Академический Документы
Профессиональный Документы
Культура Документы
WARNING
This equipment generates, uses, and can radiate radio
frequency energy and if not installed and used in
accordance with the instruction manual, may cause
interference to radio communications. As temporarily
permitted by regulation, it has not been tested for
compliance with the limits for Class A computing devices
pursuant to subpart J of Part 15 of FCC Rules, which are
designed to provide reasonable protection against such
interference. Operation of the equipment in a residential
area is likely to cause interference, in which case the user,
at his own expense, will be required to take whatever
measure may be required to correct the interference.
FANUC Robotics reserves all proprietary rights, including but not limited
to trademark and trade name rights, in the following names:
AccuFlowT
ARC MateT
ARC Mate Sr.T
IntelliTrakT
LaserToolT
MotionPartsT
PaintWorks IIT
PalletMateT
SureWeldT
TurboMoveT
MARF2HD4307701E Preface vii
Purpose of this Manual This manual describes FANUC Robotics SYSTEM R-J2 Software
Installation:
D Package contents
D Requirements
D Procedures
D Troubleshooting and error recovery
Required Manuals You must have access to these manuals to use all the information in this
manual effectively.
Related Manuals The entire manual set for this product includes manuals you can use when
performing other tasks in the system. You do not need these manuals to
use this manual; they provide information that you can use in other areas
of the robot, controller, and application system.
How to Use this Use this table to locate specific information in the manual.
Manual
If you want to Refer to
Conventions Used in This manual includes information essential to the safety of personnel,
this Manual equipment, software, and data. This information is indicated by headings
and boxes in the text.
WARNING
Information appearing under WARNING concerns the
protection of personnel. It is boxed and in bold type to set
it apart from other text.
CAUTION
Information appearing under CAUTION concerns the protection
of equipment, software, and data. It is boxed to set it apart
from other text.
FANUC Robotics is not and does not represent itself as an expert in safety
systems, safety equipment, or the specific safety aspects of your company
and/or its 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 workplace.
The appropriate level of safety for your application and installation can
best be determined by safety system professionals. FANUC Robotics
therefore, recommends that each customer consult with such professionals
in order to provide a workplace that allows for the safe application, use,
and operation of FANUC Robotic systems.
Additionally, as the owner, employer, or user of a robotic system, it is your
responsibility to arrange for the training of the operator of a robot system
to recognize and respond to known hazards associated with your robotic
system and to be aware of the recommended operating procedures for your
particular application and robot installation.
FANUC 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 and become familiar with
the proper operation of the system. Persons responsible for programming
the system-including the design, implementation, and debugging of
application programs-must be familiar with the recommended
programming procedures for your application and robot installation.
The following guidelines are provided to emphasize the importance of
safety in the workplace.
xvi SAFETY MARF2HD4307701E
CONSIDERING Safety is essential whenever robots are used. Keep in mind the following
factors with regard to safety:
SAFETY FOR YOUR
D The safety of people and equipment
ROBOT D Use of safety enhancing devices
INSTALLATION D Techniques for safe teaching and manual operation of the robot(s)
D Techniques for safe automatic operation of the robot(s)
D Regular scheduled inspection of the robot and workcell
D Proper maintenance of the robot
Keeping People and The safety of people is always of primary importance in any
Equipment Safe situation. However, equipment must be kept safe, too. When
prioritizing how to apply safety to your robotic system, consider
D People
D External devices
D Robot(s)
D Tooling
D Workpiece
Using Safety Always give appropriate attention to the work area that surrounds the
Enhancing Devices robot. The safety of the work area can be enhanced by the installation of
some or all of the following devices:
D Safety fences, barriers, or chains
D Light curtains
D Interlocks
D Pressure mats
D Floor markings
D Warning lights
D Mechanical stops
D EMERGENCY STOP buttons
D DEADMAN switches
Setting Up a Safe A safe workcell is essential to protect people and equipment. Observe the
Workcell following guidelines to ensure that the workcell is set up safely. These
suggestions are intended to supplement and not replace existing federal,
state, and local laws, regulations, and guidelines that pertain to safety.
D Arrange the workcell so the operator faces the workcell and can see
what is going on inside the cell.
MARF2HD4307701E SAFETY xvii
D Clearly identify the work envelope of each robot in the system with
floor markings, signs, and special barriers. The work envelope is the
area defined by the maximum motion range of the robot, including any
tooling attached to the wrist flange that extend this range.
D Install special guarding that prevents the operator from reaching into
restricted areas of the work envelope.
D Use interlocks.
D Eliminate pinch points. Pinch points are areas where personnel could
get trapped between a moving robot and other equipment.
Staying Safe While Advise all personnel who must teach the robot or otherwise manually
Teaching or Manually operate the robot to observe the following rules:
Operating the Robot
D Know whether or not you are using an intrinsically safe teach pendant
if you are working in a hazardous environment.
D Before teaching, visually inspect the robot and work envelope to make
sure that no potentially hazardous conditions exist. The work
envelope is the area defined by the maximum motion range of the
robot. These include tooling attached to the wrist flange that extends
this range.
D The area near the robot must be clean and free of oil, water, or debris.
Immediately report unsafe working conditions to the supervisor or
safety department.
D Know the path that can be used to escape from a moving robot; make
sure the escape path is never blocked.
D Isolate the robot from all remote control signals that can cause motion
while data is being taught.
D Test any program being run for the first time in the following manner:
WARNING
Stay outside the robot work envelope whenever a program
is being run. Failure to do so can result in injury.
- Using a low motion speed, single step the program for at least one
full cycle.
- Using a low motion speed, test run the program continuously for
at least one full cycle.
D Make sure all personnel are outside the work envelope before running
production.
MARF2HD4307701E SAFETY xix
Staying Safe During Advise all personnel who operate the robot during production to observe
Production Operation the following rules:
D Know the entire workcell area. The workcell includes the robot and its
work envelope, plus the area occupied by all external devices and
other equipment with which the robot interacts.
D Make sure all personnel are outside the work envelope before
operating the robot.
D Know the location and status of all switches, sensors, and control
signals that could cause the robot to move.
D Know where the EMERGENCY STOP buttons are located on both the
robot control and external control devices. Be prepared to press these
buttons in an emergency.
D Never try to stop the robot, or break its motion, with your body. The
only way to stop robot motion immediately is to press an
EMERGENCY STOP button located on the controller panel, teach
pendant, or emergency stop stations around the workcell.
D Lock out and tag out the power source at the controller according to
the policies of your plant.
D Turn off the compressed air source and relieve the air pressure.
Staying Safe During When performing maintenance on your robot system, observe the
Maintenance following rules:
D Test the teach pendant for proper operation before entering the work
envelope.
D If it is necessary for you to enter the robot work envelope while power
is turned on, you must be sure that you are in control of the robot. Be
sure to take the teach pendant with you, press the DEADMAN switch,
and turn the teach pendant on. Be prepared to release the DEADMAN
switch to turn off servo power to the robot immediately.
WARNING
Lethal voltage is present in the controller WHENEVER IT IS
CONNECTED to a power source. Be extremely careful to
avoid electrical shock.
D Isolate the robot from all remote control signals. If maintenance must
be done when the power is on, make sure the person inside the work
envelope has sole control of the robot. The teach pendant must be
held by this person.
D Make sure personnel cannot get trapped between the moving robot and
other equipment. Know the path that can be used to escape from a
moving robot. Make sure the escape route is never blocked.
WARNING
Do not try to remove any mechanical component from the
robot before thoroughly reading and understanding the
procedures in the appropriate manual. Doing so can result
in serious personal injury and component destruction.
KEEPING MACHINE Certain programming and mechanical measures are useful in keeping the
machine tools and other external devices safe. These measures are
TOOLS AND outlined below.
EXTERNAL
DEVICES SAFE
Programming Safety Implement the following programming safety measures to prevent damage
Precautions to machine tools and other external devices.
D Back-check limit switches in the workcell to make sure they do not
fail.
D Implement ‘‘failure routines” in programs that will provide appropriate
robot actions if an external device or another robot in the workcell
fails.
D Use handshaking protocol to synchronize robot and external device
operations.
D Program the robot to check the condition of all external devices during
an operating cycle.
Mechanical Safety Implement the following mechanical safety measures to prevent damage to
Precautions machine tools and other external devices.
D Make sure the workcell is clean and free of oil, water, and debris.
D Use software limits, limit switches, and mechanical hardstops to
prevent undesired movement of the robot into the work area of
machine tools and external devices.
xxii SAFETY MARF2HD4307701E
KEEPING THE Observe the following operating and programming guidelines to prevent
damage to the robot.
ROBOT SAFE
Operating Safety The following measures are designed to prevent damage to the robot
Precautions during operation.
D Use a low override speed to increase your control over the robot when
jogging the robot.
D Visualize the movement the robot will make before you press the jog
keys on the teach pendant.
D Make sure the work envelope is clean and free of oil, water, or debris.
Programming Safety The following safety measures are designed to prevent damage to the robot
Precautions during programming:
D Make sure that the program ends with the robot near or at the home
position.
NOTE Any deviation from the methods and safety practices described in
this manual must conform to the approved standards of your company. If
you have questions, see your supervisor.
WARNING
An EMERGENCY STOP will occur if the DEADMAN switch
is released on a bypassed robot.
WARNING
Observe all safety rules and guidelines to avoid injury.
MARF2HD4307701E Table of Contents ix
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
Chapter 1
OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--1
1.1 INSTALLATION TASKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--1
1.2 PACKAGE CONTENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--2
1.2.1 Software Disks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--2
1.2.2 System EPROM Chips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--3
1.3 INSTALLATION REQUIREMENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--4
1.3.1 Teach Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--4
1.3.2 Storage and Load Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--5
1.3.3 Controller Hardware Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--7
Chapter 2
SETTING UP CONTROLLER MEMORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--1
2.1 IDENTIFYING KINDS OF MEMORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--2
2.1.1 Controller Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--2
2.1.2 Flash ROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--2
2.1.3 C-MOS RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--3
2.1.4 D-RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--3
2.2 CHECKING CONTROLLER MEMORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--4
2.3 INSTALLING FLASH ROM, C-MOS RAM AND D-RAM CHIPS . . . . . . . . . . . . . . . . . . . . 2--5
Chapter 3
EPROM INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--1
3.1 INSTALLING BOOTROM EPROM CHIPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--2
3.2 INSTALLING TEACH PENDANT EPROM CHIPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--9
Chapter 4
SOFTWARE INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--1
4.1 SOFTWARE INSTALLATION THEORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--2
4.2 SETTING UP LOAD DEVICES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--5
4.2.1 Using a PS-100 Disk Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--5
4.2.2 Using a Memory Card Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--8
4.2.3 Using KFLOPPY PS-100 Floppy Disk Drive Emulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--16
4.3 INSTALLING HANDLINGTOOL APPLICATION SOFTWARE . . . . . . . . . . . . . . . . . . . . . . 4--17
4.4 INSTALLING HANDLINGTOOL OPTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--26
4.5 QUICK/FULL PASSWORD SETUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--35
4.6 MODIFYING AND INSTALLING ADDITIONAL EXTENDED AXES . . . . . . . . . . . . . . . . . 4--38
4.7 INSTALLING MOTION GROUP SOFTWARE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--53
4.8 INSTALLING SOFTWARE UPDATES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--67
x TABLE OF CONTENTS MARF2HD4307701E
Chapter 5
MASTERING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5--1
5.1 RESETTING ALARMS AND PREPARING FOR MASTERING . . . . . . . . . . . . . . . . . . . . . . 5--3
5.2 MASTERING TO A FIXTURE (FIXTURE POSITION MASTER) . . . . . . . . . . . . . . . . . . . . . 5--6
5.3 ZERO DEGREE MASTERING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5--8
5.4 SINGLE AXIS MASTERING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5--10
5.5 QUICK MASTERING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5--13
Chapter 6
TROUBLESHOOTING AND ERROR MESSAGES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6--1
6.1 TROUBLESHOOTING USING SYMPTOMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6--2
6.2 TROUBLESHOOTING USING ERROR MESSAGES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6--4
6.3 CHECKING MEMORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6--5
Appendix A
BOOTROM OPERATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A--1
A.1 STARTUP METHODS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A--2
A.1.1 INIT Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A--2
A.1.2 Controlled Start (START CTRL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A--3
A.1.3 Controlled 2 Start (START CTRL2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A--7
A.1.4 Cold Start (START COLD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A--9
A.1.5 Semi Hot Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A--11
A.1.6 Re-Init Start (CMOSINIT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A--12
A.2 BOOTROM UTILITIES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A--14
A.2.1 Extended Boot Monitor (EMON>) Utilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A--17
A.2.2 Diagnostic Utilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A--18
A.2.3 INSTALL Utilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A--20
A.2.4 Flash ROM Utilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A--23
A.2.5 Memory Card Utilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A--24
Appendix B
CONFIGURATION TABLES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B--1
MARF2HD4307701E TABLE OF CONTENTS xi
Appendix C
BACKING UP AND RESTORING FILES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C--1
C.1 SETTING THE DEFAULT DEVICE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C--2
C.2 BACKING UP FILES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C--4
C.3 LOADING OR RESTORING FILES FROM DISK TO CONTROLLER MEMORY . . . . . . . C--8
C.4 CONTROLLER BACKUP AND RESTORE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C--14
C.4.1 Backing up a Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C--14
C.4.2 Restoring a Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C--20
Appendix D
COPYING SOFTWARE TO A PC OR MEMORY CARD . . . . . . . . . . . . . . . . . . . . . . . . . . . . D--1
D.1 COPYING HANDLINGTOOL SOFTWARE TO A PERSONAL COMPUTER . . . . . . . . . . . D--2
D.2 COPYING HANDLINGTOOL SOFTWARE TO MEMORY CARD . . . . . . . . . . . . . . . . . . . D--3
Appendix E
DISPLAYING VERSION INFORMATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E--1
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1
List of Procedures
Procedure 2--1 Verifying Controller Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--4
Procedure 2--2 Installing a Flash ROM, C-MOS RAM or D-RAM Module . . . . . . . . . . . . . . . . . 2--5
Procedure 3--1 Checking the BootROM Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--2
Procedure 3--2 Installing New BootROM EPROM Chips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--3
Procedure 3--3 Checking Teach Pendant EPROM Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--9
Procedure 3--4 Installing A New Teach Pendant EPROM Chip . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--10
Procedure 4--1 Connecting a PS-100 Disk Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--7
Procedure 4--2 Using the Memory Card Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--10
Procedure 4--3 Using KFLOPPY to Install Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--16
Procedure 4--4 Installing HandlingTool Software and Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . 4--17
Procedure 4--5 Installing Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--27
Procedure 4--6 Customizing the Menu Display using Quick/Full Password . . . . . . . . . . . . . . . . . 4--35
Procedure 4--7 Modifying Extended Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--38
Procedure 4--8 Using the Extended Axis Setting Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--40
Procedure 4--9 Installing Motion Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--53
Procedure 4--10 Installing Software Updates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--67
Procedure 5--1 Preparing the Robot for Mastering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5--3
Procedure 5--2 Mastering to a Fixture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5--6
Procedure 5--3 Mastering to Zero Degrees (for all robots except S-420iR) . . . . . . . . . . . . . . . . . . 5--8
Procedure 5--4 Mastering a Single Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5--10
Procedure 5--5 Recording the Quick Master Reference Position . . . . . . . . . . . . . . . . . . . . . . . . . . 5--14
Procedure 5--6 Quick Mastering the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5--16
xii TABLE OF CONTENTS MARF2HD4307701E
List of Figures
Figure 1--1. Disk Label Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--2
Figure 1--2. Standard Teach Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--4
Figure 1--3. PS-100 Connected to the i-size Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--5
Figure 1--4. PS-100 Connected to the B-size Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--5
Figure 1--5. Memory Card Interface and Memory Card Connected to the i-size Controller . . . . . . 1--6
Figure 1--6. Memory Card Interface and Memory Card Connected to the B-size Controller . . . . . 1--7
Figure 2--1. R-J2 Controller Disconnect Handle and Latch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--6
Figure 2--2. MAIN CPU Board Location in the i-size Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 2--6
Figure 2--3. MAIN CPU Board Location in the B-size Controller . . . . . . . . . . . . . . . . . . . . . . . . . 2--7
Figure 2--4. Removing the MAIN CPU Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--8
Figure 2--5. Main CPU PC board module locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--9
Figure 2--6. Installing the Flash ROM, C-MOS RAM or D-RAM Module . . . . . . . . . . . . . . . . . . 2--10
Figure 3--1. R-J2 Controller Disconnect Handle and Latch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--4
Figure 3--2. MAIN CPU Board Location in the i-size Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 3--5
Figure 3--3. MAIN CPU Board Location in the B-size Controller . . . . . . . . . . . . . . . . . . . . . . . . . 3--5
Figure 3--4. Removing the MAIN CPU Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--6
Figure 3--5. Main CPU PC Board Module Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--7
Figure 3--6. Locating the BootROM Chips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--8
Figure 3--7. Removing the Back Cover of the Teach Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--11
MARF2HD4307701E TABLE OF CONTENTS xiii
1--1
Installation Requirements In order to install a new SYSTEM R-J2 Application Software Package,
you need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--4
D A teach pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--4
D A storage/load device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--5
D Controller hardware tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1--7
1.1 The first time you install your SYSTEM R-J2 software, and whenever you
update your controller with components in this package, you must do the
INSTALLATION TASKS
following:
Are you
Verify controller replacing,
upgrading or NO Verify EPROM chips Fill out Install all software
memory. Adjust if and install if configuration for your system Master the robot
necessary updating necessary tables
controller
See Chapter 2 software? See Chapter 3 See Appendix B See Chapter 4 See Chapter 5
YES
Back up all
system files You must satisfy controller memory and EPROM
See Appendix C Troubleshoot requirements before you can install the SYSTEM
R-J2 software. If you perform all setup and
installation procedures and still have a problem
See Chapter 6 with the installation, refer to Chapter 6 for
information to help you solve the problem.
1. OVERVIEW
MARF2HD4307701E
1--2
1.2.1 Your R-J2 software installation package contains the disk set that can be
used for your robot.
Software Disks
The software package delivered to you is delivered under
the terms and conditions of the FANUC Robotics North
America, INC. Software License Agreement (“SLA”). A
copy of the SLA was previously delivered to you. Your use
of this software constitutes your consent to the applicability
of the terms and conditions of the SLA to such use.
MARF2HD4307701E 1--3
1.2.2 The following system EPROM chips are already installed on your
System EPROM Chips controller:
D Bootstrap ROM (BootROM) EPROM Chip -- One EPROM chip
that is installed on the MAIN CPU board inside the controller.
D Teach Pendant EPROM Chip -- One EPROM chip that is installed
on the teach pendant PCB inside the teach pendant.
You must check the version of EPROM chip in your controller to be sure
that it is compatible with the version of software you are loading. Refer to
Chapter 3 for information on checking EPROM chips.
1. OVERVIEW
1--4 MARF2HD4307701E
1.3.1 The FANUC Robotics teach pendant is an operator interface device that
Teach Pendant displays the SYSTEM R-J2 software. The teach pendant is connected to
the controller via a cable that plugs into either the MAIN CPU board
inside the controller or, if it is a disconnectable teach pendant, the standard
operator panel.
The teach pendant is the device you use to load software.
The teach pendant provides
Indicators Screen
ON/OFF EMERGENCY
Switch STOP
BUTTON
1. OVERVIEW
MARF2HD4307701E 1--5
1.3.2 To perform a software installation, you must have one of the following
Storage and Load devices available:
Devices D FANUC Robotics PS-100 disk drive unit
D Memory card interface
D PC emulator
PS-100 Disk Drive The FANUC Robotics PS-100 disk drive, shown in Figure 1--4, is used
with 720 KB double-density, 3½ inch disks. The PS-100 connects to the
P2 port (FLPY:). The P2 port is an RS-232-C interface. Refer to
Section 4.2.1 for more information.
Figure 1--3. PS-100 Connected to the i-size Controller
Operator box
(option) R-J2
Teach Controller
pendant
PS-100
Disk
Drive
Teach R-J2
pendant Controller
PS-100
Disk Drive
PS-100
Disk
Drive
1. OVERVIEW
1--6 MARF2HD4307701E
CAUTION
Be sure to insert the memory card into the interface as shown
in Figure 1--5. Otherwise, you could damage the memory card
or the memory card interface.
Figure 1--5. Memory Card Interface and Memory Card Connected to the i-size
Controller
Memory Card
Power Supply Unit
1. OVERVIEW
MARF2HD4307701E 1--7
Figure 1--6. Memory Card Interface and Memory Card Connected to the B-size
Controller
KFLOPPY Disk Drive You can use the KFLOPPY disk drive emulator to install software by
Emulator loading all the files from each FANUC Robotics-supplied disk to your PC.
Refer to Section 4.2.3 for more information.
2--1
Checking Controller Checking controller memory allows you to determine the amount of
Memory Flash ROM, D-RAM and C-MOS RAM memory available in your system. . . . . . 2--4
Installing FLASH ROM, Flash ROM, C-MOS RAM and D-RAM EPROM chips are installed on
C-MOS RAM and D-RAM the MAIN CPU board inside the controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2--5
Chips
2. SETTING UP CONTROLLER MEMORY
2--2 MARF2HD4307701E
2.1.1 Controller memory consists of Flash Read Only Memory (Flash ROM),
Controller Memory Complementary Metal Oxide Semiconductor Random Access Memory
(C-MOS RAM), and Dynamic Random Access Memory (D-RAM).
C-MOS RAM memory stores some robot system software, some
application software, and some user programs. Flash ROM stores the
majority of the robot system software such as core, and application
software.
Most of the SYSTEM R-J2 system software executes from D-RAM.
When the controller is turned on, the system software is loaded from Flash
ROM to D-RAM and then is executed. Teach pendant programs are stored
and are executed from C-MOS RAM.
MARF2HD4307701E 2--3
2.1.4 D-RAM is volatile, but it is loaded from Flash ROM when the controller is
D-RAM turned on. D-RAM also has three parts: a SYSTEM memory pool, an
IMAGE memory pool, and a TEMP memory pool. The SYSTEM
memory pool contains the software that executes all system software. The
IMAGE memory pool contains all HandlingTool programs and software
options. The TEMP memory pool contains the read/write scratch space for
the system.
CAUTION
Data in C-MOS RAM can be lost if the battery is removed or
loses its charge, or if new core software is loaded on the
controller. The C-MOS RAM memory will last for 30 minutes
without the battery when power is off. To prevent loss of data,
back up or copy all files for permanent storage.
CAUTION
To transport or store the contents of the MAIN CPU, you can
plug the battery into the VBAT connector in the MAIN CPU.
However, do not plug it into the RESET connector; otherwise
you could damage equipment.
2. SETTING UP CONTROLLER MEMORY
2--4 MARF2HD4307701E
2.2 Checking controller memory allows you to determine the amount of Flash
ROM, D-RAM and C-MOS RAM memory available in your system. Use
CHECKING
Procedure 2--1 to verify the amount of controller memory you have.
CONTROLLER
MEMORY
Procedure 2--1 Verifying Controller Memory
Slot ID FC OP
0 9B 0 0 R-J2 Main CPU
1 6A 0 0 AB/Ether I/F Optional
D 6A 0 0 MCARD I/F Optional
BMON>
COLD CTRL INIT NOLOAD START >
CAUTION
The minimum controller memory configuration required to
install HandlingTool software is shown in Table 2--1. If your
controller has less than this requirement of F-ROM, D-RAM,
and C-MOS RAM, you must contact your FANUC Robotics
representative for information on increasing the memory in your
controller.
MARF2HD4307701E 2--5
2.3 A maximum of 1 (one) Flash ROM module can be used in the R-J2
controller. A maximum of 1 (one) C-MOS RAM module can be used in
INSTALLING FLASH
the R-J2 controller. A maximum of 1 (one) D-RAM module can be used
ROM, C-MOS RAM in the R-J2 controller. Flash ROM, C-MOS RAM and D-RAM are
AND D-RAM CHIPS installed on the MAIN CPU board inside the controller. Use
Procedure 2--2 to remove or add a Flash ROM, C-MOS RAM or D-RAM
module.
WARNING
Disconnect electrical power from the controller before you
remove or replace components, or you could be injured
seriously.
CAUTION
Use anti-static devices and observe anti-static safety
precautions when handling any electronic material, otherwise
you could damage the equipment.
H You are wearing a wrist strap to prevent static discharge to the C-MOS
circuits.
Step 1 Disconnect electrical power from the controller.
D If your controller is equipped with a disconnect handle at the upper
right front corner, pull it to the OFF (down) position.
OR
D If your controller is equipped with a circuit breaker handle, turn
the handle to the OFF (open) position.
See Figure 2--1.
WARNING
When the disconnect or circuit breaker handle is OFF,
power is still present inside the controller. You must
unplug the controller from the electrical outlet to remove
all power from the controller.
2. SETTING UP CONTROLLER MEMORY
MARF2HD4307701E
2--6
Circuit breaker
i-size controller
Locked
OFF
ON
ON Unlocked
OFF
Circuit breaker
B-Size controller
3 Locate the MAIN CPU board inside the controller. See Figure 2--2
and Figure 2--3.
Figure 2--2. MAIN CPU Board Location in the i-size Controller
2. SETTING UP CONTROLLER MEMORY
MARF2HD4307701E 2--7
MARF2HD4307701E 2--9
LED display
Bat
VBAT
Line
JF21
Flash ROM module
Ex-op
JM10
I/O - LK
(master)
JD1A
RS232/485
JD17
PDI/O
JRM3
CAUTION
This is RESET.
Connecting the battery
BootROM
Figure 2--6. Installing the Flash ROM, C-MOS RAM or D-RAM Module
Pin 1
Step a
CAUTION:
It is possible to
Fit the recess on
force the module in
the module over backward despite
the tab in the
module socket.
the keytab.
Step b
Step c
7 Insert the MAIN CPU board into the proper slot on the controller
backplane. See Figure 2--4.
8 Connect the cables to the MAIN CPU board.
9 Close the controller door and set the circuit breaker handle or the
power disconnect switch to the ON position.
This completes the installation of the new module.
Memory (EPROM) chips that contain special setup software. They are
located on the MAIN CPU board and on the teach pendant PCB. Your
controller must contain the EPROM chips that are compatible with the
version of system software you are installing.
Checking and installing You must have the teach pendant EPROM version that corresponds to the
the teach pendant version of software you are using. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3--9
EPROM chip
3. EPROM INSTALLATION
MARF2HD4307701E
3--2
3.1 FANUC Robotics requires you to have the version of BootROM EPROM
chip that is compatible with the version of R-J2 software you are using.
INSTALLING
The BootROM EPROM chip is located on the MAIN CPU board inside
BOOTROM EPROM the controller.
CHIPS
Use the procedures in this section when you
D Check the version of BootROM EPROM you have.
D Install Application software, and BootROMs for the first time.
D Update Application software and must check the current BootROM
version.
Use Procedure 3--1 to check the BootROM version you have. Use
Procedure 3--2 to install a new BootROM EPROM.
WARNING
Disconnect electrical power from the controller before you
remove or replace components, or you could be injured
seriously.
CAUTION
Use anti-static devices and observe anti-static safety
precautions when handling any electronic material, otherwise
you could damage the equipment.
MARF2HD4307701E 3--3
3 Release these buttons. You will see a screen similar to the following.
Slot ID FC OP
0 9B 0 0 R-J2 Main CPU
1 6A 0 0 AB/Ether I/F optional
D 6A 0 0 MCARD I/F optional
BMON>
COLD CTRL INIT NOLOAD START >
4 Compare the BootROM version with the version required for your
software.
NOTE Refer to the readme.txt ASCII file on the AP1 disk to determine
the BootROM version that is compatible with the version of software you
have.
D If the BootROM version is correct for the version of software
you have, DO NOT install new BootROM EPROMs.
D If the BootROM version is NOT correct for the version of
software you have, you must install new BootROMs. Use
Procedure 3--2 to install a new BootROM EPROM.
WARNING
Disconnect electrical power from the controller before you
remove or replace components, or you could be injured
seriously.
CAUTION
Data in C-MOS RAM will be lost if the main CPU board is
removed from the backplane without a battery back-up. To
prevent loss of data, back up or copy all files for permanent
storage.
3. EPROM INSTALLATION
MARF2HD4307701E
3--4
CAUTION
Use anti-static devices and observe anti-static safety
precautions when handling any electronic material, otherwise
you could damage the equipment.
Condition H You are wearing a wrist strap to prevent static discharge to the C-MOS
circuits.
Step 1 Turn off the controller.
2 Disconnect electrical power from the controller.
D If your controller is equipped with a disconnect handle at the upper
right front corner, pull it to the OFF (down) position.
OR
D If your controller is equipped with a circuit breaker handle, turn
the handle to the OFF (open) position.
WARNING
When the disconnect or circuit breaker handle is OFF,
power is still present inside the controller. You must
unplug the controller from the electrical outlet to remove
all power from the controller.
3 Use a flat-tip screwdriver to turn the latch on the front door of the
controller to the UNLOCKED position. See Figure 3--1.
Circuit breaker
i-size controller
Locked
OFF
ON
ON Unlocked
OFF
Circuit breaker
B-size controller
3. EPROM INSTALLATION
MARF2HD4307701E 3--5
4 Locate the MAIN CPU Board. See Figure 3--2 and Figure 3--3.
The MAIN CPU Board is on the backplane of the controller, to the left
of the power supply unit, and the vision engine PCBs (if the vision
option has been installed).
3. EPROM INSTALLATION
MARF2HD4307701E
3--6
MARF2HD4307701E 3--7
7 Find the location of the BootROM chips. See Figure 3--5 and
Figure 3--6.
LED display
Bat
VBAT
Line
JF21
Flash ROM module
Ex-op
JM10
I/O - LK
(master)
JD1B
RS232/485
JD17
PDI/O
JRM3
Boot ROM Chip CAUTION
This is RESET.
Connecting the battery
Boot ROM
BootRom Chip
NOTE Refer to the readme.txt ASCII file on the AP1 disk to determine
the BootROM version that is compatible with the version of software you
have.
CAUTION
The pins on the BootROM EPROM chip are fragile. When
installing an EPROM chip, do not bend any of the pins;
otherwise, you will not be able to connect the EPROM chip
properly.
MARF2HD4307701E 3--9
3.2 You must have the teach pendant EPROM version that corresponds to the
version of software you are using. Procedure 3--3 describes how to check
INSTALLING TEACH
the current EPROM version. Procedure 3--4 describes how to install a
PENDANT EPROM new teach pendant EPROM chip.
CHIPS
Use the procedures in this section when you
D Check the version of teach pendant EPROM you have.
D Install software and a teach pendant EPROM for the first time.
D Update software and check the current version of teach pendant EPROM.
Use Procedure 3--3 to check the teach pendant EPROM version you have.
Use Procedure 3--4 to install a new teach pendant EPROM.
NOTE Refer to the readme.txt ASCII file on the AP1 disk to determine
the BootROM version that is compatible with the version of software you
have.
6 Compare the EPROM version with the one required for your software.
D If the teach pendant EPROM version is correct for the version of
software you have, do not install a new teach pendant EPROM.
D If the teach pendant EPROM version is NOT correct for the
version of software you have, you must install a new teach
pendant EPROM. Use Procedure 3--4 to install a new teach
pendant EPROM.
WARNING
Disconnect electrical power from the controller before you
remove or replace components, or you could be injured
seriously.
CAUTION
Use anti-static devices and observe anti-static safety
precautions when handling any electronic material, otherwise
you could damage the equipment.
Condition H You are wearing a wrist wrap to prevent static discharge to the C-MOS
circuits.
Step 1 Turn off the controller.
2 Hold the teach pendant so the back of the teach pendant is facing you.
See Figure 3--7.
3 Using a cross-tip screwdriver, remove the seven screws on the back
cover of the teach pendant. See Figure 3--7.
NOTE These screws are two different lengths. Mark the holes that
require the shorter screws for later reassembly.
CAUTION
Do not remove or disconnect any cables connected inside the
teach pendant or damage to equipment could occur.
3. EPROM INSTALLATION
MARF2HD4307701E 3--11
4 Find the location of the teach pendant EPROM. See Figure 3--8.
EPROM
Chip
NOTE Refer to the readme.txt ASCII file on the AP1 disk to determine
the EPROM version that is compatible with the version of software you
have.
3. EPROM INSTALLATION
MARF2HD4307701E
3--12
See Figure 3--9 for a description of how the EPROMs are labeled.
CAUTION
The pins on the teach pendant EPROM chip are fragile. When
installing an EPROM chip, do not bend any of the pins,
otherwise, you will not be able to connect the EPROM chip
properly.
4--1
Installing Software The software allows you to run your application using your robot
and controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--5
Installing Options Software options are additional features that can be used with your
application software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--26
Quick/Full Password After the HandlingTool software is installed, you can change the QUICK/FULL
Setup menu display for the Operator-level user when you use the Password
option.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--35
Installing Extended Axes Extended axis software must be installed only in systems that use
extended axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--38
Installing Motion Groups Motion groups provide the ability to have multiple devices on a single
controller, each with their own control program for independent operation.
Motion group software must be installed only in systems that use multiple
motion groups. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4--53
Installing Updates Software updates are disks that contain updated information to your
application and robot library software. Installing software updates is optional
and should only be performed if you have a disk labeled Update and it is
consistent with the software version you have loaded in the controller. . . . . . . . . 4--67
4. SOFTWARE INSTALLATION
4--2 MARF2HD4307701E
4.1 Installing software involves loading the software from floppy disks into
controller memory (Flash ROM, D-RAM and C-MOS RAM) and might
SOFTWARE
also involve loading the software from floppy disks into the local memory
INSTALLATION of optional hardware. You install software when you first install a new
THEORY system or when you update an existing system. You must install:
D Application software
D Robot libraries
When you have finished installing the application software and robot
libraries, you must set up information specific to your application.
You can also install:
D Software options
D Software updates
Installation Components The SYSTEM R-J2 software is modular. The kinds of components you
will be loading are:
D Application software disks
D Robot LIBRARY disks
D OPTION disks
D UPDATE disks
CAUTION
You must load the software components in the correct order,
otherwise your system will operate incorrectly.
Installation Disk Order The installation procedure begins with the first disk of the application (AP)
set. All of the decisions you must make during installation will occur at
the end of the installation procedure.
CAUTION
Your disk set includes all of the software options supported by
HandlingTool. Your disk set has been pre-authorized to install
only the options you have purchased. You will be unable to
install any options that have not been purchased and
authorized by FANUC Robotics.
To install an option that has not been pre-authorized for this
disk set, you must purchase the option and receive a Product
Authorization Code (PAC) from FANUC Robotics. Contact your
FANUC Robotics spare parts department for more information.
MARF2HD4307701E 4--3
CAUTION
A 3-volt battery pack supplies C-MOS RAM memory with power
when the controller power is off. Make sure the output voltage
of the battery pack is at least 2.5 volts, otherwise the
information stored in C-MOS RAM memory could be lost when
controller power is off.
CAUTION
Loading software erases all controller Flash ROM, D-RAM and
C-MOS RAM memory, as well as the RAM disk. Back up to
floppy disk all system variables, programs, and files stored on
the controller before you load software. Refer to Appendix C
for more information.
CAUTION
File access problems will result if your disk and disk drive are
misaligned. Try using a different disk drive. If file access
problems still occur, contact FANUC Robotics to receive a new
disk. Do not continue with the load procedure if file access
problems occur; otherwise, your controller memory will operate
incorrectly.
CAUTION
Do not turn off the controller during software installation. If the
controller is turned off, you will have to restart the entire
software installation procedure from the beginning.
4. SOFTWARE INSTALLATION
4--4 MARF2HD4307701E
Installation Procedure To install software, you must perform the following general steps:
Overview
Install or
Install Install Install Install
Set up the Quick/Full modify
HandlingTool software motion software
Load Software and Password extended
options groups updates
Device Firmware Setup axes
(optional) (optional) (optional)
(optional)
Section 4.2 Section 4.3 Section 4.4 Section 4.5 Section 4.4 Section 4.7 Section 4.8
and
Section 4.6
Refer to the readme.txt ASCII file on the AP1 disk for information on the
options available with the HandlingTool software.
Robot Configuration When you are installing software on a FANUC robot, you will be asked a
series of questions regarding your system configuration. Before you
begin the installation procedure, refer to Appendix B and fill in all the
information for your robot model.
Timetable If you are installing from floppy disks, the entire installation procedure
approximately 1½ hours will take approximately one and one-half hours. Be sure you have the
entire disk set and all other information you need (refer to Appendix B)
before you begin this installation process or you might have to begin the
process over from the beginning.
If you are installing from a memory card (not supported as a standard
product), the entire installation procedure will take approximately 10
minutes. Be sure you have the memory card and all other information
you need (refer to Appendix B) before you begin this installation process
or you might have to begin the process over from the beginning.
Troubleshooting If at any time during the installation procedure you make a mistake,
refer to the boxes within the procedure that are similar to the following.
MARF2HD4307701E 4--5
Install or
Install
Install Install Install
Set up the Quick/Full modify
HandlingTool software motion software
Load Password extended
Software and options groups updates
Device axes
Firmware (optional) Setup (optional) (optional)
(optional)
Section 4.2 Section 4.3 Section 4.4 Section 4.5 Section 4.4 Section 4.7 Section 4.8
and
Section 4.6
4.2.1 The PS-100 disk drive connects to the P2: port. The P2: port is an
Using a PS-100 Disk RS-232-C interface.
Drive Figure 4--1 and Figure 4--2 show the PS-100 attached to the controller.
Use Procedure 4--1 to connect a PS-100 disk drive to a controller or
operator box.
Figure 4--1. PS-100 Connected to an i-size Controller
PS-100
Disk Drive
To Controller
4. SOFTWARE INSTALLATION
4--6 MARF2HD4307701E
PS-100
Disk Drive
4. SOFTWARE INSTALLATION
MARF2HD4307701E 4--7
CAUTION
If devices such as a printer, or floppy disk drive are connected
to the controller, always turn on the robot first, then turn on
these devices; otherwise, equipment could be damaged.
Step 1 Connect the RS-232-C cable from the disk drive to the P2: port.
2 Turn on the controller.
3 Turn on the power switch located under the disk drive cover. The
LED next to the power switch will turn on.
NOTE If the LED does not turn on, the disk drive could be faulty.
Replace the disk drive and repeat Steps 1 through 3.
4 To insert a disk, hold the disk with the label toward you and insert it
into the disk drive.
5 To install software, go to Section 4.3.
4. SOFTWARE INSTALLATION
4--8 MARF2HD4307701E
4.2.2 The memory card interface is installed in either the ER-2 board if you have
Using a Memory Card one, or in the PSU B1 slot which connects to the R-J2 controller
backplane.
Interface
Figure 4--3 and Figure 4--4 show the memory card interface module on the
ER-2 board inserted into the controller. Use Procedure 4--2 to install a
memory card in a controller.
NOTE Loading from a memory card is not available as a standard
product.
CAUTION
Be sure that the version of Main CPU BootROM you have is
version 4.20 or later. If not, DO NOT load the optional A-B RIO
software from memory card while the memory card interface is
in the ER-2 printed circuit board. Otherwise, you could erase
all the information on the memory card and destroy the ER-2
board. Instead, if the BootROM version is not 4.20 or later,
load the A-B RIO software using the FANUC Robotics-supplied
disks.
Figure 4--3. Memory Card Interface and Memory Card Connected to the i-size
Controller
Memory Card
Power Supply Unit
4. SOFTWARE INSTALLATION
MARF2HD4307701E 4--9
Figure 4--4. Memory Card Interface and Memory Card Connected to the B-Size
Controller
NOTE If you do not have an ER-2 printed circuit board, you will need to
remove the plastic slot cover on the PSU B1 slot. Align the memory card
interface adapter in the left hand slot.
4. SOFTWARE INSTALLATION
4--10 MARF2HD4307701E
CAUTION
If devices such as a printer, or floppy disk drive are connected
to the controller, always turn on the robot first, then turn on
these devices; otherwise, equipment could be damaged.
WARNING
Disconnect electrical power from the controller before you
remove or replace components, or you could be injured
seriously.
CAUTION
Use anti-static devices and observe anti-static safety
precautions when handling any electronic material, otherwise
you could damage the equipment.
H You are wearing a wrist strap to prevent static discharge to the C-MOS
circuits.
Step 1 Disconnect electrical power from the controller.
D If your controller is equipped with a disconnect handle at the upper
right front corner, pull it to the OFF (down) position.
OR
D If your controller is equipped with a circuit breaker handle, turn
the handle to the OFF (open) position.
See Figure 4--5.
4. SOFTWARE INSTALLATION
MARF2HD4307701E 4--11
WARNING
When the disconnect or circuit breaker handle is OFF,
power is still present inside the controller. You must
unplug the controller from the electrical outlet to remove
all power from the controller.
Circuit breaker
i-size controller
Locked
OFF
ON ON
Unlocked
OFF
Circuit breaker
B-Size controller
Memory Card
Power Supply Unit
4. SOFTWARE INSTALLATION
4--12 MARF2HD4307701E
Memory Card
4. SOFTWARE INSTALLATION
MARF2HD4307701E 4--13
4 To insert a memory card, hold the memory card with the label facing
the left and the write protect switch on the top.
D If you have an ER-2 printed circuit board, see Figure 4--8.
Figure 4--8. Inserting a Memory Card with the ER-2 Printed Circuit Board
PSU B1
ER-2 Board
Write protect
switch
ER-2 Board
Memory Card
AI6B-1212-0871/--- ---
4--14 MARF2HD4307701E
Figure 4--9. Inserting a Memory Card without an ER-2 Printed Circuit Board
Write protect
switch
Memory Card
AI6B-1212-0871/--- ---
MARF2HD4307701E 4--15
CAUTION
Do not close the i-size controller door when the memory card is
in the interface. Otherwise, you could damage the memory
card.
WARNING
Lethal voltage is present in the controller WHENEVER IT IS
CONNECTED to a power source. Be extremely careful to
avoid electrical shock when the controller door is open.
Do not leave an open controller unattended.
5 If you are using a B-size controller, close and latch the controller
door. Otherwise, an error will occur. If an error occurs, close and
latch the controller door, and press RESET.
6 To install software, go to Section 4.3.
4. SOFTWARE INSTALLATION
4--16 MARF2HD4307701E
4.2.3 You can use the KFLOPPY PS-100 disk drive emulator to install software.
Using KFLOPPY You can do this by loading all the files from each FANUC
Robotics-supplied disk to one directory on your PC. Use Procedure 4--3
PS-100 Floppy Disk to install HandlingTool software using KFLOPPY.
Drive Emulator
CAUTION
Be sure to copy the AP disks to the directory last. Otherwise,
you might not retain the most recent version of all the files.
5 Copy all the files from the AP1-AP3 disks to the HDL43xx directory.
CAUTION
Do not copy any UPDATE disk information to the same
directory as all the other FANUC Robotics-supplied software.
Otherwise, you might not retain the most recent version of all
the files.
6 If you have any UPDATE disks, either use only the FANUC
Robotics-supplied 3.5” disk, or copy each UPDATE disk to a separate
subdirectory.
7 Start KFLOPPY on your PC.
8 To install software, go to Section 4.3.
4. SOFTWARE INSTALLATION
MARF2HD4307701E 4--17
4.3 This section contains information for installing HandlingTool software and
firmware.
INSTALLING
HANDLINGTOOL Install or
Install Install Install
APPLICATION Set up the
Install
HandlingTool software Quick/Full modify
motion software
Load extended
SOFTWARE Device
Software and
Firmware
options Password
axes
groups updates
(optional) Setup (optional) (optional)
(optional)
Section 4.2 Section 4.3 Section 4.4 Section 4.5 Section 4.4 Section 4.7 Section 4.8
and
Section 4.6
4--18 MARF2HD4307701E
CAUTION
This procedure erases all controller Flash ROM and C-MOS
RAM memory, as well as the RAM disk. Be sure that any
programs or files you want permanently saved are backed up
to a floppy disk. Refer to the FANUC Robotics SYSTEM R-J2
Controller HandlingTool Setup and Operations Manual for more
information.
Circuit breaker
i-size Controller
Locked
OFF
ON Unlocked ON
OFF
Circuit breaker
B-Size controller
F-ROM/D-RAM/C-MOS : 6.0/8.0/1.0 MB
TP Version : I
Current TIME : 01-JAN-199x 22:52:53
Slot ID FC OP
0 9B 0 0 R-J2 Main CPU
1 6A 0 0 AB/Ether I/F optional
D 6A 0 0 MCARD I/F optional
BMON>
COLD CTRL INIT NOLOAD START >
4. SOFTWARE INSTALLATION
MARF2HD4307701E 4--19
Slot ID FC OP
0 9B 0 0 R-J2 Main CPU
1 6A 0 0 AB/Ether I/F
D 6A 0 0 MCARD I/F
BMON> INSTALL
INSTALL> RUN FROMINIT
Run file FROMINIT.CF
Are you sure ? (Y=1/N=0) :
10 If you do not want to continue, press 0, and then press ENTER. The
BMON> prompt will be displayed.
If you are ready to continue, press 1, and then press ENTER. A
series of screens, similar to the following, will be displayed on the
teach pendant.
Clearing .. done
Opening SYSTEM1.LDC
4. SOFTWARE INSTALLATION
4--20 MARF2HD4307701E
Memory Card If you are loading from a memory card, the files will take
time: 3 minutes approximately three minutes to load. Go to Step 16 to select a robot.
Using KFLOPPY on a PC If you have copied the files from floppy disks and are using
time: 45 minutes KFLOPPY (Procedure 4--3 ), you can load all the files from the
floppy disks to one directory on the computer and begin the load from
that directory. Go to Step 16 to select a robot.
Floppy Disks and a PS-100 If you are loading from floppy disks, (after approximately 20
Disk Drive minutes), you will see a screen similar to the following.
time: approximately
20 minutes per disk
- Initialize entire F-ROM -
Opening SYSTEM1.LDC
read size is 348184 bytes
expand size is 630611 bytes
Opening SYSTEM2.LDC
read size is 348234 bytes
expand size is 595539 bytes
When all the files on AP2 have been loaded, you will see a screen
similar to the following.
12 Insert the disk labeled AP3 and press ENTER. When all the files on
AP3 have been loaded, you will be prompted to load firmware if it is
needed.
If you do not have the hardware required for these options installed in
your controller, go to Step 15. The following firmware will be loaded as
needed:
4. SOFTWARE INSTALLATION
MARF2HD4307701E 4--21
D To display the next screen type 10, and press ENTER. You will see a
screen similar to the following.
4--22 MARF2HD4307701E
MARF2HD4307701E 4--23
CAUTION
Be sure to select the correct robot model from the list of
available robot models. If you select the wrong robot model
you will not be notified by the system and your software will
operate incorrectly.
17 Select the robot model you are using and press ENTER. The model
number should be on the robot plate as FANUC Robot S-420iF, for
example.
g If you choose the wrong robot, you must run CMOSINIT to
perform a RE-INIT start. Refer to Section A.1.6 to perform a
RE-INIT start (CMOSINIT).
CAUTION
Be sure to answer the robot configuration questions correctly.
If you answer a question incorrectly you will not be notified by
the system and your software will operate incorrectly. Refer to
the configuration tables you have completed in Appendix B.
4. SOFTWARE INSTALLATION
4--24 MARF2HD4307701E
g If you choose the right robot but answer the robot configuration
questions incorrectly, you must
a Perform a controlled start. (Refer to Appendix A)
b If you are changing the CARTESIAN motion option, insert the
disk labeled SLIB1.
c Select MOTION SYSVAR SETUP.
d Press F4, YES.
e Select INITIALIZE SYSTEM VARIABLE.
f Press F4, YES.
g Select INITIALIZE GROUP1 VARIABLES.
h Press F4, YES.
i Answer the payload and CARTESIAN motion option question
again.
NOTE If you are loading from floppy disks and the robot library disk
is not in the disk drive, insert the disk (refer to Table 4--1) now and press
ENTER.
When the robot library files have been loaded, (after a few minutes), you
will see a screen similar to the following.
-- Payload setting --
enter Payload (0..120[kg])?
Application Setup 19 If you are updating the controller from 4.10 to 4.30, you might see
a screen similar to the following when you finish setting up the
configuration items.
This message notifies you that the V4.10 parameters were automatically
loaded for you. If you have newer DSP Vs, you will not see this message.
1 Setup Application
2 Install Option
3 Install Update
[TYPE]
4. SOFTWARE INSTALLATION
MARF2HD4307701E 4--25
1 Setup Application
2 Install Option
3 Install Update
[TYPE]
c Press MENUS.
d Select File.
e Refer to Appendix C for file operation information.
HandlingTOOL (TM)
V4.31-x
4--26 MARF2HD4307701E
4.4 Software options are additional features that can be used with your
application software. To install software options you must have already
INSTALLING
installed the HandlingTool software and set up the HandlingTool
HANDLINGTOOL application.
OPTIONS
Installing Authorized Your disk set includes all of the software options available with
Options HandlingTool. FANUC Robotics has authorized only those options you
Procedure 4--5 have purchased. Use Procedure 4--5 to install these options.
NOTE You will be unable to install any options that have not been
purchased.
Using a PAC to To authorize more options for this disk set, you must purchase the option
Authorize and Install and receive a Product Authorization Code (PAC) from FANUC Robotics.
More Options Contact the FANUC Robotics Spare Parts department at 248-377-PART
for more information.
Install or Install
Install
Install Install
Set up the Quick/Full modify motion
HandlingTool software software
Load Password extended groups
Software and options updates
Device Setup axes (optional)
Firmware (optional) (optional)
(optional)
Section 4.2 Section 4.3 Section 4.4 Section 4.5 Section 4.4 Section 4.7 Section 4.8
and
Section 4.6
NOTE Even though you have all of the available option disks, you will
only be able to install the options that you have purchased.
Refer to Table 4--2.
Table 4--2. Option Disks
MARF2HD4307701E 4--27
CAUTION
Be sure to install all option disks before you install any update
disks or your system will operate incorrectly.
4. SOFTWARE INSTALLATION
4--28 MARF2HD4307701E
Performing a Controlled 2 Press and hold the PREV and NEXT keys on the teach pendant.
Start 3 While still holding these buttons, press the ON button on the
controller operator panel until you see the BMON> prompt on the
teach pendant.
4 Release these buttons.
BMON> 5 At the BMON> prompt press F2, CTRL, and press ENTER.
BMON> CTRL 6 Now press F5, START, and press ENTER. This performs a controlled
start of the controller. After the controlled start is complete, you will
see a screen similar to the following.
1 Setup Application
2 Install Option
3 Install Update
[TYPE]
9 Insert the option disk in the disk drive. Refer to Table 4--2.
10 Use the down arrow key to select Install Option and then press
ENTER. You will see a screen similar to the following.
MARF2HD4307701E 4--29
0 PREV MENU
21 Error Recovery
22 FTP Interface
23 Ethernet CBR
24 Quick/Full Password
25 Duty Diagnosis
26 V-400i Vision
27 Visual Tracking
30 NEXT MENU
0 PREV MENU
31 Control Reliable
32 DeviceNet Interface
33 Shape Generation
4--30 MARF2HD4307701E
Checking configuration... 11 Type the number of the option you want to install and press ENTER.
MARF2HD4307701E 4--31
g If you do not have the correct disk in the disk drive, you
will see a message similar to the following.
CAUTION
To load Extended Axis Control and FANUC Multi-Group, you
must perform a cold start before you turn off the controller and
do a controlled start. Otherwise, the option software will not be
loaded properly.
4. SOFTWARE INSTALLATION
4--32 MARF2HD4307701E
To finish loading this option Perform these steps Use this Disk Comments
Multi-Group Motion Select multi-group motion. When Refer to the Extended Axis and
the loading is complete, press FCTN Group Motion Setup and Operations
and select START (COLD). Then, MOTNPKG1 Manual for more information.
go to Procedure 4--9 to finish setting
up and installing the extended axes.
Extended Axes Select extended axes. When the
loading is complete, press FCTN
and select START (COLD). Then, MOTNPKG1
go to Procedure 4--7 to finish setting
up and installing the extended axes.
PLC I/O (A-B/GENIUS) COMMPKG1
Continuous Turn Excludes:
MOTNPKG1
D TPP Line Tracking
TPP Line Tracking Excludes:
MOTNPKG1
D Continuous Turn
Tool CRT/KB Manager UTILSPKG1
Palletizing HTOOLPKG1
Coordinated Motion MOTNPKG1
MARF2HD4307701E 4--33
To finish loading this option Perform these steps Use this Disk Comments
V-400i Vision Go to Step 15 of this procedure. VISNPKG2 Refer to the installation information
in the SYSTEM R-J2 Controller
V-400i Vision System Setup and
Operations Manual for more
information.
Visual Tracking VISNPKG1 Includes:
D V-400i Vision
D TPP Line Tracking
Control Reliable UTILSPKG2 Excludes:
D CE Mark
DeviceNet Interface COMMPKG2
Shape Generation After you load Shape Generation, HTOOLPKG1 Includes:
the controller is in CTRL-2 Start D AccuPath
mode. Go to Step 18 of this
procedure. After the COLD START
is complete, you can load more
options by starting Procedure 4--5
again at Step 1.
17 When you are finished installing options, type --1 to exit and press
ENTER.
a Press FCTN.
b Select START (COLD). When it is finished, you will see a screen
similar to the following.
HandlingTOOL (TM)
V4.31-x
Copyright 1997, FANUC Robotics
North America, Inc.
All Rights Reserved
[ TYPE ] HELP
4. SOFTWARE INSTALLATION
4--34 MARF2HD4307701E
CAUTION
If you have an S-12 robot and you have loaded the AccuPath and
Small Circle options, you must load the AccuPath option before you
load the Small Circle option. If you loaded the Small Circle option first,
then you must do the following:
1 Turn off the controller.
2 Perform a controlled start. (Refer to Appendix A)
3 Select 1, MOTION SYSVAR SETUP.
4 Select 1, INITIALIZE SYSTEM VARIABLE.
5 Select INITIALIZE GROUP n VARIABLES.
Typically, this will be 1 for the first motion group.
6 Select Exit three times until the S/W Install screen is displayed.
7 Press FCTN and select START (COLD).
CAUTION
If the software fails to load completely, or if you do not perform
a COLD START after you install software options or update
information, your system will not operate correctly. If this
occurs, perform a RE-INIT start (CMOSINIT) then reinstall the
options and updates. Refer to Section A.1.6.
4. SOFTWARE INSTALLATION
MARF2HD4307701E 4--35
4.5 After the HandlingTool software is installed, you can change the
QUICK/FULL menu display for the Operator-level user when you use the
QUICK/FULL
Password option.
PASSWORD SETUP
Install or Install
Install Install Quick/Full Install
Set up the modify motion
HandlingTool software Password software
Load Software and extended groups
options Setup updates
Device Firmware axes (optional)
(optional) (optional)
(optional)
Section 4.2 Section 4.5 Section 4.4 Section 4.5 Section 4.4 Section 4.7 Section 4.8
and
Section 4.6
Condition H You have enabled the Password option by setting up the first user and
password. Refer to the SYSTEM R-J2 Controller HandlingTool Setup
and Operations Manual for more information.
H You have just installed the Quick/Full Password Setup option from
Procedure 4--5 .
Step 1 You will see a screen similar to the following.
NOTE If you do not see the following screen, go to Procedure 4--5 and
be sure the Quick/Full Password option has been installed.
4--36 MARF2HD4307701E
1 Setup Application
2 Install Option
3 Install Update
[TYPE]
3 Type 1 and press ENTER. You will see a screen similar to the
following.
S/W INSTALL CONTROLLED 2 START MENUS
1/3
Operator uses Quick menu 4 If you do not want to change the password handling, press 2, NO,
and go to Step 6.
Operator uses Full menu If you want the operator-level user to use the FULL menus,
press 1, YES. You will see a screen similar to the following.
NOTE You can change the way the QUICK/FULL menus are displayed
by repeating Steps 2 and 4.
MARF2HD4307701E 4--37
HandlingTOOL (TM)
V4.31-x
[ TYPE ] HELP
4. SOFTWARE INSTALLATION
4--38 MARF2HD4307701E
4.6 The first time you install extended axes, you must use the option
installation procedure (Procedure 4--5 ). When you have finished
MODIFYING AND
Procedure 4--5 , go to Procedure 4--8 .
INSTALLING
ADDITIONAL Install or
Install Install Install
EXTENDED AXES Set up the Install
HandlingTool software Quick/Full
modify motion software
Load Software and extended groups
options Password updates
Device Firmware axes (optional)
(optional) (optional)
(optional)
Section 4.2 Section 4.3 Section 4.4 Section 4.5 Section 4.4 Section 4.7 Section 4.8
and
Section 4.6
NOTE Refer to the Extended Axis Operations Manual for extended axis
troubleshooting information.
To modify your extended axes setup, use Procedure 4--7 and then
Procedure 4--8 .
NOTE You can also use Procedure 4--7 as an alternate method for
installing additional extended axes. However, to install extended axes the
first time, go to Procedure 4--8 .
MARF2HD4307701E 4--39
4--40 MARF2HD4307701E
Condition H The extended axis setting program is running. Perform Procedure 4--5
or Procedure 4--7 .
SELECT GROUP
Step 1 Type the group number to which the extended axis hardware is to be
installed and press ENTER. For example, if you are adding a rail to a
six-axis robot, the group number is 1. The hardware specific
information will be added later. You will see a screen similar to the
following.
SELECT HARDWARE
2 Type the starting number of the extended axis hardware and press
ENTER. The hardware start number is the next axis number in the
robot series. For example, if you are adding a rail to a six-axis robot,
the starting number is 7. You will see a screen similar to the
following.
NOTE The starting number can vary depending on how the hardware is
set up for your system.
****
**** EXTENDED
EXTENDED AXIS
AXIS SETTING
SETTING PROGRAM
PROGRAM ****
****
E1 E2 E3
*** Group 1 Total Ext Axis = * * *
1. Display/Modify Ext_axis 1~3
2. Add Ext_axes
3. Delete Ext_axes
4. Exit
Select?
NOTE Extended axes can be added out of order. For example, you can
add extended axis 2 before you add extended axis 1.
3 To add an extended axis, type 2.
To delete an extended axis, type 3. You will see a screen similar to
the following.
4. SOFTWARE INSTALLATION
MARF2HD4307701E 4--41
NOTE If you choose to install axis 2, and the hardware start number is 7,
the extended axis 2 will be connected to hardware port number 8.
4 Type the extended axis number you are adding (1, 2, or 3) and press
ENTER. You will see a screen similar to the following.
Controlled Start
**** EXTENDED Initialization
AXIS SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
ALPHA MOTOR SIZE
33. ACa0.5 38. ACa12 49. ACaM3
34. ACa1 39. ACa22 50. ACaM6
35. ACa2 40. ACa30 51. ACaM9
36. ACa3 41. ACa40
37. ACa6 42. ACa0.5B
0. Next page
Select?
5 To display more choices, type 0 and press ENTER. You will see a
screen similar to the following.
Controlled
**** EXTENDED
Start
AXIS
Initialization
SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
ALPHA MOTOR SIZE
65. ACaL3 81. ACaC3 98. ACaHV22
66. ACaL6 82. ACaC6 99. ACaHV30
67. ACaL9 83. ACaC12
68. ACaL25 84. ACaC22
69. ACaL50 97. ACaHV12
0. Next page
Select?
4. SOFTWARE INSTALLATION
4--42 MARF2HD4307701E
6 Select the size of the motor for your extended axis. The motor size
can be found on the motor name plate on your robot. You will see a
screen similar to the following.
Controlled
**** EXTENDED
Start
AXIS
Initialization
SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
MOTOR TYPE
1. /2000 6. F/3000
2. /3000 7. F/2500
3. S/2000 8. L/3000
4. S/3000 9. /1200
5. F/2000 10. /1500
Select?
7 Select the motor type for your robot and press ENTER. You will see a
screen similar to the following.
Controlled
**** EXTENDED
Start
AXISInitialization
SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
CURRENT LIMIT FOR AMPLIFIER
1. 2A 6. 60A
2. 4A 7. 80A
3. 12A 8. 100A
4. 32A 9. 130A
5. 40A 10. 20A
Select?
4. SOFTWARE INSTALLATION
MARF2HD4307701E 4--43
Refer to Table 4--4 and Table 4--5 for information on specifying servo
amplifier information.
Table 4--4. SVU Servo Amplifier Specification
Current Limit Current Limit
Amplifier Type Name Part Number
L Axis (A) M Axis (A)
SVU1-12 A06B-6089-H101 12 -
SVU1-20 A06B-6089-H102 20 -
Single Axis Amplifier SVU1-40 A06B-6089-H104 40 -
SVU1-80 A06B-6089-H105 80 -
SVU1-130 A06B-6089-H106 130 -
SVU2-12/12 A06B-6089-H201 12 12
SVU2-12/20 A06B-6089-H202 12 20
SVU2-20/20 A06B-6089-H203 20 20
SVU2-12/40 A06B-6089-H204 12 40
SVU2-20/40 A06B-6089-H205 20 40
Dual Axis Amplifier
SVU2-40/40 A06B-6089-H206 40 40
SVU2-40/80 A06B-6089-H207 40 80
SVU2-80/80 A06B-6089-H208 80 80
SVU2-12/80 A06B-6089-H209 12 80
SVU2-20/80 A06B-6089-H210 20 80
Table 4--5. C-Series Servo Amplifier Specification
Current Limit Current Limit
Amplifier Type Name Part Number
L Axis (A) M Axis (A)
C-series 1-4 A06B-6066-H002 4 -
C-series 1-12 A06B-6066-H003 12 -
C-series 1-40 A06B-6066-H004 40 -
C-series 1-60 A06B-6066-H005 60 -
Single Axis Amplifier
C-series 1-80 A06B-6066-H006 80 -
C-series 1-130 A06B-6066-H007 130 -
C-series 1-80 A06B-6066-H011 80 -
C-series 1-60 A06B-6066-H012 60 -
C-series 4/4 A06B-6066-H211 4 4
C-series 4/4 A06B-6066-H222 4 4
C-series 4/40 A06B-6066-H223 4 12
C-series 4/40 A06B-6066-H224 4 40
C-series 12/12 A06B-6066-H233 12 12
Dual Axis Amplifier C-series 12/40 A06B-6066-H234 12 40
C-series 12/60 A06B-6066-H235 12 60
C-series 12/40 A06B-6066-H244 40 40
C-series 80/80 A06B-6066-H266 80 80
C-series 12/12 A06B-6066-H281 12 12
C-series 80/80 A06B-6066-H291 80 80
8 Select the amplifier current limit for your extended axis. Refer to the
FANUC AC Servo Motor Digital Series Descriptions Manual for more
information. You will see a screen similar to the following.
4. SOFTWARE INSTALLATION
4--44 MARF2HD4307701E
Controlled
**** EXTENDED
Start
AXIS
Initialization
SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
EXTENDED AXIS TYPE
9 Select the type of extended axis you are using. For auxiliary linear or
rotary axes, the extended axis is not added into the robot position.
For integrated rail or integrated arm the position on the rail (or arm) is
added to the robot position. You will see a screen similar to the following
if integrated rail or integrated arm is selected.
Controlled
**** EXTENDED
Start
AXIS
Initialization
SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
EXTENDED AXIS TYPE
10 Type the direction of the extended axis alignment and press ENTER.
D For integrated rail, the rail alignment is usually with respect to the
user frame axes of the robot.
D For integrated arm, arm specific information is required. Typically,
the offset length is 0 except for cases where the first axis of the robot
is replaced by an extension arm. The direction defines about which
world axis the arm rotates.
D For auxiliary linear or rotary axes, the extended axis is not added
into the robot position.
You will see a screen similar to the following.
Controlled
**** EXTENDED
Start
AXIS
Initialization
SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
GEAR RATIO
MARF2HD4307701E 4--45
11 Type the gear ratio for the extended axis and press ENTER.
D For linear axes, the gear ratio is in millimeters of travel per
revolution of motor.
D For rotary axes, the gear ratio is in motor turns per single
rotations of the rotary axes, which is 24.
NOTE This number will be used to calculate acceleration variables.
Gear ratio values from 80 -- 100 are most common.
You will see a screen similar to the following.
Controlled
**** EXTENDED
Start
AXIS
Initialization
SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
MAX JOINT SPEED SETTING
Select?
12 Type the motor speed if you want it to be lower than the suggested
speed.
D For rotational axes you will be prompted to enter the
Max Joint Speed Setting. If you have entered a gear ratio of 80 --
100, the default speed should not need to be changed. However
you might want to change this number if it seems too fast or slow
for your application.
D For linear axes you will be prompted to enter the
Suggested Speed. If you have entered a gear ratio of 80, for
example, your suggested speed will be 2667 mm/sec. If this
seems high, you can slow it down to the 1500 -- 2000 mm/sec
range.
You will see a screen similar to the following.
Controlled
**** EXTENDED
Start
AXIS
Initialization
SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
MOTOR DIRECTION
13 Type the extended axis motion sign and press ENTER. The direction
determines which way the motor turns when the positive jog key is
pressed, and should be consistent with axis alignment. You will see a
screen similar to the following.
NOTE If the rotation is incorrect, you can modify it by performing a
controlled start and by performing Procedure 4--7 . Refer to Appendix A.
4. SOFTWARE INSTALLATION
4--46 MARF2HD4307701E
Controlled
**** EXTENDED
Start
AXIS
Initialization
SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
UPPER LIMITS
14 Type the upper limit of the extended axis and press ENTER. You will
see a screen similar to the following.
Controlled
**** EXTENDED
Start
AXIS
Initialization
SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
LOWER LIMITS
15 Type the lower limit of the extended axis and press ENTER. You will
see a screen similar to the following.
Controlled
**** EXTENDED
Start
AXIS
Initialization
SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
MASTER POSITION
16 Type the Master Position of the extended axis and press ENTER. You
will see a screen similar to the following.
Controlled
**** EXTENDED
Start
AXIS
Initialization
SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
ACC/DEC TIME
Controlled
**** EXTENDED
Start
AXIS
Initialization
SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
Default acc_time1 = 360(ms)
Enter (1:Change, 2:No Change)? 2
MARF2HD4307701E 4--47
**** EXTENDED
Controlled AXIS
Start SETTING PROGRAM ****
Initialization
**** Ext Axis 1 Initialization ****
EXP_ACCEL TIME
19 Type the exponential acceleration time and press ENTER. You will
see a screen similar to the following.
**** EXTENDED
Controlled AXIS
Start SETTING PROGRAM ****
Initialization
**** Ext Axis 1 Initialization ****
MIN_ACCEL TIME
**** EXTENDED
Controlled AXIS
Start SETTING PROGRAM ****
Initialization
**** Ext Axis 1 Initialization ****
LOAD RATIO
Load Ratio is
4--48 MARF2HD4307701E
MARF2HD4307701E 4--49
23 Type the number of the kind of amplifier you are using. Typically this
is C Series.
Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual
for more information. You will see a screen similar to the following.
**** EXTENDED
Controlled AXIS
Start SETTING PROGRAM ****
Initialization
**** Ext Axis 1 Initialization ****
BRAKE SETTING
CAUTION
Make sure that the brake number is assigned and is connected
correctly; otherwise, improper operation will result.
4. SOFTWARE INSTALLATION
4--50 MARF2HD4307701E
WARNING
Never use brake control 1 for extended axis brakes. Brake
control 1 is for the robot axes only. Using brake control 1
for extended axis brakes could cause unexpected results
and injure personnel or damage equipment.
**** EXTENDED
Controlled AXIS
Start SETTING PROGRAM ****
Initialization
**** Ext Axis 1 Initialization ****
SERVO TIMEOUT
**** EXTENDED
Controlled AXIS
Start SETTING PROGRAM ****
Initialization
**** Ext Axis 1 Initialization ****
SERVO TIMEOUT VALUE
MARF2HD4307701E 4--51
Controlled
**** EXTENDED
Start
AXIS
Initialization
SETTING PROGRAM ****
E1 E2 E3
*** Group 1 Total Ext Axis = I * *
1. Display/Modify ext axis 1->3
2. Add Ext_axis
3. Delete Ext_axis
4. Exit
select?
27 Repeat Steps 3 through 26 for each extended axis you are adding.
28 When you have finished type 4, Exit, and press ENTER. You will
see a screen similar to the following.
1 Setup Application
2 Install Option
3 Install Update
[TYPE]
4. SOFTWARE INSTALLATION
4--52 MARF2HD4307701E
NOTE If the application is not set up, the cold start procedure will abort,
and the following warning will be displayed:
Procedure 4--5
3 When the controller is turned on, you should master and calibrate
the robot. Refer to Chapter 5.
If you want to load more options, go to Procedure 4--5 .
4. SOFTWARE INSTALLATION
MARF2HD4307701E 4--53
4.7 Motion groups provide the ability to have multiple devices on a single
controller, each with their own control program for independent operation.
INSTALLING MOTION
GROUP SOFTWARE The first time you install motion groups, you must use the option
installation procedure (Procedure 4--5 ). When you have finished
Procedure 4--5 , go to Procedure 4--9 to install and set up the motion
group hardware. You can also use Procedure 4--9 to delete motion groups.
Install or
Install Install Install Install
Set up the modify
HandlingTool software Quick/Full motion software
Load Software and extended
options Password groups updates
Device Firmware axes
(optional) (optional) (optional)
(optional)
Section 4.2 Section 4.3 Section 4.4 Section 4.5 Section 4.4 Section 4.7 Section 4.8
and
Section 4.6
Performing a Controlled 2 Press and hold the PREV and NEXT keys on the teach pendant.
Start 3 While still holding these buttons, press the ON button on the
operator panel or operator box until you see the BMON> prompt on
the teach pendant.
4 Release these buttons.
BMON> 5 At the BMON> prompt press F2, CTRL and press ENTER.
BMON> CTRL 6 Press F5, START and press ENTER. This performs a controlled start
of the controller.
7 Type 1.
4. SOFTWARE INSTALLATION
4--54 MARF2HD4307701E
Perform sysvar setup? [NO] 8 Press F4, YES. You will see a screen similar to the following.
YES NO
Current $NUM_GROUP=1
Enter number of groups to add
13 Type the total number of motion groups you are adding, and press
ENTER. The number of motion groups will be added automatically.
You will see a screen similar to the following.
NOTE The number of groups will vary depending on how the hardware is
set up for your system.
MARF2HD4307701E 4--55
14 Type 3.
Exit? 15 Press F4, YES. You will see a screen similar to the following.
YES NO
D To display the next screen type 10, and press ENTER. You will see a
screen similar to the following.
4. SOFTWARE INSTALLATION
4--56 MARF2HD4307701E
MARF2HD4307701E 4--57
17 Type the number that corresponds to the library for the new group
(typically Nobot is used), then press ENTER.
CAUTION
You can only set up coordinated motion nobot, C-100, an
opener, or a nobot as motion group 2 or 3. Do not set up any
other robot model or your system will operate incorrectly.
If you add the wrong device, delete the motion group (Step
11 of this procedure) then add it again and select the correct
robot model.
SELECT HARDWARE
18 Type the starting number of the motion group hardware and press
ENTER. For example, if you are adding a nobot to a six-axis robot,
the starting number is 7. The hardware specific information will be
added automatically.
Loading Servo Parameters 19 Answer the remaining prompts according to the type of multi-group
device you have selected. This information is similar to the
information you must specify in Procedure 4--8 .
If you are configuring groups 2 or 3 you must select either a FANUC
Robot C-100, an opener, or a nobot, and you will be asked for the
following:
D Link length information
D Motor parameters
D Limit parameters
D Acceleration parameters
D Mastering information
Refer to the FANUC AC Servo Motor Digital Series Descriptions Manual
for more information. You will see a screen similar to the following.
*** Group 1 Nobot Axis Setup Program ***
4--58 MARF2HD4307701E
20 Type 1, and press ENTER. You will see a screen similar to the
following.
Controlled
**** Group 2Start
NobotInitialization
Axis Setup Program ****
**** Nobot Axis 1 Initialization ****
ALPHA MOTOR SIZE
33. ACa0.5 38. ACa12 49. ACaM3
34. ACa1 39. ACa22 50. ACaM6
35. ACa2 40. ACa30 51. ACaM9
36. ACa3 41. ACa40
37. ACa6 42. ACa0.5B
0. Next page
Select?
21 To display more choices, type 0 and press ENTER. You will see a
screen similar to the following.
Motor Parameters 22 Select the size of the motor for your nobot. The motor size can be
found on the motor name plate on your robot. You will see a screen
similar to the following.
****
Controlled
Group 2Start
NobotInitialization
Axis Setup Program ****
**** Nobot Axis 1 Initialization ****
MOTOR TYPE
1. /2000 6. F/3000
2. /3000 7. F/2500
3. S/2000 8. L/3000
4. S/3000 9. /1200
5. F/2000 10. /1500
Select?
4. SOFTWARE INSTALLATION
MARF2HD4307701E 4--59
24 Select the amplifier current limit for your extended axis. Refer to the
FANUC AC Servo Motor Digital Series Descriptions Manual for more
information. You will see a screen similar to the following.
1. Linear Axis
2. Rotary Axis
Select?
NOTE If the motor combination you specified in the previous steps is not
supported, the message, “Motor type not found,” will be displayed. The
system will ask for the motor information again. Type a valid motor
combination and repeat Steps 22 through 41.
26 Type the gear ratio for the nobot and press ENTER.
The gear ratio for linear axes is the number of millimeters traveled
for one rotation of the motor. For example, if a 50mm pinion on the
motor is directly coupled to the rack, and the radius of the pinion is
25mm, the gear ratio is 2(pi)(25) = 157.08.
4. SOFTWARE INSTALLATION
4--60 MARF2HD4307701E
If the axis has a gear box between the motor and pinion, divide the
number by the gear ratio. For example, if the motor is connected to a
5:1 gear box and a 50mm pinion, the gear ratio is
(2)(pi)(25)/5 = 31.416.
The gear ratio for rotary axes is in motor turns per single rotation of
the rotary axes. The ratio is ng2:ng1, where ng is the number of teeth
on a gear. ng1 is attached to the motor and ng2 is attached to the axis.
For example, if gear 1 has 25 teeth and gear 2 has 50 teeth, the ratio
would be 2:1.
You will see a screen similar to the following.
CAUTION
Do not increase the value of the maximum joint velocity,
otherwise the maximum motor RPM will be exceeded, possibly
damaging equipment and causing unexpected results.
28 Type the motor speed. You will see a screen similar to the following.
MARF2HD4307701E 4--61
UPPER LIMITS
Limit Parameters 30 Type the upper software limit of the nobot and press ENTER.
Set the upper software limit of the axis to a value smaller than the hard
stop.
You will see a screen similar to the following.
LOWER LIMITS
Master Position 32 Type the Master Position of the nobot and press ENTER. You will see
a screen similar to the following.
*** Group 2 Nobot Axis Setup Program ***
*** Nobot Axis 1 Initialization ***
ACC/DEC TIME
4--62 MARF2HD4307701E
Acceleration Constant 33 Type 1 to change the acceleration constant and press ENTER. You
will see a screen similar to the following.
ACC/DEC TIME
ACC/DEC TIME
ACC/DEC TIME
MARF2HD4307701E 4--63
MIN_ACCEL TIME
MIN_ACCEL TIME
Load Ratio is
4--64 MARF2HD4307701E
40 Type the number of the amplifier for the axis. You will see a screen
similar to the following.
Controlled
**** EXTENDED
Start
AXIS
Initialization
SETTING PROGRAM ****
**** Ext Axis 1 Initialization ****
SELECT AMP TYPE
1. A06B-6076 series 6 axes amplifier
2. A06B-6089 Alpha C series
3. A06B-6079 Alpha series
4. A06B-6066 C series
Select?
41 Type the number of the kind of amplifier you are using. Typically this
is C Series. You will see a screen similar to the following.
BRAKE SETTING
CAUTION
Make sure that the brake number is assigned and is connected
correctly, otherwise, improper operation will result.
4. SOFTWARE INSTALLATION
MARF2HD4307701E 4--65
SERVO TIMEOUT
44 Type the servo off time and press ENTER. You will see a screen
similar to the following.
4--66 MARF2HD4307701E
1 Setup Application
2 Install Option
3 Install Update
[TYPE]
MARF2HD4307701E 4--67
4.8 Software updates are disks that contain updated information to your
application and robot library software. Installing software updates is
INSTALLING
optional and should only be performed if you have a disk labeled Update
SOFTWARE UPDATES and it is consistent with the software version you have loaded in the
controller.
Install or
Install Install Install Install
Set up the modify
HandlingTool software Quick/Full motion software
Load Software and extended
options Password groups updates
Device Firmware axes
(optional) (optional) (optional)
(optional)
Section 4.2 Section 4.3 Section 4.4 Section 4.5 Section 4.4 Section 4.7 Section 4.8
and
Section 4.6
CAUTION
Be sure to install all option disks before you install any update
disks or the system could become corrupted.
Performing a Controlled 2 Press and hold the PREV and NEXT keys on the teach pendant.
Start 3 While still holding these buttons, press the ON button on the
controller operator panel until you see the BMON> prompt on the
teach pendant.
4 Release these buttons.
5 At the BMON> prompt press F3, RUN.
6 Press F2, UPDATE and then press ENTER.
BMON> 7 At the BMON> prompt press F2, CTRL and press ENTER.
4. SOFTWARE INSTALLATION
4--68 MARF2HD4307701E
BMON> CTRL 8 Now press F5, START and press ENTER. This performs a controlled
start of the controller. You will see a screen similar to the following.
Controlled Start Initialization
1 MOTION SYSVAR SETUP
2 PROGRAM INIT
3 MOTION DEVELOPMENT
4 EXIT
1 Setup Application
2 Install Option
3 Install Update
[TYPE]
MARF2HD4307701E 4--69
Update
is not valid for this configuration.
Update
is valid for this configuration.
When you master a robot you define the physical location of the robot by
5--1
Mastering to a fixture All except D When mastery was lost due to mechanical
(Fixture Position Master) P-200 disassembly or repair. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5--6
D When a quick master reference position was not
previously set.
D Method of choice for P- and A-series robots.
D Method of choice for A-series robots.
D Used for S-series and M-Series robots when
extreme precision is required.
Mastering to zero degrees M-series D When mastery was lost due to mechanical
S-series disassembly or repair. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5--8
D When a quick master reference position was not
P-series previously set.
D Method of choice for S- and M-series robots when
extreme precision is not required.
Single axis mastering S-series When mastery was lost due to mechanical disassembly
M-series or repair of a single axis (usually due to
motor replacement). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5--10
P-series
Quick mastering All To retrieve mastering data that has been stored as a
quick master reference position when mastery is lost
due to an electrical or software problem. Do not use if
mastery was lost due to mechanical disassembly
or repair. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5--13
Recording the quick All To record mastering data as a reference for future
master reference position quick mastering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5--14
5. MASTERING
MARF2HD4307701E
5--2
Before you master the robot, you must clear any faults that prevent
servo power from being restored or that prevent mastering completion.
If you are using a FANUC Robotics M-series or S-series robot you can
either master to a fixture or you can master to zero degrees. Refer to the
Mechanical Service Manual specific to your robot model for more
information on mastering using a fixture.
Quick mastering is a convenient way to master an M-series or S-series
robot after you have recorded a reference position. You cannot quick
master a robot unless the reference position was taught before mastering
was lost.
CAUTION
Record the quick master reference position after the robot is
installed to preserve the factory mastering settings for future
remastering.
MARF2HD4307701E 5--3
5.1 When you power up the robot after disconnecting the pulsecoder backup
batteries you might see a SRVO--062 BZAL or SRVO--038 Pulse
RESETTING ALARMS
mismatch alarm. Before mastering the robot you must reset the alarm and
AND PREPARING FOR rotate the motor of each axis that lost battery power to prepare the robot
MASTERING for mastering.
Use Procedure 5--1 to reset these alarms and prepare the robot for
mastering.
NOTE These SRVO errors will also appear after you have performed a
full load of the robot.
WARNING
For M-6i (ARC Mate 100i), an M-16i (ARCMate 120i), S-6
(ARC Mate 100), and S-12 (ARC Mate 120) robots, the
TORQUE function key on the SYSTEM Master/Cal screen
releases the robot brakes. When the brakes are released,
the robot arm will drop suddenly. DO NOT use this
function key unless instructed to do so, otherwise,
personnel could be injured and equipment damaged.
6 Press F3, RES_PCA. You will see a screen similar to the following.
[ TYPE ] YES NO
7 Press F4, YES. You will see a screen similar to the following.
5. MASTERING
MARF2HD4307701E 5--5
5.2 When you master to a fixture, you use a mastering fixture to align the
robot axes and then record the position. You can master any robot to a
MASTERING TO A
fixture. If you have a P-series or A-series robot, you must master it to a
FIXTURE (FIXTURE fixture.
POSITION MASTER)
NOTE If you have an M-6i (ARCMate 100i), an M-16i (ARCMate 120i),
an S-12 (ARCMate 120), or an S-6 (ARCMate 100), robot, do not use the
following procedure. These robots require that servo power be removed
and brakes released in order to use the fixture. Refer to the Mechanical
Service Manual or Mechanical Connection and Maintenance Manual for
detailed procedures on mastering these robots to a fixture.
Condition H You have the appropriate mastering fixture for your robot.
H You have cleared any servo faults that prevent you from jogging the
robot.
H You have jogged each axis that has lost mastery at least one motor
turn. (Procedure 5--1 ).
Step 1 Install the mastering fixture on the robot and jog the robot into
mastering position. Refer to the Mechanical Service Manual or
Mechanical Connection and Maintenance Manual specific to your
robot model for the procedures on how to set up and use a mastering
fixture.
2 Press MENUS
3 Press SYSTEM.
4 Press F1, [TYPE].
5 Select Master/Cal.
If Master/Cal is not listed on the [TYPE] menu, do the following;
otherwise, continue to Step 6.
a Select VARIABLE from the [TYPE] menu.
b Move the cursor to $MASTER_ENB.
c Press the numeric key “1” and then press ENTER on the teach
pendant.
d Press F1, [TYPE].
5. MASTERING
MARF2HD4307701E 5--7
WARNING
For M-6i (ARC Mate 100i), an M-16i (ARCMate 120i), S-6
(ARC Mate 100), and S-12 (ARC Mate 120) robots, the
TORQUE function key on the SYSTEM Master/Cal screen
releases the robot brakes. When the brakes are released,
the robot arm will drop suddenly. DO NOT use this
function key unless instructed to do so, otherwise,
personnel could be injured and equipment damaged.
5.3 When you master to zero degrees, you position all axes at their zero degree
witness marks and record the zero degree position. You can master any
ZERO DEGREE
M-series or S-series robot to zero degrees.
MASTERING
Use Procedure 5--3 to master to zero degrees.
Procedure 5--3 Mastering to Zero Degrees (for all robots except S-420iR)
Condition H You have cleared any servo faults that prevent you from jogging the
robot.
H You have jogged each axis that has lost mastery at least one motor
turn. (Procedure 5--1 ).
Step 1 Using the joint coordinate system, jog each axis of the robot to the
zero degree witness mark. Refer to the Mechanical Service Manual or
Mechanical Connection and Maintenance Manual specific to your
robot model for the location of the witness marks.
2 Press MENUS.
3 Press SYSTEM.
4 Press F1, [TYPE].
5 Select Master/Cal.
If Master/Cal is not listed on the [TYPE] menu, do the following;
otherwise, continue to Step 6.
a Select VARIABLE from the [TYPE] menu.
b Move the cursor to $MASTER_ENB.
c Press the numeric key “1” and then press ENTER on the teach
pendant.
d Press F1, [TYPE].
5. MASTERING
MARF2HD4307701E 5--9
WARNING
For M-6i (ARC Mate 100i), an M-16i (ARCMate 120i), S-6
(ARC Mate 100), and S-12 (ARC Mate 120) robots, the
TORQUE function key on the SYSTEM Master/Cal screen
releases the robot brakes. When the brakes are released,
the robot arm will drop suddenly. DO NOT use this
function key unless instructed to do so, otherwise,
personnel could be injured and equipment damaged.
5.4 You can master a single axis of an S-series robot when mastery was lost
due to mechanical disassembly or repair of a single axis, usually due to
SINGLE AXIS
motor replacement.
MASTERING
Use Procedure 5--4 to master a single axis.
Condition H You have cleared any servo faults that prevent you from jogging the
robot.
H You have jogged each axis that has lost mastery at least one motor
turn. (Procedure 5--1 ).
Step 1 Using the joint coordinate system, jog the unmastered axis of the robot
to the zero degree witness mark. Refer to the Mechanical Service
Manual or Mechanical Connection and Maintenance Manual specific
to your robot model for the location of the witness marks.
2 Press MENUS.
3 Select SYSTEM.
4 Press F1, [TYPE].
5 Select Master/Cal.
If Master/Cal is not listed on the [TYPE] menu, do the following;
otherwise, continue to Step 6.
a Select VARIABLE from the [TYPE] menu.
b Move the cursor to $MASTER_ENB.
c Press the numeric key “1” and then press ENTER on the teach
pendant.
d Press F1, [TYPE].
5. MASTERING
MARF2HD4307701E 5--11
WARNING
For M-6i (ARC Mate 100i), an M-16i (ARCMate 120i), S-6
(ARC Mate 100), and S-12 (ARC Mate 120) robots, the
TORQUE function key on the SYSTEM Master/Cal screen
releases the robot brakes. When the brakes are released,
the robot arm will drop suddenly. DO NOT use this
function key unless instructed to do so, otherwise,
personnel could be injured and equipment damaged.
6 Select 4, Single Axis Master. You will see a screen similar to the
following.
7 Move the cursor to the MSTR POS column for the unmastered axis
and press the “0” key.
8 Continuously press and hold the DEADMAN switch and turn the
teach pendant ON/OFF switch to ON.
5. MASTERING
MARF2HD4307701E
5--12
9 Move the cursor to the SEL column for the unmastered axis and press
the numeric key “1.”
10 Press ENTER.
11 Press F5, EXEC. Mastering will be performed automatically.
12 Press PREV.
13 Select Calibrate.
14 Press F4, YES.
5. MASTERING
MARF2HD4307701E 5--13
5.5 Quick mastering allows you to minimize the time required to remaster the
robot using a reference position you established when the robot was
QUICK MASTERING
properly mastered. You cannot quick master the robot unless you have
previously recorded this quick master reference position.
Record the quick master reference position when the robot is properly
mastered. The best time to record the quick master reference position is
when the robot is still factory-mastered.
If you lose mastery due to an electrical or software problem, you can use
this reference position to master the robot in a minimum amount of time.
If you lose mastery due to mechanical disassembly or repair, you must
master to a fixture or perform zero degree mastering.
You can define a quick master reference position and perform quick
mastering on any robot model.
Use Procedure 5--5 to record the quick master reference position. Use
Procedure 5--6 to quick master the robot.
CAUTION
Record the quick master reference position after the robot is
installed to preserve the factory mastering settings for future
remastering.
5. MASTERING
MARF2HD4307701E
5--14
WARNING
For M-6i (ARC Mate 100i), an M-16i (ARCMate 120i), S-6
(ARC Mate 100), and S-12 (ARC Mate 120) robots, the
TORQUE function key on the SYSTEM Master/Cal screen
releases the robot brakes. When the brakes are released,
the robot arm will drop suddenly. DO NOT use this
function key unless instructed to do so, otherwise,
personnel could be injured and equipment damaged.
5. MASTERING
MARF2HD4307701E 5--15
6 Move the cursor to SET QUICK MASTER REF and press ENTER.
Set quick master ref? [NO] 7 Press F4, YES.
5. MASTERING
MARF2HD4307701E
5--16
Condition H The robot has lost mastery due to an electrical or software problem.
NOTE If the robot has lost mastery due to mechanical disassembly or
repair, you cannot perform this procedure. In this case, master to a fixture
or master to zero degrees to restore robot mastery.
H The quick master reference position was recorded before the robot lost
mastery.
H You have cleared any servo faults that prevent you from jogging the
robot.
H You have jogged each axis that has lost mastery at least one motor
turn. (Procedure 5--1 ).
Step 1 Jog the robot to the quick master reference position (zero degree
position).
2 Press MENUS.
3 Select SYSTEM.
4 Press F1, [TYPE].
5 Select Master/Cal.
If Master/Cal is not listed on the [TYPE] menu, do the following;
otherwise, continue to Step 6.
a Select VARIABLE from the [TYPE] menu.
b Move the cursor to $MASTER_ENB.
c Press the numeric key “1” and then press ENTER on the teach
pendant.
d Press F1, [TYPE].
5. MASTERING
MARF2HD4307701E 5--17
WARNING
For M-6i (ARC Mate 100i), an M-16i (ARCMate 120i), S-6
(ARC Mate 100), and S-12 (ARC Mate 120) robots, the
TORQUE function key on the SYSTEM Master/Cal screen
releases the robot brakes. When the brakes are released,
the robot arm will drop suddenly. DO NOT use this
function key unless instructed to do so, otherwise,
personnel could be injured and equipment damaged.
during setup and installation of the R-J2 Software and EPROM Package.
6.1 Refer to Table 6--1 to determine the cause of a problem and to solve it.
TROUBLESHOOTING
USING SYMPTOMS
Table 6--1. Troubleshooting Symptoms and Solutions
Symptom Possible Cause Solution
The controller will not turn on. The controller disconnect or circuit Turn on the controller disconnect or circuit
breaker is turned off. breaker.
The power ON button on the controller Press the power ON button.
has not been pressed.
Internal hardware is not operating Check the Mechanical Unit Connection and
properly. Maintenance Manual for your specific robot
model for specific troubleshooting procedures.
The controller is not receiving the proper Check the Mechanical Unit Connection and
power, or the front panel cable is not Maintenance Manual for your robot model for
plugged in. specific troubleshooting procedures.
The EX-OP JRM10 cable is not Check the cable connection to the MAIN CPU
connected to the CPU. PCB.
The controller will turn on but the Internal hardware is not operating Check the Mechanical Unit Connection and
Boot Monitor prompt (BMON>) is properly. Maintenance Manual for your robot model for
not displayed when the PREV specific troubleshooting procedures.
and NEXT keys on the teach
Internal hardware is not operating Check the Mechanical Unit Connection and
pendant are pressed while the
properly, or the BootROM is installed Maintenance Manual for your robot model for
controller is turned on.
upside down. specific troubleshooting procedures.
The controller will turn on (Boot The MAIN CPU is not operating properly. Replace defective memory boards as
Monitor is running) but the R-J2 necessary and reload R-J2 software.
software will not start running.
A file will not load. The PS-100 disk drive is not functioning Turn off the power to the disk drive then turn
properly.
y the power on again.
Check the disk using BMON>TEST DISK.
Refer to Appendix A, “BootROM Operations,”
for more information.
Extensions can cause communication RS-232-C serial communication calling is
problems. limited to 25 meters. The PS-100 disk drive
uses PIN 25 for 24VDC and PIN1 for 0VDC.
Some RS-232-C cables are made up as a Null
Modem cable.
Remove the extension cable and retest the
disk drive using only the cable supplied with
your disk drive.
6. TROUBLESHOOTING AND ERROR MESSAGES
MARF2HD4307701E 6--3
The controller will not turn on. If a VT-220 terminal is being used, the Configure the cable as follows:
cable is configured incorrectly or is
broken/intermittent. R-J2 Controller VT-220
Pin Pin
2 2
3 3
4 4
5 5
6 6
8 8
20 20
7 7
6. TROUBLESHOOTING AND ERROR MESSAGES
MARF2HD4307701E
6--4
6.2 Setup and installation error messages pertain to the robot operating system
(ROS). The ROM-based portion of the software used during powerup,
TROUBLESHOOTING
referred to as the Bootstrap ROM or BootROM, directs the controller
USING ERROR hardware to load ROS software disk. After the ROS has been loaded, it
MESSAGES directs the remaining software installation.
Table 6--2 lists the software option messages, their possible cause, and a
typical solution.
Table 6--2. Software Option Messages
ROS Error Message Possible Cause Solution
1 Too many options installed The maximum number of software None
options is installed.
2 Installed: %s Installation of software option or update None
has finished successfully.
3 Skipped: %s Software option was not authorized and Do not install software options of the
was skipped. same name and version twice.
6 Not Installed: %s Software option or update was not None
installed.
7 Unauthorized: %s Software option or update was not Contact the FANUC Robotics Spare
authorized for the configuration. Parts Department to purchase and
authorize the option.
8 Requires: %s To load this option or update, you must Install the specified option or update. If
also have the specified option or update you do not have the specified option or
installed. update, contact the FANUC Robotics
Spare Parts Department to purchase
and authorize the option.
9 Authorized: %s You have performed a successful field None required.
authorization.
10 Start (COLD) Disallowed You must set up your application before Set up your application. Refer to
you can perform a COLD start. Section 4.3.
11 Start (CTRL2) Disallowed You must set up your application before Set up your application. Refer to
you can perform a CTRL2 start. Section A.1.3.
12 ID/File is Missing/Corrupt Your software was installed improperly Reinstall the software from the
or the F-ROM in your controller is beginning.
damaged.
13 Invalid PAC You have typed an invalid PAC code. Retry typing the PAC code again. If you
are still unsuccessful, contact the
FANUC Robotics Spare Parts
Department.
6. TROUBLESHOOTING AND ERROR MESSAGES
MARF2HD4307701E 6--5
6.3 This section describes how to check the amount of memory in your
system.
CHECKING MEMORY
Table 6--3 lists and describes each memory status item. Use
Procedure 6--1 to check system memory.
Description:
TPP Used by .TP, .MR, .JB, .PR
PERM Used by .VR, RD:, Options
TEMP: Used by .PC, .VR, Options
5 To display the DETAIL screen press F2, DETAIL. You will see a
screen similar to the following.
MARF2HD4307701E A--1
The BootROM is a startup program you can use to turn on the robot using
different methods and accessing specific system utilities. The BootROM
hardware consists of the BootROM EPROM chip, located on the Main
CPU PCB.
This appendix describes how to
D Start up the robot and controller using one of the start methods:
- Init start
- Controlled start/Controlled 2 start
- Cold start
- Semi hot start
- Re-init start
D Access the BootROM prompt, BMON>, and perform operations at the
prompt:
- Extended monitor utilities (EMON)
- Diagnostic utilities (DIAG)
- Install utilities (INSTALL)
- Flash ROM utilities (FROM)
- Memory Card utilities (MCARD)
A. BOOTROM OPERATIONS
A--2 MARF2HD4307701E
WARNING
DO NOT turn on the robot if you discover any problems or
potential hazards. Report them immediately. Turning on a
robot that does not pass inspection could result in serious
injury.
CAUTION
Do not use init start to start the controller. An INIT start
erases all information stored in the D-RAM memory pools.
CMOS must be manually cleared before you can perform an
INIT start. Instead, use re-init start (CMOSINIT) to start the
controller. Refer to Section A.1.6.
A. BOOTROM OPERATIONS
MARF2HD4307701E A--3
A.1.2 A controlled start (START CTRL) turns on power to the robot and
Controlled Start controller and allows you to do the following:
D Set robot motion parameters
(START CTRL) D Install options and updates
D Load or set system variables
CAUTION
The items that appear on the controlled start screen
control how the robot and controller operate. Do not set
these items unless you are certain of their effect,
otherwise, you could disrupt the normal operation of the
robot and controller.
A--4 MARF2HD4307701E
MARF2HD4307701E A--5
Condition H All personnel and unnecessary equipment are out of the workcell.
WARNING
DO NOT turn on the robot if you discover any problems or
potential hazards. Report them immediately. Turning on a
robot that does not pass inspection could result in serious
injury.
Step 1 On the teach pendant, press and hold the PREV and NEXT keys.
BMON> 2 After the BMON> prompt appears on the teach pendant screen, release
the PREV and NEXT keys.
BMON> CTRL 3 Press F2, CTRL, and press ENTER.
BMON> START 4 Press F5, START, and press ENTER. This begins the controlled start.
You will see a screen similar to the following.
CAUTION
Never turn off the robot after a START (COLD) or START
(CTRL2) has been selected (when the message, “System save
in progress” is displayed on the teach pendant). Otherwise,
you will corrupt the controller and all software will have to be
reloaded.
A. BOOTROM OPERATIONS
A--6 MARF2HD4307701E
MARF2HD4307701E A--7
A.1.3 A controlled 2 start (START CTRL2) updates memory and enables you to
Controlled 2 Start load teach pendant programs. It is also the mode the controller must be in
to perform a full controller backup. Refer to Appendix C. Controlled 2
(START CTRL2) start is the second phase of a controlled start.
NOTE You cannot load system variable files (.SV), or install options or
updates during a CTRL2 START.
Condition H All personnel and unnecessary equipment are out of the workcell.
WARNING
DO NOT turn on the robot if you discover any problems or
potential hazards. Report them immediately. Turning on a
robot that does not pass inspection could result in serious
injury.
CAUTION
The CTRL2 start takes a few minutes to finish. Do not turn off
the controller until the CTRL2 start has completed. Otherwise,
you will lose the software loaded on your controller and will
have to reload it. The CTRL2 start is finished when the FCTN
menu disappears and you can display it again by pressing the
FCTN key.
6 Select START (CTRL2) and press ENTER. The CTRL2 start will be
performed immediately. When it is finished, you will see a title line
on the screen similar to the following.
A--8 MARF2HD4307701E
MARF2HD4307701E A--9
A.1.4 A cold start (START COLD) is the standard method for turning on power
Cold Start to the robot and controller. A cold start does the following:
(START COLD) D Initializes changes to system variables
D Initializes changes to I/O setup
D Displays the UTILITIES Hints screen
A cold start will be complete in approximately 30 seconds.
Use Procedure A--3 to perform a cold start.
Condition H All personnel and unnecessary equipment are out of the workcell.
WARNING
DO NOT turn on the robot if you discover any problems or
potential hazards. Report them immediately. Turning on a
robot that does not pass inspection could result in serious
injury.
Step 1 Visually inspect the robot, controller, workcell, and the surrounding
area. During the inspection make sure all safeguards are in place and
the work envelope is clear of personnel.
ON
2 Turn the power disconnect circuit breaker on the operator box or
OFF
operator panel to ON.
CIRCUIT 3 On the teach pendant, press and hold the PREV and NEXT keys.
BREAKER
A. BOOTROM OPERATIONS
A--10 MARF2HD4307701E
BMON> 4 After the BMON> prompt appears on the teach pendant screen, release
the PREV and NEXT keys.
BMON> COLD 5 Press F1, COLD, and press ENTER.
BMON> START 6 Press F5, START, and press ENTER.
D On the teach pendant screen, you will see a screen similar to the
following.
HandlingTOOL (TM)
V4.31-x
Copyright 1997, FANUC Robotics
North America, Inc.
All Rights Reserved
[ TYPE ] HELP
A. BOOTROM OPERATIONS
MARF2HD4307701E A--11
A.1.5 Semi hot start is the standard method for turning on power to the robot and
Semi Hot Start controller without using BootROM. Semi hot start is active when the
system variable $SEMIPOWERFL is set to TRUE. You perform a semi
hot start by pressing the ON button. The screen that was displayed before
power was turned off is displayed.
When $SEMIPOWERFL is set to TRUE, after the first cold start the
controller is put into semi hot start mode automatically. This means that
the next time you turn on the controller (by pressing the ON button), a
semi hot start will be performed. A semi hot start will be complete in
approximately half the time of a cold start.
If a program was running at the time power was turned off, the program
will be paused when power is turned on. Use the standard methods of
resuming a paused program. If $SEMIPOWERFL is set to FALSE and
power is turned off while a program is running, when power is turned on,
the program will be ABORTED and cannot be resumed.
The semi hot start procedure is the same as the procedure for turning on
the robot. Use Procedure A--4 to perform a semi hot start.
Condition H All personnel and unnecessary equipment are out of the workcell.
Step 1 Visually inspect the robot, controller, workcell, and the surrounding
ON area. During the inspection make sure all safeguards are in place and
OFF the work envelope is clear of personnel.
2 Turn the power disconnect circuit breaker on the operator panel or
CIRCUIT
BREAKER
operator box to ON.
WARNING
ON DO NOT turn on the robot if you discover any problems or
OFF potential hazards. Report them immediately. Turning on a
robot that does not pass inspection could result in serious
injury.
3 Press the ON button on the operator panel.
i-size controller operator box
D On the operator panel or operator box, the ON button will be
ON illuminated, indicating robot power is on.
OFF
D On the teach pendant screen, you will see the screen displayed
when the robot was last turned off.
A--12 MARF2HD4307701E
A.1.6 A re-init start will cause all CMOS resident softparts to be reloaded. This
Re-Init Start is useful when some portion of CMOS or D-RAM memory has become
fragmented, or accidentally overwritten.
(CMOSINIT)
D Performing a re-init start -- Use this when the TPP, PERM, or
IMAGE memory pools have become fragmented, or accidentally
overwritten. A re-init start can also be performed if the robot library
information was installed incorrectly.
The file, CMOSINIT.CF, located on the disk labeled AP1, executes all of
the proper steps needed to perform a re-init start. A re-init start
D Clears CMOS memory
D Loads the TPE memory pool configuration
D INIT starts the controller
Use Procedure A--5 to perform a re-init start.
MARF2HD4307701E A--13
4 Turn on the controller. You will see a screen similar to the following.
F-ROM/D-RAM/C-MOS : 6.0/8.0/1.0 MB
TP Version : I
Current TIME : 01-JAN-199x 22:52:53
Slot ID FC OP
0 9B 0 0 R-J2 Main CPU
1 6A 0 0 AB/Ether I/F optional
D 6A 0 0 MCARD I/F optional
BMON>
COLD CTRL INIT NOLOAD START >
Slot ID FC OP
0 9B 0 0 R-J2 Main CPU
1 6A 0 0 AB/Ether I/F
D 6A 0 0 MCARD I/F
BMON> INSTALL
INSTALL> RUN CMOSINIT
Run file CMOSINIT.CF
Are you sure ? (Y=1/N=0) :
A--14 MARF2HD4307701E
A.2 You can perform operations from the BootROM prompt, BMON>.
Table A--2 lists and describes the utilities you can use from the BMON>
BOOTROM UTILITIES
prompt.
D The EMON utility provides access to BootROM extended monitor
utilities. Refer to Section A.2.1.
D The DIAG utility provides access to BootROM diagnostic utilities.
Refer to Section A.2.2.
D The INSTALL utility provides access to installation utilities. Refer to
Section A.2.3.
D The FROM utility provides access to Flash ROM memory utilities.
Refer to Section A.2.4
Use Procedure A--6 to access BootROM and use BootROM utilities.
UTILITY DESCRIPTION
NOLOAD Prevents automatic loading of the system memory area from Flash ROM to D-RAM.
IMAGE is always loaded.
START When the controller is powered up, START begins whatever kind of start (COLD, CTRL, or
INIT) has been chosen. Semi Hot start cannot be selected.
A. BOOTROM OPERATIONS
MARF2HD4307701E A--15
UTILITY DESCRIPTION
CAUTION This can destroy the contents of C-MOS RAM memory, D-RAM
memory, Flash ROM memory and MCARD. This includes all programs and files.
Clear CMOS Clears the entire CMOS memory with zeros. You are
prompted to confirm the execution of the file; answer
YES to confirm, NO to cancel.
Clear DRAM Clears the entire DRAM system code area with zeros.
You are prompted to confirm the execution of the file;
answer YES to confirm, NO to cancel.
Clear DRAM FFFFFFFF Clears the entire CMOS memory with FFFFFFFF.
For FANUC Robotics use only.
Clear FROM ALL Clears the entire FROM memory.
Clear FROM CHIP n Clears the entire FROM memory where n is 1 for the
first 2 megabyte area; 2 for the second 2 megabyte
area, and so forth.
Clear FROM Block (SYST, IMAG, SYSR) CLears the FROM memory save
block. You are prompted to confirm the execution of
the file; answer YES to confirm, NO to cancel.
Clear MCARD Clears the memory card with zeros. You are prompted
to confirm the execution of the file; answer YES to
confirm, NO to cancel.
EMON Provides access to the extended monitor utilities. Refer to Section A.2.1.
CRT Causes all screen information to be displayed on the CRT/KB. Pressing TP SELECT key
causes the display to toggle between the teach pendant and the RS-232-C port. The
SELECT key toggles between the teach pendant screen and the CRT device.
INSTALL Provides access to BMON software installation utilities. Refer to Section A.2.3.
MCARD Provides access to memory card software installation utilities. Refer to Section A.2.5.
A. BOOTROM OPERATIONS
A--16 MARF2HD4307701E
WARNING
DO NOT turn on the robot if you discover any problems or
potential hazards. Report them immediately. Turning on a
robot that does not pass inspection could result in serious
injury.
F-ROM/D-RAM/C-MOS : 6.0/8.0/1.0 MB
TP Version : I
Current TIME : 01-JAN-199x 22:52:53
Slot ID FC OP
0 9B 0 0 R-J2 Main CPU
1 6A 0 0 AB/Ether I/F optional
D 6A 0 0 MCARD I/F optional
BMON>
COLD CTRL INIT NOLOAD START >
CAUTION
The INIT utility deletes some of the current software in the
controller. Do not use the INIT utility unless you want to reload
the software; otherwise, a loss of data will occur.
MARF2HD4307701E A--17
A.2.1 The extended boot monitor utility (EMON) is used to load and clear
Extended Boot Monitor memory on sub CPUs such as Vision (VISN), or Ethernet/RIO (ENAB) CPU.
(EMON>) Utilities You can access extended boot monitor utilities from BootROM.
Table A--3 lists and describes the extended boot monitor utilities. Use
Procedure A--7 to access extended boot monitor utilities.
UTILITY DESCRIPTION
ECLEAR FROM mid Clears the Flash ROM or C-MOS on other boards in the backplane. mid = Module ID such
ECLEAR CMOS mid as VISN, ENAB, or RISC.
CAUTION This can destroy the contents of C-MOS RAM memory, D-RAM memory,
Flash ROM memory and MCARD. This includes all programs and files.
ELOAD filename mid Loads software from the specified file to hardware specified by mid. mid = Module ID for
load_address (opt) modules such as VISN, ENAB, or RISC.
ELOAD filename RISC Load filename file into RISC DRAM.
ELOAD filename RISC 0 Load filename file into main DRAM.
BMON >
EMON>
EXIT ECLEAR ELOAD >
CAUTION
The EMON utilities invalidate the current vision software in the
controller. Do not use these utilities unless you want to reload
the software; otherwise, a loss of data will occur.
A--18 MARF2HD4307701E
A.2.2 The boot monitor diagnostic utilities are used to maintain and diagnose
Diagnostic Utilities controller setup and hardware.
You can access diagnostic utilities from BootROM. Table A--4 lists and
describes the diagnostic utilities. Use Procedure A--8 to access diagnostic
utilities.
Table A--4. BootROM Diagnostic Utilities
UTILITY DESCRIPTION
GOFF Used to shut down any GFS/KFLOPPY process running on a remote PC device.
DB hex_addr
DW hex_addr Displays the memory, in byte/word/long word format, after you provide the hexadecimal
starting memory location.
DL hex_addr
SHOW MODULE Shows the hardware modules, which also are displayed on the first BMON screen.
SHOW ENETADDR Shows the Ethernet address. This will display an error message unless the Ethernet
software is loaded on the Ethernet board and the Ethernet board is installed. Refer to the
SYSTEM R-J2 Ethernet Controller Backup and Restore -- FTP Setup and Operations
Manual manual for more information.
SHOW MEMORY Shows the BMON memory usage. For FANUC Robotics use only.
SET PORTn SPEED value Sets the speed of the specified port n (n=2,3,4): 19200, 9600, 4800, 2400
SET PORTn DEVICE value Sets the device of the specified port n (n=2,3,4): Greco (FLPY:), CRT
SET ENETADDR Sets the Ethernet hardware address. This will display an error message unless the
Ethernet software is loaded on the Ethernet board and the Ethernet board is installed.
Refer to the SYSTEM R-J2 Ethernet Controller Backup and Restore -- FTP Setup and
Operations Manual for more information.
MB hex_addr value*
ML hex_addr value*
MARF2HD4307701E A--19
UTILITY DESCRIPTION
CAUTION
All functions marked with an asterisk (*) can modify controller
memory. If they are used incorrectly they will corrupt your
controller.
DIAG>
EXIT GOFF DB DW DL >
A--20 MARF2HD4307701E
A.2.3 You can access the INSTALL utilities from BootROM to install software.
INSTALL Utilities Table A--5 lists the items you can install using the INSTALL utilities. Use
Procedure A--9 to access INSTALL utilities.
The BMON INSTALL utilities use three file devices at once. First BMON
looks for memory card (MC:), then ENET (if loaded and installed on the
Ethernet board), then P2: (FLPY:).
UTILITY DESCRIPTION
LOAD filename * Loads the specified file into DRAM or C-MOS RAM. filename is the name of the file
to be loaded. You will be prompted to confirm the load; answer YES to confirm, NO
to cancel.
FS LOAD filename * Loads the file directly to FROM. For FANUC Robotics use only.
ENET This will display an error message unless the Ethernet software is loaded on the
(optional) Ethernet board and the Ethernet board is installed. Refer to the SYSTEM R-J2
Ethernet Controller Backup and Restore manual for more information. This starts
the BOOTP client looking for the BOOTP server.
NOTE You must have already performed the SET ENETADDR function to set
the Ethernet address before you can execute ENET.
RUN filename Runs the specified command file. The following command files (.CF) can be run:
D AUTOLOAD -- Clears all the memory pools on the F-ROM, D-RAM, and
CMOS devices. Does not set the TPP size.
D UPDATE -- Found only on a maintenance update disk. This is used to load
software that cannot be loaded at a controlled start.
D CMOSINIT -- Clears all the memory pools on the D-RAM and CMOS RAM
devices. It also causes these memory pools to be reloaded from the F-ROM
device.
D FROMINIT -- Clears all the memory pools on the F-ROM, D-RAM, and CMOS
devices. It causes them to be reloaded from the ENET (if installed), floppy, or
MCARD device.
D AUTO -- Clears all the memory pools on the F-ROM, D-RAM, and CMOS
devices. Does not load VISN, ENAB, or RISC firmware.
You are prompted to confirm the execution of the file; answer YES to confirm, NO to
cancel.
A. BOOTROM OPERATIONS
MARF2HD4307701E A--21
UTILITY DESCRIPTION
FTEST filename ‘prompt string’ For auto loading, tests for the presence of the specified file, filename. If the file is
not there, it prompts the user with the ‘prompt string.’ For FANUC Robotics use
only.
RESTORE* Executes the restore.cf file to restore a backup set of software. You are prompted to
confirm the execution of the file; answer YES to confirm, NO to cancel.
CAUTION
All functions marked with an asterisk (*) can modify controller
memory. If they are used incorrectly they will corrupt your
controller.
A. BOOTROM OPERATIONS
A--22 MARF2HD4307701E
Condition H All personnel and unnecessary equipment are out of the workcell.
WARNING
DO NOT turn on the robot if you discover any problems or
potential hazards. Report them immediately. Turning on a
robot that does not pass inspection could result in serious
injury.
INSTALL>
INSTALL> 3 At the INSTALL> prompt, press NEXT, >, until F2, RUN is
displayed.
INSTALL> RUN 4 Press F2, RUN. You will see a screen similar to the following.
INSTALL> RUN
MARF2HD4307701E A--23
A.2.4 You can access the Flash ROM (F-ROM or FROM disk) utilities from
Flash ROM Utilities BootROM. Table A--6 lists the FROM items you can use. Use
Procedure A--10 to access the FROM utilities.
ITEM DESCRIPTION
FRDB addr*
FRDW addr* Displays Flash ROM memory address in byte/word/long word format. FROM addresses
start at relative 0.
FRDL addr*
FRSAVE block- name Saves SYSTem, SYSRisc or IMAGe memory pools from D-RAM to Flash ROM as
start_addr size*RISC (opt) SYSTEM start# size or IMAGe start# size. The start# is a hexadecimal number that
represents the start address in D-RAM. The size is the size of the memory.
FRSAVE SYSR 0 200000 Save SYST from MAIN DRAM to MAIN FROM.
FRSAVE SYSR 0 200000 RISC Save MAIN DRAM to MAIN FROM (req. for RISC).
FRLOAD block- name Loads SYSTem, SYSRisc IMAGe memory pools from Flash ROM to D-RAM. The start# is
start-addr (opt) a hexadecimal number that represents the start address in D-RAM.
FRLOAD SYSR Loads SYSR into RISC DRAM.
FRLOAD SYSR 0 Loads SYSR into Main DRAM.
LOADALL Loads SYSTem and IMAGe memory pools from Flash ROM to D-RAM. You must verify
that you want to perform this function.
CAUTION
All functions marked with an asterisk (*) can modify controller
memory. If they are used incorrectly they will corrupt your
controller.
Condition H All personnel and unnecessary equipment are out of the workcell.
A--24 MARF2HD4307701E
A.2.5 You can access the memory card (MCARD) utilities from BootROM to
Memory Card Utilities use a memory card. Table A--7 lists the memory card items you can use.
Use Procedure A--11 to access the MCARD utilities.
ITEM DESCRIPTION
MCDB addr
MCDW addr Displays Memory Card memory address in byte/word/long word format.
MCDL addr
MCSAVE CMOS Saves C-MOS RAM 0.5 MB, 1.0 MB, or 2.0 MB to memory card (MC:).
MCSAVE DRAM Saves D-RAM, always 0 -- 2 MB, to memory card (MC:).
MCSAVE FROM start_addr size Saves Flash ROM from start_addr (HEX) for the specified size (a maximum of 2
MB) to memory card (MC:)
MCLOAD CMOS* Loads from memory card (MC:) to C-MOS 0.5 MB, 1.0 MB, or 2.0 MB.
MCLOAD DRAM* Loads from memory card (MC:) to D-RAM, always 0 -- 2 MB.
MCLOAD FROM start_addr size* Loads from memory card (MC:) to Flash ROM from start_addr (HEX) for the
specified size (a maximum of 2 MB).
NOTE The area of Flash ROM on which to load must have been cleared
before the MCLOAD FROM can be executed.
CAUTION
All functions marked with an asterisk (*) can modify controller
memory. If they are used incorrectly they will corrupt your
controller.
Condition H All personnel and unnecessary equipment are out of the workcell.
MARF2HD4307701E B--1
CAUTION
Be sure to set the Payload correctly for your robot. If you do
not, your system will not operate properly.
g If you choose the right robot but answer the robot configuration
questions incorrectly, you must
a Perform a controlled start. (Refer to Appendix A)
b If you are changing the CARTESIAN motion option, insert the
disk labeled SLIB1.
c Select MOTION SYSVAR SETUP.
d Press F4, YES.
e Select INITIALIZE SYSTEM VARIABLE.
f Press F4, YES.
g Select INITIALIZE GROUP1 VARIABLES.
h Press F4, YES.
i Answer the payload and CARTESIAN motion option question
again.
B. CONFIGURATION TABLES
B--2 MARF2HD4307701E
MARF2HD4307701E B--3
B--4 MARF2HD4307701E
MARF2HD4307701E B--5
B--6 MARF2HD4307701E
MARF2HD4307701E B--7
B--8 MARF2HD4307701E
MARF2HD4307701E B--9
B--10 MARF2HD4307701E
MARF2HD4307701E B--11
B--12 MARF2HD4307701E
MARF2HD4307701E B--13
B--14 MARF2HD4307701E
MARF2HD4307701E C--1
Loading or Restoring Loading or restoring files allows you to load a file and all of its relevant
Files from Disk to data from disk into controller memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C--8
Controller Memory
Controller Backup and You can completely back up and restore a controller using the backup
Restore and restore function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C--14
CAUTION
If you are updating controller software you should first back
up all program, system and application files you want saved to
disks in case these files are lost during the update. If these
files are lost during the update, you can load these files back
into the controller from the disks.
C--2 MARF2HD4307701E
C.1 Setting the default device specifies which device to use when manipulating
programs and files. You must set the default device before you can
SETTING THE
perform any program or file manipulations, including formatting a disk.
DEFAULT DEVICE You can set the default device to
D Serial floppy disk -- A serial floppy disk drive connected to the P2 port
of the controller, such as the PS-100 or PS-200
D Serial printer -- A serial printer connected to the P2 port of the
controller
D Flash ROM disk (FR:)
D Memory card (MC:)
D Client device (C1:) -- used if the FTP option is installed
After you set the default device, the device will remain the default until
you change it or until an init start is performed.
Use Procedure C--1 to set the default device.
CAUTION
Before you connect the floppy disk to the controller, turn on the
controller, then connect and turn on the floppy disk; otherwise,
equipment could be damaged.
Condition H If you are setting the default device to FLPY:, the PS-100, PS-200,
printer, or other device is connected to the P2 port on the controller
and is turned on.
Step 1 Press MENUS.
2 Select FILE.
3 Press F1, [TYPE].
C. BACKING UP AND RESTORING FILES
MARF2HD4307701E C--3
FLPY:\*.* 1/14
1 * * (all files)
2 * KL (all KAREL source)
3 * CF (all command files)
4 * TX (all text files)
5 * LS (all KAREL listings)
6 * DT (all KAREL data files)
7 * PC (all KAREL p-code)
8 * TP (all TP programs)
9 * MN (all MN programs)
10 * VR (all variable files)
The default device is now set. The default device name is displayed on the
FILE screen, under the word “FILE.”
C. BACKING UP AND RESTORING FILES
C--4 MARF2HD4307701E
C.2 You can back up program files, and system files to floppy disk, Flash
ROM disk, or memory card using the FILE screen. When you back up a
BACKING UP FILES
program you save it from controller memory to a disk, such as a floppy
disk, so that you have a second copy of the file.
Program Files When you back up program files, all teach pendant program files currently
loaded onto controller memory (listed on the SELECT menu) will be
saved to the default device: RAM disk or floppy disk.
System Files System files are binary files that store default values for system variables,
servo parameter data, and mastering data. They contain information
specific to the controller, robot, and software. When you backup system
files, all system variable, servo parameter, and mastering data currently on
controller memory is saved to the default device: RAM disk or floppy
disk. The following are types of system files:
When you back up system files, all files are copied to the default device.
C. BACKING UP AND RESTORING FILES
MARF2HD4307701E C--5
CAUTION
Before you connect the floppy disk drive to the controller, turn
on the controller, then connect and turn on the floppy disk
drive; otherwise, equipment could be damaged.
Condition H If you are backing up files to a floppy disk, the serial disk drive is
connected to the controller P3 port, is turned on, and contains a
formatted disk.
H If you are backing up files to a memory card, the memory card is
installed properly. Refer to Section 4.2.2.
H The default device is set correctly. Refer to Procedure C--1 .
Step 1 Press MENUS.
2 Select FILE. You will see a screen similar to the following.
FLPY:\*.* 1/14
1 * * (all files)
2 * KL (all KAREL source)
3 * CF (all command files)
4 * TX (all text files)
5 * LS (all KAREL listings)
6 * DT (all KAREL data files)
7 * PC (all KAREL p-code)
8 * TP (all TP programs)
9 * MN (all MN programs)
10 * VR (all variable files)
C--6 MARF2HD4307701E
1 Serial Floppy Disk 3 Move the cursor to the device you want to select and press ENTER.
2 Serial Printer (text ONLY) You will see a screen similar to the following.
3 RAM Disk (RD:)
Teach Pendant (TP) 1 To back up all teach pendant program files, select TP Programs.
Programs
1 System files
2 TP
TP programs
programs
3 Application files The first program name on controller memory (the SELECT menu)
4 All of the above will be displayed.
D To back up this program only, press F4, YES.
D If you do not want to back up this program, press F5, NO. The
next program name on controller memory will be displayed.
D To back up all teach pendant programs, press F3, ALL. If the
file already exists, then you will have the option to overwrite, skip
or cancel.
D To exit, press F2, EXIT.
C. BACKING UP AND RESTORING FILES
MARF2HD4307701E C--7
D To back up all application files, press F3, ALL. If the file already
exists, then you will have the option to overwrite, skip or cancel.
CAUTION
All the files on a floppy disk or memory card are deleted before
the “All of above” backup. If the destination device is network,
pre-delete does not work. Be sure you do not have any files on
the floppy disk or memory card that you want to keep.
Otherwise, if you continue with the backup, all the files on the
floppy disk or memory card will be destroyed.
D If you do not want to delete the files on the default device and
then back up the files, press F5, NO. The files will not be
backed up.
D If you want to delete the files on the default device and back
up the specified files press F4, YES. All files in the
$FILE_SYSBCK and $FILE_APPBCK system variables will be
backed up. All .TP and .DF files will also be backed up.
NOTE If an error occurs while the files are being saved, you will be
prompted with a message and asked if you want to proceed.
When the backup is complete, the FILE menu will be displayed and
a directory of the default device will be generated, including the newly
saved files.
Restore Backup Files 1 To restore backup files, you must load them. Refer to
Section C.3.
C. BACKING UP AND RESTORING FILES
C--8 MARF2HD4307701E
C.3 Loading or restoring files allows you to load a file and all of its relevant
data from disk into controller memory. You can load files into controller
LOADING OR
memory from one of the following file devices:
RESTORING FILES
D Floppy disk
FROM DISK TO D Flash ROM disk
CONTROLLER D Memory card
MEMORY D PC
Loadable Files Loadable files are those files that can be loaded into controller memory.
They are
D KAREL p-code files (.PC)
D System files (.SV)
D KAREL Variable files (.VR)
D I/O configuration files (.IO)
D Teach pendant program files (.MN)
D Variable files (.VR)
NOTE System files can be loaded only at controlled start (CTRL
START). Teach pendant files can only be loaded into controller memory
at controlled 2 start (CTRL2 START). The RESTORE procedure in
Procedure C--4 will take care of these limitations for you. Refer to
Appendix A for more information.
Only these kinds of files can be loaded into controller memory. You can
load a single file or a group of files. Use Procedure C--3 to load selected
files using the FILE menu.
C. BACKING UP AND RESTORING FILES
MARF2HD4307701E C--9
Restoring Files You restore files from a disk when you have previously backed up the
files using BACKUP on the FILE screen (Section Procedure C--2 ). You
can restore the following groups of files if you have previously backed
them up using BACKUP:
D System files
D Teach pendant programs
D Application files
Use Procedure C--4 to restore BACKUP files using the FILE menu. This
procedure will restore all files on the default device that were backed up
using the BACKUP command. Refer to Section C.2 for more information
on backing up files.
C. BACKING UP AND RESTORING FILES
C--10 MARF2HD4307701E
CAUTION
Before you connect the floppy disk drive to the controller, turn
on the controller, then connect and turn on the floppy disk
drive; otherwise, equipment could be damaged.
Condition H If you are loading files from floppy disk, the serial disk drive is
connected to the controller P3 port, is turned on, and contains the
appropriate floppy disk.
H The default device is set correctly. Refer to Procedure C--1 .
Step 1 Press MENUS.
2 Select File. You will see a screen similar to the following.
FLPY:\*.* 1/16
1 * * (all files)
2 * KL (all KAREL source)
3 * CF (all command files)
4 * TX (all text files)
5 * LS (all KAREL listings)
6 * DT (all KAREL data files)
7 * PC (all KAREL p-code)
8 * TP (all TP programs)
9 * MN (all MN programs)
10 * VR (all variable files)
MARF2HD4307701E C--11
To select another subset of files, press F2, [DIR] and repeat Step b.
c Move the cursor to the name of the file you want to load and press
F3, LOAD. You will see a screen similar to the following.
C--12 MARF2HD4307701E
CAUTION
Before you connect the floppy disk drive to the controller, turn
on the controller, then connect and turn on the floppy disk
drive; otherwise, equipment could be damaged.
Condition H If you are restoring files from floppy disk, the serial disk drive is
connected to the controller P2 port, is turned on, and contains the
appropriate floppy disk.
H The device from which you want to restore files is set as the default
device. Refer to Procedure C--1 .
H Normally, the files you are restoring were backed up using
Procedure C--2 .
Step 1 Perform a controlled start as follows:
a If the controller is turned on, turn it off.
b On the teach pendant, press and hold the PREV and NEXT keys.
c While still pressing PREV and NEXT on the teach pendant, press
the ON button on the operator box or operator panel.
BMON> d After the BMON> prompt appears on the teach pendant screen,
release the PREV and NEXT keys.
BMON> CTRL e Press F2, CTRL, and press ENTER.
BMON> START f Press F5, START, and press ENTER. This begins the controlled
start. You will see a screen similar to the following.
2 Press 4, EXIT.
Exit? [NO] 3 Press F4, YES.
4 Press MENUS.
C. BACKING UP AND RESTORING FILES
MARF2HD4307701E C--13
5 Select File.
6 Press F4, RESTORE. You will see a screen similar to the following.
YES NO
CAUTION
In the next step, backed up files will be loaded and will
overwrite existing files of the same name. Be sure you want to
overwrite existing files before you restore them; otherwise, you
could lose important data.
C--14 MARF2HD4307701E
C.4 Controller backup and restore allows an R-J2 controller to back up and
restore controller memory. This capability is divided into two parts:
CONTROLLER
BACKUP AND D Controller backup
D Controller restore
RESTORE
Controller backup is performed at controlled 2 start. During controller
backup, the entire contents of controller memory are copied to files on the
designated device. Refer to Section C.4.1.
Controller restore is performed from the Boot Monitor (BMON). During
controller restore, all of F-ROM and CMOS is cleared then the files
previously created using the controller backup procedure are loaded from
the default device. Refer to Section C.4.2.
CAUTION
If you restore a controller and a file already exists on the
controller, the file is automatically overwritten.
C.4.1 The backup feature allows you to back up the entire contents of controller
memory. The backup procedure sets up the files so that controller memory
Backing up a
can be fully restored if necessary. When you restore the controller backup
Controller to the controller, you will have a fully loaded controller.
Use Procedure C--5 to perform a controller backup using a floppy or a
memory card device. To perform a controller backup using Ethernet, refer
to the SYSTEM R-J2 Ethernet Controller Backup/FTP Setup and
Operations Manual.
Backup Files When a controller backup is performed, the controller memory is copied
into compressed binary image files with the file extension .ldc. The
backup utility will create the number of files required for backup storage.
By default, these files will be named backup##.ldc, where ## is the file
number. For example, if the backup creates two files, the files will be
named backup01.ldc and backup02.ldc.
A minimum of two backup files will be created: one for controller FROM
and one for controller CMOS.
During the backup process, you will have the option to change the name of
the backup files from backup to the name you want. If you are doing
backups of several controllers, you might want to name the files using the
F number of the robot.
C. BACKING UP AND RESTORING FILES
MARF2HD4307701E C--15
In addition to creating the backup files, the backup utility creates a .cf file
for each memory card or floppy disk. The first one is called restore.cf.
The rest of the files will have unique names based on the date and time
stamp from when the backup was performed. When a controller restore is
performed, these files are used to direct the system to load all of the files
created during the backup.
CAUTION
The restore.cf file is overwritten each time a controller backup
is performed, regardless of the names of the controller backup
files. If you are backing up more than one controller, create a
separate subdirectory to contain backup files and restore.cf for
each controller. Otherwise restore.cf will be overwritten and
you will not be able to restore controller memory.
You might want to store the controller backup files in the location from
which you will load them. It is a good idea to create a separate
subdirectory for each robot. If you store backups
NOTE If an error occurs during controller backup, correct the error and
try to continue. If the system does not allow you to continue, repeat the
entire controller backup procedure.
C--16 MARF2HD4307701E
CAUTION
The CTRL2 start takes a few minutes to finish. Do not turn off
the controller until the CTRL2 start has completed. Otherwise,
you will lose the software loaded on your controller and will
have to reload it. The CTRL2 start is finished when the FCTN
menu disappears and you can display it again by pressing the
FCTN key.
i Select START (CTRL2) and press ENTER. The CTRL2 start will
be performed immediately. When it is finished, you will see a title
line on the screen similar to the following.
2 Press MENUS.
C. BACKING UP AND RESTORING FILES
MARF2HD4307701E C--17
3 Select File.
1 Floppy
Floppy disk
disk 4 Press F5, [UTIL].
2 Serial Printer
3 FROM Disk (FR:) 5 Select Set Device and press ENTER.
4 FTP (C1:)
5 Mem Card (MC:) 6 Select Floppy disk or Mem Card (MC:).
7 Press F4, [BACKUP].
CAUTION
Backing up files to a memory card or floppy disk will erase all
the information on the card or disk before the backup is
performed. You will lose all the information currently stored on
the memory card or floppy disk.
1 System files 8 Select Controller. You will see a screen similar to the following.
2 TP programs
3 Application files
4 All of above
5 Controller
Controller
C--18 MARF2HD4307701E
MARF2HD4307701E C--19
13 Insert the next memory card or floppy disk and press F4, CONTINUE.
14 When the system has finished writing the current .ldc files, you
will see the following message:
C--20 MARF2HD4307701E
C.4.2 The controller restore function allows you to restore controller memory on
Restoring a Controller a controller from a backed up controller. Use Procedure C--6 to restore a
controller.
CAUTION
If you restore a controller and a file already exists on the
controller, the file is automatically overwritten.
Condition H You have the controller backup files on memory cards or floppy disks.
(Procedure C--5 must have been performed before you can restore a
controller.)
H Make sure the Ethernet card has not been started. Otherwise, the
restore process will try to access the network.
H If you are restoring from memory cards, make sure the floppy is
disconnected.
CAUTION
You must use Procedure C--5 to back up a controller before
you can restore a controller using this procedure. Otherwise,
the controller restore procedure will not function properly.
F-ROM/D-RAM/C-MOS : 6.0/8.0/1 MB
TP Version : I
Current TIME : 01-JAN-199x 22:52:53
Slot ID FC OP
0 9B 0 0 R-J2 Main CPU
1 6A 0 0 AB/Ether I/F optional
D 6A 0 0 MCARD I/F optional
BMON>
COLD CTRL INIT NOLOAD START >
C. BACKING UP AND RESTORING FILES
MARF2HD4307701E C--21
2 Insert the first memory card or floppy disk in the memory card
interface or floppy disk drive.
3 Press NEXT, >, until F2, INSTALL, is displayed.
4 Press F2, INSTALL, and press ENTER.
5 Press NEXT, >, until F5, RESTORE, is displayed.
BMON> INSTALL
INSTALL>
LOAD FSLOAD RUN ENET RESTORE >
Copying HandlingTool D Copy HandlingTool software from the FANUC Robotics-supplied 3.5”
Software to a Memory disks to a memory card using a PC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D--3
Card
CAUTION
Be sure that the version of Main CPU BootROM you have is
version 4.20 or later. If not, DO NOT load the optional A-B RIO
software from memory card while the memory card interface is
in the ER-2 printed circuit board. Otherwise, you could erase
all the information on the memory card and destroy the ER-2
board. Instead, if the BootROM version is not 4.20 or later,
load the A-B RIO software using the FANUC Robotics-supplied
disks.
D. COPYING SOFTWARE
TO A PC OR MEMORY CARD
D--2 MARF2HD4307701E
D.1 You can copy the HandlingTool software from FANUC Robotics-supplied
3.5” disks to a personal computer (PC) for back up purposes. When the
COPYING
copy is complete, you can use these files to load a controller quickly. Use
HANDLINGTOOL Procedure D--1 to copy HandlingTool software to a PC.
SOFTWARE TO A
PERSONAL
COMPUTER
CAUTION
Be sure to copy the AP disks to the directory last. Otherwise,
you might not retain the most recent version of all the files.
4 Copy all the files from the AP1-AP3 disks to the HDL43xx directory.
CAUTION
Do not copy any UPDATE disk information to the same
directory as all the other FANUC Robotics-supplied software.
Otherwise, you might not retain the most recent version of all
the files.
D.2 You can copy HandlingTool software from the FANUC Robotics-supplied
3.5” disks to memory card to simplify the load procedure. Use
COPYING
Procedure D--2 to copy HandlingTool software from the FANUC
HANDLINGTOOL Robotics-supplied 3.5” disks to memory card using a PC.
SOFTWARE TO
MEMORY CARD
Condition H The PC has a FANUC Robotics Memory Card Interface Circuit Board,
part number A20B-2000-0600.
H You are using memory cards that are based on one of the following
standards:
- JEIDA “IC Memory Card Guideline Version 4.0”
- PCMCIA “PC Card Standard R. 2.0”
- 2 MB SRAM card (no Flash ROM cards)
Step 1 Format each memory card on a SYSTEM R-J2 controller. Do not
format the memory card on your PC. To format the memory card,
do the following:
a Insert the memory card in the memory card interface.
b Turn on the controller.
c Press MENUS.
d Select FILE.
e Press F5, [UTIL].
f Select Set Device.
g Select Memory Card (MC:).
h Press F5, [UTIL].
i Select Format.
j Press F4, YES.
k Type a volume name.
NOTE There is not enough space on one memory card for all the files on
all the disks. You can either:
D Use one memory card to store the AP disk information and use
the FANUC Robotics-supplied 3.5” disks to load the SLIB, OLIB,
OPTION and UPDATE information.
D Use two memory cards, one to store the AP1-AP4 and UPDATE
disk information, and one to store the SLIB, OLIB and OPTION
disk information.
D. COPYING SOFTWARE
TO A PC OR MEMORY CARD
D--4 MARF2HD4307701E
MARF2HD4307701E E--1
When the installation process is complete, you might want to check the
software version listed on the controller to be sure it is correct. Use
Procedure E--1 to display the application software version. You can also
use this to determine which options are installed on the controller.
Procedure E--1 Displaying the Software Version and Installed Option List
During a CONTROLLED START
E--2 MARF2HD4307701E
A C
cabinet type setting
A---520i robot M---6i robot, B---2, B---3, B---4
Cartesian motion option setting, B---2 M---710i robot, B---7
configuration information, B---2
card, inserting a memory, 4---13
J2 axis limitation type setting, B---2
joint motion option setting, B---2 Cartesian motion option setting
payload setting, B---2 A---520i robot, B---2
type setting, B---2 M---400i robot, B---5
M---410i robot, B---5
wash down type setting, B---2
M---410iW robot, B---6
accessing BootROM, A---16 M---410iWx robot, B---6
M---500 robot, B---7
alarms, resetting for mastering, 5---3 M---6i robot, B---3, B---4
M---710i robot, B---8
AP, disks, 1---2 S---12 robot, B---9, B---10, B---11, B---13
application S---420iR/120kg robot, B---10
disk, 1---2 S---420iS robot, B---11
software version disk label, 1---3 S---450 robot, B---12
S---6 robot, B---8
application setup, screen item, A---4 S---800 robot, B---14
S---900 robot, B---14
ARCMATE---120iL, configuration information, B---4 checking, memory, 6---5
arm length setting, S---420iF robot, B---9 chips, EPROM, 1---1, 1---2
clear, screen item, A---15
authorizing an, option, 4---31
CMOS, 6---5
aux axis cabinet on i---cabinet setting, M---6i robot,
CMOS RAM, 2---2
B---2, B---3, B---4
storage device, 2---2
auxiliary CMOSINIT, performing a, A---12
linear axis, extended axis, 4---44 cold start, 4---33, 4---69, A---14
rotary axis, extended axis, 4---44 controller, A---9
CTRL2, A---7
axes, extended, 4---38
performing a, A---9
axis brake type setting, S---6 robot, B---8 components, 4---2
configuration, 4---4, 4---69
robot information, B---2, B---3, B---4, B---5, B---6,
B B---7, B---8, B---9, B---10, B---11, B---12, B---13,
B---14
backing up controlled 2 start, performing a, A---7
files from FILE menu, C---5 controlled start, A---14
program files, C---5 of the controller, A---3
system files, C---5 performing a, A---5
controller, 1---3
BMON, A---14 cold start, A---9
controlled start of the, A---3
boot monitor. See BMON
init start, A---2
BootROM, A---1 re-init start, A---12
semi hot start, A---11
accessing, A---16
crt, screen item, A---15
bootrom, using utilities, A---16 ctrl start, A---14
brake type setting, M---6i robot, B---2, B---3, B---4 CTRL2 start, A---7
Index--2 INDEX MARF2HD4307701E
V Z
version id, 4---34
displaying at ctrl start, E---1 zero degree mastering, 5---8