FANUC Robot Configuration bakeng sa Lisebelisoa tsa MachineLogic

Litlhaloso

• Lebitso: FANUC
• Sehlahisoa: Tlhophiso ea Robot bakeng sa Lisebelisoa tsa MachineLogic
• Mehlala e Tšehetsoeng: CRX-5iA, CRX-10iA, CRX-10i/L, CRX-20iA/L, CRX-25iA
• Ho Hlokahala Software: Remote Motion Interface (R912) – (PR-FA-002-0022)
• Ho Hlokahala Hardware: CRX Safe I/O – (PR-FA-002-0021)

Litaelo tsa Tšebeliso ea Sehlahisoa

Mehato ea ho Kenya

Tlhophiso ea Robot le Khokahano ea Sistimi

Kopano ea Sisteme:

• Karolo ena e hlalosa khokahanyo ea MachineMotion V2 ho molaoli oa liroboto oa Fanuc ka tsela ea Robot Safety Module bakeng sa lenaneo ka MachineLogic.

Likarolo tse hlokahalang bakeng sa ho kenya:

• MachineMotion Pendant V3 Firmware Version v3.4 kapa hamorao
• E-Stop Module e nang le Reset
• Robot Safety Module
• Taolo ea liroboto ea Fanuc CRX (R-30iB Mini Plus)
• MachineMotion 2 – Four Drive kapa MachineMotion 2 – One Drive

Ho lokisa roboto ea hau

Mehato ea pele:

1. Hokela pendant e fanoeng ea ho ruta ho tloha ho Fanuc ho ea ho molaoli oa liroboto
2. Bulela selaoli sa roboto ka ho bulela switch ho ea sebakeng sa On
3. Letlapeng la FANUC, bula sesebelisoa sa Tablet TP. Emela hore letlapa le hokela
4. Emela ho fihlela molaoli o felletse ka matla
5. Netefatsa Payload: Mosebelisi o tlameha ho netefatsa moputso oa roboto ha e qala. Payload e kenyelletsa boima ba sephetho sa pheletso le ntho efe kapa efe eo gripper e ka e ts'oereng.

1. Ho Boot Up Screen, mosebelisi o tlameha ho netefatsa Payload
2. Kenya Nomoro ea Khoutu (Monghali): 1111
3. Etsa bonnete ba hore Payload e nepahetseng e behiloe. Ho seng joalo, ho ka 'na ha e-ba le liphoso ha u leka ho tsamaisa roboto -> Khetha E haeba e nepahetse.
4. Etsa bonnete ba hore ha ho motho ea haufi le roboto. Roboto e ka 'na ea tsamaea haeba e le sebakeng se itseng' me ea baka kotsi -> Kgetha OK Kgetha OK
5. Tobetsa letšoao la iPendant k'honeng e ka tlase ho le letona ho bula iPendant ea sebele
6. Lumella letlapa la ho ruta pendant ka ho tobetsa aekhoneng e hukung e kaholimo ho le letona la skrini.

FANUC - Roboto Configuration bakeng sa MachineLogic

Lisebelisoa

Fetileview
Tokomane ena e hlalosa mehato e hlokahalang ho qala le ho sebetsa ka lenaneo la liroboto ho MachineLogic o sebelisa roboto ea Fanuc CRX. Sena se tla etsa hore roboto ea hau e kopane ka mokhoa o se nang moeli hammoho le tikoloho eohle ea Vention's ecosystem.

Mehlala e Tšehetsoeng

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

Tse Hlokehang Software le Hardware

Lisebelisoa tsa Software
Remote Motion Interface (R912) – (PR-FA-002-0022)

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

Mehato ea ho Kenya

Tlhophiso ea Robot le Khokahano ea Sistimi

Khokahano ea Tsamaiso

• Karolo ena e hlalosa khokahanyo ea MachineMotion V2 ho molaoli oa liroboto oa Fanuc ka tsela ea Robot Safety Module, ho hlophisa roboto ka MachineLogic. Robot Safety Module e sebetsa joalo ka 3-port Ethernet switch ho nolofalletsa puisano e se nang moeli pakeng tsa MachineMotion, pendant, le molaoli oa liroboto (bona setšoantšo sa 1).
• Etsa bonnete ba hore likarolo tse hlokahalang tsa tšireletso li hokahane hantle.
• Latela mehato e hlalositsoeng ho Robot Safety Module User Manual.

Tlhophiso e tloaelehileng (setšoantšo sa 1) e tla hloka likarolo tse latelang:

• MachineMotion Pendant V3
  • Firmware Version v3.4 kapa hamorao
• E-Stop Module e nang le Reset
• Robot Safety Module
• Taolo ea liroboto ea Fanuc CRX (R-30iB Mini Plus)
• MachineMotion 2 – Four Drive kapa MachineMotion 2 – One Drive
  • Firmware Version v2.14.0 kapa hamorao
• 3 x MochineMotion 2 Katoloso ea Tšireletseho Cable - 5m (CE-CA-102-5001)

HLOKOMELA: Haeba tsamaiso ea hau e na le balaoli ba fetang a le mong ba hlophisitsoeng ka tlhophiso ea Multi-Controller, ketane ea tšireletso, e kenyeletsang Robot Safety Module le Pendan, e tlameha ho hokahanngoa le molaoli oa motsoali.

Setšoantšo sa 1. Tšireletso ea Likarolo tsa Khokahano

Ho lokisa roboto ea hau
Ka mor'a ho hokahanya likarolo tsohle tse hlokahalang, lokisa molaoli oa roboto joalokaha ho hlalositsoe mehatong e ka tlase:

Mehato ea pele

1. Hokela pendant e fanoeng ea ho ruta ho tloha ho Fanuc ho ea ho molaoli oa liroboto
2. Bulela selaoli sa roboto ka ho bulela switch ho ea sebakeng sa On
3. Letlapeng la FANUC, bula sesebelisoa sa Tablet TP. Emela hore letlapa le hokela
4. Emela ho fihlela molaoli o felletse ka matla
5. Netefatsa Payload: Mosebelisi o tlameha ho netefatsa moputso oa roboto ha e qala. Payload e ne e kenyelletsa boima ba moetsi oa ho qetela le ntho leha e le efe eo gripper e ka e tšoarang.
   1. Ho Boot Up Screen, mosebelisi o tlameha ho netefatsa Payload
   2. Kenya Nomoro ea Khoutu (Monghali): 1111 \
   3. Etsa bonnete ba hore Payload e nepahetseng e behiloe. Ho seng joalo, ho ka 'na ha e-ba le liphoso ha u leka ho tsamaisa roboto -> Khetha E haeba e nepahetse.
   4. Etsa bonnete ba hore ha ho motho ea haufi le roboto. Roboto e ka 'na ea tsamaea haeba e le sebakeng se itseng' me ea baka kotsi -> Kgetha OK
   5. Kgetha OK
   6. Tobetsa letšoao la iPendant k'honeng e ka tlase ho le letona ho bula iPendant ea sebele
   7. Lumella letlapa la ho ruta pendant ka ho tobetsa aekhoneng e hukung e kaholimo ho le letona la skrini.

Tlhahiso ea Lekhetho 
Karolo ena e tla hlalosa mehato e hlokahalang ho theha meputso e fapaneng ho molaoli oa roboto.

1. Qaleho e Laolang ea Mookameli oa Robot:
   1. Lumella Pendant ea Teach ka ho e kenya ka mokhoa oa TP Enabled
   2. FCNT → 0 → 8 → CTRL
   3. Tlosa motlakase ho molaoli, ebe o o bulela hape
   4. Tsamaea ka har'a menu: [MENU] → 4 Liphetoho
   5. Batla $PLST_SCHNUM 'me u e fetole ho 256.
      Thi:p Sebelisa SHIFT + Motsu o Fatšeng ho potlakisa patlisiso.
   6. Tsoela pele ho: [MENU]→ 0 [E LATELANG] → Sethapo sa Lenaneo le 1 → Lingoliloeng tsa Numere ebe u li fetolela ho 256.
   7. Qala bocha ka mokhoa o batang: FCTN → Qala (COLD).
   8. Netefatsa tatellano ea litefiso.
   9. Tobetsa iPad aekhone e ka tlaase ho le letona hukung.
   10. Khoasolla lenaneo la TP sehokelong sena.
   11. Lenaneo le leng la TP le lona lea hlokahala ho sebelisa mokhanni hantle, 'me le ka khoasolla sehokelong se latelang:
       Khoasolla sehokelo sa GET_PARAMS.TP
   12. Kenya konopo ea USB khomphuteng ea hau 'me u thehe foldara ho boloka mananeo a kopilitsoeng pele. (Ka mohlalaample, VentionProgram)
   13. Kenya mananeo foldareng ea VentionProgram.
   14. Kenya senotlolo sa USB ka har'a taolo ea roboto.
   15. E ea ho menu e latelang:
       1. [MENU] → 7 [FILE]
       2. [UTIL] → 1 [Beha Sesebelisoa]
       3. Khetha 6 [USB Disk (UD1 :)]
       4. U lokela ho bona lebitso la foldara eo u e entseng pele
       5. Ho kena ka har'a bukana, e khethe u sebelisa metsu ebe o tobetsa ENTER
   16. Khetha mananeo ohle a TP: 8 * TP.
   17. Kenya mananeo: [LOAD] → YES ebe o tobetsa SET_PAYLOADS.
   18. Ke ntho e ts'oanang hape, empa lekhetlong lena ka lenaneo la GET_PARAMS.
   19. Tobetsa konopo ea KHETHA → F1 [TYPE] → Mananeo a 4 a TP
   20. Batla the SET_PAYLOADS program and then press ENTER
   21. Tsamaisa lenaneo: [SHIFT] + [FWD].
   22. Matha ho fihlela o fumana molaetsa o bontshang “SYST-212 Ho hlokahala ho sebetsa ho DCS param”.
   23. [MENU]→ 0 [E LATELANG] → 6 [SYSTEM] → [MOFUTA]→ 8 [DCS]
   24. 
   25. F2 SEBELISA
   26. Nomoro ea khoutu (monghali): 1111
   27. Ok
   28. Ema ho fihlela qetellong, u lokela ho bona hore roboto e sebelisanang: e fetotsoe ho PEND.
   29. 
   30. Matla a baesekele, tima poweroff le taolo ea liroboto.

I/O Setupo
Karolo ena e tla qaqisa mehato e hlokahalang ho lokisa I/O ho molaoli oa liroboto ho netefatsa ts'ebetso le molaoli oa liroboto. ##### Liphetho tsa UOP:

1. Lenane → 5 I/O
2. F1 [MOFUTA] → 7 UOP
3. Netefatsa hore hajoale o bona tafole e bonts'ang UO [1] ...
4. Haeba e hlahisoa UI sebakeng sa UO, tobetsa F3 (IN/OUT)
5. F2 (Config)
6. U lokela ho bona ntho e tšoanang le skrine ena.
7. Ho fetola boleng ba max, eya ho boleng 'me u bo fetole ho boleng boo u bo hlokang. Bakeng sa ea pele, re ne re tla fetola boleng ho tloha ho 8 ho ea ho 5. (Sheba setšoantšo se latelang bakeng sa litekanyetso ho kenya letsoho)
8. Sephetho se lebelletsoeng ke sena:

##### Litlhahiso tsa UOP:

1. F3 (IN/OUT) ho chencha UI view
2. Fetola boleng ba boleng bona:
3. 

Liphetho tsa Dijithale:

1. F1 [MOFUTA] → 3 Dijithale
2. Tobetsa F3 (IN/OUT) ho ba ho DO view ha e se e ntse e le teng
3. F2 (Config)
4. Sheba setšoantšo se latelang bakeng sa litekanyetso tseo u ka li kenyang. Ke mekhahlelo e 'meli feela ea pele ea HO ETSAHALA e lokelang ho fetoloa (Range 1-1 le Range 2-3). Ba bang ba ka lula ka tsela eo ba leng ka eona hajoale.
5. 

Litlhahiso tsa dijithale:

1. Tobetsa F3 (IN/OUT) ho ba DI view
2. Fetola boleng ba Range DI [1-3] feela ka tse latelang. Lintlha tse ling li ka lula li tšoana:

Tlhophiso ea Roboto e Kopanetsoeng:

1. [MENU]→ 0 [E LATELANG] → 6 [SYSTEM] → F1 [MOFUTA] → 8 [DCS]
2. Khetha roboto e sebelisanang le [ENTER]
3. Mohala oa 28, Lebelo la Tšebelisano: e behe ho boleng bo lakatsehang (Default ke 250)
4. Mola oa 29, Ho Koala Kenyeletso: Noblet T -> [Khetho] -> [YES] -> [KHETHO] -> 2 DI le nomoro ea 3.
5. E lokela ho fella ka DI[3]
6. Line 30 e beha Lebelo le Leholo ho lebelo le lakatsehang (Default ke 1000)
7. Mola oa 36 EMA: F4 [KHETHO] → 4 MONGHADI → MONGHADI[1]
8. Mola oa 59 Ho Ruta ka Tataiso ka Buka le ho Kena
9. Kenyelletso e bulelang, Noble TP, Choice, 2 DI, 'me u behe nomoro ea 2 DI[2]

Safety IO Configuration The 
Mojule oa Safety I/O (CRX Safe I/O) o tlameha ho kengoa ho molaoli pele o latela mehato ena.

1. Tlhophiso ea Polokeho:
   1. [MENU]→ 0 [E LATELANG] → 6 [SYSTEM] → 8 [DCS]
   2. PREV → PREV, U lokela ho khutlela lethathamong lena:
   3. 
   4. Sesebelisoa se bolokehileng sa I / O (Mola oa 16) le Kena
   5. F3 INIT → YES → F3 INIT → YES makhetlo a mabeli
   6. [PREV]
   7. Sireletsehile I/O hokela (Mola 3) le Kena
   8. @SPO[9] =! MONGHADI[1]
   9. @SSO[3] =! MONGHADI[1]
   10. [PREV]
   11. Etsa kopo. Beha khoutu e kholo ho 1111
   12. Ok
   13. Matla a baesekele, tima motlakase, 'me O bulele molaoli oa liroboto.

Tlhophiso ea Marang-rang 
Etsa bonnete ba hore Cable ea Ethernet e tsoang ho Vention's Robot Safety Module e hoketsoe boema-kepeng ba bobeli ba Ethernet.

1. 1. Tlhophiso ea Ethernet:
   1. E ea ho: [MENU] → 6 [SETUP] → [MOFUTA] → 0 [E LATELANG] → 6 [Moemeli oa Comm].
   2. Khetha 1 [TCP/IP] 'me u ntan'o [DETAIL].
   3. Netefatsa hore Mola oa 2 o bontša Boema-kepe #2.
      1. Haeba Mola oa 2 o bontša Boema-kepe #1, khetha [PORT].
   4. U lokela ho bona ntho e tšoanang le ena:
   5. 
   6. Lokisa litlhophiso tsa IP bakeng sa Port #2:
      1. Mola oa 2 Aterese ea IP → KENYA: Ngola aterese ena ea IP: 192.168.5.3 → KENYA
      2. Subnet Mask: 255.255.255.0
      3. Aterese ea IP ea router: 192.168.5.1
      4. U lokela ho bona sena:
   7. Etsa bonnete ba hore Port #1 ha e kopane le Port #2 ho netefatsa hore ha ho na mathata a likhohlano tsa marang-rang a tla ba teng.
      1. Haeba karolo ea boraro ea aterese ea IP e na le 5 (Ka mohlalaample, 192.168.5.2), e fetole ho 192.168.2.1
   8. Matla a baesekele, tima motlakase, 'me O bulele molaoli oa liroboto.

Setsi sa Taolo

1. Power Cycle ea roboto
2. Matlafatsa MachineMotion
3. Etsa bonnete ba hore wiring e hokahane hantle ka ketane ea polokeho
4. Emela hore Fanuc Teach Pendant e kenngoe matla
5. Hlakola molaetsa oa phoso ha ho hlokahala
6. Netefatsa tatellano ea litefiso
7. U sebelisa Vention Pendant, e ea Leqepheng la tlhophiso
8. Kenya roboto ho tlhophiso ea hau
9. Khetha roboto eo u e rekileng
   • ExampLe: Khetha CRX 10iA/L
10. Sebelisa Tlhophiso
11. Emela hore khokahano e thehoe
12. U se u loketse ho sebelisa roboto ea hau ka sesebelisoa sa MachineLogic!

Etsa bekapo le ho Khutlisa Molaoli oa hau
Hangata ke mokhoa o motle oa ho boloka molaoli oa hau ho etsa bonnete ba hore o khona ho khutlela mofuteng o tsebahalang oa tšebetso oa molaoli oa hau.
Mehato ea ho etsa bekapo

1. FCTN → Hlakola Tsohle
2. Lenane → 7 File → Sebelisa → Beha sesebelisoa → 6 USB Disk
3. U lokela ho ba le UD1 ka holimo ka ho le letšehali.
4. Etsa bonnete ba hore ha u na roboto e hlophisitsoeng ho MachineMotion Pendant ea hau pele u tsoela pele.
5. Util - 4 Etsa DIR - Hlalosa lebitso leo u le hlokang (mohlala, BackUp Controller) - GO
6. U lokela ho ba le UD1 ka holimo ka ho le letšehali / "Lebitso leo u le khethileng".
7. Boloka → 8 Ka holimo → YES → Ebe u ema ho fihlela qetellong.

Khutlisa Mehato ea hau ea bekapo

1. Fumana Thumb Drive:
   • Fumana koloi e kholo ka ho boloka MD ea nakong e fetileng bakeng sa roboto eo u sebetsang ho eona.
2. Kenya Thumb Drive:
   • Kenya monoana o motona koung ea USB lemating le letšo ho molaoli (UD1 :) kapa koung ea USB ka lehlakoreng le letona la pendant ea thuto (UT1:).
3. Etsa Qalo e Laolehileng:
   • Matla a ho potoloha ho ea ho molaoli.
   • Hang ha roboto e qala ho boloka matla, tšoara PREV le NEXT holim'a pendant ea ho ruta e lokelang ho isoa ho Configuration Menu.
   • Tlanya 3 ebe o tobetsa ENTER ho qala Tsela e Laolehileng.
4. Access the File Lenane:
   • Hang ha lirifi tsa pendant li khutlela morao, tobetsa konopo ea MENU, ebe u khetha File -> File.
   • Holima FILE menu, tobetsa F5 [UTIL]. Haeba [UTIL] e sa bontšoa ka holimo ho F5, tobetsa LATELANG ho fihlela [UTIL] e hlahisoa ebe u tobetsa F5.
   • Kgetha Seta Sesebediswa.
   • Khetha USB Disk (UD1 :) kapa USB ho TP (UT1 :), ho latela hore na u kentse koloi ea hau e motona hokae.
   • Tsamaisetsa bukeng eo bekapo ea hau ea MD e bolokiloeng ho eona. Haeba che files kapa li-directory li bonts'itsoe, u tla tlameha ho tobetsa ENTER ho (* * (tsohle files)) ho bona litaba tsa koloi e motona.
5. Khutlisa Backup:
   • Haeba [RESTOR] e sa hlahisoa ka holimo ho F4, tobetsa FCTN, ebe u khetha RESTORE/BACKUP ho fetola lipakeng tsa ho khutlisetsa le ho boloka.
   • Tobetsa F4 [RESTOR].
   • Khetha mofuta oa ts'ebetso eo u e batlang:
     • Tsamaiso files (system variables, servo parameter data, and mastering data) mananeo a TP (.TP, .DF, le .MN files)
     • Kopo ("Kopo e seng ea lenaneo files”.
     • Applic.-TP (Tsohle tse ka holimo, ntle le tsamaiso files)
     • Lintlha tsa pono
     • Tsohle tse ka holimo
6. Netefatsa 'me u qale ho Khutlisa:
   • U tla susumelletseha ka "Khutlisa ho tloha UT1: (kapa UD1:) (OVERWRT)?". Tobetsa F4 YES.
   • TP e tla bontša "Ho kena sesebelisoa. PREV ho tsoa." ka metsotsoana e ka bang 30-60, joale tsosoloso e tla qala. Hang ha e qala, nako e tloaelehileng ea ho tsosolosa ke ~ metsotso e 2-6, ho itšetlehile ka likahare tsa roboto ea hau.
   • Joalo ka tse ngata files ka moo ho ka khonehang e tla khutlisoa. Hang ha tsosoloso e phethiloe, o tla hloka ho etsa Cold Start.
7. Qala ho Batla:
   • Tobetsa FCTN.
   • Kgetha QALA (HO COLD).

Bukana ea mantsoe

• DCS: Tšireletseho ea Bobeli ea Tlhahlobo
• SIR, SPO, SSO: Lirekoto le liphetho tse amanang le polokeho.
• I/O: Kenyeletso/Sephetho

Tšehetso
Bakeng sa thuso e eketsehileng, ka kopo ikopanye le sehlopha sa rona sa tšehetso ho support@vention.io kapa letsetsa +1-1800-940-3617 (ext. 2).

FAQs

P: Ke lokela ho etsa eng haeba ke kopana le liphoso nakong ea ho tsamaea ha roboto?

K: Haeba liphoso li etsahala nakong ea ho tsamaea ha roboto, etsa bonnete ba hore ho behiloe mojaro o nepahetseng oa moputso le hore ha ho na litšitiso ho potoloha roboto. Lekola likarolo tsa polokeho le likhokahano ho rarolla mathata.

P: Nka etsa bekapo le ho khutlisetsa litlhophiso tsa molaoli oa ka joang?

A: Ho etsa bekapo le ho khutlisetsa litlhophiso tsa taolo ea hau, sheba karolo ea "Bakaup le Khutlisa" bukeng ea mosebelisi bakeng sa litaelo tse felletseng mabapi le ts'ebetso.

Litokomane / Lisebelisoa

FANUC Robot Configuration bakeng sa Lisebelisoa tsa MachineLogic [pdf] Bukana ea Mosebelisi CRX-5iA, CRX-10iA, CRX-10i-L, CRX-20iA-L, CRX-25iA, Roboto Configuration bakeng sa MechineLogic Application, Configuration for MachineLogic Applications, MachineLogic Applications, Applications

Litšupiso

• Bukana ea Mosebelisi