Конфигурација на роботот FANUC за апликации на MachineLogic

Спецификации

• Бренд: FANUC
• Производ: Конфигурација на робот за апликации на MachineLogic
• Supported Models: CRX-5iA, CRX-10iA, CRX-10i/L, CRX-20iA/L, CRX-25iA
• Software Required: Remote Motion Interface (R912) – (PR-FA-002-0022)
• Потребен хардвер: CRX Safe I/O – (PR-FA-002-0021)

Упатство за употреба на производот

Чекори за инсталација

Конфигурација на роботот и системско поврзување

Системска врска:

• This section describes the connection of a MachineMotion V2 to a Fanuc robot controller by way of the Robot Safety Module for programming through MachineLogic.

Потребни компоненти за инсталација:

• Верзија на фирмверот MachineMotion Pendant V3 v3.4 или понова
• Модул за е-стоп со ресетирање
• Модул за безбедност на роботот
• Контролер за роботи Fanuc CRX (R-30iB Mini Plus)
• MachineMotion 2 – Four Drive or MachineMotion 2 – One Drive

Конфигурирање на вашиот робот

Првични чекори:

1. Connect the provided teach pendant from Fanuc to the robot controller
2. Turn on the robot controller by turning the switch to the On position
3. On the FANUC tablet, open the Tablet TP app. Wait for the tablet to connect
4. Почекајте додека контролерот не се вклучи целосно
5. Verify Payload: User must verify the payload of the robot at startup. Payload includes the weight of the end effector and any object that the gripper might hold.

1. On the Boot Up Screen, the user must verify the Payload
2. Внесете го кодот (Главен): 1111
3. Make sure the proper Payload is set. Otherwise, there may be faults when trying to move the robot ->Select Yes if correct.
4. Make sure no one is around the robot. Robot may move if in a specific position and may cause injury ->Select OK Select O.K
5. Click on the iPendant icon in the lower right corner to open the virtual iPendant
6. Enable the tablet teach pendant by clicking on the icon in the upper right corner of the screen.

FANUC – Robot Configuration for MachineLogic

Апликации

Во текот наview
Овој документ ги опишува чекорите потребни за започнување со програмирање на роботи во MachineLogic со користење на робот Fanuc CRX. Ова ќе овозможи беспрекорна интеграција на вашиот робот со целиот екосистем на компоненти за движење на Vention.

Поддржани модели

• CRX-5iA
• CRX-10iA
• CRX-10i/L
• CRX-20iA/L
• CRX-25iA

Потребен софтвер и хардвер

Софтверски опции
Интерфејс за далечинско движење (R912) – (PR-FA-002-0022)

Хардверски опции
CRX Безбеден влез/излез – (PR-FA-002-0021)

Чекори за инсталација

Конфигурација на роботот и системско поврзување

Системска врска

• This section describes the connection of a MachineMotion V2 to a Fanuc robot controller by way of the Robot Safety Module, to program the robot through MachineLogic. The Robot Safety Module acts as a 3-port Ethernet switch to enable seamless communication between the MachineMotion, the pendant, and the robot controller (see Figure 1).
• Make sure that the required safety components are properly connected.
• Follow the steps detailed in the Robot Safety Module User Manual.

Типична инсталација (Слика 1) ќе бара следниве компоненти:

• MachineMotion Pendant V3
  • Firmware Version v3.4 or later
• Модул за е-стоп со ресетирање
• Модул за безбедност на роботот
• Контролер за роботи Fanuc CRX (R-30iB Mini Plus)
• MachineMotion 2 – Four Drive or MachineMotion 2 – One Drive
  • Firmware Version v2.14.0 or later
• 3 x MachineMotion 2 Safety Extension Cable – 5m (CE-CA-102-5001)

ЗАБЕЛЕШКА: If your system has more than one controller set up in a Multi-Controller configuration, the safety chain, which includes the Robot Safety Module and the Pendan,t must be connected to the parent controller.

Слика 1. Поврзување на безбедносните компоненти

Конфигурирање на вашиот робот
Откако ќе ги поврзете сите потребни компоненти, конфигурирајте го роботскиот контролер како што е детално опишано во чекорите подолу:

Почетни чекори

1. Connect the provided teach pendant from Fanuc to the robot controller
2. Turn on the robot controller by turning the switch to the On position
3. On the FANUC tablet, open the Tablet TP app. Wait for the tablet to connect
4. Почекајте додека контролерот не се вклучи целосно
5. Verify Payload: User must verify the payload of the robot at startup. Payload included the weight of the end effector and any object that the gripper might hold.
   1. On the Boot Up Screen, the user must verify the Payload
   2. Enter Code Number (Master): 1111 \
   3. Make sure the proper Payload is set. Otherwise, there may be faults when trying to move the robot -> Select Yes if correct.
   4. Make sure no one is around the robot. Robot may move if in a specific position and may cause injury -> Select O.K
   5. Изберете ОК
   6. Click on the iPendant icon in the lower right corner to open the virtual iPendant
   7. Enable the tablet teach pendant by clicking on the icon in the upper right corner of the screen.

Креирање на товар 
This section will outline the steps required to create the different payloads on the robot controller.

1. Controlled Start of the Robot Controller:
   1. Enable the Teach Pendant by putting it in TP Enabled mode
   2. FCNT → 0 → 8 → CTRL
   3. Turn the power off of the controller, then turn it back on
   4. Navigate through the menu: [MENU] → 4 Variables
   5. Look for $PLST_SCHNUM and change it to 256.
      Ти: стр Use SHIFT + Down Arrow to speed up the search.
   6. Continue to: [MENU]→ 0 [NEXT] → 1 Program Setup → Numeric Registers and change it to 256.
   7. Perform a cold restart: FCTN → Start (COLD).
   8. Verify payload sequence.
   9. Press the iPad icon in the lower right corner.
   10. Download the TP program from this link.
   11. Another TP program is also required to properly use the driver, and can be downloaded from the following link:
       Download GET_PARAMS.TP link
   12. Insert a USB key in your computer and create a folder to store the previously downloaded programs. (For example, VentionProgram)
   13. Add the programs to the VentionProgram folder.
   14. Insert the USB key into the robot controller.
   15. Navigate to the following menu:
       1. [MENU] → 7 [FILE]
       2. [UTIL] → 1 [Set Device]
       3. Select 6 [USB Disk (UD1:)]
       4. You should see the folder name you previously created
       5. To go inside the directory, select it using the arrows and then press ENTER
   16. Select all TP programs: 8 * TP.
   17. Load the programs: [LOAD] → YES and click SET_PAYLOADS.
   18. Same thing again, but this time with the GET_PARAMS program.
   19. Press on the SELECT button → F1 [TYPE] → 4 TP Programs
   20. Пребарај за the SET_PAYLOADS program and then press ENTER
   21. Run the program: [SHIFT] + [FWD].
   22. Run until you receive a message indicating “SYST-212 Need to apply to DCS param”.
   23. [MENU]→ 0 [NEXT] → 6 [SYSTEM] → [TYPE]→ 8 [DCS]
   24. 
   25. F2 APPLY
   26. Code number (master): 1111
   27. Ok
   28. Wait until completion, you should see that the collaborative robot: changed to PEND.
   29. 
   30. Cycle power, turn powerofff and the on the robot controller.

Поставување на I/O
This section will detail the steps required to configure the I/O on the robot controller to ensure functionality with the robot controller. ##### UOP Outputs:

1. Menu → 5 I/O
2. F1 [TYPE] → 7 UOP
3. Ensure that you currently see a table showing UO [1] …
4. If it’s displayed UI instead of UO, press F3 (IN/OUT)
5. F2 (Config)
6. You should see something similar to this screen.
7. To change the range max value, go to the value and change it to the value you require. For the first one, we would change the value from 8 to 5. (See the following image for the values to input)
8. Here’s the expected result:

##### UOP влезови:

1. F3 (IN/OUT) to switch in UI view
2. Change the values for these values:
3. 

Дигитални излези:

1. F1 [TYPE] → 3 Digital
2. Click F3 (IN/OUT) to be in DO view if not already
3. F2 (Config)
4. See the following image for the values to input. Only the first two ranges of DOneeds to be changed (Range 1-1 and Range 2-3). The others can stay the way they currently are.
5. 

Дигитални влезови:

1. Click F3 (IN/OUT) to be in DI view
2. Change the values for the Range DI [1-3] only with the following. The other values can stay the same:

Поставување на колаборативен робот:

1. [MENU]→ 0 [NEXT] → 6 [SYSTEM] → F1 [TYPE] → 8 [DCS]
2. Select Collaborative robot and [ENTER]
3. Line 28, Collaborative Speed: set it to the desired value (Default is 250)
4. Line 29, Disabling Input: Enable T -> [Избор] -> [ДА] -> [ИЗБОР] -> 2 DI и сетот број 3.
5. It should result in this DI[3]
6. Line 30 set Max Speed to the desired speed (Default is 1000)
7. Line 36 STOP: F4 [CHOICE] → 4 SIR → SIR[1]
8. Line 59 Manual Guided Teaching and Enter
9. Enabling input, Enable TP, Choice, 2 DI, and set the number 2 DI[2]

Safety IO Configuration The 
Safety I/O module (CRX Safe I/O) must be installed in the controller before following these steps.

1. Safety Configuration:
   1. [MENU]→ 0 [NEXT] → 6 [SYSTEM] → 8 [DCS]
   2. PREV → PREV, You should come back to this menu:
   3. 
   4. Safe I/O device (Line 16) and Enter
   5. F3 INIT → YES → F3 INIT → YES two times
   6. [ПРЕТХОДНО]
   7. Safe I/O connect (Line 3) and Enter
   8. @SPO[9] =! SIR[1]
   9. @SSO[3] =! SIR[1]
   10. [ПРЕТХОДНО]
   11. Apply. Set the master code to 1111
   12. Ok
   13. Cycle power, turn power off, and the On of the robot controller on.

Мрежна конфигурација 
Проверете дали етернет кабелот што доаѓа од безбедносниот модул на роботот на Vention е поврзан со вториот етернет порт.

1. 1. Ethernet Setup:
   1. Navigate to: [MENU] → 6 [SETUP] → [TYPE] → 0 [NEXT] → 6 [Host Comm].
   2. Select 1 [TCP/IP] and then [DETAIL].
   3. Ensure Line 2 indicates Port #2.
      1. If Line 2 indicates Port #1, select [PORT].
   4. You should see something similar to this:
   5. 
   6. Configure the IP settings for Port #2:
      1. Line 2 IP Address → ENTER: Write this IP address: 192.168.5.3 → ENTER
      2. Подмрежа маска: 255.255.255.0
      3. Router IP Address: 192.168.5.1
      4. You should see this:
   7. Make sure Port #1 is not in the same subnet as Port #2 to ensure no network conflict problems will occur.
      1. If the third section of the IP address contains a 5 (For example, 192.168.5.2), change it to 192.168.2.1
   8. Cycle power, turn power off, and the On of the robot controller on.

Контролен центар

1. Power Cycle of the robot
2. Power Up MachineMotion
3. Make sure the wiring is properly connected in the safety chain
4. Wait for the Fanuc Teach Pendant to be powered up
5. Clear error message if needed
6. Confirm payload sequence
7. Using the Vention Pendant, go to the configuration Page
8. Add a robot to your configuration
9. Select the robot you’ve purchased
   • Example: Select CRX 10iA/L
10. Примени конфигурација
11. Wait for the connection to be established
12. You are now ready to use your robot with a MachineLogic application!

Резервна копија и враќање на вашиот контролер
It is normally good practice to back up your controller to ensure you can always come back to a known functional version of your controller.
Чекори за креирање резервна копија

1. FCTN → Abort All
2. Menu → 7 File → Util → Set device → 6 USB Disk
3. You should have UD1 on the top left.
4. Make sure you don’t have a robot configured on your MachineMotion Pendant before continuing.
5. Util – 4 Make DIR – Define the name you need (e.g., BackUp Controller) – G.O
6. You should have on the top left UD1/“Name you chose”.
7. Backup → 8 All of Above → YES → Then wait until completion.

Вратете ги вашите чекори за резервна копија

1. Obtain a Thumb Drive:
   • Obtain a thumb drive with a previous MD backup for the robot you’re working on.
2. Insert the Thumb Drive:
   • Insert the thumb drive into either the USB port in the black door on the controller (UD1:) or the USB port on the right side of the teach pendant (UT1:).
3. Perform a Controlled Start:
   • Cycle power to the controller.
   • As soon as the robot starts to power back up, hold PREV and NEXT on the teach pendant to be taken to the Configuration Menu.
   • Type 3 and press ENTER to initiate a Controlled Start.
4. Пристапете до File Мени:
   • Once the teach pendant boots back up, press the MENU button, then select File -> File.
   • На FILE menu, press F5 [UTIL]. If [UTIL] is not shown above F5, press NEXT until [UTIL] is shown and then press F5.
   • Select Set Device.
   • Select either USB Disk (UD1:) or USB on TP (UT1:), depending on where you inserted your thumb drive.
   • Navigate to the directory in which your MD backup is stored. If no files или директориуми се прикажани, ќе треба да притиснете ENTER на (* * (сите files)) за да ја видите содржината на USB-то.
5. Restore the Backup:
   • If [RESTOR] is not shown above F4, press FCTN, then select RESTORE/BACKUP to toggle between restore and backup.
   • Press F4 [RESTOR].
   • Select the type of restore action that you want:
     • Систем files (системски променливи, податоци за серво параметри и податоци за мастеринг) TP програми (.TP, .DF и .MN files)
     • Application (“Non-program application fileс“.
     • Applic.-TP (All of the above, except system files)
     • Vision data
     • All of above
6. Confirm and Start Restore:
   • You will be prompted with “Restore from UT1: (or UD1:) (OVERWRT)?”. Press F4 YES.
   • The TP will show “Accessing device. PREV to exit.” for about 30-60 seconds, then the restore will commence. Once it begins, typical restore time is ~2-6 minutes, depending on the contents of your robot.
   • Како многу files што е можно повеќе ќе бидат обновени. Откако ќе заврши враќањето, ќе треба да извршите ладно стартување.
7. Perform a Cold Start:
   • Press FCTN.
   • Select START (COLD).

Речник

• DCS: Dual Check Safety
• SIR, SPO, SSO: Safety-related registers and outputs.
• Влез/Излез: Влез/Излез

Поддршка
For further assistance, please contact our support team at support@vention.io or call +1-1800-940-3617 (ext. 2).

Најчесто поставувани прашања

П: Што треба да направам ако наидам на грешки за време на движењето на роботот?

A: If faults occur during robot movement, first ensure that the proper payload is set and that there are no obstructions around the robot. Check the safety components and connections to troubleshoot any faults.

П: Како можам да направам резервна копија и да ги вратам поставките на мојот контролер?

A: To backup and restore your controller settings, refer to the Backup and Restore section in the user manual for detailed instructions on the process.

Документи / ресурси

Конфигурација на роботот FANUC за апликации на MachineLogic [pdf] Упатство за користење CRX-5iA, CRX-10iA, CRX-10i-L, CRX-20iA-L, CRX-25iA, Конфигурација на робот за апликации на MachineLogic, Конфигурација за апликации на MachineLogic, Апликации на MachineLogic, Апликации

Референци

• Упатство за употреба