FANUC Robotics SYSTEM R-J2 Controller …

1 FANUC RoboticsSYSTEM R-J2 ControllerHandlingTool Setup andOperations ManualVersion REV. BThis publication contains proprietary information of FANUC RoboticsNorth America, Inc. furnished for customer use only. No other uses areauthorized without the express written permission of FANUC RoboticsNorth America, Robotics North America, W. Hamlin RoadRochester Hills, Michigan 48309-3253 The descriptions and specifications contained in this manual were in effectat the time this manual was approved for printing. FANUC RoboticsNorth America, Inc, hereinafter referred to as FANUC Robotics , reservesthe right to discontinue models at any time or to change specifications ordesign without notice and without incurring Robotics manuals present descriptions, specifications, drawings,schematics, bills of material, parts, connections and/or procedures forinstalling, disassembling, connecting, operating and programming FANUCR obotics products and/or systems.

2 Such systems consist of robots,extended axes, robot controllers, application software, the KAREL programming language, INSIGHT vision equipment, and special Robotics recommends that only persons who have been trained inone or more approved FANUC Robotics Training Course(s) be permittedto install, operate, use, perform procedures on, repair, and/or maintainFANUC Robotics products and/or systems and their respectivecomponents. Approved training necessitates that the courses selected berelevant to the type of SYSTEM installed and application performed at thecustomer equipment generates, uses, and can radiate radiofrequency energy and if not installed and used inaccordance with the instruction manual, may causeinterference to radio communications. As temporarilypermitted by regulation, it has not been tested forcompliance with the limits for Class A computing devicespursuant to subpart J of Part 15 of FCC Rules, which aredesigned to provide reasonable protection against suchinterference.

3 Operation of the equipment in a residentialarea is likely to cause interference, in which case the user,at his own expense, will be required to take whatevermeasure may be required to correct the Robotics conducts courses on its systems and products on aregularly scheduled basis at its headquarters in Rochester Hills, additional information contactFANUC Robotics North America, Department3900 W. Hamlin RoadRochester Hills, Michigan 48309-3253 Tel: (248)377-7234 FAX: (248)377-7367 or (248)377-7362 Copyright 1998 by FANUC Robotics North America, Rights ReservedThe information illustrated or contained herein is not to be reproduced,copied, translated into another language, or transmitted in whole or in partin any way without the prior written consent of FANUC Robotics NorthAmerica, , ArcTool , DispenseTool , FANUC LASER DRILL ,KAREL , INSIGHT , INSIGHT II , PaintTool , PaintWorks ,PalletTool , SOCKETS , SOFT PARTS SpotTool ,TorchMate , and YagTool are Registered Trademarks of Robotics reserves all proprietary rights, including but not limitedto trademark and trade name rights, in the following names:AccuFlow ARC Mate ARC Mate Sr.

4 IntelliTrak LaserTool MotionParts PaintWorks II PalletMate SureWeld TurboMove Issued United States PatentsivOne or more of the following patents might be related to the FANUC Robotics products described in ,906,3234,274,8024,289,4414,299,5294,336 ,9264,348,6234,359,8154,366,4234,374,349 4,396,9734,396,9754,396,9874,406,5764,41 5,9654,416,5774,430,9234,431,3664,458,18 84,462,7484,465,4244,466,7694,475,1604,4 79,6734,479,7544,481,5684,482,2894,482,9 684,484,8554,488,2424,488,7464,489,8214, 492,3014,495,4534,502,8304,504,7714,530, 0624,530,6364,538,6394,540,2124,542,4714 ,543,6394,544,9714,549,2764,549,8464,552 ,5064,554,4974,556,3614,557,6604,562,551 4,575,6664,576,5374,591,9444,603,2864,62 6,7564,628,7784,630,5674,637,7734,638,14 34,639,8784,647,7534,647,8274,650,9524,6 52,2034,653,9754,659,2794,659,2804,663,7 304,672,2874,679,2974,680,5184,697,9794, 698,7774,700,1184,700,3144,701,6864,702, 6654,706,0004,706,0014,706,0034,707,6474 ,708,1754,708,5804,712,9724,723,2074,727 ,3034,728,2474,728,8724,732,5264,742,207 4,742,6114,750,8584,753,1284,754,3924,77 1,2224,773,5234,773,8134,774,6744,775,78 74,776,2474,777,7834,780,0454,780,7034,7 82,7134,785,1554,796,0054,805,4774,807,4 864,812,8364,813,8444,815,0114,815,1904, 816,7284,816,7334,816,7344,827,2034,827, 7824,828,0944,829,4544,829,8404,831,2354 ,835,3624,836,0484,837,4874,842,4744,851 ,7544,852,0244,852,1144,855,6574,857,700 4,859,1394,859,8454,866,2384,873,4764,87 7,9734,892,4574,892,9924,894,5944,894,59 64,894,9084,899,0954,902,3624,903,5394,9 04,9114,904,9154,906,1214,906,8144,907,4 674,908,5594,908,7344,908,7384,916,3754, 916,6364,920,2484,922,4364,931,6174,931, 7114,934,5044,942,5394,943,7594,953,9924 ,956,5944,956,7654,965,5004,967,1254,969 .

5 1094,969,7224,969,7954,970,3704,970,4484 ,972,0804,972,7354,973,8954,974,2294,975 ,9204,979,1274,979,1284,984,1754,984,745 4,988,9344,990,7295,004,9685,006,0355,00 8,8325,008,8345,012,1735,013,9885,034,61 85,051,6765,055,7545,057,7565,057,9955,0 60,5335,063,2815,063,2955,065,3375,066,8 475,066,9025,075,5345,085,6195,093,5525, 094,3115,099,7075,105,1365,107,7165,111, 0195,111,7095,115,690 FANUC Robotics Technical Support Hotline1-800-47-ROBOT(1-800-477-6268)Loc al/Internal 248-377-7159 Technical Service (Press 1)Tel (248) 377-7159 Fax: (248) 377-746324 Hour HotlineParts (Press 2)Tel (248) 377-7278 Fax: (248) 377-78328:00 am to 8:00 pm Monday to FridayTraining (Press 3)Tel (248) 377-7234 Fax: (248) 377-73678:00 am to 5:00 pm Monday to FridayPart Repair (Press 4)Tel (248) 377-7944 Fax: (248) 377-73678:00 am to 5:00 pm Monday to FridayTechnical Service Hotline supportService personnel dispatchAfter-hours parts support(8:00 pm to 8:00 am)Parts for down robotsReplenishment part orderWarranty part replacementRobot SoftwareTraining class registrationConsultation for special training oron-site requestsRepair of electronic componentsRepair of mechanical components(wrists etc.)

6 Warranty part repairInformation to have availableInformation to have availableInformation to have availableInformation to have availableCustomer Number (if known)Company nameYour nameYour phone and fax numbersCustomer Number (if known)Company nameYour nameYour phone and fax numbersCustomer Number (if known)Company nameYour nameYour phone and fax numbersCustomer Number (if known)Company nameYour nameYour phone and fax numbersRobot and Controller type F# or serial number of robot Hour Meter readingSoftware type and editionAny error messages and LEDdisplays (if applicable)Your number for warranty,down robots, or preventivemaintenance service ordersPart name and number (if known) F# or serial number of robot Hour Meter readingYour number for warranty,down robots, and softwareordersAny error messages and LEDdisplays (if applicable)Your shipping or billing addressTypes of courses neededRobot and Controller typeNumber of people attendingMethod of payment F# or serial number of robot Hour Meter readingProject number or numberShipping & billing addressesReason for repair (anysymptoms, error codes, ordiagnostic LEDs that wereidentified**NOTE: PLEASE OBTAIN A RETURN GOODS NUMBER (RGN) AUTHORIZATION FROM PARTS BEFORE SHIPPING ANY PARTS BACK TO OUR FACILITY.)

7 THE RGN IS NECESSARYFOR PROPER RECEIVING AND Service Center (Press 1)Marketing and Sales Department (Press 2)Revised 5/4/98 UPDATES FOR section lists the updates that have been made to the HandlingTool product for in thefollowing areas:PageTCPMATE-1 Overview-1 Setting up TCPMate-2 TCPMate Troubleshooting-23 TCPMate Adjustment-27 TCPMate Error TCPMate option provides a cost effective, easy-to-use solution to adjust the Tool Center Point(TCP) automatically. TCPMate automatically compensates for bent tools to reduce weld defects andincrease SYSTEM you use TCPMate, you start with a SYSTEM that is fully functional and has a properly definedTCP. Then, you set up TCPMate and master the TCP. After it is mastered, TCPMate can be used atany time to check and adjust the TCP to compensate for problems such as a bent tool body. SinceTCPMate is an executable program, it can be called either automatically(for example, every 50production parts or between each cycle), or manually, whenever compensates for variation of the TCP in the following directions: xandy x, y, and z zonlyTCPMate can compensate for variation in orientation (w, p) but not for variation in r.

8 However,most process applications are not significantly impacted if rotation about the tool z axis (r) variesslightly due to bent works with any robot and tool where the TCP is at the end of cylindrically shaped tooling. Ifthe normal tooling is not cylindrical, or if the TCP is away from the tooling, a teach tip can be should run TCPMate after every cap change ArcTool applications, TCPMate provides similar functionality to TorchMate (plus additionalfeatures), but does not require electrical continuity to determine the TCP use TCPMate, you must do the following:1. Install the TCPMate software option and any required Set up Include a CALL to TCPMate in your production teach pendant program (for automaticoperation).4. Run Monitor TCPMate order to use TCPMate successfully, review the following requirements and guidelines: 1 TCPMate can be used with all end-of-arm safety devices and mounting arms, as long as theystay constant.

9 TCPMate will recover the TCP of a tool or teach tip that can be inserted into acircular hole. TCPMate can be used with virtually any circular opening on a solid surface, suchas a 6mm steel plate attached to cell fixturing. The circular opening should be approximately10mm larger in diameter than the diameter of the largest expected recoverable bent tool. Forexample, if you suspect that the tool might bend 5mm and the tool shaft is 25mm in diameter, thenthe recommended circular opening would be 40mm. Larger openings are allowed, but the cycletime to complete a TCP recovery will increase proportionately. In ArcTool, for tool orientation recovery with tooling such as wire feed torches, which have avery small TCP shank (weld wire) and a much larger supporting shaft (torch shaft), the two circlemethod should be used. For this case, the small circle should be no larger than the diameter of thelarger supporting shaft.

10 This circle is used fordetecting the xy location of the weld wire. The zlocation is determined by moving the tooling into the small circle. If the small circle is larger thanthe supporting shaft, the z location cannot be determined. The larger circle should have a diameteras described above for the single circle case. Compensation of the variation in zdirection, and compensation of yaw and pitch (w, p) orientationaxes, is optional. While TCPMate works well even when the TOOL frame is inaccurate, the TOOL frame shouldbe set. The payload must be set accurately, especially when the TCPMate reference positions are atextreme points of the robot s you have established the TCPMate TCP, youcan use it in new and existing programs. You canapply TCPMate easily to new or existing programs without having to redefine positions as long as theoriginal programs were created with an accurate tool center Up TCPMateYou must install the TCPMate software option before you can use TCPMate.