CAUTION
Do not wear gloves which would likely cause operator errors when using the operator panel.
The operator panel also has an RS-232C communication port and a USB communication port.
Table 2.3.2 (a) lists the switches on the operator’s panel. Table 2.3.2 (b) lists the LEDs on the operator panel.
The standard operator panel of the robot controller does not have the power ON/OFF button. Execute the power on or off with the breaker of the controller.
Table 2.3.2 (a) Switches on the operator panel
Switch Function Emergency stop
button
Press this button to stop the robot immediately (Please refer to "STOP TYPE OF ROBOT" in SAFETY PRECAUTIONS for detail of stop type). Turn the emergency stop button clockwise to release it.
Alarm release button Release the alarm state.
Start button Starts the currently selected program. Lit while the program is being started.
Three mode switch Enables the user to select operation mode suitable to the robot operation conditions or the status of its use.
Table 2.3.2 (b) LEDs on the operator panel
LED Description Alarm Indicates the alarm state. Press the alarm release button to release the alarm state.
Power Indicates that the power of the controller is ON.
Alarm Release
Start Alarm
Emergency Stop Power
Mode Switch
（Three mode switch.）
Fig. 2.3.2 (a) R-30iB Operator panel (standard)
Emergency Stop Start (Green)
Mode Switch (Three mode switch)
図 2.3.2 (b) R-30iB Mate Operator panel
2.3.3 Remote Controller
Remote controllers are external devices connected to the Robot controller to configure a system.
These are controllers for controlling the operation of the system created by the user using peripheral devices and I/O provided by the robot controller.
2.3.4 CRT/KB
The CRT/KB is an optional operation unit. An external CRT/KB is connected to the controller via an RS-232-C cable.
The CRT/KB can be used to execute almost all teach pendant functions excluding those related to robot operation. Functions related to robot operation can only be executed using the teach pendant.
2.3.5 Communication
For communications, the following interfaces are provided (communication ports Section 8.2).
• Port 1 RS-232-C
• Port 2 RS-232-C (Port 2 is not available on R-30iB Mate controller.)
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2. OVERVIEW
2.3.6 Input/Output
General-purpose and specialized input/output (I/O) signals are used to send the data of an external unit to the application tool software. The general-purpose signal (user-defined signal) is controlled by a program and is used to send or receive data to or from the external units or hand. The specialized signal (system-defined signal) is applied to a specific use.
The input/output signals include the following:
• Peripheral I/O (See Section 3.3.)
• Operator’s panel I/O (See Section 3.4.)
• Robot I/O (See Section 3.2.)
• Digital I/O (See Subsection 3.1.1.)
• Group I/O (See Subsection 3.1.2.)
• Analog I/O (See Subsection 3.1.3.)
The number of the I/O signals and their types depend on the hardware of the controller and the number of selected I/O modules and their types.
I/O unit model A, I/O unit model B, and Process I/O PC board can be connected to the controller.
2.3.7 Peripheral I/O
Peripheral I/O is a signal specialized for sending and receiving data to or from the remote controller or peripheral equipment. (See Section 3.3, ”PERIPHERAL I/O”).
Peripheral I/O signals perform the following:
• Select a program
• Start and stop a program
• Recover the system from the alarm state
• Others
2.3.8 Motion of the Robot
A single motion instruction specifies a motion of the robot, or a movement of the tool center point (TCP) from the current position to the target position. The Robot uses a motion control system that comprehensively controls the tool path, acceleration/deceleration, positioning, feed rate, and other factors.
The Robot controller can control multiple axes, divided into multiple operation groups (multiple motion function). The operation groups are independent of one another, but can be synchronized to operate the robot simultaneously.
The robot moves according to a jog feed specified on the teach pendant or a motion instruction specified in a program.
To execute a jog feed of the robot, use the corresponding key on the teach pendant. In jog feed, the motion of the robot depends on the selected manual-feed coordinate system (jog type) and feed rate override. When a motion instruction is used, the motion of the robot depends on the position data, motion format, positioning path, traveling speed, and feed rate override specified in the instruction.
One of four motion formats -- Linear, Circular, Circle Arc and Joint -- can be selected to operate the robot.
When Joint is selected, the tool is moved arbitrarily between two specified points. When Linear is selected, the tool is moved along a straight line between the two specified points. When Circular or Circle Arc is selected, the tool is moved along an arc connecting three specified points.
A positioning path can be selected from two options, Fine and Cnt.
2.3.9 Emergency Stop Devices
This robot has following emergency stop devices.
• Two emergency stop buttons
( installed on the operator’s panel and the teach pendant )
• External emergency stop ( input signal )
When an emergency stop button is pushed or the external emergency stop is input, the robot stops immediately in any cases (Please refer to "STOP TYPE OF ROBOT" in SAFETY PRECAUTIONS for detail of stop type). The signal terminal of the external emergency stop is on the controller and operator’s box inside.
2.3.10 Extended Axis
A maximum of three axes of one group can be added to the standard axes (usually six axes) of the robot.
The extended axis has the following two types:
• Extended axes
This can be controlled regardless of the robot motion and can move only at the joint motion.
• Integrated axes
Controlled together with the robot during linear or circular or circle arc robot motion. Use these axes to perform linear or circular or circle arc robot motion.
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3. SETTING UP THE ROBOT SYSTEM
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3 SETTING UP THE ROBOT SYSTEM
The Robot system can be used after required data is specified. This chapter describes the data that can be specified.
Contents of this chapter 3.1 I/O
3.2 ROBOT I/O 3.3 PERIPHERAL I/O 3.4 OPERATOR’S PANEL I/O 3.5 I/O Link SCREEN
3.6 I/O CONNECTION FUNCTION
3.7 SIMULATED INPUT SKIP FUNCTION 3.8 SETTING AUTOMATIC OPERATION 3.9 SETTING COORDINATE SYSTEMS 3.10 SETTING A REFERENCE POSITION 3.11 JOINT OPERATING AREA
3.12 USER ALARM
3.13 VARIABLE AXIS AREAS
3.14 INTERFERENCE PREVENTION AREA FUNCTION 3.15 SYSTEM CONFIG MENU
3.16 SETTING THE GENERAL ITEMS 3.17 PAYLOAD SETTING
3.18 OTHER SETTINGS
3.1 I/O
Input/output signals (I/O) are electric signals that allow the controller to communicate with the robot, end effector, external equipment, and other peripheral equipment of the system. The signals are divided into two groups: general-purpose I/O and specialized I/O.
For the safety signals like external emergency stop signal and safety fence signal, refer to the “FANUC Robot series R-30iB CONTROLLER MAINTENANCE MANUAL” (B-83195EN) or the “FANUC Robot series R-30iB Mate CONTROLLER MAINTENANCE MANUAL” (B-83525EN).