FANUC INDIA FA & ROBOT
Classification of I/O
1. General Purpose I/O
Digital I/O
Group I/O
Analog I/O
2. Specialized I/O
Robot I/O
Peripheral (UOP) I/O
Operator’s Panel (SOP) I/O
FANUC INDIA FA & ROBOT
Status of DI/DO
• Press I/O Type
Digital
• Press F3 “IN/OUT”
for switching
between Input
and output status
FANUC INDIA FA & ROBOT
Status of RI/RO
• I/O Type
Robot
• This I/O are used
for controlling
the gripper
• It contains 8 I/P’s
and 8 O/P’s
FANUC INDIA FA & ROBOT
Status of UI/UO
• I/O Type
UOP
• These are used
for Controlling the
robot remotely.
FANUC INDIA FA & ROBOT
Configuration of EE connector
FANUC INDIA FA & ROBOT
Status of SOP I/O
• I/O Type
SOP
• For monitoring the
status of Standard
Operator’s Panel
FANUC INDIA FA & ROBOT
Process I/O card
• This card act as interface between field I/O’s with
controller.
• Two standards are available
1. 40/40 I/O card
2. 96/96 I/O card
FANUC INDIA FA & ROBOT
Pin details of CRM2A
FANUC INDIA FA & ROBOT
Pin details of CRM2B
FANUC INDIA FA & ROBOT
I/O Configuration
for DI/DO’s
• I/O Type
Digital
F2 “Config”
• Restart the
controller after
configuration
FANUC INDIA FA & ROBOT
UOP Interfacing
• The main objective of UOP is to perform program
selection and control remotely.
• 18 I/P’s and 20 O/P’s are available for this
interface which are predefined signals.
FANUC INDIA FA & ROBOT
FANUC INDIA FA & ROBOT
Status of UOP
O/P’s
• I/O Type
UOP
FANUC INDIA FA & ROBOT
Program Selection
• Two techniques are available
1. RSR
2. PNS
• 8 signals are required (from In9-in16) for program
selection
FANUC INDIA FA & ROBOT
Program Select
screen
• Menu Setup
Program Select
• This screen is used
to select the
program selection
technique.
FANUC INDIA FA & ROBOT
Types of Memory
1. SRAM:
• The contents of SRAM are TP programs,
Variables, Macro data, mastering data, etc.
• Size of SRAM is 2MB
• Required Battery
2. FROM:
• Contains all software for functioning.
• Capacity of FROM is 32 MB
• Battery is not required
FANUC INDIA FA & ROBOT
Data Backup
• SRAM backup
• Image backup
• Devices used for backup
1. Memory card
2. USB
FANUC INDIA FA & ROBOT
SRAM Backup
• Insert memory card
or USB
• Press Menu
File File
• Select the device by
pressing F5 “UTIL”
Set device
FANUC INDIA FA & ROBOT
FANUC INDIA FA & ROBOT
• Press F2 “DIR” for
viewing the content
of the device.
• Press F5 “UTIL”
“Format” for
formatting the device.
• Press F4 “Backup”
“All of above” for
SRAM Backup.
FANUC INDIA FA & ROBOT
Restoring SRAM Backup
• Insert the device
• Perform control start by pressing “Prev” and
“Next” key in the TP during Power up.
• Press Menu File
FANUC INDIA FA & ROBOT
• Set the device
• Press F4 “Restore”
• Come to cold start
by pressing “Fctn”
Start(Cold)
FANUC INDIA FA & ROBOT
Image Backup
• Insert Memory card
• Press “menu” “File” “File”
• Set the device
FANUC INDIA FA & ROBOT
• Press F4 “Backup”
“Image Backup”
• System will ask
for cycle power.
• Backup will be
happen during
power up.
FANUC INDIA FA & ROBOT
Restoring Image Backup
• Do not restore the image backup unnecessarily
• Insert Memory card
• Press F1 and F2 during Power up.
• Select the device
• Give “yes” then it will restore the Image backup.
Caution:
Power should not off during restoring image
backup
FANUC INDIA FA & ROBOT
Mastering
• Don’t do mastering since Robots are already
mastered at FANUC factories.
• Mastering is required only when,
Pulse coder data is lost
SRAM content is lost
Robot is disturbed Mechanically
FANUC INDIA FA & ROBOT
Types of Mastering
1. Fixture position Mastering
2. Zero Position Mastering
3. Quick Mastering
4. Single axis Mastering
FANUC INDIA FA & ROBOT
Steps involved in Mastering
• Remove the causes and clear the alarm
• Jog the Robot by “Joint” coordinate about 20
degree
• Bring the Robot to zero position
• Select the mastering type and calibrate the joints.
• Power OFF then ON.
FANUC INDIA FA & ROBOT
Mastering
• Check the active alarm in alarm screen by pressing
“Menu” Alarm
• “Menu” 0 “Next” “System” “Master/Cal”
FANUC INDIA FA & ROBOT
FANUC INDIA FA & ROBOT
• Press F3 “RES_PCA”
• For clearing the pulse
coder alarm
• Then switch OFF and
ON
FANUC INDIA FA & ROBOT
• Move the joints which needs mastering about 20
degree.
• Bring the joints to zero position
• “Menu” 0 “Next” “System” “Master/Cal”
FANUC INDIA FA & ROBOT
• Place the cursor on
suitable mastering type
and press “enter”
• Perform calibration
by pressing the option
“calibrate”
• Perform “set quick
master Ref” for future
quick mastering
FANUC INDIA FA & ROBOT
• Single axis Mastering
screen
• Select the joints which
needs mastering from
the field (SEL)
• Press F5 “Exec”
• Perform calibration.
FANUC INDIA FA & ROBOT
FANUC INDIA FA & ROBOT
To Hide the option
“Master/Cal”
• “Menu” 0“Next”
“System”
“ Variables”
• $ MASTER_ENB=0
FANUC INDIA FA & ROBOT
Reference Position
Setting
• A predetermined
position at which
robot will give output
• 3 different reference
position can set.
• “Menu” “Setup”
“Ref Position”
FANUC INDIA FA & ROBOT
Macro Instruction
• It is function consisting of sequence of instruction
as one instruction.
• The macro instruction can be executed in the
following ways,
• Using manual operation screen
• User key on the TP
• DI, RI, UI
• Up 20 macro instructions can be registered
FANUC INDIA FA & ROBOT
Procedure for using Macro Instruction
• Create a program to be executed as macro
instruction
• Register the created macro program as macro
instruction and determine from which device the
macro instruction is to be called.
• Execute the macro instruction
FANUC INDIA FA & ROBOT
Setting Macro Instruction
• Menu Setup Macro
• Select the registered
program as macro
program from “Program”
field by choice
• Select the desired device
from “assign” field by
choice
• Enter the name for macro
instruction in
“instruction name”
