R-30iA R-30iA Mate CONTROLLER Dual Check Safety …

1 fanuc Robot seriesR- 30ia /R- 30ia Mate CONTROLLERDual Check Safety FunctionOPERATOR S MANUALMAROCDCSO09071E REV. AThis publication contains proprietary information of fanuc Robotics America, Inc. furnished forcustomer use only. No other uses are authorized without the express written permission ofFANUC Robotics America, Robotics America, W. Hamlin RoadRochester Hills, Michigan 48309 3253B-82794EN/01 The descriptions and specifications contained in this manual were ineffect at the time this manual was approved for printing. FANUCR obotics America, Inc, hereinafter referred to as fanuc Robotics,reserves the right to discontinue models at any time or to changespecifications or design without notice and without Robotics manuals present descriptions, specifications,drawings, schematics, bills of material, parts, connections and/orprocedures for installing, disassembling, connecting, operating andprogramming fanuc Robotics products and/or systems.

2 Suchsystems 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 beentrained in one or more approved fanuc Robotics TrainingCourse(s) be permitted to install, operate, use, perform procedureson, repair, and/or maintain fanuc Robotics products and/orsystems and their respective components. Approved trainingnecessitates that the courses selected be relevant to the type ofsystem installed and application performed at the customer equipment generates, uses, and can radiate radiofrequency energy and if not installed and used in accordancewith the instruction manual, may cause interference to radiocommunications. As temporarily permitted by regulation, ithas not been tested for compliance with the limits for Class Acomputing devices pursuant to subpart J of Part 15 of FCCR ules, which are designed to provide reasonable protectionagainst such interference.

3 Operation of the equipment in aresidential area is likely to cause interference, in which casethe user, at his own expense, will be required to takewhatever measure may be required to correct Robotics conducts courses on its systems and products ona regularly scheduled basis at its headquarters in Rochester Hills,Michigan. For additional information contactFANUC Robotics America, Department3900 W. Hamlin RoadRochester Hills, Michigan your comments and suggestions about this manual 2007 by fanuc Robotics America, Rights ReservedThe information illustrated or contained herein is not to bereproduced, copied, downloaded, translated into another language,published in any physical or electronic format, including internet, ortransmitted in whole or in part in any way without the prior writtenconsent of fanuc Robotics America, , 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 notlimited to trademark and trade name rights, in the following names:AccuAir AccuCal AccuChop AccuFlow AccuPath AccuSeal ARC Mate ARC Mate Sr.

4 ARC Mate System 1 ARC Mate System 2 ARC Mate System 3 ARC Mate System4 ARC Mate System 5 ARCW orks Pro AssistTool AutoNormal AutoTCP BellTool BODYW orks Cal Mate CellFinder Center Finder Clean Wall CollisionGuard DispenseTool F-100 F-200i FabTool fanuc LASERDRILL Flexibell FlexTool HandlingTool HandlingWorks INSIGHT INSIGHT II IntelliTrak Integrated Process Solution Intelligent Assist Device IPC -Integrated Pump Control IPDI ntegral Pneumatic Dispenser ISA Integral Servo Applicator ISDI ntegral Servo Dispenser Laser Mate System 3 Laser MateSystem 4 LaserPro LaserTool LR Tool MIG Eye MotionParts NoBots Paint Stick PaintPro PaintTool 100 PAINTW orks PAINTW orks II PAINTW orks III PalletMate PalletMate PC PalletTool PC PayloadID RecipTool RemovalTool Robo Chop Robo Spray S-420i S-430i ShapeGen SoftFloat SOF PARTS SpotTool+ SR Mate SR ShotTool SureWeld SYSTEM R-J2 CONTROLLER SYSTEM R-J3 CONTROLLER SYSTEM R-J3iB CONTROLLER TCP Mate TurboMove TorchMate visLOC visPRO-3D visTRAC WebServer WebTP YagTool fanuc LTD 2007 No part of this manual may be reproduced in any form.

5 All specifications and designs are subject to change without manual includes information essential to the Safety ofpersonnel, equipment, software, and data. This information isindicated by headings and boxes in the text. WARNINGI nformation appearing under WARNING concerns theprotection of personnel. It is boxed and in bold type to set itapart from other text. CAUTIONI nformation appearing under CAUTION concerns the protection ofequipment, software, and data. It is boxed to set it apart fromother text. NOTE Information appearing next to NOTE concerns relatedinformation or useful !! !"#$ % & ' ( ) 0123145"6 7 8 " 9 @ ( @ & 9 7 & @8 !(( 9 7 7 A 7 7 B 7 8 C 9 7 @ ( 7 (( D 9 E F 5G7 C H BI8 C G9 @ D 9 @ & A 7 G9 ( 7 & P @ D 9 8 0 G9 7 & @ & A 7 ( 7 P @ 7 & @ B 9 7 0 G9 8 @ 9 7 @ & ( 7 (( & 0 G9 ( # % P @ 8 % ( & B G9 0 G9 9 7 9( 7 7 !"#$ P 7 8 Q @ ( B P @ 7 9 ( 7 (( P @ 8 R B P B 7 7 (( @ B 7 @ B 7 7 7 @ & 9 ( 8 C @ B 7 9 7 ((& 7 9 ( @ ( ( I @9 ( I8 B-82794EN/01 TABLE OF CONTENTS c- 1 TABLE OF CONTENTS Safety PRECAUTIONS I.)))))))))))))))))))))))))))

6 Safety OPERATOR iv Operator Safety of the Teach Pendant Safety During Safety OF THE TOOLS AND PERIPHERAL x Precautions in Programming ..x Precautions for Mechanism ..x Safety OF THE ROBOT MECHANISM .. xi Precautions in Operation ..xi Precautions in Programming ..xi Precautions for Safety OF THE END EFFECTOR ..xii Precautions in Programming .. xii Safety IN WARNING LABEL ..xiii 1 OVERVIEW .. 1 OVERVIEW .. 2 Safety 3 T1 MODE SPEED Check 4 JOINT POSITION 6 JOINT SPEED 8 CARTESIAN POSITION 10 CARTESIAN SPEED 2 CAUTIONS AND LIMITATIONS .. 14 15 SOFTWARE .. 16 CAUTION WHEN USING POSITION / SPEED 17 STOPPING DISTANCE ..18 3 SETUP POSITION/SPEED Check .. 19 DCS 20 TABLE OF CONTENTS B-82794EN/01 c- 2 POSITION / SPEED PROCESS.

7 22 APPLY TO DCS PARAMETER ..23 DCS 25 DCS TOP 26 DCS TCP 31 DCS USER FRAME MENU .. 33 DCS JOINT POSITION Check 35 DCS JOINT SPEED Check 37 DCS CARTESIAN POSITION Check 39 DCS CARTESIAN SPEED Check 41 DCS ROBOT SETUP MENU .. 43 DCS MASTERING PARAMETER 47 SAVE / LOAD DCS PARAMETERS .. 50 STATUS MONITOR (NON- Safety FUNCTION).. 51 MOTION GROUP 52 4 OPTION Safety SIGNALS .. 53 5 ALARM CODES .. 56 SafetyFANUC Robotics is not and does not represent itself as an expert in Safety systems, Safety equipment, orthe specific Safety aspects of your company and/orits work force. It is the responsibility of the owner,employer, or user to take all necessary steps to guarantee the Safety of all personnel in the appropriate level of Safety for your application and installation can best be determined by safetysystem professionals.

8 fanuc Robotics therefore, recommends that each customer consult with suchprofessionals in order to provide a workplace that allows for the safe application, use, and operation ofFANUC robotic to the industry standard ANSI/RIA R15-06, the owner or user is advised to consult thestandards to ensure compliance with its requests for Robotics System design, usability, operation,maintenance, and service. Additionally, as the owner, employer, or user of a robotic system, it is yourresponsibility to arrange for the training of the operator of a robot system to recognize and respond toknown hazards associated with your robotic system and to be aware of the recommended operatingprocedures for your particular application and robot Robotics therefore, recommends that all personnel who intend to operate, program, repair,or otherwise use the robotics system be trained in an approved fanuc Robotics training course andbecome familiar with the proper operation of the system.

9 Persons responsible for programming thesystem-including the design, implementation, and debugging of application programs-must be familiarwith the recommended programming proceduresfor your application and robot following guidelines are provided to emphasize the importance of Safety in the Safety FOR YOUR ROBOT INSTALLATIONS afety is essential whenever robots are used. Keep inmind the following factors with regard to Safety : The Safety of people and equipment Use of Safety enhancing devices Techniques for safe teaching and manual operation of the robot(s) Techniques for safe automatic operation of the robot(s) Regular scheduled inspection of the robot and workcell Proper maintenance of the robotKeeping People and Equipment SafeThe Safety of people is always of primary importance in any situation. However, equipment must bekept safe, too. When prioritizing how to apply Safety to your robotic system, consider the following:iSafety People External devices Robot(s) Tooling WorkpieceUsing Safety Enhancing DevicesAlways give appropriate attention to the work area that surrounds the robot.

10 The Safety of the workarea can be enhanced by the installation of some or all of the following devices: Safety fences, barriers, or chains Light curtains Interlocks Pressure mats Floor markings Warning lights Mechanical stops EMERGENCY STOP buttons DEADMAN switchesSetting Up a Safe WorkcellA safe workcell is essential to protect people and equipment. Observe the following guidelines toensure that the workcell is set up safely. These suggestions are intended to supplement andnotreplaceexisting federal, state, and local laws, regulations, and guidelines that pertain to Safety . Sponsor your personnel for training in approved fanuc Robotics training course(s) related toyour application. Never permit untrained personnel to operate the robots. Install a lockout device that uses an access code to prevent unauthorized persons from operatingthe robot. Use anti-tie-down logic to prevent the operator from bypassing Safety measures.