FANUC Robot Configuration ye MachineLogic Applications

Zvinotsanangurwa

• Mucherechedzo: FANUC
• Chigadzirwa: Robot Configuration ye MachineLogic Applications
• Mienzaniso Inotsigirwa: CRX-5iA, CRX-10iA, CRX-10i/L, CRX-20iA/L, CRX-25iA
• Software Inodiwa: Remote Motion Interface (R912) - (PR-FA-002-0022)
• Hardware Inodiwa: CRX Yakachengeteka I/O - (PR-FA-002-0021)

Mirayiridzo Yekushandiswa Kwechigadzirwa

Kuiswa Matanho

Robhoti Configuration uye System Connection

Kubatanidza System:

• Ichi chikamu chinotsanangura kubatana kweMachineMotion V2 kune Fanuc robhoti controller nenzira yeRobhoti Yekuchengetedza Module yekuronga kuburikidza neMachineLogic.

Zvinodiwa pakuisa:

• MachineMotion Pendant V3 Firmware Version v3.4 kana kuti gare gare
• E-Stop Module ine Reset
• Robot Safety Module
• Fanuc CRX robhoti controller (R-30iB Mini Plus)
• MachineMotion 2 – Four Drive or MachineMotion 2 – One Drive

Kugadzirisa Robhoti Yako

Matanho ekutanga:

1. Batanidza yakapihwa pendant yekudzidzisa kubva kuFanuc kune robhoti controller
2. Batidza robhoti controller nekushandura switch kune On chinzvimbo
3. PaFANUC piritsi, vhura iyo Tablet TP app. Mirira kuti tablet ibatane
4. Mirira kusvikira mutongi azara simba
5. Verify Payload: Mushandisi anofanirwa kuona kubhadharwa kwerobhoti pakutanga. Kubhadhara kunosanganisira huremu hwekupedzisira effector uye chero chinhu chinogona kubata gripper.

1. PaBoot Up Screen, mushandisi anofanira kuona iyo Payload
2. Isa Nhamba Yekodhi (Tenzi): 1111
3. Ita shuwa kuti Payload yakakodzera yakaiswa. Zvikasadaro, panogona kunge paine zvikanganiso paunenge uchiedza kutamisa robhoti -> Sarudza Hongu kana yakarurama.
4. Ita shuwa kuti hapana munhu ari pedyo nerobhoti. Robhoti rinogona kufamba kana riri panzvimbo chaiyo uye rinogona kukonzera kukuvara -> Sarudza OK Sarudza OK
5. Dzvanya pane iPendant icon mukona yezasi yekurudyi kuvhura iyo chaiyo iPendant
6. Gonesa piritsi rekudzidzisa pendant nekudzvanya pane iyo icon iri kumusoro kwekona yekona yescreen.

FANUC - Robhoti Configuration yeMachineLogic

Applications

Overview
Gwaro iri rinoratidza matanho anodiwa kuti usimuke uye ushande nerobhoti hurongwa muMachineLogic uchishandisa Fanuc CRX robhoti. Izvi zvinogonesa kusanganisa kusanganisa kwerobhoti yako padivi peVention's yese inofamba zvikamu ecosystem.

Inotsigirwa Mienzaniso

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

Inodiwa Software uye Hardware

Software Options
Remote Motion Interface (R912) - (PR-FA-002-0022)

Hardware Options
CRX Safe I/O – (PR-FA-002-0021)

Kuiswa Matanho

Robhoti Configuration uye System Connection

System Connection

• Ichi chikamu chinotsanangura kubatana kwe MachineMotion V2 kune Fanuc robhoti controller nenzira yeRobhot Safety Module, kuronga irobhoti kuburikidza neMachineLogic. Iyo Robot Safety Module inoita senge 3-port Ethernet switch kuti igone kugonesa kutaurirana kusina musono pakati peMachineMotion, pendant, uye robhoti controller (ona Mufananidzo 1).
• Iva nechokwadi chokuti zvikamu zvekuchengetedza zvinodiwa zvakanyatsobatanidzwa.
• Tevedza matanho akatsanangurwa muRobot Safety Module User Manual.

Kuiswa kwakajairika (Mufananidzo 1) kunoda zvinotevera zvikamu:

• MachineMotion Pendant V3
  • Firmware Version v3.4 kana kuti gare gare
• E-Stop Module ine Reset
• Robot Safety Module
• Fanuc CRX robhoti controller (R-30iB Mini Plus)
• MachineMotion 2 – Four Drive or MachineMotion 2 – One Drive
  • Firmware Version v2.14.0 kana kuti gare gare
• 3 x MachineMotion 2 Chengetedzo Yekuwedzera Cable - 5m (CE-CA-102-5001)

CHERECHEDZA: Kana system yako iine anopfuura mutongi mumwe akaiswa muMulti-Controller gadziriso, cheni yekuchengetedza, iyo inosanganisira Robot Safety Module uye Pendan, t inofanirwa kunge yakabatana nemubereki controller.

Mufananidzo 1. Safety Components Connection

Kugadzirisa Robhoti Yako
Uchitevera kubatanidzwa kwezvose zvinodiwa zvikamu, gadzirisa robhoti controller sezvinotsanangurwa mumatanho ari pasi apa:

Matanho ekutanga

1. Batanidza yakapihwa pendant yekudzidzisa kubva kuFanuc kune robhoti controller
2. Batidza robhoti controller nekushandura switch kune On chinzvimbo
3. PaFANUC piritsi, vhura iyo Tablet TP app. Mirira kuti tablet ibatane
4. Mirira kusvikira mutongi azara simba
5. Verify Payload: Mushandisi anofanirwa kuona kubhadharwa kwerobhoti pakutanga. Payload yaisanganisira huremu hwekupedzisira effector uye chero chinhu icho gripper inogona kubata.
   1. PaBoot Up Screen, mushandisi anofanira kuona iyo Payload
   2. Isa Nhamba Yekodhi (Tenzi): 1111 \
   3. Ita shuwa kuti Payload yakakodzera yakaiswa. Zvikasadaro, panogona kunge paine zvikanganiso paunenge uchiedza kutamisa robhoti -> Sarudza Hongu kana zvakarurama.
   4. Ita shuwa kuti hapana munhu ari pedyo nerobhoti. Robhoti rinogona kufamba kana riri panzvimbo chaiyo uye rinogona kukonzera kukuvara -> Sarudza OK
   5. Sarudza OK
   6. Dzvanya pane iPendant icon mukona yezasi yekurudyi kuvhura iyo chaiyo iPendant
   7. Gonesa piritsi rekudzidzisa pendant nekudzvanya pane iyo icon iri kumusoro kwekona yekona yescreen.

Payload Creation 
Ichi chikamu chinotsanangura matanho anodiwa kuti ugadzire iyo yakasiyana payloads pane robhoti controller.

1. Inodzorwa Kutanga kweRobhoti Controller:
   1. Gonesa iyo Dzidzisa Pendant nekuiisa muTP Inogoneswa modhi
   2. FCNT → 0 → 8 → CTRL
   3. Dzima simba remutongi, wozoibatidza zvakare
   4. Navigate nepakati pemenu: [MENU] → 4 Variables
   5. Tsvaka $PLST_SCHNUM woishandura kuita 256.
      Ti:p Shandisa SHIFT + Down Arrow kuti ukurumidze kutsvaga.
   6. Ramba uchienda ku: [MENU]→ 0 [INOTEVERA] → 1 Chirongwa Setup → Numeric Registers uye chinja kuti 256.
   7. Ita kutangidzazve kunotonhora: FCTN → Tanga (KUCOLD).
   8. Verify payload kutevedzana.
   9. Dzvanya iyo iPad icon mukona yezasi yekurudyi.
   10. Dhawunirodha chirongwa cheTP kubva pane iyi link.
   11. Chimwe chirongwa cheTP chinodiwawo kuti ushandise mutyairi nemazvo, uye inogona kutorwa kubva pane iyi link:
       Dhaunirodha GET_PARAMS.TP link
   12. Isa kiyi ye USB mukombuta yako uye gadzira dhairekitori kuti uchengetedze zvirongwa zvakadhawunirodhwa kare. (Nekuti semuenzanisoample, VentionProgram)
   13. Wedzera zvirongwa kune VentionProgram folda.
   14. Isa kiyi ye USB murobhoti controller.
   15. Enda kune inotevera menyu:
       1. [MENU] → 7 [FILE]
       2. [UTIL] → 1 [Seta Chishandiso]
       3. Sarudza 6 [USB dhisiki (UD1 :)]
       4. Iwe unofanirwa kuona zita refolda rawakagadzira kare
       5. Kuti upinde mukati medhairekitori, sarudza uchishandisa miseve wobva wadzvanya ENTER
   16. Sarudza ese mapurogiramu eTP: 8 * TP.
   17. Rodha zvirongwa: [LOAD] → YES uye tinya SET_PAYLOADS.
   18. Zvimwe chete zvakare, asi panguva ino neGET_PARAMS chirongwa.
   19. Dzvanya pakabhatani reSARUDZA → F1 [TYPE] → 4 TP Zvirongwa
   20. Tsvaga the SET_PAYLOADS program and then press ENTER
   21. Mhanya chirongwa: [SHIFT] + [FWD].
   22. Mhanya kusvika wagamuchira meseji inoratidza "SYST-212 Inoda kuisa kuDCS param".
   23. [MENU]→ 0 [INOTEVERA] → 6 [SYSTEM] → [TYPE]→ 8 [DCS]
   24. 
   25. F2 SHANDISA
   26. Nhamba yekodhi (tenzi): 1111
   27. Ok
   28. Mirira kusvika yapera, iwe unofanirwa kuona kuti robhoti rekubatana: rakachinjirwa kuita PEND.
   29. 
   30. Cycle simba, shandura poweroff uye pane robhoti controller.

I/O Setup
Ichi chikamu chinotsanangura matanho anodiwa kugadzirisa iyo I / O pane robhoti controller kuti ive nechokwadi chekushanda neanodzora marobhoti. ##### UOP Zvabuda:

1. Menyu → 5 I/O
2. F1 [TYPE] → 7 UOP
3. Ita shuwa kuti iwe parizvino unoona tafura inoratidza UO [1] ...
4. Kana ichitaridzwa UI pachinzvimbo cheUO, tinya F3 (IN/OUT)
5. F2 (Config)
6. Iwe unofanirwa kuona chimwe chinhu chakafanana neichi skrini.
7. Kuti uchinje huwandu hwemax kukosha, enda kune kukosha uye uchinje kune kukosha kwaunoda. Kune yekutanga, taizoshandura kukosha kubva pa8 kusvika pa5. (Ona mufananidzo unotevera wezvinokosha kuti uise
8. Heinoi mubairo unotarisirwa:

##### UOP Inputs:

1. F3 (IN/OUT) kuchinja muUI view
2. Shandura kukosha kweizvi zvakakosha:
3. 

Digital Outputs:

1. F1 [TYPE] → 3 Digital
2. Dzvanya F3 (IN/OUT) kuti uve muDO view kana zvisati zvaitika
3. F2 (Config)
4. Ona mufananidzo unotevera wezvakakosha kuti uise. Chete maviri ekutanga mitsara yeZVINODA kuchinjwa (Range 1-1 uye Range 2-3). Vamwe vanogona kugara sezvavari iye zvino.
5. 

Zvigadzirwa zveDhijitari:

1. Dzvanya F3 (IN/OUT) kuti uve muDI view
2. Shandura kukosha kweRange DI [1-3] chete neinotevera. Humwe hunhu hunogona kuramba hwakafanana:

Collaborative Robot Setup:

1. [MENU]→ 0 [INOTEVERA] → 6 [SYSTEM] → F1 [TYPE] → 8 [DCS]
2. Sarudza Robhoti Yekubatana uye [ENTER]
3. Mutsara 28, Kudyidzana Kumhanya: isa kune iyo yaunoda kukosha (Default ndeye 250)
4. Mutsara wechi29, Kudzima Kupinza: Gonesa T -> [Sarudzo] -> [YES] -> [Sarudzo] -> 2 DI uye nhamba yakatarwa 3.
5. Zvinofanira kuguma neiyi DI[3]
6. Mutsara 30 wakaisa Max Speed ​​kune yaunoda kumhanya (Default ndeye 1000)
7. Mutsara wechi36 MIRAI: F4 [CHOICE] → 4 SIR → SIR[1]
8. Mutsara 59 Manual Inotungamirwa Kudzidzisa uye Pinda
9. Kugonesa kupinza, Gonesa TP, Sarudzo, 2 DI, uye isa iyo nhamba 2 DI[2]

Kuchengetedza IO Kugadzirisa The 
Chengetedzo I/O module (CRX Safe I/O) inofanira kuiswa mu controller isati yatevera matanho aya.

1. Safety Configuration:
   1. [MENU]→ 0 [INOTEVERA] → 6 [SYSTEM] → 8 [DCS]
   2. PREV → PREV, Iwe unofanirwa kudzoka kune iyi menyu:
   3. 
   4. Yakachengeteka I / O mudziyo (Mutsara 16) uye Enter
   5. F3 INIT → HONGU → F3 INIT → HONGU kaviri
   6. [PREV]
   7. Yakachengeteka I / O batanidza (Mutsara 3) uye Enter
   8. @SPO[9] =! SIR[1]
   9. @SSO[3] =! SIR[1]
   10. [PREV]
   11. Shandisa. Isa iyo master kodhi ku1111
   12. Ok
   13. Simba rekutenderera, dzima simba, uye On yerobhoti controller on.

Network Configuration 
Ita shuwa kuti Ethernet Cable inobva kuVention's Robot Safety Module yakabatana kune yechipiri Ethernet port.

1. 1. Ethernet Setup:
   1. Enda ku: [MENU] → 6 [KUGADZIRA] → [TYPE] → 0 [ZVINOTEVERA] → 6 [Mhosi Comm].
   2. Sarudza 1 [TCP/IP] uye ipapo [DETAIL].
   3. Ita shuwa kuti Line 2 inoratidza Port #2.
      1. Kana Mutsetse wechi2 uchiratidza Chiteshi #1, sarudza [PORT].
   4. Iwe unofanirwa kuona chimwe chinhu chakafanana neichi:
   5. 
   6. Gadzirisa iyo IP marongero ePort #2:
      1. Mutsetse 2 IP Kero → PINDA: Nyora IP kero iyi: 192.168.5.3 → PINDA
      2. Subnet Mask: 255.255.255.0
      3. Router IP Kero: 192.168.5.1
      4. Iwe unofanirwa kuona izvi:
   7. Ita shuwa kuti Port #1 haisi mune imwechete subnet sePort #2 kuona kuti hapana matambudziko etiweki achaitika.
      1. Kana chikamu chechitatu cheIP kero ine 5 (yeexample, 192.168.5.2), shandura kuti 192.168.2.1
   8. Simba rekutenderera, dzima simba, uye On yerobhoti controller on.

Control Center

1. Power Cycle yerobhoti
2. Power Up MachineMotion
3. Iva nechokwadi chokuti wiring yakanyatsobatanidzwa mumaketani ekuchengetedza
4. Mirira iyo Fanuc Dzidzisa Pendant kuti isimbiswe
5. Bvisa meseji yezvikanganiso kana zvichidikanwa
6. Simbisa kutevedzana kwemubhadharo
7. Uchishandisa Vention Pendant, enda kuPeji yekumisikidza
8. Wedzera robhoti kune yako kugadzirisa
9. Sarudza robhoti rawatenga
   • Example: Sarudza CRX 10iA/L
10. Shandisa Configuration
11. Mirira kuti kubatana kugadzirwe
12. Iwe wagadzirira kushandisa robhoti rako ne MachineLogic application!

Backup uye dzosa Controller yako
Zvakajairika tsika yakanaka kutsigira controller yako kuti uone kuti unogona kugara uchidzoka kune inozivikanwa inoshanda shanduro yemutongi wako.
Backup kugadzira Matanho

1. FCTN → Bvisa Zvese
2. Menyu → 7 File → Shandisa → Seta mudziyo → 6 USB Disk
3. Iwe unofanirwa kuve uine UD1 kumusoro kuruboshwe.
4. Ita shuwa kuti hauna robhoti rakagadzirirwa pane yako MachineMotion Pendant usati waenderera.
5. Kushandisa - 4 Gadzira DIR - Tsanangura zita raunoda (semuenzaniso, BackUp Controller) - ENDA
6. Iwe unofanirwa kuve nepamusoro kuruboshwe UD1 / "Zita rawakasarudza".
7. Chengetedza → 8 Zvese Zviri Kumusoro → YES → Womirira kusvika zvapera.

Dzosera Matanho ako Ekuchengetedza

1. Tora Thumb Drive:
   • Tora chigunwe chekutyaira neyakapfuura MD backup yerobhoti rauri kushanda naro.
2. Isa Thumb Drive:
   • Isa chigunwe chidhiraivha mune ingave USB chiteshi pamusuwo dema pane controller (UD1 :) kana USB port iri kurudyi rwekudzidzisa pendant (UT1:).
3. Ita Kudzora Kutanga:
   • Cycle simba kune controller.
   • Robhoti parinongotanga kuita simba rekusimudzira, bata PREV uye NEXT pane pendant yekudzidzisa kuti uendeswe kuConfiguration Menu.
   • Nyora 3 uye tinya ENTER kuti utange Kudzora Kutanga.
4. Access the File Menyu:
   • Kamwe kudzidzisa pendant bhutsu kumashure, dzvanya bhatani reMENU, wobva wasarudza File -> File.
   • On the FILE menyu, tinya F5 [UTIL]. Kana [UTIL] isina kuratidzwa pamusoro peF5, dzvanya NEXT kusvika [UTIL] yaratidzwa wobva wadzvanya F5.
   • Sarudza Set Device.
   • Sarudza USB Disk (UD1 :) kana USB paTP (UT1 :), zvichienderana nekuti wakaisa papi chigunwe chako.
   • Enda kune dhairekitori umo yako MD backup inochengetwa. Kana kwete files kana madhairekitori anoratidzwa, uchafanirwa kudzvanya ENTER pa (* * (ese files)) kuona zvirimo zvechigunwe chekutyaira.
5. Dzosera iyo Backup:
   • Kana [RESTOR] isina kuratidzwa pamusoro peF4, dzvanya FCTN, wosarudza RESTORE/BACKUP kuti ushandure pakati pekudzorera nekuchengetedza.
   • Dzvanya F4 [RESTOR].
   • Sarudza rudzi rwekudzorera chiito chaunoda:
     • System files (system variables, servo parameter data, uye mastering data) TP zvirongwa (.TP, .DF, uye .MN files)
     • Chikumbiro ("Isiri-chirongwa chekushandisa files”.
     • Applic.-TP (Zvese zviri pamusoro, kunze kwehurongwa files)
     • Vision data
     • Zvese zviri pamusoro
6. Simbisa uye Tanga Kudzoreredza:
   • Iwe unozokurudzirwa ne "Dzosera kubva kuUT1: (kana UD1:) (OVERWRT)?". Dzvanya F4 YES.
   • Iyo TP icharatidza "Kupinda mudziyo. PREV kubuda." kweanenge 30-60 masekondi, ipapo kudzoreredza kunotanga. Kana yangotanga, yakajairika kudzoreredza nguva ndeye ~ 2-6 maminetsi, zvichienderana nezviri mukati marobhoti yako.
   • Sezvakawanda files sezvinobvira ichadzorerwa. Kana kudzoreredza kwapera, iwe uchafanirwa kuita Cold Start.
7. Ita Cold Start:
   • Press FCTN.
   • Sarudza KUTANGA (KUCOLD).

Tsanangudzo yemashoko

• DCS: Dual Check Chengetedzo
• SIR, SPO, SSO: Marejista ane chekuita nekuchengetedza uye zvinobuda.
• I/O: Input/Output

Support
Kuti uwane rumwe rubatsiro, tapota taura neboka redu rekutsigira pa support@vention.io kana kudana +1-1800-940-3617 (ext. 2).

FAQs

Mubvunzo: Chii chandinofanira kuita kana ndikasangana nezvikanganiso panguva yekufamba kwemarobhoti?

A: Kana kukanganisa kukaitika panguva yekufamba kwemarobhoti, tanga waona kuti mubhadharo wakakodzera waiswa uye kuti hapana zvipingamupinyi zvakatenderedza robhoti. Tarisa zvikamu zvekuchengetedza uye zvinongedzo kuti ugadzirise chero kukanganisa.

Mubvunzo: Ndingaite sei kuchengetedza uye kudzoreredza zvigadziriso zvemutongi wangu?

A: Kuti uchengetedze uye udzorere zvigadziriso zvemutongi wako, tarisa kuBackup uye Kudzoreredza chikamu mubhuku remushandisi kuti uwane yakadzama mirairo pakuita.

Zvinyorwa / Zvishandiso

FANUC Robot Configuration ye MachineLogic Applications [pdf] User Manual CRX-5iA, CRX-10iA, CRX-10i-L, CRX-20iA-L, CRX-25iA, Robot Configuration ye MachineLogic Applications, Configuration for MachineLogic Applications, MachineLogic Applications, Applications

References

• User Manual