Software Installation - fanuc

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This publication contains proprietary information of FANUC Robotic s North America ; Inc . furnished for customer use only. No other uses are authorized without the express written permission of FANUC Robotic s North America, Inc .

FANUC Robotics North America, Inc . 2000 South

Adams Roa d

Auburn Hills, Michigan 48326-280 0 SYSTEM R-J Software

-Installation-

Manual

To be used ONLY with SYSTEM

R-J

Software V3.06P and late r

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'liOTL.1

I

REFERENCE DOCUMEN T

SYSTEM R-J Software

1 Installation Manua l

MARAJINST09206E

To be used ONLY with SYSTEM R-J Software V3 .06P and late r

This publication contains proprietary information of FANUC Robotic s North America, Inc . furnished for customer use only. No other uses are authorized without the express written permission of FANUC Robotic s North America, Inc.

FANUC Robotics North America, Inc . 2000 South Adams Road

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The description and specifications contained in this manual were in effec t at the time this manual was approved for printing . FANUC Robotic s North America, Inc, hereinafter referred to as FANUC Robotics, reserve s the right to discontinue models at any time or to change specifications o r

design without notice and without incurring obligations .

FANUC Robotics manuals present descriptions, specifications, drawings , schematics, bills of material, parts, connections and/or procedures fo r installing, disassembling, connecting, operating and programming FANU C

Robotics' products and/or systems . Such systems consist of robots , extended axes, robot controllers, application software, the KAREL ® programming language, INSIGHT® vision equipment, and special tools . FANUC Robotics recommends that only persons who have been trained i n

one or more approved FANUC Robotics Training Course(s) be permitted to install, operate, use, perform procedures on, repair, and/or maintai n FANUC Robotics' products and/or systems and their respectiv e

components . Approved training necessitates that the courses selected b e relevant to the type of system installed and application performed at th e

customer site .

A

WARNIN G

This equipment generates, uses, and can radiate radi o frequency energy and if not installed and used i n accordance with the instruction manual, may caus e interference to radio communications. As temporaril y permitted byregulation, it has not been tested fo r

compliance with the limits for Class A computing devices pursuant to subpart J of Part 15 of FCC Rules, which are designed to provide reasonable protection against suc h interference . Operation of the equipment in

a

residential area is likely to cause interference, in which case the user , at his own expense,

will

be required to take whateve r measure may be required to correct the interference .

FANUC Robotics conducts courses on its systems and products on a regularly scheduled basis at the company's world headquarters in Auburn

Hills, Michigan . For additional information contac t FANUC Robotics North America, Inc.

Training and Documentation Department 2000 South Adams Road

Auburn Hills, Michigan 48326-280 0 Tel : (810)377-7234

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The information illustrated or contained herein is not to be reproduced , copied, translated into another language, or transmitted in whole or in par t in any way without the prior written consent of FANUC Robotics Nort h America, Inc.

ArcTool®, FANUC LASER DRILL®, KAREL®, INSIGHT® ,

INSIGHT II®, PaintTool®, PAINTWorks®, PalletTool® , SOCKETS®, SOFT PARTS® and SpotTool®, are Registered Trademarks of FANUC Robotics.

FANUC Robotics reserves all proprietary rights, including but not limited to trademark and trade name rights, in the following names :

ACCUFLOW ' ACCUSTAT ARC Mate ARC Mate Sr . DispenseTool IntelliTrak LaserTool MotionParts PAINTWork s II PALLETMATE SureWeld TurboMove

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BEFORE YOU CALL

please

have your Maintenance and Troubleshooting

manual, and the following information, ready .

INFORMATION DETAILS

Customer information

Include

• your company's

• phone number where name

caller can be reached , • caller's name

including area code an d extension

Robot type

(A, L, M, P, or S, & 3-digit number) Onthe arm of the robot . Controller style

(RA, RB, RC, RF, RG, RH, RJ)

Ask your supervisor.

F Number On the identification tag on the robot an d controller, near the cable connection . Robot serial number

(if no F

Number

is

available)

On the identification tag located near th e cable connection .

Controller serial numbe r

(if no F Number is available)

On the controller tag located on the doors .

Software edition and revision numbers

Shown on the CRTorteach pendant statu s screen during the power-up sequence .

This table is continued

on

the next

page.

FANUC

Robotics

Hotline

For a PRODUCTION robot that is DOW N

call 24

hours

a day, 7 days

a

wee k

810-377-7159

For all other Troubleshooting

and

Technical Suppor t

contact your

local

distributor or

call

the Hotlin e

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INFORMATION DETAILS

List of error messages

include

• error message number

. message following error message numbe r • any numbers following error messag e

List of diagnostic LEDs _{Note the PCB where the LED is located and th e} LED name or designation.

History of problem Description of events

leading

up to problem .

Application

software

Lis t

• any application software running on the system • the line number where the program halted • a description of what is happening on that line

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MARAJINST09205E

Preface

vi i

Purpose of this Manual

This manual describes FANUC Robotics SYSTEM R-J Softwar e

Installation :

• Package content s • Requirements • Procedures

• Troubleshooting and error recovery

Related Manuals

The entire manual set for this product includes manuals you can use when performing other tasks

in

the system. You do not need these manuals to use this manual ; they provide information that you can use in other area s of the robot, controller, and application system .

Descriptions Manual

Includes detailed descriptions of the R-J controlle r hardware features, robot configurations and

specifications, end effector requirements, installatio n requirements, and application software requirements and features.

R-J Controller Connection an d Maintenance Manual

Contains specific R-J controller electrical maintenance and troubleshooting information and procedures fo r maintenance operations such as replacing fuses , checking wiring, recovering from fault conditions, an d checking and replacing controller components .

If you want to Refer to

Find information about a specific topic Table of Contents

Determine the installation requirements fo r your application

Chapter 1, Overview

Set up and check memory requirements Chapter 2, Setting U p Controller Memory

Check and install EPROM chips Chapter 3, EPRO M

Installatio n Install core, application, robot library, motion

groups and extended axis software

Chapter 4, Software Installatio n

Master the robot Chapter 5, Masterin g

Perform troubleshooting and error recovery Chapter 6, Troubleshooting and Error Message s

Use Boot Rom Appendix A , BootRo m

Operation s

How to Use this

Use this table to locate specific information in the manual . Manual

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viii PREFACE MARAJINST09205E

Conventions Used in

This manual includes information essential to the safety of personnel,

this Manual

equipment, software, and data . This information is indicated by headings and boxes in the text .

A

WARNIN G

Information appearing under WARNING concerns the protection of personnel . It is boxed and in bold type to set it apart from other text .

A

CAUTIO N

Information appearing under CAUTION concerns the protectio n of equipment, software, and data . It is boxed to set it apart from other text .

NOTE Information appearing next to NOTE concerns related information or useful hints .

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MARAJINST09206E

Chapter 1

OVERVIEW 1-1 1 .1 PACKAGE CONTENTS 1-2 1 .1 .1 Software Disks _1-2

1 .1 .2 System EPROM Chips 1-24

1 .2 INSTALLATION REQUIREMENTS 1-2 5

12 .1 Teach Pendant 1-25

1 .2 .2 Disk Drive Unit 1-27

1 .2 .3 Controller Hardware Tools 1-27

Chapter 2

SETTING UP CONTROLLER MEMORY 2- 1

2 .1 CHECKING SYSTEM MEMORY 2-2

22 INSTALLING CMOS AND FLASH ROM MEMORY 2-3

2.3 COPYING CONTROLLER MEMORY 2-7

Chapter 3

EPROM INSTALLATION 3-1

3 .1 INSTALLING BOOTROM EPROM CHIPS 3-2

3 .2 INSTALLING TEACH PENDANT EPROM CHIPS 3-8

Chapter 4

SOFTWARE INSTALLATION 4-1

Chapter 5

MASTERING 5-1

5 .1 MASTERING TO A FIXTURE (MASTER POSITION MASTER) 5-2

5 .2 ZERO DEGREE MASTERING 5-4

5 .3 SINGLE AXIS MASTERING 5-6

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x TABLE OF CONTENTS MARAJINST09206E

Chapter 6

TROUBLESHOOTING AND ERROR MESSAGES 6- 1

6 .1 TROUBLESHOOTING USING SYMPTOMS 6-2

6 .2 TROUBLESHOOTING USING ERROR MESSAGES 6-3

6.3 PERFORMING A RE-INIT START 6-7

Appendix A

BOOTROM OPERATIONS A- 1

A.1 STARTUP METHODS A-2

A .1 .1 Hot Start A-2

A .1 .2 Cold Start A-3

A.1 .3 Controlled Start A-4

A .2 BOOTROM UTILITIES A-6

A .3 DIAGNOSTIC UTILITIES (DIAG>) A- 8

A .4 EXTENDED BOOT MONITOR UTILITIES (EMON>) A-1 0

A .5 DEVICE MONITOR UTILITIES (DEV>) A-1 1

List of Procedures

Procedure 2- 1 Procedure 2-2 Procedure 2-3 Procedure 2-4 Procedure 3- 1 Procedure 3-2 Procedure 3-3 Procedure 3-4 Procedure 4- 1 Procedure 4-2 Procedure 4-3 Procedure 4-4 Procedure 4-5 Procedure 4-6 Procedure 4-7 Procedure 4- 8 Procedure 5-1 Procedure 5-2 Procedure 5-3 Procedure 5-4 Procedure 5-5 Procedure 6-1 Procedure A-1 Procedure A-2

Displaying Memory Status 2-2

Installing a CMOS RAM or Flash ROM Module 2-3

Copying 3 .5MB (2+1 .5) and 4MB (2+2) Controller Memory 2-7

Copying 6MB (4+2) Controller Memory 2-1 2

Checking the BootROM Version 3-2

Installing New BootROM EPROM Chips 3-3

Checking Teach Pendant EPROM Versions . . .

. . . .

. 3-8

Installing A New Teach Pendant EPROM Chip 3-9

Installing V3 .06P or V3 .06PA Core, Application and Robot Library Software 4-3 Installing V3 .06PB Core, Application and Robot Library Software 4-1 7 Installing V3 .06PC and V3.06PD Core, Application and Robot Library Software

4-29

Installing R-J Software Options 4-39

Installing PaintTool Software Options 4-42

Installing R-J Software Updates 4-46

Installing Motion Groups 4 49

Installing Extended Axes 4-62

Mastering to

a

Fixture 5-2

Mastering to Zero Degrees 5-4

Mastering a Single Axis 5-6

Recording the Quick Master Reference Position 5-8

Quick Mastering the Robot 5-1 0

Performing a Re-Init Start (V3 .06PA, V3 .06PB, V3 .06PC) 6-7

Performing a Hot Start A-2

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MARAJINST09206E

TABLE OF CONTENTS

xi

Procedure A-3 Performing a Controlled Start A-5

Procedure A-4 Using BootROM Utilities A-7

Procedure A-5 Using DIAG> Utilities _A-9

Procedure A-6 Using EMON> Utilities _{A-1 0}

Procedure A-7 Using DEV> Utilities A-1 1

List of Figures

Figure 1-1 . Standard Teach Pendant 1-25

Figure 1-2 . Intrinsically Safe Teach Pendant (ISTP) 1-2 6

Figure 1-3 . PS-100 Connected to the Controller 1-27

Figure 2-1 . R-J Controller Disconnect Handle and Latch 2-4

Figure 2-2 . MAIN CPU Board Location 2-4

Figure 2-3 . Removing the MAIN CPU Board 2-5

Figure 2-4 . Installing the CMOS RAM or Flash ROM Module 2-5

Figure 2-5. Plugging in the Extension Backplane 2-8

Figure 2-6 . Plugging in the Extension Backplane 2-1 2

Figure 3-1 . R-J Controller Disconnect Handle and Latch 3-4

Figure 3-2. MAIN CPU Board Location 3-5

Figure 3-3 . Removing the MAIN CPU Board 3-6

Figure 3-4. Locating the BootROM Chips 3-6

Figure 3-5 . Removing the Back Cover of the Teach Pendant 3-1 0

Figure 3-6 . Locating the Teach Pendant EPROM Chip 3-1 0

Figure 3-7 . EPROM Labels 3-1 1

List of Table s

Table 1-1 . Software Version Information 1-3

Table 2-1 . Memory Status 2-2

Table 4-1 . Shot Meter Configuration Items 4-9

Table 4-2 . Nordson Configuration Items 4-1 1

Table 4-3 . Schucker Configuration Items 4-1 2

Table 4-4. Jesco Configuration Items 4-1 3

Table 4-5 . Configuration Setup Items 4-3 7

Table 4-6 . Motor Selection Combinations 4-65

Table 5-1 . Mastering Methods 5- 1

Table 6-1 . Troubleshooting Symptoms and Solutions 6-2

Table 6-2 . Software Option Messages 6-3

Table 6-3 . BootROM Error Messages 6-4

Table A-i . Controlled Start Options A-4

Table A-2. BootROM Utilities A-6

Table A-3. BootROM Diagnostic Utilities A- 8

Table A-4. BootROM Extended Monitor Utilities A-1 0

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Safety

FANUC Robotics is not and does not represent itself as an expert in safet y systems, safety equipment, or the specific safety aspects of your compan y and/or its work force . It is the responsibility of the owner, employer, or user to take all necessary steps to guarantee the safety of all personnel i n 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 professional s 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 isyour responsibility to arrange for the training of the operator of a robot syste m to recognize and respond to known hazards associated with your roboti c system and to be aware of the recommended operating procedures for you r particular application and robot installation .

FANUC Robotics therefore, recommends that all personnel who intend t o operate, program, repair, or otherwise use the robotics system be trained i n an approved FANUC Robotics training course and become familiar wit h the proper operation of the system . Persons responsible for programmin g the system including the design, implementation, and debugging of application programs-must be familiar with the recommende d programming procedures for your application and robot installation. The following guidelines are provided to emphasize the importance of safety in the workplace .

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xiv

SAFETY

MARAJINST09205E

Safety is essential whenever robots are used . Keep in mind the followin g factors with regard to safety :

• The safety of people and equipmen t

• Use of safety enhancing device s

• Techniques for safe teaching and manual operation of the robot(s )

• Techniques for safe automatic operation of the robot(s)

• Regular scheduled inspection of the robot and workcel l

• Proper

maintenance of the robot

Keeping People and

The safety of people is always of primary importance in an y situation. However, equipment must be kept safe, too . When prioritizing how to apply safety to your robotic system, conside r

• People

• External device s

• Robot(s)

• Tooling

• Workpiece

Alwaysgive appropriate attention to the work area that surrounds the robot. The safety of the work area can be enhanced by the installation o f

some or all of the following devices :

• Safety fences, barriers,orchains

• Light curtains • Interlocks • Pressure mats • Floor markings • Warning light s • Mechanical stop s

• EMERGENCY STOP button s

• DEADMAN switche s

A safe workcell is essential to protect people and equipment . Observe the following guidelines to ensure that the workcell is setup safely . Thes e suggestions are intended to supplement and not replace existing federal, state, and local laws, regulations, and guidelines that pertain to safety .

• Sponsor your personnel for training in approved FANUC Robotic s

training course(s) related to your application . Never permit untrained personnel to operate the robots .

e Install a lockout device that uses an access code to preven t

unauthorized persons from operating the robot .

• Use anti-tie-down logic to prevent the operator from bypassing safet y

measures .

• Arrange the workcell so the operator faces the workcell and can see

what is going on inside the cell .

CONSIDERING

SAFETY FOR YOU R

ROBO T

INSTALLATION

Equipment Safe

Using

Safety

Enhancing Devices

Setting Up a Safe

Workcell

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MARAJINST09205E

SAFETY

x v

• Clearly identify the work envelope of each robot in the system with floor markings, signs, and special barriers . The work envelope is the area defined by the maximum motion range of the robot, including any tooling attached to the wrist flange that extend this range.

• Position all controllers outside the robot work envelope . • Never rely on software as the primary safety element .

• Mount an adequate number of EMERGENCY STOP buttons o r switches within easy reach of the operator and at critical points insid e and around the outside of the workcell .

• Install flashing lights and/or audible warning devices that activat e whenever the robot is operating, that is, whenever power is applied t o the servo drive system.

• Wherever possible, install safety fences to protect against unauthorize d entry by personnel into the work envelope.

• Install special guarding that prevents the operator from reaching int o restricted areas of the work envelope .

Use interlocks .

• Use presence or proximity sensing devices such as light curtains, mats , and capacitance and vision systems to enhance safety.

• Periodically check the safety joints or safety clutches that can b e optionally installed between the robot wrist flange and tooling . If the tooling strikes an object, these devices dislodge, remove power fro m the system, and help to minimize damage to the tooling and robot . • Make sure all external devices are properly filtered, grounded ,

shielded, and suppressed to prevent hazardous motion

due

to the effects of electro- magnetic interference (EMI), radio frequenc y interference (RFI), and electro-static discharge (ESD) .

Make provisions for power lockout/tagout at the controller .

• Eliminatepinch points. Pinch points are areas where personnel coul d get trapped between a moving robot and other equipment .

• Provide enough room inside the workcell to permit personnel to teac h the robot and perform maintenance safely.

• Program the robot to load and unload material safely.

• If high voltage electrostatics are present, be sure to provide appropriat e interlocks, warning, and beacons .

• If materials are being applied at dangerously high pressure, provid e electrical interlocks for lockout of material flow and pressure .

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xvi

SAFETY

MARAJINST09205E

Staying Safe While

Teaching or Manually

Operating the Robot

Advise all personnel who must teach the robot or otherwise manually operate the robot to observe the following rules :

• Know whether or not you are using an intrinsically safe teach pendan t if you are working in

a

hazardous environment.

• Before teaching, visually inspect the robot andworkenvelopeto make sure that no potentially hazardous conditions exist. The work

envelope is the area defined by the maximum motion range of the robot. These include tooling attached to the wrist flange that extend s this range .

• The area near the robot must be clean and free of oil, water, or debris . Immediately report unsafe working conditions to the supervisor or safety department.

• FANUC Robotics recommends that no one enter the work envelope o f a robot that is on . However, if you must enter the work envelope, b e sure all safeguards are in place, and check the teach pendant

DEADMAN switch for proper operation. Take the teach pendant with you, turn it on, and be prepared to release the DEADMAN switch

Only the person with the teach pendant should be in the wor k envelope .

• Know the path that can be used to escape from a moving robot; make sure the escape path is never blocked.

• Isolate the robot from all remote control signals that can cause motio n while data is being taught .

• Test any program being run for the first time in the following manner:

A

WARNIN G

Stay outside the robot work envelope whenever a progra m is being run . Failure to do so can result in injury.

- Using a low motion speed, single step the program for at least one full cycle .

- Using a low motion speed, test run the program continuously for at least one full cycle.

Using the programmed speed, test run the program continuousl y for at least one full cycle .

• Make sure all personnel are outside the work envelope before running

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MARAJINST09205E

SAFETY

xvii

Staying Safe During

Advise all personnel who operate the robot during production to observe the following rules :

Production Operation

• Know the entire workcell area . The workcell includes the robot and it s work envelope, plus the area occupied by all external devices an d other equipment with which the robot interacts .

• Understand the complete task the robot is programmed to perfor m before initiating production operation .

• Make sure all personnel are outside the work envelope befor e operating the robot .

• Never enter or allow others to enter the work envelope during production operation of the robot .

• Know the location and status of all switches, sensors, and control signals that could cause the robot to move.

• Know where the EMERGENCY STOP buttons are located on both th e robot control and external control devices . Be prepared to press thes e buttons in an emergency.

• Never assume that a program is complete if the robot is not moving . The robot could be waiting for an input signal that will permit it t o continue activity.

• If the robot is running in a pattern, do not assume it will continue t o run in the same pattern .

• Never try to stop the robot, or break its motion, with your body . The onlywayto stop robot motion immediately is to press a n

EMERGENCY STOP button located on the controller panel, teac h pendant,oremergency stop stations around the workcell.

Staying Safe During

when inspecting the robot, be sure to

Inspection

• Turn off power at the controller.

• Lock out and tag out the power source at the controller according t o the policies of

your

plant.

Turn off the compressed air source and relieve the air pressure . • If robot motion is not needed for inspecting the electrical circuits ,

press the EMERGENCY STOP button on the operator panel .

• If power is needed to check the robot motion or electrical circuits, b e prepared to press the EMERGENCY STOP button, in an emergency .

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xviii

SAFETY

MARAJINST09205E

Staying Safe Durin g

Maintenance

When performing maintenance on your robot system, observe th e following rules :

• Never enter the work envelope while the robot or a program is i n operation .

Before entering the work envelope, visually inspect the workcell t o make sure no potentially hazardous conditions exist.

• Consider

all

or any overlapping work envelopes of adjoining robot s when standing in a work envelope .

• Test the teach pendant for proper operation before entering the wor k envelope.

• If it is necessary for you to enter the robot work envelope while powe r is turned on, you must be sure that you are in control of the robot . Be sure to take the teach pendant with you, press the DEADMAN switch , and turn the teach pendant on . Be prepared to release the DEADMA N switch to turn off servo power to the robot immediately .

• Whenever possible, perform maintenance with the power turned off. Before you open the controller front panel or enter the work envelope , turn off and lock out the 3-phase power source at the controller.

A

WARNIN G

Lethal voltage is present in the controller WHENEVER IT I S

CONNECTED to

a

power source. Be extremely careful to

avoid electrical shock .

Turning the disconnect or circuit breaker to the OF F

position removes power from the output side of the devic e only. High voltage is always present at the input sid e whenever the controller is connected to a power source .

• Release or block all stored energy. Before working on the pneumatic system, shut off the system air supply and purge the air lines .

• Isolate the robot from all remote control signals . If maintenance must be done when the power is on, make sure the person inside the wor k envelope has sole control of the robot. The teach pendant must b e held by this person .

• Make sure personnel cannot get trapped between the moving robot an d other equipment . Know the path that can be used to escape from a moving robot. Make sure the escape route is never blocked. • Use blocks, mechanical stops, and pins to prevent hazardou s

movement by the robot. Make sure that such devices do not create pinch points that could trap personnel .

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MARAJINST09205E SAFETY xix

A

WARNING

Do not try to remove any mechanical component from th e

robot before thoroughly reading and understanding th e

procedures in the appropriate manual . Doing so can resul t

in serious personal injury and component destruction .

• Be aware that when you remove a servomotor or brake, the associated axis will fall if it is not supported or resting on a hard stop .

• When replacing or installing components, make sure dirt and debris d o not enter the system.

• Use only specified parts for replacement . To avoid fires and damage to parts in the controller, never use nonspecified fuses .

• Before restarting a robot, make sure no one is inside the work envelope ; be sure that the robot and all external devices are operatin g normally.

Certain programming and mechanical measures are useful in keeping th e machine tools and other external devices safe . These measures are outlined below.

Implement the following programming safety measures to prevent damag e to machine tools and other external devices.

• Back-check limit switches in the workcell to make sure they do no t fail .

• Implement "failure routines" in programs that will provide appropriate robot actions

if an

external device or another robot in the workcel l fails.

• Use handshaking protocol to synchronize robot and external devic e operations .

• Program the robot to check the condition of all external devices durin g an operating cycle .

Implement the following mechanical safety measures to prevent damage to machine tools and other external devices .

• Make sure the workcell is clean and free of

oil,

water, and debris . • Use software limits, limit switches, and mechanical hardstops t o

prevent undesired movement of the robot into the work area o f machine tools and external devices .

KEEPING MACHIN E

TOOLS AN D

EXTERNA L

DEVICES SAFE

Programming Safety

Precautions

Mechanical Safet y

Precautions

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xx

SAFETY MARAJINST09205 E

KEEPING TH E

ROBOT SAFE

Observe the following operating and programming guidelines to preven t damage to the robot.

Operating Safety

The following measures are designed to prevent damage to the robo t during operation .

Precaution s

Programming Safety

Precautions

• Use a low override speed to increase your control over the robot whe n jogging the robot .

• Visualize the movement the robot will make before you press the jo g keys on the teach pendant.

• Make sure the work envelope is clean and free of oil, water, or debris . Use. circuit breakers to guard against electrical overload .

The following safety measures are designed to prevent damage to the robo t during programming:

• Establish interference zones to prevent collisions when two or mor e robots share a work area .

• Make sure that the program ends with the robot near or at the home position .

• Be aware of signals or other operations that could trigger operation o f tooling resulting in personal injury or equipment damage .

• In dispensing applications, be aware of all safety guidelines wit h respect to the dispensing materials .

NOTE Any deviation from the methods and safety practices described i n

this manual must conform to the approved standards of your company . I f you have questions, see your supervisor .

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MARAJINST09205E

SAFETY

xxi

Process technicians are sometimes required to enter the paint booth, for example, during daily or routine calibration or while teaching new paths to a robot. Maintenance personal also must work inside the paint booth periodically.

Whenever personnel are working inside the paint booth, ventilatio n equipment must be used . Instruction on the proper use of ventilating equipment usually is provided by the paint shop supervisor.

Although paint booth hazards have been minimized, potential dangers stil l exist. Therefore, today's highly automated paint booth requires tha t process and maintenance personnel have full awareness of the system an d its capabilities . They must understand the interaction that occurs betwee n the vehicle moving along the conveyor and the robot(s), hood/deck and door opening devices, and high-voltage electrostatic tools .

Paint robots are operated in three modes : • Teach or manual mode

• Automatic mode, including production and exercise operatio n • Diagnostic mode

During both teach and automatic modes, the robots in the paint booth will follow a predetermined pattern of movements . In teach mode, the proces s technician teaches (programs) paint paths using the teach pendant.

In automatic mode, robot operation is initiated at the System Controlle r Center (SCC), Manual Control Panel (MCP), if available, or Manual Pain t Station (MPS), if available, and can be monitored from outside the pain t booth. All personnel must remain outside of the booth or in a designate d safe area within the booth whenever automatic mode is initiated at the SCC, MCP, or MPS.

In automatic mode, the robots will execute the path movements they were taught during teach mode, but generally at production speeds .

When process and maintenance personnel run diagnostic routines that require them to remain in the paint booth, they must stay in a designated safe area .

ADDITIONAL

SAFET Y

CONSIDERATION S

FOR PAINT ROBOT

INSTALLATIONS

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SAFETY

MARAJINSTO92O5E

Paint System Safety

Process technicians and maintenance personnel must become totally

Features

familiar with the equipment and its capabilities . To minimize the risk of injury when working near robots and related equipment, personnel mus t comply strictly with the procedures in the manuals .

This section provides information about the safety features that ar e included in the paint system and also explains the way the robot interacts with other equipment in the system.

The paint system includes the following safety features :

• Most paint booths have red warning beacons that illuminate when the robots are armed and ready to paint. Your booth might have other kinds of indicators. Learn what these are .

• Some paint booths have a blue beacon that, when illuminated ,

indicates that the electrostatic devices are enabled . Your booth might have other kinds of indicators . Learn what these are.

• EMERGENCY STOP buttons are located on the Manual Contro l Panel (MCP), or Manual Paint Station (MPS) panel, if supplied, insid e the booth, or on the System Controller Center (SCC) outside the booth . Also, EMERGENCY STOP buttons are located near the interior corners of each booth, and on the robot controller and teac h pendant. Become familiar with the locations of all E-STOP buttons . • An intrinsically safe teach pendant is used when teaching in hazardou s

paint atmospheres .

• A DEADMAN switch is located on each teach pendant . When thi s switch is held in, power is applied to the robot servo system. If the engaged DEADMAN switch is released during robot operation, power is removed from the servo system, all axis brakes are applied, and the robot comes to an EMERGENCY STOP. Safety interlocks within the

system might also E-STOP other robots .

A

WARNIN G

An EMERGENCY STOP will occur if the DEADMAN switc h is released on a bypassed robot .

• Overtravel by robot axes is prevented by software limits . All of the major and minor axes are governed by software limits . Limit switches and hardstops also limit travel by the major axes .

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MARAJINST09205E

SAFET Y

Staying Safe Whil e

Operating the Paint

Robot

• EMERGENCY STOP limit switches and photoelectric eyes might b e part of your system . Limit switches, located on the entrance/exit doors of each booth, will EMERGENCY STOP all equipment in the booth i f a door is opened while the system is operating in automatic or manua l mode . For some systems,signals to these switches are bypassed whe n the switch on the SCC is in teach mode.

When present, photoelectric eyes are sometimes used to monitor unauthorized intrusion through the entrance/exit silhouette openings. • System status is monitored by computer. Severe conditions result i n

automatic system shutdown .

When you work in or near the paint booth, observe the following rules, in addition to all rules for safe operation that apply to all robot systems .

A

WARNIN G

Observe all safety rules and guidelines to avoid injury,

• Know the work area of the entire paint station (workcell) .

• Know the work envelope of the robot and hood/deck and door opening devices .

s Be aware of overlapping work envelopes of adjacent robots .

• Know where all red, mushroom-shaped EMERGENCY STOP button s are located .

• Know the location and status of all switches, sensors, and/or contro l signals that might cause the robot, conveyor, and opening devices t o move .

• Make sure that the work area near the robot is clean and free of water , oil, and debris . Report unsafe conditions to your supervisor.

• Become familiar with the complete task the robot will perform BEFORE starting automatic mode .

• Make sure all personnel are outside the paint booth before turning o n power to the robot servo system .

• Never enter the work envelope or paint booth before turning on powe r to the robot servo system.

• Never enter the work envelope during automatic operation unless a safe area has been designated.

• Never wear watches, rings, neckties, scarves, or loose clothing that could get caught in moving machinery .

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xxiv

SAFETY

MARAJINST09205 E

Staying Safe Durin g

Maintenance

• Remove all metallic objects, such as rings, watches, and belts, befor e entering a booth when the electrostatic devices are enabled .

• Stay out of areas where you might get trapped between a movin g robot, conveyor, or opening device and another object .

• Be aware of signals and/or operations that could result in the triggerin g of guns or bells .

• Be aware of all safety precautions when dispensing of paint i s required.

• Follow the procedures described in this manual .

When you perform maintenance on the painter system, observe th e following rules, and all other maintenance safety

rules

that apply to all robot installations . Only qualified, trained service or maintenanc e personnel should perform repair work on a robot.

• Paint robots operate in a potentially explosive environment. Us e caution when working with electric tools .

• When a maintenance technician is repairing or adjusting a robot, th e work area is under the control of that technician . All personnel not participating in the maintenance must stay out of the area .

• For some maintenance procedures, station a second person at th e control panel within reach of the EMERGENCY STOP button . Thi s person must understand the robot and associated potential hazards . • Be sure all covers and inspection plates are in good repair and in place . • Always return the robot to the "home" position before you disarm it. • Never use machine power to aid in removing any component from th e

robot.

• During robot operations, be aware of the robot's movements . Exces s vibration,

unusual

sounds, and so forth, can alert you to potential problems .

Whenever possible, turn off the main electrical disconnect before yo u clean the robot .

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MARAJINST09205E

SAFETY

xxv

• When using vinyl resin observe the following :

- Wear eye protection and protective gloves during application and removal

- Adequate ventilation is required . Overexposure could caus e drowsiness or skin and eye irritation.

- If there is contact with the skin, wash with water . • When using paint remover observe the following :

Eye protection, protective rubber gloves, boots, and apron ar e required during booth cleaning .

- Adequate ventilation is required . Overexposure could caus e drowsiness.

- If there is contact with the skin or eyes, rinse with water for at least 15 minutes.

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(28)

OVERVIEW

MARAJINST09206E

1- 1

This chapter describes the SYSTEM R-J Software Installation Package . It includes information o n

• What you must do to set up and install the components of thi s

package in your system

• What you have in your SYSTEM R-J Software Installation Packag e • What you need to set up and install the components of this packag e

Installation Tasks The first time you install the SYSTEM R-J Software Installation Package , and whenever you update your controller with components in this package , you must do the following :

• Make sure you have enough memory in your controller and adjust it i f you need more . Refer to Chapter 2.

• If you are updating your controller, back up all system files . Refer to

theSetup and Operations Manualfor more information on backing u p

files .

• Make sure you have the correct system EPROM chips and install the m if necessary. Refer to Chapter3.

• Install the Core, Core Options, Robot Library, Application/Tool and Application/Tool Options disks purchased for your system . Refer to

Chapter 4.

• Perform the mastering procedures required for your robot . Refer to

Chapter 5 .

NOTE You must satisfy system memory and EPROM requirement s

before you can install the SYSTEM R-J software . If you perform all setup and installation procedures and still have a problem with the installation, refer to Chapter 6 for information to help you solve the problem .

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1 . OVERVIEW 1-2

MARAJINST09206E

The SYSTEM R-J controller design features SOCKET software structures , allowing application/tool and robot library SOFT PARTS to be added to meet your specific application requirements .

The R-J software installation package consists o f • Software disks

• Erasable Programmable Read-Only Memory (EPROM) chip s Your R-J software installation package consists of the following kinds of disks :

• Core

• Application/Tool • Robot Library

Your package can also contain the following kinds of disks:

• Core Option s

• Application/Tool Option s • Robot Library Options

• Core and Application Updates

A core is the fundamental component of the SYSTEM R-J software . It

provides the robot operating system and SOCKETS for all other layered software components . Most systems will use the standard core software . However, other systems could use core software that i s

application-specific . All systems must include core software .

An application/tool is a software component, containing SOFT PARTS , which is used in addition to the core software. It provides application specific functionality. All systems must include application/tool software .

A robot library is a software component, containing SOFT PARTS, which

is used with a core and an application/tool. It provides FANUC robo t model-specific functionality. Most systems will use the standard robo t library software . However, other systems could use robot library software that is application-specific . All systems must include a robot library. An option is a software component that provides specific functionality that can optionally be used with core, application/tool and robot librar y

software.

An update is a software component that adds specific functionality tha t must be used with core, application/tool and robot library software . The kinds of disks listed below are available on 3 -1/2" disks . Table 1-1 lists the following information about each kind of software package yo u can have :

• Contents

• CMOS RAM requirements • Flash ROM requirements • BootROM EPROM versio n • Number of 3½" disks

1 .1

PACKAGE CONTENTS

1 .1 .1

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L

1 . OVERVIEW MARAJINST09206E

1-3

Table 1-1 . Software Version Informatio n

Product Disk Contents &

Part Number

Number of

31/2" Disks Comment

ArcTool Software ArcTool Application Software 1 Required for TAST, AVC, or Touch Sensin g

Package SFTARTLJ130A3X1

SBARCTLJ130X3X1 _{Core Software} ₆ _{Includes V3 .06P robot operating syste m}

SFTCOREJ306X3XX software information .

Teach rsion

:

Pendant 7D01/04Do r EPRO M

Version : Libraries 1 Includes all currently supported robot models later SFTRBLBJ306X3X2 and supports group motion .

THRU-ARC Seam Tracking MP/RPM 1 Cannot be installed with AVC option or

Version: 1 .30P (option) Multi-Pass option . ArcTool only.

SFTTASTJ130X3XX

BootROM EPROM _{AVC with}_MP/RPM ₁ _{Cannot be installed with TAST or Multi-Pas s}

Version : 1.10P or later _(option) _{option . ArcTool only.}

SFTAVCXJ13OX3XX

MemoryRequired:

Multi- ass Welding 1 Cannot be installed with TAST or AVC option.

2MB Flash ROM (min)

2MB CMOS RAM(min) (option)

SFTMULTJ13OX3XX

ArcTool only.

NOTE : Installation of Touch Sensing 1 Can be used alone or with AVC or TAST.

multiple options might require

(option)

SFTTOSEJ13OX3XX

WS CMOS RAM _{Detached Jog} ₁ _{ArcTool only.}

(option )

SFTDEJOJ130X3XX

FANUC Sensor Interface (3D offset) 1 Interface from Application/Tool to an eXterna l

(option) sensor device such as a V 120 visio n

SFTFASEJ306XSXX system .

PLC I/O (ABRIO/Genius) 1 Supports the Allen-Bradley and FANU C

(option) Robotics Genius network I/O interfac e

SFTPLCIJ306X3X1 _{hardware using the R-H eXtended backplan e}

on the R-J controller.

Extended Axis 1 Supports independent auxiliary aXes .

(option)

SFTEXAXJ306X3XX

Remote Arc Enable / UOP Interface 1 Includes all Arc Enable and UOP interfac e

(update) software .

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1 . OVERVIEW

1-4

MARAJINST09206E

Table 1-1 . (Cont'd) Software Version Informatio n

Product Disk Contents &_{Part Number} _{3-1/2" Disks}Number of Comment

DispenseTool Core Software 6 Includes all V3 .06PA core softwar e

Software Package SFTCOREJ306A3XX information .

TLJ120X3X1

Robot Libraries 1 Includes all currently supported robot

Shot

Meter:

Shot _{SFTRBLBJ306ASXX} _models.

SBDISTLJ120X3X2

Jesco:SBDISTLJ12OX3X3 _{DispenseTool Software for Nordson} ₁ _{DispenseTool Application Software for use} Schucker:SBDISTLJ120X3X4 _Equipment with Nordson Micro Pro-Flo dispensin g

SFTDITLJ12OX3X2 equipment.

Version : 1.20P

DispenseTool Software for Shot 1 DispenseTool Application Software for use

Teach Pendant Meter Equipment with Shot Meter dispensing equipment .

EPROM SFTDITLJ12OX3X3

Version :7D01/04D or

DispenseTool Software for Jesco 1 DispenseTool Application Software for us e later _Equipment _{with Jesco dispensing equipment.}

BootROM EPROM SFTDITLJ12OX3X 3

Version : 1.10PA or later _{DispenseTool Software for Schucker} 1 DispenseTool Application Software for us e

Equipment with Schucker dispensing equipment.

Memory Required : 2MB FROM 2MB CMOS RAM

SFTDITLJ120X3X4

DispenseTool End-Of-Arm-Tooling 1 Includes all EOAT software information ,

(option) including the 4-Position Tool ,

NOTE : Installation of SFTEOATJ120X3Xx Dispense/Material Handling Tool, and th e

multiple options Disposable Too l

might require _{PLC I/O (ABRIO/Genius)} ₁ _{Supports the Allen-Bradley and FANU C}

4MB CMOS RAM _(option) _{Robotics Genius network I/O interface}

SFTPLCIJ306X3X1 hardware using the R-H extended backplan e on the R-J controller.

CRT/Keyboard Manager 1 Includes all CRT/KB information .

(option ) SFTCRTKJ306X3XX

KAREL Development Option 1 Includes KAREL editor/translator, fil e

Package system/RAM disk, and CRT/KB manage r

(option) options. 4MB CMOS RAM recommende d

SFTKADPJ306X3XX _{for this}_optionalpackage.

KAREL Command Language 1 Includes all KCL commands for progra m

(option) variable manipulation from the CRT/KB . You

SFTKCLXJ306x3XX must. have a CRT/KB installed to use thi s option .

File System/RAM Disk 1 Includes all information for file system an d

(option) RAM disk operations.

SFTFSRDJ306X3XX

Serial Host Communication 1 Provides serial communication ove r

(option) RS-232-Cforfile transfer. SFTSEHOJ306X3X1

MOTET Host Communication 1 Provides data communication over ethernet

(option) for file transfer.

(32)

1 . OVERVIEW MARAJINST09206E

1-5

Product Disk Contents &_{Part Number} Number of₃₁_{/2 "} _Disks Comment DispenseToo l Software Packag e Nordson:SBDISTLJ120X3X1 Shot Meter: SBDISTLJ120X3X2 Jesco:SBDISTLJ120X3X3 Schucker:SBDISTLJ120X3X4 Version : 1 .20 P Teach Pendant EPRO M Version : 7D01/04D 0 r late r BootROM EPRO M Version :1.1PA orlate r

Memory Required : 2MB FROM 2MB CMOS RAM NOTE: Installation of multiple options might require 4MB CMOS RAM

FANUC Sensor Interfac e

(option) SFTEXAXJ306X3XX

1 Interface from Application/Tool to an external sensor device such as a V-120 visio n system.

Extended Axis (option)

SFTEXAXJ306X3XX

1

(33)

1 . OVERVIEW

1-6

MARAJINST09206E

Product Disk Contents &_{Part Number} _3-1/2"Number of_Disks Comment

DispenseTool Core Software 6 Includes all V3 .06PA core software

Software Package SFTCOREJ306A3XX information.

TLJ121X3X1

Robot Libraries 1 Includesall currently supported robot

Shot Meter:

Shot _{SFTRBLBJ306A3XX} _{models .}

SBDISTLJ121X3X2

Jesco:SBDISTLJ121X3X3 _{DispenseTool Software for Nordson} ₁ _{DispenseTool ApplicationSoftware for us e}

Schucker:SBDISTLJ121X3X4 _Equipment _{with Nordson Micro Pro-Flo dispensin g}

SFTDITLJ121X311 _{equipment .}

Version: 1 .21P

DispenseTool Software for Shot 1 DispenseTool Application Software for us e

Teach Pendant Meter Equipment with Shot Meter dispensing equipment.

EPROM SFTDITLJ121X32 1

Version: 7D01/04D or _{DispenseTool Software for Jesco} ₁ _{DispenseTool Application Software for us e} later

Equipment with Jesco dispensing equipment .

BootROM EPROM SFTDITLJ121X331

Version: 1 .10PA or later _{DispenseTool Software for Schucker} ₁ _{DispenseTool Application Software for us e}

Equipment with Schucker dispensing equipment .

Memory Required : 2MB FRO M 2MB CMOS RAM

SFTDITLJ121X341

DispenseTool End-Of-Arm-Tooling 1 Includes all EOAT software information ,

(option) including the 4-Position Tool,

NOTE: Installation of SFTEOATJ121X3XX Dispense/Material Handling Tool, and th e

multiple options Disposable Tool.

might require _{PLC I/O (ABRIO/Genius)} ₁ _{Supports the Allen-Bradley and FANU C}

4MB CMOS RAM _(option) _{Robotics Genius network I/O interfac e}

SFTPLCIJ306X3X1 hardware using the R-H extended backplan e

CRT/Keyboard Manager 1 Includes all CRT/KB information .

(option)

SFTCRTKJ306X3XX

KAREL Development Option 1 _{Includes KAREL editor/translator, file}

(option) options. 4MBCMOS RAM recommended

SFTKADPJ306X3XX _{for this optional package .}

KAREL Command Language 1 Includes all KCL commands for program

(option) variable manipulation from the CRT/KB . Yo u

SFTKCLXJ306X3XX _{must have a CRT/KB installed to use thi s}

option .

(option) RAM disk operations .

SFTFSRDJ306X3X X

Serial Host Communication 1 Provides serial communication ove r

(option) RS-232-C for file transfer.

SFTSEHOJ306X3X 1

MOTET Host Communication 1 Provides data communication over etherne t

(option) for file transfer.

(34)

1 . OVERVIEW

JINST09206E MARAJINST09206E

Table 1-1 . (Cont'd) Software Version Information

Part Number Number of 31/2" Disks Comment DispenseToo l Software Packag e Nordson :SBDISTLJ121X3X1

FANUC Sensor Interfac e (option)

SFTFASEJ306X3XX

1 Interface from Application/Tool to an externa l

sensor device such as a V-120 visio n system. Shot Meter: SBDISTLJ121X3X2 Jesco:SBDISTLJ121X3X3 Schucker:SBDISTLJ121X3X4 Version : 1 .21 P Teach Pendan t EPRO M Version :7D01/04D or later BootROM EPROM Version : 1 .10PA or later

Memory Required : 2MB FROM 2MB CMOS RA M NOTE : installation of multiple option s might require 4MB CMOS RAM

Extended Axis (option)

SFTEXAXK306X3XX

1 Supports independent eXtended aXes.

(35)

1 . OVERVIEW

1-8

MARAJINST09206E

Table 1-1 . (Cont'd) Software Version Information

Product Disk Contents &_{Part Number} _{3-1/2 "}Number of_Disks Commen t

KAREL Run-Time KAREL Run-Time Application 1 Includes all software to allow you to creat e

Software Package Software teach pendant programs and run them o n

SBKARELJ306X3X1 SFTKARTJ306X3X1 the controller.

Version: 3.06P Core Software 6 Includes all V3 .06P core software

Teach Pendant EPROM

SFTCOREJ306X3XX information .

Version : 7D01/04D or Robot Libraries 1 Includes all currently supported robo t

later SFTRBLBJ306XSX2 models.

BootROM EPROM RSR/PNS(Remote Program Select) 1 Includes all RSR/PNS software fo r

Version : 1 .10PAor later (option)

SFTRSRXJ306X3XX

production operations.

Memory Required :

2MB Flash ROM (min) File System/RAM Disk 1 Includes all information for file system an d 2MB CMOS RAM (min) (option)

SFTFSRDJ306XSXX

RAM disk operations .

NOTE : Installation of multiple option s might require 4MB CMOS RAM CRT/Keyboard Manage r (option) SFTCRTKJ306X3XX

1 Includes all CRT/KB information .

Serial Host Communication 1 Also referred to as KAREL Serial Link (KSL )

(option )

SFTSEHOJ306X3X1

option .

(option)SFTPLCL1306X3X1 Robotics Genius network I/O interface hardware using the R-H extended backplan e on the R-J controller.

S-420 Turbo Move 1 Supports : FANUC Robotics S-420F,

(option) S-420A, S-420W, S-420S robot model s

SFTTUMOJ306X3X1 only.

Extended Axi s (option)

SFTEXAXJ306X3XX

(36)

1-9

Part Number

Number of

31/2"Disks Commen t

KAREL KAREL Development Option 1 Includes KAREL editor/translator, fil e

Development Package _{system/RAM disk, and CRT/KB manage r}

Software Package SFTKADPJ306XSXX _{options . 4MB CMOS RAM recommended}

SBKARELJ306X3X2 _{for this option package.}

Version: 3 .06P KAREL Run-Time Application 1 Includes all software to allow you to creat e

Software _{teach pendant programs and run them o n}

Teach Pendant EPROM SFTKARTJ306X3X1 the controller.

Version:7D01/04D or

later Core Software 6 Includes all V3 .06P core software

SFTCOREJ306X3XX information .

BootROM EPROM

Version : 1 .10PA or later Robot Libraries 1 Includes all currently supported robot

SFTRBLBJ306X3X2 models.

2MB Flash ROM (min ) 2MB CMOS RAM (min)

RSR/PNS(Remote Program Select) (option)

1 _{Includes all RSR/PNS software fo r}

production operations.

SFTRSRXJ306X3XX

NOTE : Installation of _{Serial Host Communication} ₁

Also referred to as KAREL Serial Link (KSL ) multiple options _(option)

option . might require

4MB CMOS RAM SFTSEHOJ306X3X1

(option) _{Robotics Genius network I/O interfac e}

SFTPLIJ306X3X1

hardware using the R-H eXtended backplan e on the R-J controller.

S-420 Turbo Move 1 Supports: FANUC Robotics S-420F,

(option) _{S-420A, S-420W, S-420S robot model s}

SFTTUMOJ306X3X1 _only.

Extended Axis 1 Supports independent extended axes .

(option)

(37)

1 . OVERVIEW

1-10

MARAJINST09206E

Product Disk Contents &_{Part Number} _{3-1/2" Disks}Number o f Comment

TPP+ (KAREL TPP+ (KAREL Run-Time) Application 1 Includes all software to allow you to create

Run-Time) Software Software TPP+ programs and run them on th e

Package SFTTPPPJ306B3X1 controller.

SBKARELJ306B3X1

Core Software 6 Includes all V3.06PB core software

Version: 3 .06PB : SFTCOREJ306B3XX information.

Robot Libraries 2 Includes all currently supported robo t

Teach Pendant EPRO M

Version: 7D01/04D or SFTRBLBJ306B3X4 models .

later RSR/PNS (Remote Program Select) 1 Includes all RSR/PNS software fo r BootROMEPRO M

Version : 1 .10PAor later

(option )

SFTRSRXJ306X3XX

production operations .

MemoryRequired :

2MB Flash ROM(min )

2MB CMOS RAM (min)

(option)_{SFTFSRDJ306X3XX} RAM disk operations.

NOTE: Installation of multiple options

CRT/Keyboard Manage r (option)

SFTCRTKJ306X3XX

1 Includes all CRT/KB information .

might CMO S

4MB CMOS RAM IntelliTrak_(option)

SFTINTRJ306A3XX

1 _{Includes all IntelliTrak software information .}

Serial Host Communication 1 Also referred to as KAREL Serial Link (KSL )

(option)

SFTSEHOJ306B3XX

option.

Map Interface Includes the MAP communications protocol

(option) for communications between the R-J

SFTMAPXJ306B3XX controller and an external device .

(option)SFTPLCIJ306X3X1 RoboticsGeniusnetwork I/O interfac e hardware using the R-H extended backplan e on the R-J controller.

(option) S-420FD, S-420A, S-420W, S-420S robo t

SFTTUMOJ306X3X1 _{models only.}

Extended Axi s (option )

SFTEXAXJ306X3XX

(38)

1 . OVERVIEW

MARAJINST09206E

Product Disk Contents &_{Part Number} Number of_{3 i/2" Disks} Comment KARE L

Developmen t Packag e

SBKARELJ306B3X2

Version: 3.06P B

TeachPendant EPROM

Version : 7D01/04Dor

later

BootROMEPRO M

Version : 1.10PA or late r

2MB Flash ROM (min ) 2MB CMOS RAM (min)

NOTE : Installation of multiple option s might requir e 4MB CMOS RAM

KAREL Development Optio n Package

SFTKAPDJ306B3XX

1 Includes KAREL editor/translator, fil e

system/RAM disk, and CRT/KB manage r options . 4MB CMOS RAM recommended for this option package .

TPP+ (KAREL Run-Time) Applicatio n Software

SFTTPPPJ306B3X1

1 Includesall software toallowyou to create

TPP+ programs and run them on th e controller.

CoreSoftware

SFTCOREJ306B3XX

6 Includes all V3.06PB core software information .

Robot Libraries

SFTRBLBJ306B3X4

2 Includes all currently supported robo t models .

RSR/PNS (Remote Program Select ) (option)

SFTRSRXJ306X3XX

1 Includes all RSR/PNS software fo r production operations .

IntelliTra k (option)

SFTINTRJ306A3XX

1 Includes all IntelliTrak software information.

Serial Host Communicatio n (option)

SFTSEHOJ306B3XX

1 _{Also referred}to as KAREL Serial Link(KSL)

option.

Map Interfac e (option)

SFTMAPXJ306B3XX

Includes the MAP communications protoco l for communications between the R-J controller and an external device. PLC I/O (ABRIO/Genius)

(option)

SFTPLCIJ306X3X1

1 _{Supports the Allen-Bradley and FANU C}

Robotics Genius network I/O interfac e hardware using the R-H extended backplan e on the R-J controller.

S-420 Turbo Mov e (option)SFTTUMOJ306X3X1

1 Supports : FANUC Robotics S-420F,

S-420FD, S-420A, S-420W, S-420S robot models only.

Extended Axi s (option)

SFTEXAXJ306X3XX

(39)

1 . OVERVIEW 1-12

MARAJINST09206 E

Table 1-1 . (Cont'd) Software Version informatio n

Product Disk Contents &_{Part Number} Number of_{31h" Disks} Comment

TPP+ with INSIGHT II TPP+ with INSIGHT II Application 2 Includes all software to allow you to creat e

Software Package Software TPP+ and INSIGHT II programs and ru n

SBKARELJ306B3X3 SFTTPINJ306B3XX them on the controller.

Version: 3.06PB Core Software 6 Includes V3.06PB core software information .

SFTCOREJ306B3XX

Teach Pendant EPROM Robot Libraries 2 Includes all currently supported robo t

Version : 7D01/04D or SFTRBLBJ306B3X4 models .

later _{RSR/PNS (Remote Program Select)} ₁ _{Includes all RSR/PNS software fo r}

BootROM EPROM (option) production operations .

Version : 1 .10Por later SFTRSRXJ306X3XX

Memory Required : File System/RAM Disk 1 Includes all information for file system an d

1 .5MB Flash ROM (min) (option) RAM disk operations.

2MB CMOS RAM(min) SFTFSRDJ306X3XX

NOTE : Installation of CRT/Keyboard Manager 1 Includes all CRT/KB information .

option s multiple might require 4MB CMOS RAM (option) SFTCRTKJ306X3XX

IntelliTrak 1 Includes all IntelliTrak software information .

(option)

SFTINTRJ306A3X X

Serial Host Communication 1 Also referred to as KAREL Serial Link (KSL)

(option) option.

SFTSEHOJ306B3XX

Map Interface Includes the MAP communications protoco l

(option) for communications between the R-J

(option) Robotics Genius network I/O interface

SFTPLCIJ306X3X1 _{hardware using the R-H extended backplan e}

S-420 Turbo Move 1 Supports: FANUC Robotics S-420F,

(option) S-420FD, S-420A, S-420W, S-420S robot

SFTTUMOJ306X3X1 models only.

Extended Axis 1 Supports independent eXtended axes .

(option)

(40)

1-1 3

Product Disk Contents &_{Part Number} _3-Number of

1/2"Disks Comment

KAREL KAREL Development Option with 2 Includes all INSIGHT II software to creat e

Development Option INSIGHT II Application Software and run INSIGHT II programs.

with INSIGHT II SFTTPINJ306B3XX

Software Package

KAREL Development Option 1 Includes KAREL editor/translator, file

SBKARELJ306B3X4

Version: 3.06PB SFTKADPJ306B3XX options . 4MB CMOS RAM recommende d

for this option package.

Teach Pendant EPROM _{Core Software} ₆ _{Includes all V3 .06PB core software}

Version : 7D01/04Do r

later SFTCOREJ306B3XX information .

BootROM EPROM Robot Libraries 2 Includes all currently supported robo t_{models .}

Version : 1.10PA or later SFTRBLBJ306B3X4

Memory Required: RSR/PNS (Remote Program Select)_(option) 1 Includes all RSR/PNS software fo r_{production operations .} 2MB Flash ROM (min )

2MB CMOS RAM (min)

SFTRSRXJ306X3XX

IntelliTrak 1 Includes all IntelliTrak software information .

NOTE: Installation of multiple options might require 4MB CMOS RAM (option) SFTINTRJ306A3XX

Serial Host Communication 1 Also referred to as KAREL Serial Link (KSL )

(option) option .

SFTSEHOJ306B3XX

Map Interface Includes the MAP communications protoco l

(option) for communications between the R- J

(option) Robotics Genius network I/O interfac e

SFTPLCIJ306X3X1 hardware using the R-H eXtended backplan e on the R-J controller.

(option) S-420FD, S-420A, S-420W, S-420S robo t

SFTTUMOJ306X3X1 models only.

Extended Axis 1 Supports independent extended aXes.

(option)

(41)

1 . OVERVIEW 1-14

MARAJINST09206E

Part Number Number of 3%" Disks Comment PaintToo l StandAlone Software Packag e SBPAITLJ130X3X1 Version : 1 .30 P Teach Pendan t EPRO M Version :7D01/04D or late r BootROM EPRO M Version :1 .10PA or later

Memory Required : 2MB FRO M

OM RAM 4MB CM

PaintTool Application Softwar e

SFTPATLJ130X3X1

3 Includes all PaintTool software.

Core Software

SFTCOREJ306B3XX

6 Includes all V3.06PB Core software .

Robot Librarie s SFTRBLBJ306B3X4

2 Includes all currently supported robo t

models . StandAlone PaintTool Setup

SFTSAPTJ130X3XX

1 Supports StandAlone PaintTool Option .

PaintToolPassword Protectio n (option)

SFTSAPTJ130X3XX

1 Includes all password protection software .

Color Change Software (option)

SFTCOCHJ130X3XX 1 Includes all color change software to be use d_{with color change hardware .}

CRT/Keyboard Manager (option)

SFTCRTKJ306X3XX

1 Includes all CRT/Keyboard manager

information . Line Tracking (TPP/PaintTool)

(option)

SFTLNTRJ306B3XX

1 Includes all line and rail tracking software t o

be used with line tracking hardware . Motet Host Communications

(option)

SFTMOHCJ306B3XX