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1 ALARM 2 UTILITIES
3. SETTING UP THE HANDLING SYSTEM
The LR Handling tool application can be used after required data is specified. This chapter describes the data that can be specified.
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 group s:
general–purpose I/O and specialized I/O.
General–purpose I/O
The user can define the general–purpose I/O as required.
This group includes the following signals:
Digital I/O: SDI[i]/SDO[i]
Group I/O: GI[i]/GO[i]
Analog I/O: AI[i]/AO[i]
[i] represents the logic number of each I/O signal and group signal.
Specialized I/O
The use of the specialized I/O has already been defined. This group includes the following signals:
Peripheral (UOP) I/O: UI[i]/UO[i]
Operator’s panel (SOP) I/O: SI[i]/SO[i]
Robot I/O: RDI[i]/RDO[i]
[i] represents the logic number of each I/O signal and group signal.
For Digital, Group, Analog, and Peripheral I/O, the logic ports can be mapped to the physical ports. They can be redefined.
The physical numbers of the robot I/O are always the same as the logic numbers. They cannot be redefined.
Configuring I/O
An I/O module consists of the following hardware components. For details, refer to the ”Maintenance Manual”.
Rack
The rack indicates the kind of hardware which composes I/O module.
– 0 = Process I/O PC board – 1 to 16 = I/O Unit–MODEL A / B SLOT
The slot indicates numbers of I/O module parts which compose the rack.
When the process I/O PC board is used, the first connected board is SLOT 1, the second is SLOT 2 and others are numbered sequentially as this.
When the I/O Unit–MODEL A or B is used, SLOT is the number identifying the connected module.
Configuration of the I/O Link
The I/O Link consists of the following hardware.
Printed circuit board for controlling the robot
FANUC I/O Unit–MODEL A (I/O Unit–MODEL A)
FANUC I/O Unit–MODEL B (I/O Unit–MODEL B)
Process I/O printed board
I/O link data should be set at CNC side when R–J3i Mate is connected to CNC. Refer to the operator’s manual of CNC for details.
In Figure 3–1, R–J3i Mate and I/O Unit–MODEL A are connected to CNC as slave of I/O link.
In Figure 3–2, the process I/O PC board and the I/O Unit–MODEL A are connected to the robot control PC board as the slave of I/O link. At this time, the robot controller board is a master of I/O link against these I/O modules.
Since JD4 and JD1A is the same connector, these can not be used at the same time. To specify one of these, set a system variable, $IOMASTER, as the following.
– TRUE : The robot control PC board is master. (JD4) – FALSE : The robot control PC board is slave. (JD1A) Moreover, the default setting is FALSE.
Figure 3–1. Input/Output Module Configuration (When R–J3i Mate is slave)
(CNC) (R–J3i Mate)
JD1A JD1B
CRM79 JD1A(JD4)
1 2 3 4 5
+24V0V
Master Slave
PMC printed circuit board Printed circuit board for controlling the robot
I/O Unit–MODEL A
Peripheral equipment Peripheral equipment
Base unit CP32JD1A JD1B
Figure 3–2. Input/Output Module Configuration 2 (When R–J3i Mate is master)
Process I/O PC board
As for Input/Output signal lines on the process I/O PC board, when the peripheral I/O is allocated to the process I/O PC board, 18 input and 20 output signals are allocated in the peripheral I/O. (See Section 3.3 ”Peripheral I/O”) I/O signal lines except the peripheral I/O are allocated in digital I/O and group I/O (See Section 3.1.1, ”Digital I/O” and Section 3.1.2 ”Group I/O”).
NOTE The first four signal lines on the process I/O printed circuit board are fixed to 24 V common.
Figure 3–3. Process I/O PC board
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Figure 3–4. Process I/O PC board Configuration
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for controlling the robot Process I/O printed board CA / CB
Peripheral equipment A1
For details of process I/O PC board, refer to MAINTENANCE MANUAL.
Figure 3–5. Process I/O PC board interface
Peripheral equipment A1 Peripheral equipment A2
Peripheral equipment A3 Peripheral equipment A4
Peripheral equipment B1 Peripheral equipment B2
Welding interface Analog input interface
I/O Unit–MODEL A
I/O Unit–MODEL A (Modular I/O) is the I/O module which includes the plural modules. Plural modules can be connected within the limits of 512 signal lines in all modules. The I/O unit–MODEL A can be used only in master mode. Before using it, contact FANUC.
Figure 3–6. I/O Unit–MODEL A
CP32
Figure 3–7. I/O Unit–MODEL A Configuration
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When using only the I/O unit, assign 18 inputs and 20 outputs of the peripheral device I/O to appropriate signal
For details of FANUC I/O Unit–MODEL A, refer to FANUC I/O Unit–MODEL A manual (B–61813EN) Figure 3–8. I/O Unit MODEL A interface
19 20 19 20 19 20 out 5–C
in**, out** indicates the physical number AID 32 A/B
CM indicates the common signal line.
03
I/O unit–MODEL B
The I/O unit–MODEL B consists of an interface unit and more than one DI/DO unit. The DI/DO units are used to input/output signals. The interface unit is used to assemble I/O information in the DI/DO units and transfers it to or from the robot controller.
Combining an appropriate number of DI/DO units of different types makes it possible to provide a necessary number of input/output points. Twisted pair cables are used to connect the DI/DO units with the interface unit, thus allowing the DI/DO units to be installed at a distance from the interface unit.
Figure 3–9. I/O Unit–MODEL B
Peripheral
Refer to the FANUC I/O Unit Model B Connection Manual (B–62163EN) for details of the I/O unit–MODEL B.
When the I/O unit–MODEL B is used, the setting is needed on I/O link screen.
3.1.1 Digital I/O
Digital I/O (SDI/SDO) is a group of general–purpose signals that send or receive the data of the peripheral equipment via the process I/O printed circuit board (or I/O unit). Moreover, this can send or receive the data of master (CNC) of I/O link. The digital signal is set on or off.
Configuration of Input/Output
In digital I/O, the configuration of the signal lines can be redefined. The following items are set. Refer to Figure 3–4 for the configuration of the rack and slot.
CAUTION
When a process I/O printed circuit board is connected, the standard assignment is made at the factory.
When no process I/O printed circuit board is connected and I/O unit model A/B is connected, all digital input/output signals are assigned to the digital I/O at the factory. No digital input/output signals are assigned to the peripheral device I/O. Divide the digital input/output signals between the digital I/O and peripheral device I/O and reassign the signals to them.
CAUTION
Before the physical numbers are re–defined, the use of the signals should be carefully checked.
Otherwise, injury or property damage would occur.
RACK
The rack indicates the master of I/O link, the CRM79 interface, and the kind of hardware which composes I/O module to robot control PC board.
– 32 = JD1B interface (at slave mode)
(CNC as the master of I/O link to the robot control PC board) – 0 = JD4 interface (Process I/O PC board) (at master mode)
– 1 or more = JD4 interface (I/O Unit–MODEL A) and, MODEL B (at master mode) – 48 = CRM79 interface
SLOT
The slot indicates the number of I/O module parts which composes RACK. However, it is fixed to 1 for the CRM79 interface and JD1B interface (CNC).
When the process I/O PC board is used, the first connected board is SLOT 1, the second is SLOT 2 and others are numbered sequentially as this.
When the I/O unit of model A is used, the number of the backplane slot in which the module is placed is the slot value of the module.
When the I/O unit–MODEL B is used, the slot number of the basic unit is specified by the DIP switch in the basic unit.
START PT
START PT allocates the logical number to the physical number to map the signal lines. The first physical number in the class of eight signals should be specified.
NOTE A physical number specifies the pin of Input/Output lines on the I/O module. Logical number is allocated to this physical number. And eight signal lines which are represented in logical number and are included in the same class are allocated at the same time.
NOTE Physical numbers starting with in 19 and out 21 can be assigned to the digital I/O because 18 input physical numbers (in 1 to 18) and 20 output physical numbers (out 1 to 20) on the process I/O printed circuit board are assigned to the peripheral device I/O.
NOTE Any physical number can be specified as the start point. Not allocated signal is automatically allocated
Polarity
The polarity selects whether the current is switched on or off when the signal is set on.
– NORMAL = The current is turned on when the signal is set on.
– INVERSE = The current is turned on when the signal is set off.
Complementary
Complementary is the function to set on or off two successive digital output signals: When a signal having an odd number goes on (off), complementary sets the next signal having an even number off (on).
I/O configuration can be done with I/O configuration screen and I/O detail screen. When the allocation or settings of I/O is changed, turn the power off and on to use new information. When the kind of I/O PC board are changed to the different one, I/O configuration may be done again.
Output
The value of a digital output signal can be specified by executing a program or performing manual operation.
(See Section 4.6, “I/O Instruction,” and Section 6.4, “Manual I/O Control.”) Simulated input/output
When simulated input/output is selected, a program can be tested without sending or receiving signals to or from the external equipment. (See Section 6.3.1,“Specifying test execution”)
Figure 3–10. Digital I/O and peripheral I/O interfaces (with UOP allocated to CRM2A)
Simple
I/O Link interface (JD1B)
Input signal address (72 point) Peripheral device interface
Connector number CRM79 Peripheral device A1
CRM2A
Output signal address (68 point) 12 SDI 112 29 0V 44 SDO 112 12 SDI 124 29 SDI 129 44 SDO 126 bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 13 SDI 113 30 0V 45 SDO 113 13 SDI 125 30 SDI 130 45 SDO 127
6 SDO 49 SDO 50 SDO 51 SDO 52 SDO 53 SDO 54 SDO 55 SDO 56 Peripheral device interface 7 SDO 57 SDO 58 SDO 59 SDO 60 SDO 61 SDO 62 SDO 63 SDO 64 Peripheral device interface
CRM81
07 SDO81 SDO82 *1 RESET functions also as CSTOPI at the same time.
08 SDO83 SDO84 *1 RESET functions also as CSTOPI at the same time.
*2 This pin functions as PNSTROBE on the rising edge
09 reserve 0V
*2 This pin functions as PNSTROBE on the rising edge of the signal, and as START on the falling edge of
10 24E 0V
of the signal, and as START on the falling edge of the signal.
All I/O Link interface (JD1B)
Input signal address (72 point) Peripheral device interface
Connector number CRM79 Peripheral device A1
CRM2A
11 SDI 111 28 SDO 119 43 SDO 111 11 RSR3/PNS3 28 43 BATALM
Output signal address (68 point) 12 SDI 112 29 0V 44 SDO 112 12 RSR4/PNS4 29 PNSTROBE 44 BUSY bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 13 SDI 113 30 0V 45 SDO 113 13 RSR5/PNS5 30 PROD_START 45 ACK1/SNO1
6 SDO 49 SDO 50 SDO 51 SDO 52 SDO 53 SDO 54 SDO 55 SDO 56 Peripheral device interface 7 SDO 57 SDO 58 SDO 59 SDO 60 SDO 61 SDO 62 SDO 63 SDO 64
Figure 3–11. Digital I/O and peripheral I/O interfaces (with UOP allocated to JD1B)
Simple
I/O Link interface (JD1B)
Input signal address (72 point) Peripheral device interface Connector number CRM79
Peripheral device A1 (Enabled only when the I/O link is set as the master)
CRM2A
bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 01 SDI 101 33 SDO 101 01 SDI 121 33 SDO 121
0 *HOLD RESET(*1) START(*2) ENBL PNS1 PNS2 PNS3 PNS4 02 SDI 102 19 SDICOM1 34 SDO 102 02 SDI 122 19 SDO 133 34 SDO 122 1 SDI 1 SDI 2 SDI 3 SDI 4 SDI 5 SDI 6 SDI 7 SDI 8 03 SDI 103 20 SDICOM2 35 SDO 103 03 SDI 123 20 SDO 134 35 SDO 123
Output signal address (68 point) 12 SDI 112 29 0V 44 SDO 112 12 SDI 132 29 SDI 137 44 SDO 130 bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 13 SDI 113 30 0V 45 SDO 113 13 SDI 133 30 SDI 138 45 SDO 131
6 SDO 45 SDO 46 SDO 47 SDO 48 SDO 49 SDO 50 SDO 51 SDO 52 Peripheral device interface 7 SDO 53 SDO 54 SDO 55 SDO 56 SDO 57 SDO 58 SDO 59 SDO 60
07 SDO81 SDO82 *1 RESET functions also as CSTOPI at the same time.
08 SDO83 SDO84 *1 RESET functions also as CSTOPI at the same time.
*2 This pin functions as PNSTROBE on the rising edge 09 reserve 0V *2 This pin functions as PNSTROBE on the rising edge of the signal, and as START on the falling edge of
10 24E 0V
of the signal, and as START on the falling edge of the signal.
All
I/O Link interface (JD1B)
Input signal address (72 point) Peripheral device interface Connector number CRM79
Peripheral device A1 (Enabled only when the I/O link is set as the master)
CRM2A
bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 01 SDI 101 33 SDO 101 01 SDI 121 33 SDO 121
0 *IMSTP *HOLD *SFSPD CSTOPI RESET START HOME ENBL 02 SDI 102 19 SDICOM1 34 SDO 102 02 SDI 122 19 SDO 133 34 SDO 122
1 RSR1/PNS1 RSR2/PNS2 RSR3/PNS3 RSR4/PNS4 RSR5/PNS5 RSR6/PNS6 RSR7/PNS7 RSR8/PNS8 03 SDI 103 20 SDICOM2 35 SDO 103 03 SDI 123 20 SDO 134 35 SDO 123
2 PNSTROBE PROD_START SDI 1 SDI 2 SDI 3 SDI 4 SDI 5 SDI 6 04 SDI 104 21 SDO 120 36 SDO 104 04 SDI 124 21 SDO 135 36 SDO 124
Output signal address (68 point) 12 SDI 112 29 0V 44 SDO 112 12 SDI 132 29 SDI 137 44 SDO 130 bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 13 SDI 113 30 0V 45 SDO 113 13 SDI 133 30 SDI 138 45 SDO 131
0 CMDENBL SYSRDYPROGRUN PAUSED HELD FAULT ATPERCH TPENBL 14 SDI 114 31 24E 46 SDO 114 14 SDI 134 31 SDI 139 46 SDO 132
1 BATALM BUSY ACK1/SNO1 ACK2/SNO2 ACK3/SNO3 ACK4/SNO4 ACK5/SNO5 ACK6/SNO6 15 SDI 115 32 24E 47 SDO 115 15 SDI 135 32 SDI 140 47
2 ACK7/SNO7 ACK8/SNO8 SNACK reserve SDO 1 SDO 2 SDO 3 SDO 4 16 SDI 116 48 SDO 116 16 SDI 136 48
3 SDO 5 SDO 6 SDO 7 SDO 8 SDO 9 SDO 10 SDO 11 SDO 12 17 0V 49 24E 17 49
Figure 3–12. Digital I/O and peripheral I/O interfaces (with UOP allocated to CRM79)
Simple
I/O Link interface (JD1B)
Input signal address (72 point) Peripheral device interface Connector number CRM79
Peripheral device A1 (Enabled only when the I/O link is set as the master)
CRM2A
Output signal address (68 point) 12 ENBL 29 0V 44 SDO 112 12 SDI 132 29 SDI 137 44 SDO 130
bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 13 PNS1 30 0V 45 CMDENBL 13 SDI 133 30 SDI 138 45 SDO 131
6 SDO 49 SDO 50 SDO 51 SDO 52 SDO 53 SDO 54 SDO 55 SDO 56 Peripheral device interface (option) 7 SDO 57 SDO 58 SDO 59 SDO 60 SDO 61 SDO 62 SDO 63 SDO 64
07 SDO81 SDO82 *1 RESET functions also as CSTOPI at the same time.
08 SDO83 SDO84 *1 RESET functions also as CSTOPI at the same time.
*2 This pin functions as PNSTROBE on the rising edge 09 reserve 0V *2 This pin functions as PNSTROBE on the rising edge of the signal, and as START on the falling edge of
10 24E 0V
of the signal, and as START on the falling edge of the signal.
All
I/O Link interface (JD1B)
Input signal address (72 point) Peripheral device interface Connector number CRM79
Peripheral device A1 (Enabled only when the I/O link is set as the master)
CRM2A
11 RSR3/PNS3 28 SNACK 43 ACK1/SNO1 11 SDI 131 28 43 SDO 129
Output signal address (68 point) 12 RSR4/PNS4 29 0V 44 ACK2/SNO2 12 SDI 132 29 SDI 137 44 SDO 130 bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 13 RSR5/PNS5 30 0V 45 ACK3/SNO3 13 SDI 133 30 SDI 138 45 SDO 131
6 SDO 49 SDO 50 SDO 51 SDO 52 SDO 53 SDO 54 SDO 55 SDO 56 Peripheral device interface (option) 7 SDO 57 SDO 58 SDO 59 SDO 60 SDO 61 SDO 62 SDO 63 SDO 64
Figure 3–13. Digital I/O and peripheral I/O interfaces (with UOP allocated to CRM81)
I/O Link interface (JD1B)
Input signal address (72 point) Peripheral device interface Connector number CRM79
Peripheral device A1 (Enabled only when the I/O link is set as the master)
CRM2A
Output signal address (68 point) 12 SDI 112 29 0V 44 SDO 112 12 SDI 132 29 SDI 137 44 SDO 130 bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 13 SDI 113 30 0V 45 SDO 113 13 SDI 133 30 SDI 138 45 SDO 131
6 SDO 49 SDO 50 SDO 51 SDO 52 SDO 53 SDO 54 SDO 55 SDO 56 Peripheral device interface (option) 7 SDO 57 SDO 58 SDO 59 SDO 60 SDO 61 SDO 62 SDO 63 SDO 64 Peripheral device interface (option)
CRM81
07 CMDENBL FAULT *1 RESET functions also as CSTOPI at the same time.
08 BATALM BUSY *1 RESET functions also as CSTOPI at the same time.
*2 This pin functions as PNSTROBE on the rising edge
09 reserve 0V
*2 This pin functions as PNSTROBE on the rising edge of the signal, and as START on the falling edge of
10 24E 0V
of the signal, and as START on the falling edge of the signal.
Figure 3–14. Digital I/O and peripheral I/O interfaces (with no UOP allocated)
I/O Link interface (JD1B)
Input signal address (72 point) Peripheral device interface Connector number CRM79
Peripheral device (Enabled only when the I/O link is set as the master)
CRM2A
Output signal address (68 point) 12 SDI 112 29 0V 44 SDO 112 12 SDI 132 29 SDI 137 44 SDO 130 bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 13 SDI 113 30 0V 45 SDO 113 13 SDI 133 30 SDI 138 45 SDO 131
6 SDO 49 SDO 50 SDO 51 SDO 52 SDO 53 SDO 54 SDO 55 SDO 56 Peripheral device interface 7 SDO 57 SDO 58 SDO 59 SDO 60 SDO 61 SDO 62 SDO 63 SDO 64 Peripheral device interface
CRM81
Procedure 3–1 Configuring Digital I/O
CAUTION
When a process I/O printed circuit board is connected, the standard assignment is made at the factory.
When no process I/O printed circuit board is connected and I/O unit model A/B is connected, all digital input/output signals are assigned to the digital I/O at the factory and no digital input/output signals are assigned to the peripheral device I/O. Divide the digital input/output signals between the digital I/O and peripheral device I/O and reassign the signals to them.
Step 1 Press the MENUS key. The screen menu is displayed.
2 Select 5 [I/O].
3 Press F1 [TYPE]. The screen change menu is displayed.
4 Select “Digital.”
Digital I/O Selection Screen
F1
[TYPE]
MENUS
Digital 4 ALARM 5 I/O 6 SETUP
I/O Digital Out JOINT 30%