28/08/23 Mohamed mujahithdeen

Experiment -7
Programing of Fanuc robot

AIM:
To Program Fanuc robot arc mate 100 ic 12 using Teach pendant

Components of Components of Fanuc robot arc mate 100 ic 12:

Teach pendant:

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The teach pendant is the main user interface for the FANUC robots. It is a
handheld device with a color touchscreen, a custom keypad, and various
safety devices such as a deadman switch, emergency stop, and enable
switch that can be swapped out with a key switch for security.
While simulators are available for writing and testing programs, the Teach
Pendant is the primary tool in which a robotic operator will create, test, and
modify programs on the robot.

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Usage:
Turning the teach pendant on gives the holder sole control of the robot. This is
important as external control could be risky when teaching a robot.

The teach pendant is our primary tool for creating, modifying, and testing teach
pendant programs. It includes an LCD display, membrane keypad, enable switch,
a DeadMan Switch, and an Emergency Stop button.

The FANUC teach pendant is designed for either left or right handed operation.
The strap is typically placed on your non-dominate hand, leaving your dominate
hand to hit most buttons and navigation keys. The strapped hand is used for the
DeadMan switch and often the SHIFT key.

The teach pendant is corded to the robot's main controller

The following buttons have their own wiki pages detailing their use and result:

MENU
The Menu button opens an on screen nesting menu allowing you to reach nearly
all screens available on the teach pendant.

SELECT
The select button opens a list of existing programs. From this screen you can
create a new program as well.

EDIT
Edit takes you to the last open program. Use this key whenever you need to get
back to your program.

DATA
Data opens up the screen for viewing and editing data registers.

The following buttons are detailed on this page:

RESET
The reset button attempts to clear all alarms that are appearing. If there are any
remaining, it will display at the top of the screen in RED to let you know to fix it.
Most commonly this includes emergency stop buttons, the teach pendant switch,
the deadman. Once you have fixed your errors, press reset again and if none
remain - the status will turn GREEN at the top, signaling that you have now
enabled motion.

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POSN
POSN displays the current position of the robot. This is useful for manually
editing positions and position registers, measuring distances and positions, and
confirming the accuracy of frames.

The screen includes a single softkey:

[TYPE]
JNT - JNT gives the angular positions of each axis. These are in reference to the
"witness marks" scratched into the robot to designate a zero position. They can be
positive or negative. On some joints and robots, they may even be greater than
360, if the joint is designed to rotate several times or continuously.
USER - The USER type displays the robot's position in reference to the currently
selected USER frame.
WORLD - The world frame is the default for your robot. The zero point for X, Y,
and Z is the center of the robot's J1 axis, at the height of J2. Positive X is toward
the front of the robot cart, positive Y is toward the right, and positive Z is toward
the ceiling.
DIAG/HELP
Number Pad
Arrow Keys
SHIFT
The shift button has two functions: Modify and Enable.

While the shift button is held, the keys with some blue on them change their
functions. Speed increases and decreases by a much greater amount, arrow keys
navigate entire pages at a time instead of just individual items, and the COORD
key opens up a menu for changing frame numbers, instead of just frames.

The jog keys however, are completely disabled unless SHIFT is held down. Any
manual jogging of the robot be preceded by pressing and holding the SHIFT key.

I/O
The I/O button opens up the page listing the last I/O type opened.

FCTN

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Function is a menu of options relating to the teach pendant and controller states.

ABORT (ALL) - This command tells the controller to end all programs, allowing
you to begin another or analyze data from that time.
Disable FWD/BWD
These keys are most commonly designated as "Macros", allowing you to assign
functions to them by creating Macro programs. A macro is something you want
quick access to "on the fly" to make things easier.

In our lab, we have the tool buttons designed for toggling the gripper tool and
vacuum tool.

COORD

COORD (Shifted)Using the arrow keys, you can select a type of frame, Tool, Jog,
and User - then enter a number to change that frame type to.
Coord is used for quickly changing between available jogging coordinate
systems.

Each time you press COORD it will cycle through the available frames.

Holding SHIFT and pressing COORD will let you select specific frame numbers.

Use the arrow keys to select which frame you wish to change, then enter the
number of the frame you wish to change to.

Since there are 10 available tool frames, the period button represents Tool Frame
10.

GROUP
SPEED
Speed keys set how fast the robot will move when jogging, and adjust the speed
at which motion instructions are executed.

Pressing the up speed arrow increases speed by a fine amount. Pressing the down
speed arrow decreases speed by a fine amount.

Holding SHIFT while pressing either speed key will adjust the speed in larger
increments, allowing you to quickly get to a high or low speed. Letting go of the

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SHIFT key and pressing the speed will let you fine-adjust again.

FWD/BWD
Holding SHIFT and pressing FWD will initiate a run-through of your program. If
STEP is active, hitting forward will advance the program by one line.

Holding SHIFT and pressing BWD will step backward through your program.

Note that backing through your program in this method will not perform the
reverse functions on IO or registers, just motion.

HOLD
STEP

Notice the Step indicator is yellow, indicating the program will run through one
step at a time.
This button toggles STEP mode. When disabled, the STEP indicator on the top of
the screen will go green. This causes a run-through of your program to be
continuous.

When enabled, the STEP indicator on the top of the screen will go yellow. This
means each time you hit FWD, your program will advance by only one line.

Retract position, the robot is in standby mode; control device features are disabled
and power consumption is much lower.
Control panel:
The R-30iB Plus controller is FANUC’s new standard for smarter productivity. It
is destined to contribute to the easier use of robots and automation in the
manufacturing industry. Featuring a new generation of advanced integrated
hardware and more than 250 software functions, it is your key to robot
performance in terms of cycle-time, speed, accuracy and safety. Designed for
increased user friendliness and minimal energy consumption, the R-30iB Plus
comes in five different cabinets to help you make the most of your floor space and
production cell layouts. With a flexible appearance, the user interface, iHMI, has a
convincing screen resolution and a strong processing capability.

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FANUC ROBOT ARCMATE 100ic

Specifications:

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Procedure:
[Link] the USB drive on the teach pendant
[Link] Menu➔File
[Link] Utilities➔Set device➔USB
[Link] DIR
[Link] the TP or LS program file from the USB disk ([Link] for example)
This will automatically save the file to the FR memory of the controller
[Link] the program in the FR memory and select LOAD (screen button)

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Programming in teach pendant :

RESULT:

Thus, the fanuc arcmate robot was studied and was programmed using
Joystick and Virtual Joystick .

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