Fanuc r-j3 manual

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J5-axis rotation center. R Furthermore, the product may also be controlled by re-export regulations of the United States government. In this manual we have tried as much as possible to describe all the various Programming Courses. Courses are designed for an operator, technician, engineer or programmer who must set up and record a program on a SYSTEM R-J to RiA controlled robot with a specific application software package. The courses cover basic robot operations intermixed with the tasks required to set Refer to controller maintenance manual for details.

Emergency stop board or Panel board. In case of RiB. Refer to the Section B. The following is. For the RiA Mate. In case of releasing J3-axis motor brake. R-J3iB Controller. Common controller components with other. We will rename it to be called BOX. The Teach Pendant recognizes the Frame number and not the comment name you provide. Press the softkey F2 labeled method to select the method that you will be using when defining the User Frame. This completes the demonstration on how to create a three point user frame.

Audio: This is your opportunity to recall the steps needed to define a User Frame using the 3 point method. We will Jog the robot to the Orient origin point position We will jog the robot from the Orient Origin point mm. We will jog the tool at least mm in the direction that defines the Positive Y direction.

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. 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. 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. 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. This example also shows multiple views of the same motion. Notice how the robot with part is not accurate when rotating around the tool. 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.

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. 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. 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. 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 F5 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. Coordinates do not have any bearing on the final outcome in defining the jog frame.

Change the coordinates to jog 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.

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. Audio: If you have any questions or would like to provide feedback, please contact trainingweb fanucrobotics. 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.

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. 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. Audio: A Digital Input and Output signal is a control signal sent to or from the controller. 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. 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. Audio: This example shows how the programming instruction would be written to manipulate the End of Arm Tooling utilizing Robot Outputs.

Each signal, or signal-sequence must be configured to a rack, a slot in the rack, and the channel number or starting point. Your system can contain multiple racks. The following rules apply to slot assignment: Slot numbers are assigned sequentially. Audio: The first opening within the Rack is for the Interface card. The remaining slots are for the Input and Output cards.

It has 16 inputs or outputs. The signal terminals are labeled A0 through A7 and B0 through B7. 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 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. 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. Complementary pairs are always defined on the odd output. You must power down the controller and power it back up to get the changes to take effect.

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 Outputs are assigned to Rack 1, Slot 1 and our starting point will be 1. 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 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.

Click here to begin the Quiz. The next four slides will provide you the opportunity to test your knowledge and comprehension. 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 registers are available. Many instructions employ direct or indirect addressing techniques. When direct addressing is used, the actual value is entered into the instruction.

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. 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.

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.

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

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. 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. 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. Conditional Branching Instructions IF instructions - Branch to a specified label or program if certain conditions are true. 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. And there is the SELECT instructions which branch to one of several jump or call instructions, depending on the value of a register. Audio: Register IF instructions compare the value contained in a register with another value and then take an action if the comparison is true. When all three conditions are true, then the action is to jump to label 2.

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 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.

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. Here is an example of using an OR operator. In the event one of the two conditions is true, then the action will jump to label 2.

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. Audio: This video will demonstration the steps to create an IF Register program instructions. Arrow down to the End to add the new Program Instruction or insert a new program line if needed.

Select the appropriate operator for the IF statement. This demonstration will use a constant value to compare against Register 1 11 Enter in the constant value to compare with. This completes a condition portion of the If statement. Arrow down to select AND if you desire another condition. Audio: Here you will need recall all the steps needed to create an IF Register program instruction. 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. 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.

Press the next slide icon at the bottom of the course window to continue the course. Audio: This is your opportunity to recall the steps needed to call specific programs based on a register value utilizing the select branching instructions.

Audio: WAIT condition instructions delay program execution until specified conditions are true or until an amount of time elapses a timeout occurs. The timeout can be specified as one of the following: Forever - the program will wait until the condition is true. Timeout, LBL[i] - the program will wait for the time specified in Timeout. If the condition is still not true, the program will branch to the specified label. The default timeout value is milliseconds which is 3 seconds. The example shown will wait for Digital Input 1 to equal On and Digital Input 2 to equal ON for 3 seconds based off the system variable WAIT default setting , if the digital inputs do not turn on, then the program will move to label 1.

Audio: Now we will discuss the Miscellaneous Instructions. The Remark instructions allow you to annotate the program. Remark information does not affect the execution of the program. When you add a remark instruction, you enter the message to display within the program. The remark instruction can be from 1 to 32 alphabetic, numeric, punctuation, and blank space characters. The first character of a remark instruction is an exclamation point! The message can be from 1 to 23 alphabetic, numeric, punctuation, and blank space characters.

If you want a blank line between messages, leave the message content empty. Audio: Timer instructions allow you to start, stop, and reset up to ten different timers in a program. Timers allow you to determine how long a routine takes to execute, or how long your entire production program takes to execute. Timers can be started in one program and then stopped in another.

Audio: This completes the Program Instructions module. The next few slide will provide the opportunity to test your knowledge and comprehension. Audio: In this module we will cover ArcTool Programming guideline A Weld input and output discussion How to setup and select weld equipment ArcTool program instructions How to set the ArcTool default instructions to make it easier to program Using the Arc Weld schedule and an understanding of the delay time How to enable the weld An understanding of Weave pattern choices and inserting weave instructions into a program that uses the weave schedule And we will wrap up with torchmate option.

ArcTool Program Guidelines Use fine termination for weld start and weld end. Use linear or circular motion type and CNT termination type in motion instructions during arc welding weld points. Position the torch in the correct position and orientation depending on your joint type. Minimize changes in wrist orientation. Use the proper schedule for each position; consult application process specification information for your application.

Audio: Use the following guidelines when you teach an Arc Welding program: Use fine termination type for weld start and weld end instructions. Because the starting and ending of the weld must be accurately located. Use linear or circular motion type and Continuous termination type in motion instructions during arc welding weld points , because it will maintain the proper stick-out and prevent pausing and point locations Position the torch in the correct position and orientation depending on your joint type.

Minimize changes in wrist orientation, because this will help avoid singularity issues along maintaining a straight tooling position. Use the proper weld schedule for each position as using the proper schedule will ensure weld quality.

Audio: When configuring Input and Outputs, ArcTool supports several different types of connections to the welding equipment and the choice is governed by the specific equipment chosen for your application. DeviceNet is another method to connect to some models of Lincoln Electric weld equipment. Explicit messaging is also used to exchange setup information.

ArcLink is the newest robotic interface to Lincoln Electric weld equipment. ArcLink is a CAN 2. It requires the same interface boards that are used with DeviceNet but has different DIP switch settings and cabling. It is boxed to set it apart from other text. It is the responsibility of the owner, employer, or user to take all necessary steps to guarantee the safety of all personnel in the workplace. The appropriate level of safety for your application and installation can best be determined by safety system professionals.

FANUC Robotics therefore, recommends that each customer consult with such professionals in order to provide a workplace that allows for the safe application, use, and operation of FANUC Robotic systems. Additionally, as the owner, employer, or user of a robotic system, it is your responsibility to arrange for the training of the operator of a robot system to recognize and respond to known hazards associated with your robotic system and to be aware of the recommended operating procedures for your particular application and robot installation.

FANUC Robotics therefore, recommends that all personnel who intend to operate, program, repair, or otherwise use the robotics system be trained in an approved FANUC Robotics training course and become familiar with the proper operation of the system.

Persons responsible for programming the systemincluding the design, implementation, and debugging of application programsmust be familiar with the recommended programming procedures for your application and robot installation. Safety is essential whenever robots are used. Keep in mind the following factors with regard to safety:.

The safety of people and equipment Use of safety enhancing devices Techniques for safe teaching and manual operation of the. The safety of people is always of primary importance in any situation. However, equipment must be kept safe, too. When prioritizing how to apply safety to your robotic system, consider the following:. Always give appropriate attention to the work area that surrounds the robot.