LR Handling Tool
Operator’s Manual
MAROIBLRH02021E REV. C
B–81524EN/01
This publication contains proprietary information of FANUC Robotics
North America, Inc. furnished for customer use only. No other uses are
authorized without the express written permission of FANUC Robotics
North America, Inc.
FANUC Robotics North America, Inc.
3900 W. Hamlin Road
North America, Inc, hereinafter referred to as FANUC Robotics, reserves
the right to discontinue models at any time or to change specifications or
design without notice and without incurring obligations.
FANUC Robotics manuals present descriptions, specifications, drawings,
schematics, bills of material, parts, connections and/or procedures for
installing, disassembling, connecting, operating and programming FANUC
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 in
one or more approved FANUC Robotics Training Course(s) be permitted
to install, operate, use, perform procedures on, repair, and/or maintain
FANUC Robotics’ products and/or systems and their respective
components. Approved training necessitates that the courses selected be
relevant to the type of system installed and application performed at the
customer site.
WARNING
This equipment generates, uses, and can radiate radio
frequency energy and if not installed and used in
accordance with the instruction manual, may cause
interference to radio communications. As temporarily
permitted by regulation, it has not been tested for
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 such
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 whatever
measure may be required to correct the interference.
FANUC Robotics conducts courses on its systems and products on a
regularly scheduled basis at its headquarters in Rochester Hills, Michigan.
For additional information contact
FANUC Robotics North America, Inc.
Training Department
3900 W. Hamlin Road
web site: www.fanucrobotics.com
Send your comments and suggestions about this manual to:
[email protected]
The information illustrated or contained herein is not to be reproduced,
copied, translated into another language, or transmitted in whole or in part
in any way without the prior written consent of FANUC Robotics North
America, Inc.
AccuStat
, ArcTool, DispenseTool, FANUC LASER DRILL,
KAREL
, INSIGHT, INSIGHT II, PaintTool, PaintWorks,
PalletTool
, SOCKETS, SOFT PARTS SpotTool,
TorchMate
, and YagTool 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
ARC Mate
ARC Mate Sr.
IntelliTrak
LaserTool
MotionParts
PaintWorks II
PalletMate
SureWeld
TurboMove
This manual includes information essential to the safety of personnel,
equipment, software, and data. This information is indicated by headings
and boxes in the text.
WARNING
Information appearing under WARNING concerns the
protection of personnel. It is boxed and in bold type to set
it apart from other text.
CAUTION
Information appearing under CAUTION concerns the protection
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.
Conventions Used in
this Manual
TECHNICAL SUPPORT, FIELD
SERVICES & ROBOT REPAIR
Press 1 (24 Hours/365 Days) Facsimile = 248-377-7463
PARTS & PART REPAIR
Press 2 ("After Hours" Press 1) Facsimile = (248) 377-7832
PRODUCT & SYSTEMS
TRAINING
Press 3 (8am-5pm EST; M-F) Facsimile = 248-377-7367
MARKETING, SALES, &
LITERATURE REQUESTS
Press 4 (8am-5pm EST; M-F) Facsimile = 248-377-7366
1-800-47-ROBOT
www.fanucrobotics.com
(Canada & United States: 1-800-477-6268) or (International: 011-1-248-377-7159)
•
Technical Support
“Hot-Line”
• Service personnel
dispatch
• After-hours parts
support (8:00 p.m. to
7:00 a.m.)
•
Marketing information
• Application review
• New robot product sales
• Systems solution sales
•
Parts for down robots
• Replenishment & repair
orders
• Warranty part
replacement
• Robot software and
PACs
•
Training class
registration
• Consultation for
non-standard training classes
or on-site requests
___________________
For best call results
have:
• Customer number (if
known)
• Company name
• Your name
• Your phone & fax
numbers
• Robot & controller type
• “F#” or serial number of
robot
• Hour meter reading (if
available
• Software type and
edition
• Any error messages
___________________
For best call results
have:
• Customer number (if
known)
• Company name
• Your name
• Your phone & fax
numbers
• Part name & number (if
known)
• “F#” or serial number of
robot, if available (req’d
for warranty)
• P.O., credit card, or
receiving # for warranty,
down units, or software
___________________
For best call results
have:
• Customer number (if
known)
• Company name
• Your name
• Your phone & fax
numbers
• Your billing address
• Types of courses
needed
• Special requirements
• Robot and controller
type
• Proposed schedules
• Number of people
___________________
For best call results
have:
• Company name
• Company address
• Your name
• Your phone & fax
numbers
FANUC Robotics North America Customer Resource Center (cRc)
Aftermarket Support Solutions
❑ Parts Solutions- customized spare part packages, individual spare part pricing and availability,
warranty parts, refurbished parts inventory, core part credit, 24 hour emergency service on down robots ❑ Certified Repair/Rebuild Solutions- certified repair/rebuild capabilities for over 500
different components and multiple controller product platforms completed in the Rochester Hills facility, authorized repair for North America, repaired with authentic FANUC parts, certified repair/rebuild serial identification, warranty identification tracked, core part credits on certified repairs
➣ *All certified repairs are backed by the same one-year warranty as a new FANUC Robotics part
❑ Rebuild Services Levels
❑ Level 1 Refurbishment Service- preventive maintenance service for robots with less than 10,000 servo hours
❑ Level 2 Refurbishment Service-thorough diagnostic and maintenance service 10,000 - 30,000 servo hours
❑ Rebuild Service- major overhaul service greater than 30,000 servo hours ❑ Rebuilt Robots- sale of certified rebuilt robots
➣ *All certified repairs are backed by the same one-year warranty as a new FANUC Robotics part
❑ Training Solutions- Robot Operations Computer Based Training CD-Rom,
over 50 courses available providing standard & customized training solutions that improve your ability to optimize and troubleshoot robot and system performance
❑ NO Charge Web Solutions (Requires Registration)
❑ cRc Parts Solutions- parts search engine, create/view parts quotes, submit order online, order tracking, multiple tracking options, order status (including backorder information), detailed shipment breakdowns, and a direct link to carrier’s website
❑ Return Solutions- new or refurbished parts, certified component repairs, warranty orders by F numbers, core credit, printable return labels, online return tracking, authorization tracking number online, online credit value viewing
❑ Customized Web Solutions
❑ Electronic Documentation Solutions- engineering bulletins, products, operations, and maintenance manuals, multi-platform eDiagnostic tools ‘DRC’, minimize mean time to repair ❑ Application Back-Up Solutions- scheduled on-site manual back-up, preventive maintenance
schedules, customer direct uploads, cataloging by F numbers, automated network solutions, minimize mean time to repair
❑ Technical Solutions- local / regional field service scheduling and dispatch to minimize response time, reliability and maintainability studies, preventive maintenance, robot evaluations, system optimization, enhancement services / upgrades, in-plant resident service engineer
Customer Service Hotline 1-800-47-ROBOT
Safety
MAROIBLRH02021E REV A
s–1
FANUC Robotics is not and does not represent itself as an expert in safety
systems, safety equipment, or the specific safety aspects of your company
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 in
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 professionals
in order to provide a workplace that allows for the safe application, use,
and operation of FANUC Robotic systems.
According to the industry standard ANSI/RIA R15.06, the owner or user is
advised to consult the standards to ensure compliance with its requests for
Robotics System design, usability, operation, maintenance, and service.
Additionally, as the owner, employer, or user of a robotic system, it is your
responsibility to arrange for the training of the operator of a robot system
to recognize and respond to known hazards associated with your robotic
system and to be aware of the recommended operating procedures for your
particular application and robot installation.
FANUC Robotics therefore, recommends that all personnel who intend to
operate, program, repair, or otherwise use the robotics system be trained in
an approved FANUC Robotics training course and become familiar with
the proper operation of the system. Persons responsible for programming
the system-including the design, implementation, and debugging of
application programs-must be familiar with the recommended
programming procedures for your application and robot installation.
The following guidelines are provided to emphasize the importance of
safety in the workplace.
Safety is essential whenever robots are used. Keep in mind the following
factors with regard to safety:
The safety of people and equipment
Use of safety enhancing devices
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 workcell
Proper maintenance of the robot
The safety of people is always of primary importance in any
situation. However, equipment must be kept safe, too. When
prioritizing how to apply safety to your robotic system, consider the
following:
People
External devices
Robot(s)
Tooling
Workpiece
Always give appropriate attention to the work area that surrounds the
robot. The safety of the work area can be enhanced by the installation of
some or all of the following devices:
Safety fences, barriers, or chains
Light curtains
Interlocks
Pressure mats
Floor markings
Warning lights
Mechanical stops
EMERGENCY STOP buttons
DEADMAN switches
A safe workcell is essential to protect people and equipment. Observe the
following guidelines to ensure that the workcell is set up safely. These
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 Robotics
training course(s) related to your application. Never permit untrained
personnel to operate the robots.
Install a lockout device that uses an access code to prevent
unauthorized persons from operating the robot.
CONSIDERING
SAFETY FOR YOUR
ROBOT
INSTALLATION
Keeping People and
Equipment Safe
Using Safety
Enhancing Devices
Setting Up a Safe
Workcell
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 or
switches within easy reach of the operator and at critical points inside
and around the outside of the workcell.
Install flashing lights and/or audible warning devices that activate
whenever the robot is operating, that is, whenever power is applied to
the servo drive system. Audible warning devices shall exceed the
ambient noise level at the end-use application.
Wherever possible, install safety fences to protect against unauthorized
entry by personnel into the work envelope.
Install special guarding that prevents the operator from reaching into
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 be
optionally installed between the robot wrist flange and tooling. If the
tooling strikes an object, these devices dislodge, remove power from
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 frequency
interference (RFI), and electro-static discharge (ESD).
Make provisions for power lockout/tagout at the controller.
Eliminate pinch points. Pinch points are areas where personnel could
get trapped between a moving robot and other equipment.
Advise all personnel who must teach the robot or otherwise manually
operate the robot to observe the following rules:
Never wear watches, rings, neckties, scarves, or loose clothing that
could get caught in moving machinery.
Know whether or not you are using an intrinsically safe teach pendant
if you are working in a hazardous environment.
Before teaching, visually inspect the robot and work envelope to 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 extends
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 of
a robot that is on, except for robot teaching operations. However, if
you must enter the work envelope, be sure all safeguards are in place,
check the teach pendant DEADMAN switch for proper operation, and
place the robot in teach mode. 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 work envelope.
WARNING
Never bypass, strap, or otherwise deactivate a safety
device, such as a limit switch, for any operational
convenience. Deactivating a safety device is known to
have resulted in serious injury and death.
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 motion
while data is being taught.
Test any program being run for the first time in the following manner:
WARNING
Stay outside the robot work envelope whenever a program
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.
Staying Safe While
Teaching or Manually
Operating the Robot
Advise all personnel who operate the robot during production to observe
the following rules:
Make sure all safety provisions are present and active.
Know the entire workcell area. The workcell includes the robot and its
work envelope, plus the area occupied by all external devices and
other equipment with which the robot interacts.
Understand the complete task the robot is programmed to perform
before initiating automatic operation.
Make sure all personnel are outside the work envelope before
operating the robot.
Never enter or allow others to enter the work envelope during
automatic 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 the
robot control and external control devices. Be prepared to press these
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 to
continue activity.
If the robot is running in a pattern, do not assume it will continue to
run in the same pattern.
Never try to stop the robot, or break its motion, with your body. The
only way to stop robot motion immediately is to press an
EMERGENCY STOP button located on the controller panel, teach
pendant, or emergency stop stations around the workcell.
When inspecting the robot, be sure to
Turn off power at the controller.
Lock out and tag out the power source at the controller according to
Staying Safe During
Automatic Operation
Staying Safe During
Inspection
If power is needed to check the robot motion or electrical circuits, be
prepared to press the EMERGENCY STOP button, in an emergency.
Be aware that when you remove a servomotor or brake, the associated
robot arm will fall if it is not supported or resting on a hard stop.
Support the arm on a solid support before you release the brake.
When performing maintenance on your robot system, observe the
following rules:
Never enter the work envelope while the robot or a program is in
operation.
Before entering the work envelope, visually inspect the workcell to
make sure no potentially hazardous conditions exist.
Never wear watches, rings, neckties, scarves, or loose clothing that
could get caught in moving machinery.
Consider all or any overlapping work envelopes of adjoining robots
when standing in a work envelope.
Test the teach pendant for proper operation before entering the work
envelope.
If it is necessary for you to enter the robot work envelope while power
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 DEADMAN
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.
Be aware that when you remove a servomotor or brake, the associated
robot arm will fall if it is not supported or resting on a hard stop.
Support the arm on a solid support before you release the brake.
WARNING
Lethal voltage is present in the controller WHENEVER IT IS
CONNECTED to a power source. Be extremely careful to
avoid electrical shock.
HIGH VOLTAGE IS PRESENT at the input side whenever
the controller is connected to a power source. Turning the
disconnect or circuit breaker to the OFF position removes
Staying Safe During
Isolate the robot from all remote control signals. If maintenance must
be done when the power is on, make sure the person inside the work
envelope has sole control of the robot. The teach pendant must be
held by this person.
Make sure personnel cannot get trapped between the moving robot and
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 hazardous
movement by the robot. Make sure that such devices do not create
pinch points that could trap personnel.
WARNING
Do not try to remove any mechanical component from the
robot before thoroughly reading and understanding the
procedures in the appropriate manual. Doing so can result
in serious personal injury and component destruction.
Be aware that when you remove a servomotor or brake, the associated
robot arm will fall if it is not supported or resting on a hard stop.
Support the arm on a solid support before you release the brake.
When replacing or installing components, make sure dirt and debris do
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 operating
normally.
Certain programming and mechanical measures are useful in keeping the
machine tools and other external devices safe. Some of these measures are
outlined below. Make sure you know all associated measures for safe use
of such devices.
Implement the following programming safety measures to prevent damage
to machine tools and other external devices.
Back-check limit switches in the workcell to make sure they do not
fail.
Implement ‘‘failure routines” in programs that will provide appropriate
robot actions if an external device or another robot in the workcell
fails.
Use handshaking protocol to synchronize robot and external device
operations.
Program the robot to check the condition of all external devices during
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 to
prevent undesired movement of the robot into the work area of
machine tools and external devices.
KEEPING MACHINE
TOOLS AND
EXTERNAL
DEVICES SAFE
Programming Safety
Precautions
Mechanical Safety
Precautions
Observe the following operating and programming guidelines to prevent
damage to the robot.
The following measures are designed to prevent damage to the robot
during operation.
Use a low override speed to increase your control over the robot when
jogging the robot.
Visualize the movement the robot will make before you press the jog
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 robot
during programming:
Establish interference zones to prevent collisions when two or more
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 of
tooling resulting in personal injury or equipment damage.
NOTE Any deviation from the methods and safety practices described in
this manual must conform to the approved standards of your company. If
you have questions, see your supervisor.
KEEPING THE
ROBOT SAFE
Operating Safety
Precautions
Programming Safety
Precautions
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, ventilation
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 still
exist. Therefore, today’s highly automated paint booth requires that
process and maintenance personnel have full awareness of the system and
its capabilities. They must understand the interaction that occurs between
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 automatic and exercise operation
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 process
technician teaches (programs) paint paths using the teach pendant.
In automatic mode, robot operation is initiated at the System Operator
Console (SOC) or Manual Control Panel (MCP), if available, and can be
monitored from outside the paint booth. All personnel must remain
outside of the booth or in a designated safe area within the booth whenever
automatic mode is initiated at the SOC or MCP.
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
SAFETY
CONSIDERATIONS
FOR PAINT ROBOT
INSTALLATIONS
Process technicians and maintenance personnel must become totally
familiar with the equipment and its capabilities. To minimize the risk of
injury when working near robots and related equipment, personnel must
comply strictly with the procedures in the manuals.
This section provides information about the safety features that are
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 robot controller and
teach pendant. Become familiar with the locations of all E-STOP
buttons.
An intrinsically safe teach pendant is used when teaching in hazardous
paint atmospheres.
A DEADMAN switch is located on each teach pendant. When this
switch is held in, and the teach pendant is on, 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.
WARNING
An EMERGENCY STOP will occur if the DEADMAN switch
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.
Paint System Safety
Features
EMERGENCY STOP limit switches and photoelectric eyes might be
part of your system. Limit switches, located on the entrance/exit doors
of each booth, will EMERGENCY STOP all equipment in the booth if
a door is opened while the system is operating in automatic or manual
mode. For some systems, signals to these switches are inactive when
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 in
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.
WARNING
Observe all safety rules and guidelines to avoid injury.
WARNING
Never bypass, strap, or otherwise deactivate a safety device,
such as a limit switch, for any operational convenience.
Deactivating a safety device is known to have resulted in
serious injury and death.
Know the work area of the entire paint station (workcell).
Know the work envelope of the robot and hood/deck and door opening
devices.
Be aware of overlapping work envelopes of adjacent robots.
Know where all red, mushroom-shaped EMERGENCY STOP buttons
are located.
Know the location and status of all switches, sensors, and/or control
signals that might cause the robot, conveyor, and opening devices to
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.
Staying Safe While
Operating the Paint
Robot
Never enter the work envelope or paint booth before you turn off
power 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.
Remove all metallic objects, such as rings, watches, and belts, before
entering a booth when the electrostatic devices are enabled.
Stay out of areas where you might get trapped between a moving
robot, conveyor, or opening device and another object.
Be aware of signals and/or operations that could result in the triggering
of guns or bells.
Be aware of all safety precautions when dispensing of paint is
required.
Follow the procedures described in this manual.
When you perform maintenance on the painter system, observe the
following rules, and all other maintenance safety rules that apply to all
robot installations. Only qualified, trained service or maintenance
personnel should perform repair work on a robot.
Paint robots operate in a potentially explosive environment. Use
caution when working with electric tools.
When a maintenance technician is repairing or adjusting a robot, the
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 the
control panel within reach of the EMERGENCY STOP button. This
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.
Staying Safe During
When using vinyl resin observe the following:
–
Wear eye protection and protective gloves during application and
removal
–
Adequate ventilation is required. Overexposure could cause
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 are
required during booth cleaning.
–
Adequate ventilation is required. Overexposure could cause
drowsiness.
–
If there is contact with the skin or eyes, rinse with water for at
least 15 minutes.
Name of product Abbreviation
1. INTRODUCTION
. . .
1
1.1
Manual Plan
. . .
2
1.2
Workers
. . .
5
1.3
General Safety Precautions
. . .
6
1.4
Safety Precautions
. . .
9
2. OVERVIEW
. . .
13
2.1
LR Handling Tool Software
. . .
15
2.1.1 System setting. . . 15 2.1.2 Jog feed of the robot. . . 15 2.1.3 Program . . . 15 2.1.4 Test operation (test execution) . . . 16 2.1.5 Automatic operation (operation execution). . . 16
2.2
Robot
. . .
17
2.3
Controller
. . .
18
2.3.1 Teach pendant. . . 20 2.3.1.1 Display screen of the teach pendant . . . 25 2.3.2 Operator panel . . . 29 2.3.3 Remote controller. . . 29 2.3.4 CRT/KB. . . 29 2.3.5 Communication . . . 29 2.3.6 Input/output . . . 29 2.3.7 Peripheral I/O . . . 30 2.3.8 Motion of the robot. . . 30 2.3.9 Emergency Stop devices. . . 30 2.3.10 Extended axis. . . 30
3. SETTING UP THE HANDLING SYSTEM
. . .
31
3.1
I/O
. . .
32
3.1.1 Digital I/O . . . 40 3.1.2 Group I/O. . . 50 3.1.3 Analog I/O . . . 543.2
Robot I/O
. . .
59
3.3
Peripheral I/O
. . .
62
3.4
Operator’s Panel I/O
. . .
70
3.5
I/O Link Screen
. . .
73
3.5.1 I/O Link list screen . . . 73 3.5.2 Model B unit list screen . . . 74 3.5.3 Signal count setting screen . . . 75
3.6
I/O Connection Function
. . .
76
3.7
Setting Automatic Operation
. . .
78
3.7.1 Robot service request (RSR). . . 79 3.7.2 Program number selection (PNS). . . 82
3.8
Setting Coordinate Systems
. . .
85
3.8.1 Setting a tool coordinate system. . . 87 3.8.2 Setting a user coordinate system. . . 96 3.8.3 Setting a jog coordinate system. . . 105
3.13 Preventive Interference Area Function
. . .
119
3.14 System Config Menu
. . .
123
3.15 Setting the General Items
. . .
130
3.16 Other Settings
. . .
132
4. PROGRAM STRUCTURE
. . .
133
4.1
Program Detail Information
. . .
136
4.1.1 Program name . . . 136 4.1.2 Program comment . . . 137 4.1.3 Subtype . . . 137 4.1.4 Group mask . . . 138 4.1.5 Write protection . . . 138 4.1.6 Interruption disable. . . 138
4.2
Line Number, Program End Symbol, and Argument
. . .
141
4.3
Motion Instructions
. . .
143
4.3.1 Motion format . . . 144 4.3.2 Position data. . . 147 4.3.3 Feedrate . . . 153 4.3.4 Positioning path . . . 155 4.3.5 Additional motion instructions . . . 156 4.3.6 High–precision locus function (option) . . . 168
4.4
Palletizing Instructions
. . .
171
4.4.1 Palletizing instruction. . . 171 4.4.2 Palletizing motion instruction. . . 172 4.4.3 Palletizing end instruction. . . 172
4.5
Register Instructions
. . .
173
4.5.1 Register instructions . . . 173 4.5.2 Position register instructions. . . 175 4.5.3 Position register axis instructions . . . 176 4.5.4 Arithmetic palletizing register instructions . . . 178
4.6
I/O Instructions
. . .
179
4.6.1 Digital I/O instructions . . . 179 4.6.2 Robot I/O instructions . . . 180 4.6.3 Analog I/O instructions. . . 182 4.6.4 Group I/O instruction . . . 183
4.7
Branch Instructions
. . .
184
4.7.1 Label instruction. . . 184 4.7.2 Program end instruction . . . 184 4.7.3 Unconditional branch instructions . . . 185 4.7.4 Conditional branch instructions . . . 186 4.7.5 Arguments . . . 188
4.8
Wait Instructions
. . .
195
4.8.1 Time–specified wait instruction . . . 195 4.8.2 Conditional wait instructions . . . 195
4.14.1 RSR instruction . . . 204 4.14.2 User alarm instruction. . . 204 4.14.3 Timer instruction . . . 205 4.14.4 Override instruction . . . 205 4.14.5 Comment instruction . . . 205 4.14.6 Message instruction . . . 206 4.14.7 Parameter instruction . . . 206 4.14.8 Maximum speed instructions . . . 209
4.15 Multiaxis Control Instructions
. . .
210
4.15.1 Semaphore instruction . . . 210 4.15.2 Semaphore wait instruction. . . 210 4.15.3 Program execution instruction . . . 211
4.16 Operation Group Instructions
. . .
212
4.16.1 Asynchronous operation group instruction. . . 212 4.16.2 Synchronous operation group instruction. . . 212
5. PROGRAMMING
. . .
213
5.1
Tips on Effective Programming
. . .
215
5.1.1 Motion instructions. . . 215 5.1.2 Predefined position. . . 218
5.2
Turning on the Power and Jog Feed
. . .
219
5.2.1 Turning on the power and turning off the power. . . 219 5.2.2 Three–Mode Switch. . . 221 5.2.3 Moving the robot by jog feed. . . 227
5.3
Creating a Program
. . .
234
5.3.1 Registering a program. . . 235 5.3.2 Changing a standard motion instruction . . . 239 5.3.3 Teaching a motion instruction. . . 241 5.3.4 Teaching an supplementary motion instruction. . . 243 5.3.5 Teaching a control instruction. . . 247 5.3.6 TP start prohibition. . . 252
5.4
Changing a Program
. . .
254
5.4.1 Selecting a program . . . 254 5.4.2 Changing a motion instruction . . . 256 5.4.3 Changing a control instruction . . . 265 5.4.4 Program edit instructions . . . 266
5.5
Program Operation
. . .
281
5.5.1 Changing program information . . . 281
5.6
Background Editing
. . .
286
5.7
Singular Point Check Function
. . .
295
6. EXECUTING A PROGRAM
. . .
296
6.1
Program Halt and Recovery
. . .
297
6.1.1 Halt by an emergency stop and recovery. . . 298 6.1.2 Halt by a hold and recovery . . . 299 6.1.3 Halt caused by an alarm . . . 300
6.2
Executing a Program
. . .
303
6.2.1 Starting a program . . . 303 6.2.2 Robot motion . . . 304
6.3.4 Program look/monitor . . . 319
6.4
Manual I/O Control
. . .
320
6.4.1 Forced output . . . 320 6.4.2 Simulated I/O . . . 321 6.4.3 Standby release. . . 323
6.5
Operating the Hand Manually
. . .
324
6.6
Automatic Operation
. . .
325
6.6.1 Automatic operation by robot start request (RSR) . . . 326
6.6.2 Automatic operation with program number selection (PNS). . . 328
6.6.3 External override selection function . . . 330
6.7
Online Position Modification
. . .
332
7. STATUS DISPLAY
. . .
338
7.1
LEDs on the Teach Pendant
. . .
339
7.2
User Screen
. . .
340
7.3
Registers
. . .
341
7.4
Position Registers
. . .
343
7.5
Palletizing Registers
. . .
346
7.6
Current Position
. . .
347
7.7
System Variables
. . .
349
7.8
Program Timer
. . .
350
7.9
System Timer
. . .
352
7.10 Execution History
. . .
353
7.11 Memory Use Status Display
. . .
355
8. FILE INPUT/OUTPUT
. . .
356
8.1
File Input/Output Units
. . .
357
8.1.1 Memory card . . . 358 8.1.2 External memory unit. . . 359 8.1.3 Floppy cassette adapter. . . 360 8.1.4 Handy file. . . 362
8.2
Setting a Communication Port
. . .
365
8.3
Files
. . .
369
8.3.1 Program file . . . 369 8.3.2 Default logic file. . . 369 8.3.3 System file/application file . . . 370 8.3.4 Data file . . . 370 8.3.5 ASCII file. . . 370
8.4
Saving Files
. . .
371
8.4.1 Saving with program selection screen. . . 371 8.4.2 Saving all the program files using the file screen . . . 373 8.4.3 Saving with a function menu . . . 376
8.7
Automatic Backup
. . .
395
8.7.1 Overview of Automatic Backup. . . 395 8.7.2 Usable Memory Cards . . . 395 8.7.3 Setting of Automatic Backup . . . 396 8.7.4 Perform Automatic backup. . . 397 8.7.5 Version management. . . 397 8.7.6 Restore the backup . . . 398
9. UTILITY
. . .
399
9.1
Macro Instruction
. . .
400
9.1.1 Setting macro instructions. . . 401 9.1.2 Executing macro instructions . . . 406
9.2
Shift Functions
. . .
410
9.2.1 Program shift function . . . 411 9.2.2 Mirror shift function. . . 416 9.2.3 Angle–input shift function . . . 420
9.3
Coordinate System Change Shift Functions
. . .
425
9.4
Soft Float Function
. . .
430
9.5
Continuous Rotation Function
. . .
435
9.6
Position Register Look–Ahead Execution Function
. . .
439
9.7
Operation Group DO Output Function
. . .
441
9.8
Pre–Execution Instruction Function
. . .
443
9.9
Distance before operations
. . .
448
9.9.1 Overview . . . 448 9.9.2 Specification. . . 448 9.9.3 Configuration. . . 448 9.9.4 Instruction . . . 448 9.9.5 Entering Distance Before . . . 456 9.9.6 Caution and limitations. . . 458 9.9.7 System Variables. . . 459 9.9.8 Error Codes . . . 460
9.10 State Monitoring Function
. . .
462
9.11 Automatic Error Recovery Function
. . .
469
9.11.1 Overview . . . 469 9.11.2 Outline of the automatic error recovery function. . . 469 9.11.3 Defining a resume program . . . 472
9.11.4 Teaching the RETURN_PATH_DSBL instruction. . . 473
9.11.5 Setting the automatic error recovery function . . . 474 9.11.6 Flowchart for resuming a suspended program . . . 481
9.11.7 Manual operation screen of the automatic error recovery function . . . 482
9.11.8 Execution of the resume program from the teach pendant and test mode . . . 484
9.11.9 Changing conditions for executing the resume program. . . 484
9.11.10 Other specifications and restrictions . . . 484 9.11.11 Warnings . . . 485
9.12 HIGH–SENSITIVITY COLLISION DETECTION
. . .
486
9.12.1 Overview . . . 486 9.12.2 Specification. . . 486 9.12.3 High–Sensitivity Collision Detection . . . 486 9.12.4 Cautions. . . 487
9.14 COLLISION DETECTION for AUXILIARY AXIS
. . .
491
9.14.1 General. . . 491 9.14.2 CAUTION . . . 491 9.14.3 INITIAL SETTING . . . 491 9.14.4 TUNING PROCEDURE . . . 4919.15 Gravity Compensation
. . .
493
9.15.1 System Variables. . . 493 9.15.2 MOTION Screen . . . 49310.PALLETIZING FUNCTION
. . .
495
10.1 Palletizing Function
. . .
496
10.2 Palletizing Instructions
. . .
498
10.3 Teaching the Palletizing Function
. . .
500
10.3.1 Selecting a palletizing instruction. . . 501 10.3.2 Inputting initial data . . . 502 10.3.3 Teaching a stacking pattern. . . 508 10.3.4 Setting path pattern conditions . . . 514 10.3.5 Teaching a path pattern. . . 517 10.3.6 Notes on teaching the palletizing function . . . 520
10.4 Executing the Palletizing Function
. . .
521
10.4.1 Palletizing register . . . 522 10.4.2 Controlling the palletizing function by a palletizing register. . . 523
10.5 Modifying the Palletizing Function
. . .
524
10.6 Palletizing Function with Extended Axes
. . .
526
10.7 Palletizing All–Point Teaching
. . .
527
APPENDIX
A. APPENDIX
. . .
531
A.1
List of Menus
. . .
532
A.2
Types of Screens
. . .
536
A.3
List of Program Instructions
. . .
555
A.4
Program Instructions
. . .
559
A.4.1 Motion instructions. . . 559 A.4.2 Additional motion instructions . . . 559 A.4.3 Register and I/O instructions. . . 561 A.4.4 Conditional branch instructions . . . 563 A.4.5 Wait instruction. . . 564 A.4.6 Unconditional branch instructions . . . 564 A.4.7 Program control instructions. . . 565 A.4.8 Other instructions. . . 565 A.4.9 Skip and Offset condition instruction . . . 566 A.4.10 Frame setup instruction. . . 567 A.4.11 Macro instruction . . . 567
B. APPENDIX
. . .
570
B.1
Start Mode
. . .
571
B.1.1 Start up methods. . . 571 B.1.2 Initial start. . . 572 B.1.3 Controlled start. . . 573 B.1.4 Cold start . . . 575 B.1.5 Hot start . . . 576B.2
Mastering
. . .
577
B.2.1 Jig mastering. . . 579 B.2.2 Mastering at the zero–degree positions . . . 581 B.2.3 Quick mastering. . . 583 B.2.4 Single axis mastering . . . 586 B.2.5 Setting mastering data. . . 589B.3
Software Version
. . .
591
B.4
Robot Axis Status
. . .
593
B.5
Diagnosis Screen
. . .
599
B.5.1 Outline . . . 599 B.5.2 About Reducer Diagnosis. . . 599 B.5.3 Procedure. . . 600 B.5.4 Each item . . . 601
B.6
World Frame Origin
. . .
604
B.7
I/O Module Setting
. . .
605
B.8
Positioner setup
. . .
610
B.9
Extended Axis Setup
. . .
616
B.10 Extended Axis Setup
. . .
621
B.11 Independent Additional Axis Board (Nobot) Startup Procedure
. . .
626
C. ALARM CODES
. . .
630
C.1
Description of an Alarm Code Table
. . .
631
C.2
Alarm Codes
. . .
638
D. SYSTEM VARIABLES
. . .
742
D.1
Format of a System Variable Table
. . .
743
D.2
System Variables
. . .
745
1. INTRODUCTION
This chapter explains the manual plan and the safety precautions that must be observed in working with the FANUC Robot.
Contents of this chapter
1.1 Manual Plan 1.2 Workers
1.3 General Safety Precautions 1.4 Safety Precautions
1.1 Manual Plan
FANUC Robot series (R–J3i Mate CONTROLLER) LR HANDLING TOOL Operator’s Manual.
This manual describes how to operate the FANUC Robot LR Mate 100i MODEL B an all–purpose compact robot. It is controlled by the FANUC R–J3i Mate controller (called the robot controller hereinafter) containing the LR Handling tool software.
This manual describes the following items for versatile mini robot:
Setting the system for manipulating workpieces
Operating the robot
Creating and changing a program
Executing a program
Status indications
Alarm codes and system variables
Using this manual
Each chapter of the manual describes a single operation of the robot. The user can select and read chapters describing required operations. The user can understand all the information presented in this the manual in five or six hours if he or she reads it from cover to cover once.
Chapter 1 Introduction
Describes how to use this manual and the safety precautions that must be observed in working with the robot. All users must read the safety precau-tions.
Chapter 2
Overview Gives a basic knowledge of the robot. It describes the basic configurationof the robot and the system for manipulating workpieces. Chapter 3
Setting the System for Manip-ulating Workpieces
Describes the procedure for setting the system for Manipulating Work-pieces including input/output, coordinate system, and reference position. Chapter 4
Program Structure Describes the program structure and the syntax of program instructions.
Chapter 5
Creating a Program
Describes how to design, create, change, delete, and copy a program. It also describes the procedures for turning the power on and moving the robot by jog feed.
Chapter 6
Executing a Program Describes how to execute and stop a program. It also describes the testoperation, automatic operation, and recovery from the alarm state. Chapter 7
Status Indications Describes how to check the operating status of the robot, using the statusindicator LEDs.
Chapter 8
File Input/Output Describes how to store, read, and print a program file or system file.
Chapter 9
Utility Describes additional utility functions, macro functions, program shift andmirror shift.
Chapter 10
Utility Describes the setting and executing of palletizing function.
Appendix Describes lists of the menus, screens, program instructions and detail ofprogram.
Alarm Codes and System
Identification
For editions and order files of software, read the following sections:
Item to be checked Section
Edition of your software B.3 Software Version
Order No. of your software A.1 List of Menus
Specifications of products
For memory statuses or software option list, see the following sections:
Item to be checked Section
Memory status 7.11 Memory Use Status Display
Software option list A.1 List of Menus
Menu displayed when an option is selected A.1 List of Menus
Program instruction that can be used when an option is selected A.3 List of Program Instructions
Related manuals
The following manuals are available: R-J3i Mate
controller OPERATOR’SMANUAL LR
HANDLING TOOL B–81524EN
Intended readers:
Operators responsible for designing, introducing, operating, and adjusting the robot system at the work site.
Topics:
Functions, operations and the procedure for operating the robot. Programming procedure, interface and alarm.
Use:
Guide to teaching, introducing, and adjusting the robot at the work site, and application designing.
MAINTENANC E MANUAL B–81525EN
Topics:
Installing and activating the system, connecting the mechanical unit to the peripheral device and maintenance the robot.
Mechanical unit Maintenance manual B–81595EN
Topics:
Installing and activating the robot, connecting the mechanical unit to the controller, maintaining the robot.
Use:
Notation
This manual contains safety precautions against injury and property damage. Those precautions are labelled ”Warning” or ”Caution,” according to the degree of importance. Supplementary explanation is given under ”Note.” Before starting to use a robot, carefully read the ”Warning,” ”Caution,” and ”Note.”
WARNING
Failure to follow the instruction given under ”Warning” can cause fatal or serious injury to the user. This information is indicated in bold type in a box so that it can be easily distinguished from the main body of this manual.
CAUTION
Failure to follow the instruction given under ”Caution” can cause injury to the user or property damage. This information is indicated in a box so that it can be easily distinguished from the main body of this manual.
NOTE The information given under ”Note” is a supplementary explanation, which is neither a warning nor a
caution.
1.2 Workers
A robot cannot do anything alone. The robot can operate only after it is equipped with a hand or other device and connected with peripheral equipment to form a system.
Give considerations for the safety of not only the robot but also the entire system. When using the robot, provide a safety fence and other safety measures. FANUC defines the system personnel as indicated below. Check which worker should be trained in a specialist robot course.
Operator
The jobs of an operator are:
Turning on and off the system
Starting and stopping programs of a robot
Recovering the system from an alarm state
The operator must not enter the area enclosed by the safety fence to do his or her work.
Programmer or teaching operator
The jobs of the programmer or teaching operator include the jobs of the operator and the following:
Teaching of a robot, adjustment of the peripheral equipment, and other work that must be done in the area
enclosed by the safety fence
The programmer or teaching operator should be trained in a specialist robot course.
Maintenance engineer
The jobs of the maintenance engineer include the jobs of the programmer and the following:
Repair and maintenance of the robot
1.3 General Safety Precautions
This section lists general safety precautions. Before starting to use the robot, read the precautions. The subsequent sections of the manual indicate other precautions. Take each of the precautions.
General rules
WARNING When the robot is used, the following precautions should be taken. Otherwise, the robot and peripheral equipment can be adversely affected, or workers can be severely injured.
– Avoid using the robot in a flammable environment. – Avoid using the robot in an explosive environment. – Avoid using the robot in an environment full of radiation. – Avoid using the robot under water or at high humidities. – Avoid using the robot to carry a person or animal.
– Avoid using the robot as a stepladder. (Never climb up on or hang from the robot.) WARNING Robot personnel must wear the following safety articles:
– Clothing suitable for each job – Safety shoes
– Helmet
NOTE Programmers and maintenance staff should be trained in a suitable course at FANUC.
Notes on installation
WARNING The robot should be transported and installed by accurately following the procedures recommended by FANUC. Wrong transportation or installation may cause the robot to fall, resulting in severe injury to workers.
CAUTION In the first operation of the robot after installation, the operation should be restricted to low speeds. Then, the speed should be gradually increased to check the operation of the robot.
Notes on operation
WARNING Before the robot is started, it should be checked that no one is in the area of the safety fence. At the same time, a check must be made to ensure that there is no risk of hazardous situations. If detected, such a situation should be eliminated before the operation.
CAUTION Operators should be ungloved while manipulating the operator’s panel or teach pendant. Operation with gloved fingers could cause an operation error.
NOTE Programs, system variables, and other information can be saved on memory card or floppy disks. Be sure to
save the data periodically in case the data is lost in an accident. (See the file input/output section for saving the data.)
Notes on programming
WARNING Programming should be done outside the area of the safety fence as far as possible. If programming needs to be done in the area of the safety fence, the programmer should take the following precautions:
– Before entering the area of the safety fence, ensure that there is no risk of dangerous situations in the area. – Be prepared to press the emergency stop button whenever necessary.
– Robot motions should be made at low speeds.
– Before starting programming, check the entire system status to ensure that no remote instruction to the peripheral equipment or motion would be dangerous to the user.
CAUTION After programming is completed, a text execution should be given according to a specified procedure. (See the section of program execution on this manual). During the text execution, workers must stay out of the safety fence.
NOTE Programmers should be trained in a suitable course at FANUC.
Notes on maintenance
WARNING During maintenance, the robot and system should be in the power–off state. If the robot or system is in the power–on state, a maintenance operation could cause a shock hazard. If necessary, a lock should be provided to prevent any other person from turning on the robot or system. If maintenance needs to be executed in the power–on state, the emergency stop button should be pressed.
WARNING When replacing a part, the maintenance worker should read the maintenance manual and learn the replacement procedure beforehand. If a wrong procedure is followed, an accident may occur, causing damage to the robot and injury to the worker.
WARNING When entering the area enclosed by the safety fence, the maintenance worker should check the entire system to make sure that no dangerous situations are present. If the worker needs to enter the area of the fence while a dangerous situation exists, the worker should always take extreme care and check the current system status. WARNING A part should be replaced with a part recommended by FANUC. If other parts are used, malfunction or damage would occur. Especially, a fuse that is not recommended by FANUC should not be used. Such a fuse may cause a fire.
WARNING When a motor or brake is removed, the robot arm should be supported with a crane or other equipment beforehand so that the arm would not fall during the removal.
WARNING If a robot motion is necessary during maintenance, the following precautions should be taken:
– Reserve an escape route. During the maintenance, always check the motions of the whole system so that the escape route will not be blocked by the robot or peripheral equipment.
– Always pay attention to risk of dangerous situations and get prepared to press the emergency stop button whenever necessary.
WARNING When a motor, decelerator, or other heavy load is handled, a crane or other equipment should be used to protect maintenance workers from excessive load. Otherwise, the maintenance workers would be severely injured. CAUTION Whenever grease is spilled on the floor, it should be removed as quickly as possible to prevent dangerous falls. CAUTION The robot should not be stepped on or climbed up during maintenance. If it is attempted, the robot would be
adversely affected. In addition, a misstep can cause injury to the worker.
CAUTION After a part is replaced, a text execution should be given for the robot according to a predetermined method. (See the program execution of this manual.) During the text execution, the maintenance staff should work outside the safety fence.
CAUTION After the maintenance is completed, spilled oil or water and metal chips should be removed from the floor around the robot and within the safety fence.
CAUTION When a part is replaced, care must be taken to prevent dust from entering the robot.
NOTE Each maintenance worker or inspection worker should be trained in a suitable course at FANUC.
NOTE Maintenance should be done under suitable light. Care must be taken that the light would not cause any danger.
NOTE The robot should be periodically inspected. (Refer to the maintenance manual.) A failure to do the periodical
1.4 Safety Precautions
Safety precautions
Unlike ordinary automatic machines, robots have arms and wrists which can be moved in all operation space. A robot is quite flexible, but on the other hand, it is quite dangerous. The robot is usually connected with peripheral equipment to comprise an automated system. Users must take safety precautions for the entire system.
The safety precautions are described below.
Safety precautions related to installation and layout
Use warning lamps and other provisions to indicate that the robot is operating.
Figure 1–1. Alarm Indications
Teaching
Do not enter
Danger
Put a protective fence with safety door around the system so that only the operator can enter the operating
area by the door. Design the system so that it will stop when the door is opened.
NOTE Connect the *FENCE input signal to the safety door. Refer to the maintenance manual for explanations
about how to connect.
NOTE When the *SFSPD (safety speed) input signal is turned off, the control unit halts the robot.
Put a protective fence so that the motion range of the robot is surrounded completely. Moreover, put the
controller outside of the protective fence.
Improper installation
Figure 1–2. Safety Plug
Safety plug
When the safety plug is removed, the contact opens.
Control circuit to stop the robot
* SFSPD input +24E
Safety precautions related to system design
Install a safety joint between robot wrists. If an abnormal external force is applied to the robot, the safety joint
breaks and the robot stops.
NOTE When the hand break (*HBK) input signal goes off, the controller immediately stops the robot.
Hand breakage detection can be disabled when the *HBK input signal is off. This can be set on the system
setting screen. See the section of the system config menu.
Ground all peripheral units properly.
When a desired operating area is smaller than the maximum operating area of the robot, the desired area
can be specified by parameters.
The robot receives interlock signals sent from remote equipment. Upon receiving a signal indicating the
operating status of the remote equipment, the robot can stop or halt.
Safety precautions related to inspection and maintenance
Before starting the inspection or maintenance, turn off the controller. Place a guard to prevent someone else
from switching the power on.
Before disconnecting the pneumatic system, release the supply pressure.
Before starting an inspection in which the electrical system of the robot need not be operated, press the
emergency stop button.
When carrying out an inspection in which the robot needs to be operated, carefully observe the motion of
the robot. Immediately press the emergency stop button whenever required.
Figure 1–3. Emergency Stop Button
Emergency stop button
Î Î ÎÎÎÎÎÎ EMEGENCY STOP ON OFF PORT
Safety precautions related to transportation
When carrying the robot or another unit on a carrier such as a crane or fork lift, securely fasten the robot to
the carrier.
Carefully inspect the crane, fork lift, other carrying equipment, and carrying handle on the product.
Figure 1–4. Carrying the Robot
ÎÎ
Safety precautions related to operation
All robot system operators are requested to attend FANUC training courses to learn the safety precautions
and functions of the robot.
Before beginning to program the robot, make sure that there are no abnormal or dangerous conditions
around the robot and peripheral equipment.
Before working within the operating area of the robot, even when the robot is not running, switch the power
off or press the emergency stop button. Place a guard to prevent someone else from entering the operating area of the robot or activating the robot from the operator’s panel.
Table 1–1. Safety precautions item
Operator Workshop Transportation and installation
Avoid dangerous behavior. Wear working clothes, safety shoes, and a safety helmet.
Keep the workshop neat, tidy, and clean. Install a protective fence and warning indications. Provide ventilation. Never bring flammable material to the workshop.
Keep the transportation lane free from obstacles. When carrying the robot or another unit on a carrier such as a fork lift or crane, securely fasten it to the carrier. Keep a sufficient operating area. Make connection s properly.
Operation Maintenance and inspection Hand
Attend training classes. Master the operating procedures. Exclude unauthorized personnel.
Use only FANUC products for repair. Before starting maintenance or inspection, turn the power off. Close the controller door.
Inspect and take care of cables. Check the pneumatic pressure. Inspect the hand mechanism.