COLD START Autoexec
program
HOT START Autoexec program
Specifies the name of the auto-start program for the hot start or cold start. There are two methods to set the program name. One is the method to select program name in the menu displayed by pressing F4, [CHOICE]. And another is the method to enter the program name directly by pressing ENTER key. In order to clear the selection, delete the program name by BACK SPACE key in the method to enter the program name directly. The specified program is executed immediately after the power is turned on. If the auto-start program for the hot start does not end within 15 seconds, it will be aborted. The output does not turn on if I/O Pulse instruction is specified in auto-start program for the hot start because the I/O signal is outputted after the auto-start program execution is finished.
CAUTION
The program automatically executed at power on is executed just before the servo power is turned on.
Therefore the robot can not be moved by this program.
Set the program which sets up the system, and initializes I/O status, and so on. Moreover, the attributes should be set as follows on the program detail screen.
Group Mask: [ * , * , * , * , * , * , * , * ] Ignore pause: [ON ]
HOT START done signal Specifies the digital signal (DO) that is to be output at the hot start. If the hot start is not performed, the digital signal is turned off. This function is disabled if 0 is specified.
Restore selected program Specifies whether the program selected at turning off the controller is selected after turning on the controller when the cold start is done. When this is set to TRUE, the program selected at the power off is selected after the power on again.
When this is set to FALSE, the program is not selected after power on again. This is set to TRUE in standard setting.
Enable UI signals Selects whether a UI signal is valid or invalid. When this is set to FALSE, the peripheral input signals (UI[1 to 18]) is disabled. See Section 3.3 ”PERIPHERAL I/O”.
START for CONTINUE only If this item is enabled, the external start signal (START) starts only those programs that have been paused. → See Section 3.3 ”PERIPHERAL I/O”.
CSTOPI for ABORT If this item is enabled, those programs that are currently running are forcibly terminated immediately upon the input of CSTOPI. → See Section
3.3 ”PERIPHERAL I/O”.
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Items Descriptions Abort all programs by CSTOPI Specifies whether all programs are to be forcibly terminated with the CSTOPI
signal in a multitasking environment.
If this item is set to TRUE, the CSTOPI input signal terminates all programs forcibly:
If this item is set to FALSE, the CSTOPI input signal causes only the currently selected program to be forcibly terminated. (Default setting)
PROD-START depend on PNSTROBE
If this item is enabled, the PROD_START input is enabled only when the PNSTROBE input is on. By enabling this item, it is possible to prevent a program that should not be started from being started accidentally due to noise or a sequence error when that program is displayed on the teach pendant.
Detect FAULT_RESET signal Specifies whether the reset signal is detected the instant it rises or falls. When this setting is changed, turn the controller off and on again to use the new information.
At this time the cold start is done automatically. The falling edge is detected by standard setting.
Use PPABN signal Specifies if the pneumatic pressure alarm (*PPABN) is detected for each motion group. Move the cursor to this line and press ENTER key. The setup screen for each motion group is displayed. When *PPABN signal is not used, set this invalid.
When this setting is changed, turn off the controller, and turn on the controller to use the new information. At this time, the controller is started up by COLD START.
The default setting is FALSE.
WAIT timeout Specifies the period of time used in the conditional wait instruction (WAIT ..., TIMEOUT LBL[...] ). The period of time is 30 second in default setting.
RECEIVE timeout For this item, set the limit time for register receive instruction RCV R[...] LBL[...]
(can be specified only when the sensor interface option is specified).
Return to top of program Specifies whether the cursor is moved to the top of the program or not when it is finished to be executed. When this setting is FALSE, the cursor stays at the last line without returning to the top of the program when the program is finished to be executed. The default setting is TRUE.
Original program name (F1 to F5)
Specifies the words which are displayed as the function key at registering a program. It is convenient to set the words used many times as the program name to this.
Default logical command It is possible to enter the screen to which standard instruction function key is set by pushing the input key from the condition that there is a cursor in setting a standard instruction.
- Name Specifies the name which is displayed as the function key title.(Up to 7 characters)
- Lines Specifies the number of the logic command registered in on function key.
The default logical command up to four can be registered in one function key. When the Lines is set to 0, the function of teaching the default logical command is invalid.
Maximum of ACC instruction Specifies the maximum of the override value used in the acceleration override motion option (ACC ...). The default value is 150.
Minimum of ACC instruction Specifies the minimum of the override value used in the acceleration override motion option (ACC ...). The default value is 0.
WJNT for default motion Adds the Wjnt motion option to all linear, circular and circle arc default motion instructions or delete it from them.
- Pressing the F4, ADD key adds the Wjnt motion option to all the linear, circular and circle arc default motion instructions and changes the screen display from ”DELETE” (or ******) to ”ADD”.
- Pressing the F5, DELETE key deletes the Wjnt motion option from all the linear, circular and circle arc default motion instructions and changes the screen display from ”ADD” (or ******) to ”DELETE”.
Items Descriptions Auto display of alarm menu Toggles the function for automatically displaying the alarm screen between FALSE
and TRUE. The default setting is FALSE. If the setting of this item is changed, the power must be turned off and then back on.
● FALSE : Does not display the alarm screen automatically.
● TRUE : Displays the alarm screen automatically.
Force Message Specifies whether the user screen is to appear automatically when a message instruction is executed in a program.
Reset CHAIN FAILURE detection
Resets a chain abnormality alarm (servo 230 or 231) when it is issued. For details on the chain abnormality alarm and for how to make hardware checks, 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).
<Reset procedure>
1) Check for any hardware problem.
2) Press the emergency stop button on the teach pendant. (Input an emergency stop signal other than the emergency stop signal currently generated.) 3) Turn the emergency stop button on the teach pendant to release the
emergency stop condition.
4) Move the cursor to this line, then press F4, TURE.
5) Press the reset button on the teach pendant.
Allow force I/O in AUTO mode Enables or disables signal setting from TP when AUTO mode is set. By default, setting is enabled.
- Yes : Enables signal setting.
- No : Disables signal setting.
Allow chg. ovrd. in AUTO mode Enables or disables override change from TP when AUTO mode is set. By default, change is enabled.
- Yes : Enables override change.
- No : Disables override change.
Signal to set in AUTO mode If the three-mode switch is set to AUTO mode, a specified DO is turned on. When 0 (default) is set, this function is disabled. When the setting has been changed, the power must be turned off then back on.
Signal to set in T1 mode If the three-mode switch is set to T1 mode, a specified DO is turned on. When 0 (default) is set, this function is disabled. When the setting has been changed, the power must be turned off then back on.
Signal to set in T2 mode When the three-mode switch is set to T2 mode, a specified DO is turned on. When 0 (default) is set, this function is disabled. When the setting has been changed, the power must be turned off then back on.
Signal to set if E-STOP When an emergency stop (TP, external emergency stop, operator’s panel) is applied, a specified DO is output. When 0 (default) is set, this function is disabled.
When the setting has been changed, the power must be turned off then back on.
Simulated status signal (Set if INPUT SIMULATED)
Monitors to see if an input signal set as a simulated one exists and outputs it as an output signal. For this item, set the number of the output signal that will turn on when a digital, group, robot, or analog input signal is set as a simulated one. When the setting has been changed, the power must be turned off then back on.
Simulated status signal (Set if OUTPUT SIMULATED)
Monitors to see if an output signal set as a simulated one exists and outputs it as an output signal. For this item, set the number of the output signal that will turn on when a digital, group, robot, or analog output signal is set as a simulated one.
When the setting has been changed, the power must be turned off then back on.
Simulated input wait time (Sim. Input Wait Delay)
Sets the time after which a wait command causes a timeout if the simulated signal skip function is enabled. When the setting is changed, the change is immediately applied.
Setting to be assumed when the simulated signal skip function is enabled (Set if Sim. Skip enabled)
Monitors to see if there is any input signal for which the simulated signal skip function is enabled and outputs the signal as an output signal. For this item, set the number of the output signal that will turn on when the simulated signal skip function is enabled for a digital or robot input signal. When the setting has been changed, the power must be turned off then back on.
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Items Descriptions Set when prompt displayed This item provides a digital output signal from the controller that indicates that a
prompt box is being displayed on the teach pendant.
Output when WAIT on Input This item is set for the function that outputs DO when the timeout time is passed during WAIT instruction of program is waiting for specified DI. Move the cursor to this item and press ENTER key to display setup screen. About the detail of this function, refer to subsection 4.8.3 Monitor of waiting for the input signal.
Signal to be output at an override of 100%
(Signal if OVERRIDE= 100)
Sets the number of the digital output signal for notifying that the override is set to 100%. For the digital output, on is output if the override is 100% and otherwise, off is output. When the setting has been changed, the power must be turned off then back on.
Hand broken Enables and disables hand breakage (*HBK) detection. When multiple robots are used, hand breakage detection can be enabled and disabled for two robots. Press the ENTER key with the cursor positioned on this line. Then, the screen for enabling or disabling hand breakage detection for each robot appears. On this screen, move the cursor to ENABLE or DISABLE, then press the ENABLE (F4) or DISABLE (F5) key to enable or disable hand breakage detection. When hand breakage detection is enabled, and the *HBK signal is off, alarm "SRVO-006 SERVO Hand broken" is issued. Refer to “FANUC Robot series R-30iB CONTROLLER OPERATOR'S MANUAL (Alarm Code List)” (B-83284EN-1) to release the alarm.
When the *HBK signal is off, and this signal is not to be used, disable the hand breakage detection.
When hand breakage detection is disabled although a hand is installed, and the
*HBK signal is used, "SRVO-302 SERVO Set Hand broken to ENABLE" is displayed if the *HBK signal is on. Enable hand breakage detection. If the *HBK signal is turned off when hand breakage detection is disabled, "SRVO-300 SERVO Hand broken/HBK disabled" is issued. In this case, this alarm can be released by pressing the RESET key. By default, hand breakage detection is enabled.
Remote/Local setup Select the method for setting the remote signal (SI[2]) that switches between remote mode and local mode of the system.
• Remote : Keeps SI[2] on (remote mode) at all times.
• Local : Keeps SI[2] off (local mode) at all times.
• External I/O : Reflects the external signal status on SI[2]. When selecting this item, specify an external signal for "External I/O (ON : Remote)"
on the next line.
• OP panel key : At present, this item is not available.
External I/O (ON : Remote)
When "External I/O" is selected in "Remote/Local setup" above, specify an external signal to be used here. Choose from "DI, DO, RI, RO, UI, and UO".
UOP auto assignment Select the type of UOP auto assignment. Refer to "3.3 PERIPHERAL I/O" for detail.
When setting is changed, the message “Clear ALL I/O assignments to apply this?”
is displayed. If press F4, YES, all I/O assignments are cleared. After that, if the power of the controller is turned off and on, the UOP is assigned automatically according to the setting of UOP auto assignment.
Multiple-program selection (Multi Program Selection)
This setting is for switching the program selection method between single task mode and multitask mode. If this setting is enabled, multitask mode is selected, and if it is disabled, single task mode is selected. If the R651 standard settings are ordered, the setting is disabled by default, and if the R650 North America only settings are ordered, it is enabled by default. When the setting is changed, the change is immediately applied.
Items Descriptions WAIT at Taught Position When WAIT instruction is executed after motion instruction with CNT, this setting
can change wait position of the Robot.
If the setting is TRUE, the behavior of Robot is equivalent to the case that WAIT instruction is executed after motion instruction with BREAK (Even if BREAK instruction is not taught).
Please refer to “BREAK instruction” in “4.3.5 Additional Motion Instructions” for details.
Brake control ECO mode Enables or disables Brake control ECO mode.
When the ECO mode is enabled (TRUE), the time to brake automatically in AUTO mode is shortened (the default is 5s). When the ECO mode is disabled (FALSE) or T1/T2 mode, the normal brake control time is applied. The default setting is disabled (FALSE). When the ECO mode is enabled, cycle time may be increased compared to the normal brake control because the frequency of brake release is increased. On the axis that has no brake or the brake control is disabled, this setting has no effect. Turn the power off and back on again for the changed settings to take effect.
J7, J8 jog key Setup This item is the setting to customize the J7, J8 jog keys.
Normally, J7, J8 keys are used to jog the extended axes in a group. But, if the setting is changed, it is possible to jog any axis using J7, J8 keys. And, it is possible to disable J7, J8 keys, too. For detail, refer to the item J7, J8 jog key setup in the subsection “5.2.3 Moving the robot by jog feed”.
Procedure 3-33 Setting The System
Step
1 Select the MENU key. The screen menu is displayed.
2 Select “6 SYSTEM” in the next page.
3 Press F1, [TYPE]. The screen change menu is displayed.
4 Select Config. The system configuration screen is displayed.
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22 Default logical command: <*DETAIL*>23 Maximum of ACC instruction: 150
5 Move the cursor to the field you want to set and enter the new value by using the numerical key or using the function key on the teach pendant. As for the field which should be set character string, move the cursor to it and press the ENTER key. Then the character input becomes possible.
NOTE
As for the setting of ”Use PPABN signal:”, ”Hand Broken:” or ”Default logical command:”, move the cursor to ”<*GROUPS*> or ”<*DETAIL*>” and press the ENTER key. Then each setting screen is displayed. Press the PREV key to get out of these screens.
6 When you change the setting that the cold start must be done after a setting is changed, the following message is displayed. In that case perform the cold start. (See Section 5.2,”TURNING ON THE POWER AND JOG FEED”.)
System/Config
12/47 12 Detect FAULT_RESET signal: FALL
13 Use PPABN signal: <*GROUP*>
14 WAIT timeout: 30.00 sec Please power on again
[ TYPE ] RISE FALL
3.16 SETTING THE GENERAL ITEMS
[6 SETUP General] has the following items.
● Break on hold
● Current language
● Ignore Offset command
● Ignore Tool_offset
● Enable VOFFSETt
Table 3.16 Setting the general items
Items Descriptions Break on hold Specifies whether to issue an alarm and turn off the servo alarm when the HOLD key is pressed.
• If the function is DISABLED, no alarm is issued when the operation is halted by the HOLD key (standard setting).
• If the function is ENABLED, an alarm is issued and the servo power is turned off, when the operation is halted by the HOLD key.
To be ENABLE this function power need to be on again.
WARNING