inc.

FANUC Robotics North America, Inc.

3900 W. Hamlin Road

Rochester Hills, Michigan 48309-3253

The descriptions and specifications contained in this manual were in effect at the time this manual was approved for printing. FANUC Robotics North America, Inc, hereinafter referred to as FANUC Robotics, reserves the right to discontinue models at any time or to change specifications or design without notice and without incurring obligations. FANUC Robotics manuals present descriptions, specifications, drawings, schematics, bills of material, parts, connections and/or procedures for installing, disassembling, connecting, operating and programming FANUC Robotics' products and/or systems. Such systems consist of robots, extended axes, robot controllers, application software, the KAREL? programming language, INSIGHT? vision equipment, and special tools. FANUC Robotics recommends that only persons who have been trained in one or more approved FANUC Robotics Training Course(s) be permitted to install, operate, use, perform procedures on, repair, and/or maintain FANUC Robotics' products and/or systems and their respective components. Approved training necessitates that the courses selected be relevant to the type of system installed and application performed at the customer site.

WARNING

This equipment generates, uses, and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual, may cause interference to radio communications. As temporarily permitted by regulation, it has not been tested for compliance with the limits for Class A computing devices pursuant to subpart J of Part 15 of FCC Rules, which are designed to provide reasonable protection against such interference. Operation of the equipment in a residential area is likely to cause interference, in which case the user, at his own expense, will be required to take whatever measure may be required to correct the interference. FANUC Robotics conducts courses on its systems and products on a regularly scheduled basis at its headquarters in Rochester Hills, Michigan.

For additional information contact

FANUC Robotics North America, Inc.

Training Department

3900 W. Hamlin Road

Rochester Hills, Michigan 48309-3253

Tel: (248)377-7234

FAX: (248)377-7367 or (248)377-7362

Copyright ?1998 by FANUC Robotics North America, Inc.

All Rights Reserved

The information illustrated or contained herein is not to be reproduced, copied, translated into another language, or transmitted in whole or in part in any way without the prior written consent of FANUC Robotics North

America, Inc.

AccuStat?, ArcTool?, DispenseTool?, FANUC LASER DRILL?, KAREL?, INSIGHT?, INSIGHT II?, PaintTool?, PaintWorks?,

PalletTool?, SOCKETS?, SOFT PARTS? SpotTool?,

TorchMate?, and YagTool? are Registered Trademarks of FANUC

Robotics.

FANUC Robotics reserves all proprietary rights, including but not limited to trademark and trade name rights, in the following names:

AccuFlow?ARC Mate?

ARC Mate Sr.?

IntelliTrak?LaserTool?

MotionParts?

PaintWorks II?PalletMate?

SureWeld?

TurboMove?

Issued United States Patents

iv

One or more of the following U.S. patents might be related to the FANUC Robotics products described in this

manual.

3,906,323

4,274,802

4,289,441

4,299,529

4,336,926

4,348,623

4,359,815

4,366,423

4,374,349

4,396,973

4,396,975

4,396,987

4,406,576

4,415,965

4,416,577

4,430,923

4,431,366

4,458,188

4,462,748

4,465,424

4,466,769

4,475,160

4,479,673

4,479,754

4,481,568

4,482,289

4,482,968

4,484,855

4,488,242

4,488,746

4,489,821

4,492,301

4,495,453

4,502,830

4,504,771

4,530,062

4,530,636

4,538,639

4,540,212

4,542,471

4,543,639

4,544,9714,549,276

4,549,846

4,552,506

4,554,497

4,556,361

4,557,660

4,562,551

4,575,666

4,576,537

4,591,944

4,603,286

4,626,756

4,628,778

4,630,567

4,637,773

4,638,143

4,639,878

4,647,753

4,647,827

4,650,952

4,652,203

4,653,975

4,659,279

4,659,280

4,663,730

4,672,287

4,679,297

4,680,518

4,697,979

4,698,777

4,700,118

4,700,314

4,701,686

4,702,665

4,706,000

4,706,001

4,706,003

4,707,647

4,708,175

4,708,580

4,712,972

4,723,2074,727,303

4,728,247

4,728,872

4,732,526

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4,750,858

4,753,128

4,754,392

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4,816,728

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4,827,203

4,827,782

4,828,094

4,829,454

4,829,840

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4,851,7544,852,024

4,852,114

4,855,657

4,857,700

4,859,139

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4,866,238

4,873,476

4,877,973

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4,916,375

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4,969,7224,969,795

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5,006,035

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5,111,709

5,115,690

FANUC Robotics - Technical Support Hotline

1-800-47-ROBOT

(1-800-477-6268)

Local/Internal 248-377-7159

Technical Service (Press 1)

Tel (248) 377-7159

Fax: (248) 377-7463

24 Hour Hotline

Parts (Press 2)

Tel (248) 377-7278

Fax: (248) 377-7832

8:00 am to 8:00 pm Monday to Friday

Training (Press 3)

Tel (248) 377-7234

Fax: (248) 377-7367

8:00 am to 5:00 pm Monday to Friday

Part Repair (Press 4)

Tel (248) 377-7944

Fax: (248) 377-7367

8:00 am to 5:00 pm Monday to Friday

Technical Service Hotline support

Service personnel dispatch

After-hours parts support

(8:00 pm to 8:00 am)

Parts for down robots

Replenishment part order

Warranty part replacement

Robot Software

Training class registration

Consultation for special training or

on-site requests

Repair of electronic components

Repair of mechanical components

(wrists etc.)

Warranty part repair

Information to have available Information to have available Information to have available Information to have available

Customer Number (if known)

Company name

Your name

Your phone and fax numbers

Customer Number (if known)

Company name

Your name

Your phone and fax numbers

Customer Number (if known)

Company name

Your name

Your phone and fax numbers

Customer Number (if known)

Company name

Your name

Your phone and fax numbers

Robot and controller type

“F#" or serial number of robot

“Hour Meter" reading

Software type and edition

Any error messages and LED

displays (if applicable)

Your P.O. number for warranty,

down robots, or preventive maintenance service orders

Part name and number (if known)

“F#" or serial number of robot

“Hour Meter" reading

Your P.O. number for warranty,

down robots, and software orders

Any error messages and LED

displays (if applicable)

Your shipping or billing address

Types of courses needed

Robot and controller type

Number of people attending

Method of payment

“F#" or serial number of robot

“Hour Meter" reading

Project number or P.O. number

Shipping & billing addresses

Reason for repair (any

symptoms, error codes, or diagnostic LEDs that were identified ***NOTE: PLEASE OBTAIN A RETURN GOODS NUMBER (RGN) AUTHORIZATION FROM "PARTS" BEFORE SHIPPING ANY PARTS BACK TO OUR FACILITY. THE RGN IS NECESSARY

FOR PROPER RECEIVING AND TRACKING.

Customer Service Center (Press 1)

Marketing and Sales Department (Press 2)

Revised 5/4/98

UPDATES FOR V4.40

This section lists the updates that have been made to the HandlingTool product for V4.40 in the following areas: Page

TCPMATE-1

Overview-1

Setting up TCPMate-2

TCPMate Troubleshooting-23

TCPMate Adjustment-27

TCPMate Error Recovery-31

.1TCPMATE .1.1Overview The TCPMate option provides a cost effective, easy-to-use solution to adjust the Tool Center Point (TCP) automatically. TCPMate automatically compensates for bent tools to reduce weld defects and increase system productivity. When you use TCPMate, you start with a system that is fully functional and has a properly defined TCP. Then, you set up TCPMate and master the TCP. After it is mastered, TCPMate can be used at any time to check and adjust the TCP to compensate for problems such as a bent tool body. Since TCPMate is an executable program, it can be called either automatically(for example, every 50 production parts or between each cycle), or manually, whenever desired. TCPMate compensates for variation of the TCP in the following directions: •xandy •x, y, and z •zonly TCPMate can compensate for variation in orientation (w, p) but not for variation in r. However,

most process applications are not significantly impacted if rotation about the tool z axis (r) varies

slightly due to bent tooling.

TCPMate works with any robot and tool where the TCP is at the end of cylindrically shaped tooling. If

the normal tooling is not cylindrical, or if the TCP is away from the tooling, a teach tip can be installed.

NoteYou should run TCPMate after every cap change procedure. For ArcTool applications, TCPMate provides similar functionality to TorchMate (plus additional features), but does not require electrical continuity to determine the TCP correction.

To use TCPMate, you must do the following:

1. Install the TCPMate software option and any required hardware.

2. Set up TCPMate.

3. Include a CALL to TCPMate in your production teach pendant program (for automatic

operation).

4. Run TCPMate.

5. Monitor TCPMate operations.

In order to use TCPMate successfully, review the following requirements and guidelines: -1 •TCPMate can be used with all end-of-arm safety devices and mounting arms, as long as they stay constant. TCPMate will recover the TCP of a tool or teach tip that can be inserted into a circular hole. TCPMate can be used with virtually any circular opening on a solid surface, such as a 6mm steel plate attached to cell fixturing. The circular opening should be approximately

10mm larger in diameter than the diameter of the largest expected recoverable bent tool. For

example, if you suspect that the tool might bend 5mm and the tool shaft is 25mm in diameter, then the recommended circular opening would be 40mm. Larger openings are allowed, but the cycle time to complete a TCP recovery will increase proportionately. •In ArcTool, for tool orientation recovery with tooling such as wire feed torches, which have aquotesdbs_dbs14.pdfusesText_20

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