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So far, nobody has actually figured out why FANUC doesn't release free manuals for their products. You'd think they would, as someone is FAR more likely to purchase FANUC robots at their company if they can easily obtain all the required documentation. Simple supply side economics. If people weren't willing to pay for them it could be different. It's easy! Sign in here. By continuing to browse this site, you are agreeing to our use of cookies. If you would like to use all features of this site, it is mandatory to enable JavaScript. The teach pendant provides an interface between the Application tool software and the operator. The teach The following operations can be performed using the teach pendant: The teach pendant includes the following: Teach pendant enable switch This switch enables or disables the teach pendant. When the teach pendant is Deadman switch DEADMAN SWITCH is used as an enabling device. When the teach pendant Emergency stop button When pressed, the emergency stop button immediately stops the robot EmergencyDeadman Group key. These keys depend on an application. This is the key sheet for handling tool. About the key sheet for other applications, The teach pendant has the following keys: Key Function The MENU key to display the screen menu. The FCTN key to display the function menu. The EDIT key to display the program edit screen. The DATA key to display the program data screen. The MOVE MENU key moves the robot to the reference position. Create the program which moves the robot to the reference When this key is pressed while a shift key is held down, the alarm G3,. G1. Pressing a numeric key, that is identical with the Pressing a 0 key with a GROUP Application-dedicated keys differ depending on the application. Extended Axis Control software option (J518) has been ordered, and the extended Key Function.

The SHIFT key is used to execute a jog feed of the robot, teach The right and left Shift In case that the number of the robot Ex) In case that the number of the robot axes is 5, J6, J7 and. J8 keys are used for the jog feed of the extended axes. Please refer to Feed\u201d. TOOL, USER. When this key is pressed while a Shift key is Each time the Key Function. When the shift key is released during the program execution, Key Function In some cases, The cursor is the highlighted part which can move on the teach Table 2.3.1 (f) Other keys. Key Function By pressing the following The teach pendant has the following two LEDs. LED Description. POWER The POWER LED indicates that the power of the controller is ON. FAULT The FAULT LED indicates that an alarm has occurred. The teach pendant provides a touch panel as an option. The screens on which operations can be performed Note that not all operations can be performed using the touch panel. These features and benefits allow FANUC users to quickly and easily get their robots up and running at maximum productivity. We're here to help. Fill out the form below and a knowledgeable FANUC automation expert will be in touch. The follower asked, “Outside of the teach pendant, how are robotic movements typically programmed ?“ Since this answer obviously contains more than 140 characters, we wanted to share some robot programming information with all our followers through a Tech Talk article. It is a typical sight on the MCRI design floor to see a Programmer positioning a robot in relation to other items in the system with a teach pendant. The teach pendant can be used to manually program points and move the robot almost like a remote control. Teaching a robot means programming precise positions (movement) and procedures. While this manual controller is easy to spot and commonly used, there are a variety of other programming techniques that can also be used to program the robot’s positions.

Robot Programming Motion Controls Robotics uses a variety of robotic simulation software tools to help customers visualize systems and determine cycle times, cell layout and longevity estimations. FANUC has a very informational web page describing CAD to Path programming and comparing and it to CNC processing. Programming can occur on the Virtual Teach Pendant available through the ROBOGUIDE software. Actual real world robot programs can be loaded into ROBOGUIDE and the programmer can make program changes and additions using the software and then load these files into the real world robot. Programs created or modified in ROBOGUIDE can be ran and tested in the virtual world using the software. Some robots can be manually guided through motions, with input buttons used to record or mark start and finish points of moves, and to identify where other functions need to be performed such as gripping or releasing a part. FANUC’s new collaborative CR-35 robot allows programming through manual manipulation at the end of arm tool. Robots that are already programmed to handle specific parts and perform specific functions can be parametrically told to handle similar parts with different dimensions, or case pack or palletize in a different pattern, or insert screws into a different shaped product. The integrator needs to create the parametric programming up front and load it into the robot’s controller, then provide a means for an operator to add parts and new part parameters (usually through an HMI operator screen). Motion Controls Robotics is happy to answer any of our Social Media followers’ questions about robotics. RoboDK supports all Fanuc robot controllers since RJ2, including RJ3, R-30iA and R-30iB. This documentation is based on the R-30iA Fanuc controller. Note: It is recommended to request the ASCII Upload option on the Fanuc robot controller to easily transfer offline programs without any issues, as explained in the section comparing LS and TP programs.

Transfer a robot program We must follow these steps to load a program from a USB drive: 1. Plug the USB drive on the teach pendant 2. Select Menu ? File 3. Select Utilities ? Set device ? USB 4. Select DIR 5. Select the TP or LS program file from the USB disk (BALLBARTEST.TP for example) This will automatically save the file to the FR memory of the controller 6. Select the program in the FR memory and select LOAD (screen button) Important: The ASCII Upload option is required for offline programming. This allows loading LS files directly to the controller. Alternatively, LS programs (ASCII files) can be compiled to TP programs (binary files) from the PC using Fanuc’s WinOLPC tools (MakeTP). If the speed is not set in the program it must be set manually. In that case: Select: DATA. Abort all 2. Select SELECT (teach pendant button) 3. Select the program (BALLBARTEST for example) 4. Press and hold the Deadman switch 5. Select RESET. All alarms should disappear. 6. Select and hold the SHIFT button of the teach 7. Select FWD (button on the teach pendant) Retrieve robot joints Follow these steps on the Fanuc teach pendant to retrieve the robot joints of your real robot. 1. Select POSN (button in the teach pendant) to see the current robot position 2. Select JNT on the screen or select COORD (button in the teach pendant) to select the joins mode. Retrieve the Robot Tool (TCP) Robot tools are stored as registers on Fanuc controllers (UTOOL). These steps allow you to create or modify robot tools (TCP, also known as UTOOL in Fanuc robot programming). 1. Select MENU ? Setup ? Frames 2. Select a tool using the arrows or the touch screen and select ENTER. 3. Modify the X,Y,Z,W,P,R values as required. Note: A program generated from RoboDK may set up the tool on the robot controller as you defined it in your RoboDK simulation. This behavior depends on what post processor you use and how you generate programs in RoboDK.

Setup Fanuc’s FTP Server Fanuc’s FTP server is enabled on recent Fanuc controllers by default. You can validate FTP credentials in the menu: 1. Setup?Host Comm 2. Select FTP If you see an anonymous username you may be able to connect through FTP without credentials. Alternatively, you can provide the path of the folder you are willing to access (for example:md). Otherwise, the controller will not list available folders. RoboDK driver for Fanuc Robot drivers provide an alternative to Offline Programming (where a program is generated, then, transferred to the robot and executed). With robot drivers, it is possible to run a simulation directly on the robot (Online Programming). More information available in the Robot Drivers section. A connection between RoboDK and the Fanuc robot can be established to move the robot automatically from a connected PC using RoboDK. This allows using the RoboDK Run on robot option for online programming and debugging. Important: The driver will use and override UTOOL 1 and UFRAME 1 registers. Registers 50, 51 and 52 and Position Registers 50, 51 and 52 are also used by the driver. All values in these registers will be overridden when the driver program is started. It is recommended to perform a backup before running the driver. Note: This mode of operation requires the Fanuc software option User Socket Messaging and PC Interface (the Karel option is also required to run PC files). Alternatively, it is also possible to use the PCDK option (make sure to select the FanucPCDK driver). If the program failed to run it is likely that you don’t have a robot option ( PC Interface or User Socket Messaging ) or you did not take the correct version of the PC program. 7. In RoboDK, provide the IP of the robot and select Connect to connect to the robot. Note: The port 2000 is used as default for both RoboDK and Fanuc. The port in section 1.

c can be different but the same port needs to be specified in RoboDK (“Robot port” section of the robot connection menu). Important: If the program does not show as running it means that a controller option is missing. In this case you must contact Fanuc to activate the User Socket Messaging option. Program Compilation (LS vs. TP) This section explains the difference between Fanuc LS and TP program files and how to automatically compile programs for Fanuc robots using RoboDK. A binary file is required to run robot programs on Fanuc robots (TP, also known as TPP). Programs for Fanuc robots generated by offline programming software (such as RoboDK) are in LS format (ASCII, text-readable and not compiled). There are two options to convert LS robot programs to TP programs: 1. Have the ASCII Upload software option on the robot. This option might be available on the robot already. The best way to check if this option is available is to provide an LS file to the robot and it should be automatically converted to a TP file. For example, place the file on the FR disk and select LOAD on the teach pendant. 2. Compile the program using the WinOLPC tools from Roboguide. In this case, the same computer where RoboDK is installed can compile the LS program automatically using the “maketp.exe” compiler tool from Fanuc. With RoboDK it is possible to obtain TP programs automatically right after an LS program is generated. RoboDK manages the WinOLPC tools automatically to be able to compile LS ASCII programs into TP binary programs. These are the steps that RoboDK follows right after an LS program is generated (using the default post processor): 1. The following screen appears by default after generating an LS program. It is possible to select the robot from a Roboguide “Work Cell” or just not to compile the program. If “No” is selected, the last “robot.ini” file will be used. If the “robot.ini” file does not exist, RoboDK will automatically run “setrobot.exe” to generate the “robot.

ini” file. 2. The executable maketp.exe is used to generate the TP program. 3. If the TP file or the robot.ini file can’t be generated, a Robot not set message such as the following will appear. It could also be that Roboguide has not properly been installed or that a “Work Cell” was never generated in Roboguide. To select a different post processor, for example, to support Fanuc RJ3 controllers: 1. Right click the robot 2. Select Select Post Processor 3. Select Fanuc RJ3 4. Regenerate the program (F6) Tip: More information available in the Post Processors section. As shown in the following image. This allows generating the robot.ini file in the same folder where the executable maketp.exe remains. This file is required to compile the programs. It is also important to save the Roboguide Work Cell on a folder readable by all users that must compile programs. Once the files have been placed on the right folder, it is possible to test the compilation by selecting Set Fanuc Robot, as shown in the following image (menu: Tools. Options ? Program ). Note: It is preferable to respect the compilator version but not mandatory. The compilation should work if the virtual WorkCell robot and the real robot have the same number of axes and same configuration in terms of options. Once you have a robot.ini file it is possible to use maketp.exe without the need of using setrobot.exe every time you change your robot. It is possible to define in this window what registers will be used by the default post processor to generate Fanuc robot programs. Alternatively, custom post processors can be used to better customize all these operations. RoboDK post processors for Fanuc robots support using 6 axis robots synchronized with external axes such as turntables or linear rails. Note: More information about customizing post processors is available in the Post Processors section.

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