SYSTEM SOFTWARE

The R-30iA and R-30iB systems include a robot and controller electronics. Hardware interfaces and system software support programming, daily operation, maintenance, and troubleshooting.

This section provides an overview of the supported system software and robot models.

Hardware topics are covered in greater detail in the Maintenance Manual specific for your robot and controller model.

1.3.1 Software Components

System software is the FANUC America Corporation-supplied software that is executed by the controller CPU, which allows you to operate the robot system. You use the system software to run programs, as well as to perform daily operations, maintenance, and troubleshooting.

The components of the system software include:

• Motion Control - movement of the tool center point (TCP) from an initial position to a desired destination position

• File System - storage of data on the RAM disk or peripheral storage devices

• System Variables - permanently defined variables declared as part of the KAREL system software

• CRT/KB or Teach Pendant Screens - screens that facilitate operation of the KAREL system

• KCL - KAREL Command Language

• KAREL Interpreter - executes KAREL programs

See Also: application-specific FANUC America Corporation Setup and Operations Manual for detailed operation procedures using the CRT/KB and teach pendant screens.

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1.3.2 Supported Robots

The robot, using the appropriate tooling, performs application tasks directed by the system software and controller. The R-30iA and R-30iB systems support a variety of robots, each designed for a specific type of application.

For a current list of supported robot models, consult your FANUC America Corporation technical representative.

See Also: The Maintenance Manual for your specific robot type, for more information on your robot.

1.4 CONTROLLER

The controller contains the electronic circuitry and memory required to operate the system. The electronic circuitry, supported by the system software, directs the operation and motion of the robot and allows communication with peripheral devices.

Controller electronics includes a central processing unit (CPU), several types of memory, an input/output (I/O) system, and user interface devices. A cabinet houses the controller electronics and the ports to which remote user interface devices and other peripheral devices are connected.

1.4.1 Memory

There are three kinds of controller memory:

• Dynamic Random Access Memory (DRAM)

• A limited amount of battery-backed static/random access memory (SRAM)

• Flash Programmable Read Only Memory (FROM)

In addition, the controller is capable of storing information externally.

DRAM

DRAM memory is volatile. Memory contents do not retain their stored values when power is removed. DRAM memory is also referred to as temporary memory (TEMP). The system software is executed in DRAM memory. KAREL programs and most KAREL variables are loaded into DRAM and executed from here also.

NoteEven though DRAM variables are in volatile memory, you can control their value at startup.

Any time that a the program .VR or .PC file is loaded, the values in DRAM for that program are set to the value in the .VR file. This means that there is not a requirement to re-load the VR file itself at

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If you want the DRAM variables to be uninitialized at start up you can use the IN UNINIT_DRAM clause on any variable you want to insure is uninitialized at startup. You can use the %UNINITDRAM directive to specify that all the variables in a program are to be uninitialized at startup.

If you have a SHADOW variables and DRAM variables in the same KAREL program, there is a possibility that the power up settings of the DRAM variables could change without loading a .PC/.VR File. In this case the programmer must pay particular attention to the reliance of KAREL software on a particular setting of a DRAM variable at startup. Specifically, the DRAM startup values will always retain the values that they had at the end of controlled start. If SHADOW memory is full, the DRAM startup values could be set during normal system operation.

SRAM

SRAM memory is nonvolatile. Memory contents retain their stored values when power is removed.

SRAM memory is also referred to as CMOS or as permanent memory (PERM).

The TPP memory pool (used for teach pendant programs) is allocated from PERM. KAREL programs can designate variables to be stored in CMOS. A portion of SRAM memory can be defined as a user storage device called RAM Disk (RD:).

Flash memory (FROM)

FROM memory is nonvolatile. Memory contents retain their stored values when power is removed.

FROM is used for permanent storage of the system software. FROM is also available for user storage as the FROM device (FR:).

SHADOW

Shadow memory provides the same capabilities as SRAM. Any values set in shadow are non-volatile and will maintain their state through power cycle. Shadow memory is intended for data which tends to be static. Storing dynamic variables in shadow memory, such as FOR loop indexes or other rapidly changing data, is not efficient.

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Figure 1–1. Controller Memory

CMOS RAM (PERM) Loaded TP Programs

System Variables Selected KAREL Variables DRAM

(TEMP)

Working memory for the system Loaded KAREL programs

Most KAREL variables

Off-Line Storage Saved Programs and Data FROM Disk (FR:)

Saved Programs Saved Data System Software

RAM Disk (RD:) Saved Programs

Saved Data

External Storage

You can back up and store files on external devices. You can use the following devices:

• Memory card

• Ethernet via FTP

• USB Memory Stick

1.4.2 Input/Output System

The controller can support a modular I/O structure, allowing you to add I/O boards as required by your application. Both digital and analog input and output modules are supported. In addition, you can add optional process I/O boards for additional I/O. The type and number of I/O signals you have depends on the requirements of your application.

See Also: Chapter 15 INPUT/OUTPUT SYSTEM, for more information

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1.4.3 User Interface Devices

The user interface devices enable you to program and operate the KAREL system. The common user interface devices supported by KAREL include the operator panel, the teach pendant or the CRT/KB.

Figure 1–2illustrates these user interface devices. The operator panel and teach pendant have the same basic functions for all models; however, different configurations are also available.

The operator panel, located on the front of the controller cabinet, provides buttons for performing daily operations such as powering up, running a program, and powering down. Lights on the operator panel indicate operating conditions such as when the power is on and when the robot is in cycle.

The system also supports I/O signals for a user operator panel (UOP) , which is a user-supplied device such as a custom control panel, a programmable controller, or a host computer. Refer to Chapter 15 INPUT/OUTPUT SYSTEM.

Figure 1–2. Controller

Teach pendant

Operator panel Mode switch

RS-232 Serial Connection

The CRT/KB is a software option on the controller that allows an external terminal such as a PC running TelNet to display a Menu System that looks similar to the one seen on the teach pendant.

The teach pendant consists of an LCD display, menu-driven function keys, keypad keys, and status LEDs. It is connected to the controller cabinet via a cable, allowing you to perform operations away from the controller.

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Internally, the teach pendant connects to the controller’s Main CPU board. It is used to jog the robot, teach program data, test and debug programs, and adjust variables. It can also be used to monitor and control I/O, to control end-of-arm tooling, and to display information such as the current position of the robot or the status of an application program.

The application-specific Setup and Operations Manual provides descriptions of each of the user interface devices, as well as procedures for operating each device.

Chapter 2