B-83534EN_01

< > !

Learning Robot

OPERATOR'S MANUAL

B-83534EN/01

R-30+B CONTROLLERR-30+B CONTROLLERR-30+B CONTROLLERR-30+B CONTROLLER

• Original Instructions

Before using the Robot, be sure to read the "FANUC Robot Safety Manual (B-80687EN)" and understand the content. • No part of this manual may be reproduced in any form. • All specifications and designs are subject to change without notice. The products in this manual are controlled based on Japan’s “Foreign Exchange and Foreign Trade Law”. The export from Japan may be subject to an export license by the government of Japan. Further, re-export to another country may be subject to the license of the government of the country from where the product is re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States government. Should you wish to export or re-export these products, please contact FANUC for advice. In this manual we have tried as much as possible to describe all the various matters. However, we cannot describe all the matters which must not be done, or which cannot be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as “impossible”.

B-83534EN/01 SAFETY PRECAUTIONS

s-1

SAFETY PRECAUTIONS Thank you for purchasing FANUC Robot. This chapter describes the precautions which must be observed to ensure the safe use of the robot. Before attempting to use the robot, be sure to read this chapter thoroughly. Before using the functions related to robot operation, read the relevant operator's manual to become familiar with those functions. If any description in this chapter differs from that in the other part of this manual, the description given in this chapter shall take precedence. For the safety of the operator and the system, follow all safety precautions when operating a robot and its peripheral devices installed in a work cell. In addition, refer to the “FANUC Robot SAFETY HANDBOOK (B-80687EN)”.

1 WORKING PERSON The personnel can be classified as follows.

Operator: • Turns robot controller power ON/OFF • Starts robot program from operator’s panel Programmer or teaching operator: • Operates the robot • Teaches robot inside the safety fence Maintenance engineer: • Operates the robot • Teaches robot inside the safety fence • Maintenance (adjustment, replacement)

- An operator cannot work inside the safety fence. - A programmer, teaching operator, and maintenance engineer can work inside the safety fence. The

working activities inside the safety fence include lifting, setting, teaching, adjusting, maintenance, etc.

- To work inside the fence, the person must be trained on proper robot operation. During the operation, programming, and maintenance of your robotic system, the programmer, teaching operator, and maintenance engineer should take additional care of their safety by using the following safety precautions. - Use adequate clothing or uniforms during system operation - Wear safety shoes - Use helmet

SAFETY PRECAUTIONS B-83534EN/01

2 DEFINITION OF WARNING, CAUTION AND NOTE

To ensure the safety of users and prevent damage to the machine, this manual indicates each precaution on safety with "Warning" or "Caution" according to its severity. Supplementary information is indicated by "Note". Read the contents of each "Warning", "Caution" and "Note" before attempting to use the oscillator.

WARNING Applied when there is a danger of the user being injured or when there is a

danger of both the user being injured and the equipment being damaged if the approved procedure is not observed.

CAUTION Applied when there is a danger of the equipment being damaged, if the

approved procedure is not observed.

NOTE Notes are used to indicate supplementary information other than Warnings and

Cautions. • Read this manual carefully, and store it in a sales place.

3 WORKING PERSON SAFETY Working person safety is the primary safety consideration. Because it is very dangerous to enter the operating space of the robot during automatic operation, adequate safety precautions must be observed. The following lists the general safety precautions. Careful consideration must be made to ensure working person safety. (1) Have the robot system working persons attend the training courses held by FANUC. FANUC provides various training courses. Contact our sales office for details.

(2) Even when the robot is stationary, it is possible that the robot is still in a ready to move state, and is

waiting for a signal. In this state, the robot is regarded as still in motion. To ensure working person safety, provide the system with an alarm to indicate visually or aurally that the robot is in motion.

(3) Install a safety fence with a gate so that no working person can enter the work area without passing through the gate. Install an interlocking device, a safety plug, and so forth in the safety gate so that the robot is stopped as the safety gate is opened.

The controller is designed to receive this interlocking signal of the door switch. When the gate is opened and this signal received, the controller stops the robot (Please refer to "STOP TYPE OF ROBOT" in SAFETY PRECAUTIONS for detail of stop type). For connection, see Fig.3 (a) and Fig.3 (b).

(4) Provide the peripheral devices with appropriate grounding (Class A, Class B, Class C, and Class D).

s-2


s-3

(5) Try to install the peripheral devices outside the work area. (6) Draw an outline on the floor, clearly indicating the range of the robot motion, including the tools

such as a hand. (7) Install a mat switch or photoelectric switch on the floor with an interlock to a visual or aural alarm

that stops the robot when a working person enters the work area. (8) If necessary, install a safety lock so that no one except the working person in charge can turn on the

power of the robot. The circuit breaker installed in the controller is designed to disable anyone from turning it on when it is locked with a padlock.

(9) When adjusting each peripheral device independently, be sure to turn off the power of the robot (10) Operators should be ungloved while manipulating the operator’s panel or teach pendant. Operation

with gloved fingers could cause an operation error. (11) Programs, system variables, and other information can be saved on memory card or USB memories.

Be sure to save the data periodically in case the data is lost in an accident. (12) The robot should be transported and installed by accurately following the procedures recommended

by FANUC. Wrong transportation or installation may cause the robot to fall, resulting in severe injury to workers.

(13) In the first operation of the robot after installation, the operation should be restricted to low speeds. Then, the speed should be gradually increased to check the operation of the robot.

(14) Before the robot is started, it should be checked that no one is in the area of the safety fence. At the same time, a check must be made to ensure that there is no risk of hazardous situations. If detected, such a situation should be eliminated before the operation.

(15) When the robot is used, the following precautions should be taken. Otherwise, the robot and peripheral equipment can be adversely affected, or workers can be severely injured. - Avoid using the robot in a flammable environment. - Avoid using the robot in an explosive environment. - Avoid using the robot in an environment full of radiation. - Avoid using the robot under water or at high humidity. - Avoid using the robot to carry a person or animal. - Avoid using the robot as a stepladder. (Never climb up on or hang from the robot.)

(16) When connecting the peripheral devices related to stop(safety fence etc.) and each signal (external emergency , fence etc.) of robot. be sure to confirm the stop movement and do not take the wrong connection.

(17) When preparing trestle, please consider security for installation and maintenance work in high place according to Fig.3 (c). Please consider footstep and safety bolt mounting position.


RM1Motor power/brake

RP1PulsecoderRI/RO,XHBK,XROT

EARTH

Safety fence

Interlocking device and safety plug that are activated if thegate is opened.

Fig. 3 (a) Safety fence and safety gate

Dual chain

Single chainPanel board

FENCE1

FENCE2

Panel board

EAS1

EAS11

EAS2

EAS21

（Note）

In case of R-30iATerminals EAS1,EAS11,EAS2,EAS21 or FENCE1,FENCE2are provided on the operation box or on the terminal blockof the printed circuit board.

In case of R-30iA MateTerminals EAS1,EAS11,EAS2,EAS21 are providedon the emergency stop board or connector panel.(in case of Open air type)

Termianls FENCE1,FENCE2 are providedon the emergency stop board.

Refer to controller maintenance manual for details.

Emergency stop boardor Panel board

(Note)

In case of R-30iB, R-30iB Mate Terminals EAS1,EAS11,EAS2,EAS21 are provided on the emergency stop board.

Refer to the ELECTRICAL CONNCETIONS Chapter of CONNECTION of R-30iB controller maintenance manual (B-83195EN) or R-30iB Mate controller maintenance manual (B-83525EN)

for details.

Fig. 3 (b) Limit switch circuit diagram of the safety fence

s-4


Steps

Hook for safety belt

Fence

Trestle

Footstepfor maintenance

Fig.3 (c) Footstep for maintenance

3.1 OPERATOR SAFETY The operator is a person who operates the robot system. In this sense, a worker who operates the teach pendant is also an operator. However, this section does not apply to teach pendant operators. (1) If you do not have to operate the robot, turn off the power of the robot controller or press the

EMERGENCY STOP button, and then proceed with necessary work. (2) Operate the robot system at a location outside of the safety fence (3) Install a safety fence with a safety gate to prevent any worker other than the operator from entering

the work area unexpectedly and to prevent the worker from entering a dangerous area. (4) Install an EMERGENCY STOP button within the operator’s reach. The robot controller is designed to be connected to an external EMERGENCY STOP button. With this connection, the controller stops the robot operation (Please refer to "STOP TYPE OF ROBOT" in SAFETY PRECAUTIONS for detail of stop type), when the external EMERGENCY STOP button is pressed. See the diagram below for connection.

Dual chain

Single chain

（Note）Connect EES1and EES11,EES2 and EES21or EMGIN1and EMGIN2.

In case of R-30iAEES1,EES11,EES2,EES21 or EMGIN1,EMGIN2 are on the panel board.

In case of R-30iA MateEES1,EES11,EES2,EES21　are on the emergency stop boardor connector panel (in case of Open air type).EMGIN1,EMGIN2　are on the emergency stop board.

Refer to the maintenance manual of the controller for details.

External stop button

Panel board

EMGIN1

EMGIN2

Panel board

EES1

EES11

EES2

EES21

External stop button

(Note) Connect EES1 and EES11, EES2 and EES21 In case R-30iB, R-30iB Mate EES1,EES11,EES2,EES21 are on the emergency stop board

Refer to the ELECTRICAL CONNCETIONS Chapter of

CONNECTION of R-30iB controller maintenance manual (B-83195EN) or R-30iB Mate controller maintenance manual (B-83525EN) for details.

Emergency stop boa rd

or Pane l boa rd

Fig.3.1 Connection diagram for external emergency stop button

s-5


s-6

3.2 SAFETY OF THE PROGRAMMER While teaching the robot, the operator must enter the work area of the robot. The operator must ensure the safety of the teach pendant operator especially. (1) Unless it is specifically necessary to enter the robot work area, carry out all tasks outside the area. (2) Before teaching the robot, check that the robot and its peripheral devices are all in the normal

operating condition. (3) If it is inevitable to enter the robot work area to teach the robot, check the locations, settings, and

other conditions of the safety devices (such as the EMERGENCY STOP button, the DEADMAN switch on the teach pendant) before entering the area.

(4) The programmer must be extremely careful not to let anyone else enter the robot work area. (5) Programming should be done outside the area of the safety fence as far as possible. If programming

needs to be done in the area of the safety fence, the programmer should take the following precautions: － Before entering the area of the safety fence, ensure that there is no risk of dangerous situations

in the area. － Be prepared to press the emergency stop button whenever necessary. － Robot motions should be made at low speeds. － Before starting programming, check the entire system status to ensure that no remote instruction

to the peripheral equipment or motion would be dangerous to the user. Our operator panel is provided with an emergency stop button and a key switch (mode switch) for selecting the automatic operation mode (AUTO) and the teach modes (T1 and T2). Before entering the inside of the safety fence for the purpose of teaching, set the switch to a teach mode, remove the key from the mode switch to prevent other people from changing the operation mode carelessly, then open the safety gate. If the safety gate is opened with the automatic operation mode set, the robot stops (Please refer to "STOP TYPE OF ROBOT" in SAFETY PRECAUTIONS for detail of stop type). After the switch is set to a teach mode, the safety gate is disabled. The programmer should understand that the safety gate is disabled and is responsible for keeping other people from entering the inside of the safety fence.

Our teach pendant is provided with a DEADMAN switch as well as an emergency stop button. These button and switch function as follows: (1) Emergency stop button: Causes an emergency stop (Please refer to "STOP TYPE OF ROBOT" in SAFETY

PRECAUTIONS for detail of stop type) when pressed. (2) DEADMAN switch: Functions differently depending on the teach pendant enable/disable switch setting

status. (a) Disable: The DEADMAN switch is disabled. (b) Enable: Servo power is turned off when the operator releases the DEADMAN switch or when the

operator presses the switch strongly. Note) The DEADMAN switch is provided to stop the robot when the operator releases the teach pendant or

presses the pendant strongly in case of emergency. The R-30iB/R-30iB Mate employs a 3-position DEADMAN switch, which allows the robot to operate when the 3-position DEADMAN switch is pressed to its intermediate point. When the operator releases the DEADMAN switch or presses the switch strongly, the robot stops immediately.

The operator’s intention of starting teaching is determined by the controller through the dual operation of setting the teach pendant enable/disable switch to the enable position and pressing the DEADMAN switch. The operator should make sure that the robot could operate in such conditions and be responsible in carrying out tasks safely.

Based on the risk assessment by FANUC, number of operation of DEADMAN SW should not exceed about 10000 times per year.


s-7

The teach pendant, operator panel, and peripheral device interface send each robot start signal. However the validity of each signal changes as follows depending on the mode switch and the DEADMAN switch of the operator panel, the teach pendant enable switch and the remote condition on the software.

In case of R-30iB controller

Mode Teach pendant enable switch

Software remote

condition Teach pendant Operator panel Peripheral device

Local Not allowed Not allowed Not allowed On Remote Not allowed Not allowed Not allowed

Local Not allowed Allowed to start Not allowed AUTO mode

Off Remote Not allowed Not allowed Allowed to start

Local Allowed to start Not allowed Not allowed On

Remote Allowed to start Not allowed Not allowed Local Not allowed Not allowed Not allowed

T1, T2 mode

Off Remote Not allowed Not allowed Not allowed

T1,T2 mode: DEADMAN switch is effective. (6) To start the system using the operator’s panel, make certain that nobody is the robot work area and

that there are no abnormal conditions in the robot work area. (7) When a program is completed, be sure to carry out a test operation according to the procedure

below. (a) Run the program for at least one operation cycle in the single step mode at low speed. (b) Run the program for at least one operation cycle in the continuous operation mode at low

speed. (c) Run the program for one operation cycle in the continuous operation mode at the intermediate

speed and check that no abnormalities occur due to a delay in timing. (d) Run the program for one operation cycle in the continuous operation mode at the normal

operating speed and check that the system operates automatically without trouble. (e) After checking the completeness of the program through the test operation above, execute it in

the automatic operation mode. (8) While operating the system in the automatic operation mode, the teach pendant operator should

leave the robot work area.

3.3 SAFETY OF THE MAINTENANCE ENGINEER For the safety of maintenance engineer personnel, pay utmost attention to the following. (1) During operation, never enter the robot work area. (2) A hazardous situation may arise when the robot or the system, are kept with their power-on during

maintenance operations. Therefore, for any maintenance operation, the robot and the system should be put into the power-off state. If necessary, a lock should be in place in order to prevent any other person from turning on the robot and/or the system. In case maintenance needs to be executed in the power-on state, the emergency stop button must be pressed.

(3) If it becomes necessary to enter the robot operation range while the power is on, press the emergency stop button on the operator panel, or the teach pendant before entering the range. The maintenance personnel must indicate that maintenance work is in progress and be careful not to allow other people to operate the robot carelessly.

(4) When entering the area enclosed by the safety fence, the maintenance worker must check the entire system in order to make sure no dangerous situations exist. In case the worker needs to enter the safety area whilst a dangerous situation exists, extreme care must be taken, and entire system status must be carefully monitored.

(5) Before the maintenance of the pneumatic system is started, the supply pressure should be shut off and the pressure in the piping should be reduced to zero.


s-8

(6) Before the start of teaching, check that the robot and its peripheral devices are all in the normal operating condition.

(7) Do not operate the robot in the automatic mode while anybody is in the robot work area. (8) When you maintain the robot alongside a wall or instrument, or when multiple workers are working

nearby, make certain that their escape path is not obstructed. (9) When a tool is mounted on the robot, or when any moving device other than the robot is installed,

such as belt conveyor, pay careful attention to its motion. (10) If necessary, have a worker who is familiar with the robot system stand beside the operator panel

and observe the work being performed. If any danger arises, the worker should be ready to press the EMERGENCY STOP button at any time.

(11) When replacing a part, please contact FANUC service center. If a wrong procedure is followed, an accident may occur, causing damage to the robot and injury to the worker.

(12) When replacing or reinstalling components, take care to prevent foreign material from entering the system.

(13) When handling each unit or printed circuit board in the controller during inspection, turn off the circuit breaker to protect against electric shock.

If there are two cabinets, turn off the both circuit breaker. (14) A part should be replaced with a part recommended by FANUC. If other parts are used, malfunction

or damage would occur. Especially, a fuse that is not recommended by FANUC should not be used. Such a fuse may cause a fire.

(15) When restarting the robot system after completing maintenance work, make sure in advance that there is no person in the work area and that the robot and the peripheral devices are not abnormal.

(16) When a motor or brake is removed, the robot arm should be supported with a crane or other equipment beforehand so that the arm would not fall during the removal.

(17) Whenever grease is spilled on the floor, it should be removed as quickly as possible to prevent dangerous falls.

(18) The following parts are heated. If a maintenance worker needs to touch such a part in the heated state, the worker should wear heat-resistant gloves or use other protective tools. － Servo motor － Inside the controller － Reducer － Gearbox － Wrist unit

(19) Maintenance should be done under suitable light. Care must be taken that the light would not cause any danger.

(20) When a motor, reducer, or other heavy load is handled, a crane or other equipment should be used to protect maintenance workers from excessive load. Otherwise, the maintenance workers would be severely injured.

(21) The robot should not be stepped on or climbed up during maintenance. If it is attempted, the robot would be adversely affected. In addition, a misstep can cause injury to the worker.

(22) When performing maintenance work in high place, secure a footstep and wear safety belt. (23) After the maintenance is completed, spilled oil or water and metal chips should be removed from the

floor around the robot and within the safety fence. (24) When a part is replaced, all bolts and other related components should put back into their original

places. A careful check must be given to ensure that no components are missing or left not mounted. (25) In case robot motion is required during maintenance, the following precautions should be taken :

- Foresee an escape route. And during the maintenance motion itself, monitor continuously the whole system so that your escape route will not become blocked by the robot, or by peripheral equipment. - Always pay attention to potentially dangerous situations, and be prepared to press the emergency stop button whenever necessary.

(26) The robot should be periodically inspected. (Refer to the robot mechanical manual and controller maintenance manual.) A failure to do the periodical inspection can adversely affect the performance or service life of the robot and may cause an accident


s-9

(27) After a part is replaced, a test operation should be given for the robot according to a predetermined method. (See TESTING section of “Controller operator’s manual”.) During the test operation, the maintenance staff should work outside the safety fence.

4 SAFETY OF THE TOOLS AND PERIPHERAL DEVICES

4.1 PRECAUTIONS IN PROGRAMMING (1) Use a limit switch or other sensor to detect a dangerous condition and, if necessary, design the

program to stop the robot when the sensor signal is received. (2) Design the program to stop the robot when an abnormal condition occurs in any other robots or

peripheral devices, even though the robot itself is normal. (3) For a system in which the robot and its peripheral devices are in synchronous motion, particular care

must be taken in programming so that they do not interfere with each other. (4) Provide a suitable interface between the robot and its peripheral devices so that the robot can detect

the states of all devices in the system and can be stopped according to the states.

4.2 PRECAUTIONS FOR MECHANISM (1) Keep the component cells of the robot system clean, and operate the robot in an environment free of

grease, water, and dust. (2) Don’t use unconfirmed liquid for cutting fluid and cleaning fluid. (3) Employ a limit switch or mechanical stopper to limit the robot motion so that the robot or cable does

not strike against its peripheral devices or tools. (4) Observe the following precautions about the mechanical unit cables. When theses attentions are not

kept, unexpected troubles might occur. • Use mechanical unit cable that have required user interface. • Don’t add the user cable or hose to inside of mechanical unit. • Please do not obstruct the movement of the mechanical unit cable when cables are added to

outside of mechanical unit. • In the case of the model that a cable is exposed, Please do not perform remodeling (Adding a

protective cover and fix an outside cable more) obstructing the behavior of the outcrop of the cable.

• Please do not interfere with the other parts of mechanical unit when install equipments in the robot.

(5) The frequent power-off stop for the robot during operation causes the trouble of the robot. Please avoid the system construction that power-off stop would be operated routinely. (Refer to bad case example.) Please execute power-off stop after reducing the speed of the robot and stopping it by hold stop or cycle stop when it is not urgent. (Please refer to "STOP TYPE OF ROBOT" in SAFETY PRECAUTIONS for detail of stop type.) (Bad case example) • Whenever poor product is generated, a line stops by emergency stop. • When alteration was necessary, safety switch is operated by opening safety fence and

power-off stop is executed for the robot during operation. • An operator pushes the emergency stop button frequently, and a line stops. • An area sensor or a mat switch connected to safety signal operate routinely and power-off stop

is executed for the robot. (6) Robot stops urgently when collision detection alarm (SRVO-050) etc. occurs. The frequent urgent

stop by alarm causes the trouble of the robot, too. So remove the causes of the alarm.


s-10

5 SAFETY OF THE ROBOT MECHANISM

5.1 PRECAUTIONS IN OPERATION (1) When operating the robot in the jog mode, set it at an appropriate speed so that the operator can

manage the robot in any eventuality. (2) Before pressing the jog key, be sure you know in advance what motion the robot will perform in the

jog mode.

5.2 PRECAUTIONS IN PROGRAMMING (1) When the work areas of robots overlap, make certain that the motions of the robots do not interfere

with each other. (2) Be sure to specify the predetermined work origin in a motion program for the robot and program the

motion so that it starts from the origin and terminates at the origin. Make it possible for the operator to easily distinguish at a glance that the robot motion has

terminated.

5.3 PRECAUTIONS FOR MECHANISMS (1) Keep the work areas of the robot clean, and operate the robot in an environment free of grease, water,

and dust.

5.4 PROCEDURE TO MOVE ARM WITHOUT DRIVE POWER IN EMERGENCY OR ABNORMAL SITUATIONS

For emergency or abnormal situations (e.g. persons trapped in or by the robot), brake release unit can be used to move the robot axes without drive power.

Please refer to controller maintenance manual and mechanical unit operator’s manual for using method of brake release unit and method of supporting robot.

6 SAFETY OF THE END EFFECTOR

6.1 PRECAUTIONS IN PROGRAMMING (1) To control the pneumatic, hydraulic and electric actuators, carefully consider the necessary time

delay after issuing each control command up to actual motion and ensure safe control. (2) Provide the end effector with a limit switch, and control the robot system by monitoring the state of

the end effector.


7 STOP TYPE OF ROBOT The following three robot stop types exist:

Power-Off Stop (Category 0 following IEC 60204-1) Servo power is turned off and the robot stops immediately. Servo power is turned off when the robot is moving, and the motion path of the deceleration is uncontrolled. The following processing is performed at Power-Off stop. - An alarm is generated and servo power is turned off. - The robot operation is stopped immediately. Execution of the program is paused.

Controlled stop (Category 1 following IEC 60204-1) The robot is decelerated until it stops, and servo power is turned off. The following processing is performed at Controlled stop. - The alarm "SRVO-199 Controlled stop" occurs along with a decelerated stop. Execution of the

program is paused. - An alarm is generated and servo power is turned off.

Hold (Category 2 following IEC 60204-1) The robot is decelerated until it stops, and servo power remains on. The following processing is performed at Hold. - The robot operation is decelerated until it stops. Execution of the program is paused.

WARNING The stopping distance and stopping time of Controlled stop are longer than the

stopping distance and stopping time of Power-Off stop. A risk assessment for the whole robot system, which takes into consideration the increased stopping distance and stopping time, is necessary when Controlled stop is used.

When the emergency stop button is pressed or the FENCE is open, the stop type of robot is Power-Off stop or Controlled stop. The configuration of stop type for each situation is called stop pattern. The stop pattern is different according to the controller type or option configuration. There are the following 3 Stop patterns.

Stop pattern Mode

Emergency stop

button

External Emergency

stop FENCE open SVOFF input Servo

disconnect

AUTO P-Stop P-Stop C-Stop C-Stop P-Stop A T1 P-Stop P-Stop - C-Stop P-Stop T2 P-Stop P-Stop - C-Stop P-Stop AUTO P-Stop P-Stop P-Stop P-Stop P-Stop

B T1 P-Stop P-Stop - P-Stop P-Stop T2 P-Stop P-Stop - P-Stop P-Stop AUTO C-Stop C-Stop C-Stop C-Stop C-Stop

C T1 P-Stop P-Stop - C-Stop P-Stop T2 P-Stop P-Stop - C-Stop P-Stop

P-Stop: Power-Off stop C-Stop: Controlled stop -: Disable

s-11


s-12

The following table indicates the Stop pattern according to the controller type or option configuration. Option R-30iB/ R-30iB Mate

Standard A (*) Controlled stop by E-Stop (A05B-2600-J570) C (*)

(*) R-30iB / R-30iB Mate does not have servo disconnect. / R-30iB Mate does not have SVOFF input. The stop pattern of the controller is displayed in "Stop pattern" line in software version screen. Please refer to "Software version" in operator's manual of controller for the detail of software version screen.

"Controlled stop by E-Stop" option When "Controlled stop by E-Stop" (A05B-2600-J570) option is specified, the stop type of the following alarms becomes Controlled stop but only in AUTO mode. In T1 or T2 mode, the stop type is Power-Off stop which is the normal operation of the system.

Alarm Condition SRVO-001 Operator panel E-stop Operator panel emergency stop is pressed. SRVO-002 Teach pendant E-stop Teach pendant emergency stop is pressed. SRVO-007 External emergency stops External emergency stop input (EES1-EES11, EES2-EES21) is

open. SRVO-408 DCS SSO Ext Emergency Stop In DCS Safe I/O connect function, SSO[3] is OFF. SRVO-409 DCS SSO Servo Disconnect In DCS Safe I/O connect function, SSO[4] is OFF.

Controlled stop is different from Power-Off stop as follows: - In Controlled stop, the robot is stopped on the program path. This function is effective for a system

where the robot can interfere with other devices if it deviates from the program path. - In Controlled stop, physical impact is less than Power-Off stop. This function is effective for

systems where the physical impact to the mechanical unit or EOAT (End Of Arm Tool) should be minimized.

- The stopping distance and stopping time of Controlled stop is longer than the stopping distance and stopping time of Power-Off stop, depending on the robot model and axis. Please refer to the operator's manual of a particular robot model for the data of stopping distance and stopping time.

When this option is loaded, this function cannot be disabled. The stop type of DCS Position and Speed Check functions is not affected by the loading of this option.

WARNING The stopping distance and stopping time of Controlled stop are longer than the

stopping distance and stopping time of Power-Off stop. A risk assessment for the whole robot system, which takes into consideration the increased stopping distance and stopping time, is necessary when this option is loaded.

130207

B-83534EN/01 TABLE OF CONTENTS

c - 1

TABLE OF CONTENTS

SAFETY PRECAUTIONS............................................................................s-1 1 GENERAL ...............................................................................................1

1.1 OVERVIEW ................................................................................................... 1 1.2 TERMINOLOGY ............................................................................................ 1 1.3 PROCEDURE................................................................................................ 2

2 HARDWARE AND SOFTWARE .............................................................3 2.1 HARDWARE.................................................................................................. 3 2.2 HARDWARE INSTALLATION ....................................................................... 5

2.2.1 Accelerometer...........................................................................................................5 2.3 SOFTWARE .................................................................................................. 7

2.3.1 Necessary Software Option ......................................................................................7 2.3.2 LVC Applicable System Configuration ...................................................................7 2.3.3 Limitations................................................................................................................8

3 SETTING LVC .........................................................................................9 3.1 “LVC ENABLED/DISABLED” ITEM ............................................................... 9 3.2 “DISABLE STATE DO” ITEM....................................................................... 10 3.3 “CHANGE TO NORMAL DO” ITEM............................................................. 10 3.4 ACCELEROMETER .................................................................................... 10

3.4.1 “Sensor Frame and Sensor Frame number” item ...................................................10

4 PROGRAM EXECUTION ......................................................................14 4.1 LVC SCHEDULE MENU.............................................................................. 14 4.2 LIMITATIONS .............................................................................................. 15 4.3 LVC INSTRUCTIONS.................................................................................. 16

4.3.1 LVC_START .........................................................................................................16 4.3.2 LVC_END..............................................................................................................17 4.3.3 NORMAL_MOTION_START ..............................................................................17 4.3.4 NORMAL_MOTION_END...................................................................................18

4.4 TP PROGRAM CREATION AND EXECUTION........................................... 18 4.5 AUTOMATIC LEARNING ............................................................................ 20 4.6 TOUCH-UP AND RE-LEARNING................................................................ 21

4.6.1 Re-learning .............................................................................................................21 4.6.2 Switching normal motion .......................................................................................22

4.7 ADJUSTMENT............................................................................................. 23 4.8 TUNE VALUE .............................................................................................. 24 4.9 COMMENT FOR LVC SCHEDULE ID......................................................... 25 4.10 CASES WHERE LVC LEARNING AND PLAYBACK MOTION IS DISABLED

..................................................................................................................... 25

5 LVC BACKUP .......................................................................................27 5.1 GENERAL ................................................................................................... 27 5.2 All BACKUP................................................................................................. 27 5.3 IMAGE BACKUP ......................................................................................... 27 5.4 SAVE AND LOAD IN DATA MENU ............................................................. 28

TABLE OF CONTENTS B-83534EN/01

c - 2

5.5 RECORDING IN THE LVC SCHEDULE MENU .......................................... 28

6 APPENDIX ............................................................................................30 6.1 ALARM CODES........................................................................................... 30

B-83534EN/01 1.GENERAL

1 GENERAL

1.1 OVERVIEW

• LVC (Learning Vibration Control) is a function that realizes smoothed and high-speed motion while maintaining the path, by utilizing an accelerometer. A robot learns and suppresses the measured vibration by an accelerometer during the learning process.

• High-speed motion is typically desired. However, vibration is a difficult issue to be solved. LVC can overcome the vibration issue and reduce cycle time.

• LVC is an optional function. • Using the LVC function requires the LVC option (J573). Using the function also requires that your

model support the LVC function. If your model does not support the function, you cannot use it.

NOTE Model specific, contact FANUC for robot support list

-30

-25

-20

-15

-10

-5

0

5

10

15

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9

[sec]

[mm

]

Accelerometer

after learning

Figure of vibration

Before learning

Controller

Sensor Cable

Fig. 1.1 LVC Configuration

1.2 TERMINOLOGY This chapter contains the terminology for this function. Please understand the terminology before setting up this function, creating and executing TP programs with LVC instructions. • LVC Command

- The following two commands are LVC commands. Ch.4.3 explains them more in detail. LVC_START: This is the command that starts learning mode or playback mode. LVC_END: This is the command that stops learning mode or playback mode. NORMAL_MOTION_START: This is the command that starts a normal motion block. NORMAL_MOTION_START: This is the command that stops a normal motion block.

- 1 -

1.GENERAL B-83534EN/01

- 2 -

• Learning Percentage - This is the parameter for learning percentage, whose range is 0-100%. 100% means learning

process is completed. • LVC schedule

- This is the compensation data to reduce the vibration from robots’ motion. It is applied to the motion lines between LVC_START and LVC_END.

• Learning mode, Learning motion

- LVC is in learning mode when the learning percentage is between 0% - 99%. The motion in the learning mode is defined as learning motion.

- When LVC_START is executed with learning percentage of 0%, the data measured by the accelerometer and other motion data is recorded in memory up to LVC_END. LVC schedule is calculated at LVC_END.

- When LVC_START is executed with learning percentage of 1-99%, the data measured by the accelerometer and other motion data is recorded in memory up to LVC_END. A TP program is executed with LVC schedule, which is updated at LVC_END.

• Playback mode, Playback motion

- Playback mode is defined as program execution when the learning percentage is 100%. The motion in the playback mode is defined as playback motion.

- When LVC_START is executed with learning percentage of 100%, the motion data is not recorded in the memory. TP programs are executed with stored LVC schedule.

1.3 PROCEDURE In order to set up this function, please follow this sequence: 1. Understand necessary hardware, necessary software, and function limitations. (Detailed information

in Ch.2) 2. Set up hardware and software. (Detailed information in Ch.3) 3. Create TP programs with LVC instructions, and perform learning procedure. (Detailed information

in Ch.4) 4. Backup LVC schedule. (Detailed information in Ch.5)

B-83534EN/01 2.HARDWARE AND SOFTWARE

2 HARDWARE AND SOFTWARE This chapter explains necessary hardware, necessary software, and software limitations.

2.1 HARDWARE LVC requires the following hardware. • 64MB (or more) D-RAM is necessary. LVC requires 18MB available memory in D-RAM. • 64MB (or more) F-ROM is recommended. LVC requires 8MB available memory in F-ROM. • Accelerometer (The specification and dimension of accelerometer are shown in Table 2.1(a) and Fig.

2.1(a).) • Accelerometer cable(for R-30iB) • Magnetic adapter kit or C-clamp adapter kit for accelerometer mounting. The C-clamp adapter kit

requires a c-clamp to be provided by the user. Please refer to Fig. 2.2.1(a) through Fig. 2.2.1(d)

Table2.1. (a) Accelerometer Sensor Specification Item Specification

Supply Voltage 5V-5% to 5V+5% Current Consumption 80mA or less Shock durability (Sensor) 5000G ( ≈ 50000m/s2) Operation temperature 0℃ ~ 60℃ Measurement directions X, Y, Z 3-orthogonal axes Measurement range -5G ( ≈ -49m/s2) to+5G ( ≈ +49m/s2) Resolution 0.15~0.25mG(≒1.5~2.5mm/s2) Offset ±0.28G Frequency response - 1kHz Interface Fanuc Serial Interface Structure Waterproof (IP67 at mating) Weight Approximately 130g

Table2.1. (b) LVC Part Number Quick Reference Part number Description

A860-2090-T341 ACC SENSOR A05B-1410-K102 ACC SENSOR CABLE KIT (25m) A05B-1410-K001 ACC MAGNETIC SENSOR ADAPTOR A05B-1410-K002 ACC C-CLAMP SENSOR ADAPTOR

CAUTION R-30iB can’t use ACC SENSOR CABLE KIT for R-30iA(A05B-1410-K101)

because of difference the controller interface. Please use ACC SENSOR CABLE KIT for R-30iB(A05B-1410-K102)

- 3 -

2.HARDWARE AND SOFTWARE B-83534EN/01

2-φ4.5THRU (Fixing bolt M4 X 25)

Detection direction Detection direction

43

53

24

45 53

+X

-X

-Y +Y

+X

-X

+Z -Z

Fig. 2.1 (a) Accelerometer Size

Power supply unit

Main board

Fig 2.1(b) Connection between Controller Cabinet and ACC sensor

- 4 -


2.2 HARDWARE INSTALLATION

2.2.1 Accelerometer • Please connect the accelerometer cable to an accelerometer and the R-30iB controller. Please refer to

Fig. 2.2.1(a).

Accelerometer

Accelerometer Cable

Main Board

R-30iB Controller

Fig.2.2.1 (a) Connection between accelerometer and Controller Cabinet

- 5 -


• Two methods of installing an accelerometer to robots or servo guns are offered. 1. Magnetic Adapter kit

Mount an accelerometer on the adapter kit and tighten the bolts to secure the two together as shown in Fig. 2.2.1(b). Fit the accelerometer to an end-of-arm tool or servo gun, and turn on the switch to attach it to a magnetic portion of the tool.

Bolt M4×30 (2 pieces)

Accelerometer

Magnetic Adapter Kit

Fig. 2.2.1(b) Magnetic Adapter Kit

2. C-clamp Adapter kit

Mount an accelerometer on the adapter kit and tighten the bolts to secure the two together as shown in Fig. 2.2.1(c). After that, attach the accelerometer to an end-of-arm tool or servo gun by clamping the plate of the kit with a c-clamp, as shown in Fig 2.2.1(d).

Bolt M4×25 (2 pieces)

Accelerometer

C-clamp Adapter Kit

Fig.2.2.1(c) C-clamp Adapter Kit

- 6 -


Accelerometer

Adapter Kit

C-clamp

Please clamp with a c-clamp to fix an accelerometer.

Fig.2.2.1(d) Clamping an accelerometer with a C-clamp Kit

NOTE

Clamping an accelerometer directly with a c-clamp may deform the accelerometer and cause sensor failure.

2.3 SOFTWARE

2.3.1 Necessary Software Option • LVC (J573) can be used in the R-30iB controller with version 7DC1/09 or later. • The Constant Path option (R663）is necessary for this option, unless standard setting option (R651) or

SpotTool+ (H590) is ordered.

2.3.2 LVC Applicable System Configuration • LVC applicable system configuration is the following two cases.

Application System 1 SpotTool+ (H590)

1st Group :Robot (Note: Only the robots supported LVC) Extended Axis Control(J518)

Other Group :Servo Gun (H869) Independent Axes(H895) Extended Axis Control (J518)

Application System

2 Handling Tool (H552) 1st Group :Robot (Note: Only the robots supported LVC) Extended Axis Control(J518)

Other Group : Independent Axes(H895) Extended Axis Control (J518)

- 7 -


- 8 -

NOTE Model specific, contact FANUC for robot support list

2.3.3 Limitations • LVC can speed up robot motion automatically during the learning process. However, this automatic

speed-up function cannot be applied to a stand-alone SPOT instruction. (More detailed information in Ch.4.2)

• LVC can be installed with the following options. However, LVC instructions cannot be executed with those options’ instructions at the same time. When they are executed at the same time, the alarm “MOTN-529 LVC: This isn't allowed” is issued. (More detailed information about MOTN-529 in Ch. 6.1) - External path optimization (J829) - KAREL (J539) - Weaving motion (J504) - Line tracking motion (J512) - Touch Sensor (J536) - Coordinated Motion (J686) - Continuous Turn (J613) - Clock Simultaneous function (J955)

• LVC can be installed with iRvision Core (J900). However, if motion change by vision instructions in learning mode, the alarm MOTN-537 is issued. (More detailed information about MOTN-537 and in Ch. 4.6.1).

• LVC can be installed with Independent Axis (H895) or Extended Axis Control (J518). However, automatic speed function cannot be applied but vibration control function is applied to the motion when the axis not in the LVC group moved in the motion lines.

NOTE LVC requires the motion path to be the same during Learning. If a program has

logic to either perform some additional moves (or conditionally skip some moves) some of the time, these differences cannot be executed until the schedule is 100% complete If LVC detects different motion while learning, a “MOTN-538 LVC: Changed motion” alarm may be posted.

• The learning mode and playback mode becomes disabled under the following conditions, and normal

speed robot motion is used: - Less than 100% override - T1 mode - Single step mode - Backward mode - Resumption of the robot motion after HOLD and ESTOP - Execution of TP programs from the line between LVC_START and LVC_END - Power failure handling

B-83534EN/01 3.SETTING LVC

3 SETTING LVC This chapter explains how to use TP programs containing LVC instructions. As the first step, LVC must be configured in the setup menu. The following procedure is used to set up LVC.

Procedure 3-1 Displaying LVC setup menu

1. Press the MENUS key. 2. Select “6 Setup”. 3. Press F1, [TYPE] to display the screen, change menu, and select “LVC”. 4. The LVC setup menu screen appears.

3.1 “LVC ENABLED/DISABLED” ITEM

• In the setup menu, LVC status can be set to enabled/disabled. Initial setting for this item is “enabled”. • When this item is set to “enabled” and a TP program with LVC instructions is executed, learning

motion or playback motion is performed according to the learning percentage. • When this item is set to “disabled” and a TP program with LVC instructions is executed, normal

motion is performed with learning instructions disabled.

NOTE In the following cases, LVC cannot be enabled.

・Available memory size in D-RAM is less than that of the required memory for LVC. Please confirm if MOTN-527 or MOTN-528 is issued, when power is turned on. Please refer to Ch. 6.1 for MOTN-527 and MOTN-528 description. ・The System configuration is not correct for an LVC system. Please refer to Ch. 2.3 for supported system configurations. Please change the system configuration to support LVC.

• To enable/disable LVC, please move the cursor to “enabled/disabled” and press the function key to

select “enabled” or “disabled”. NOTE

When LVC is disabled, the entire LVC schedule in the data menu (Please refer to Ch. 4) is disabled. In order to enable/disable LVC schedule individually, enable LVC status in the LVC setup menu and select enabled/disabled for each data ID. (Please refer to Procedure 4-6)

- 9 -

3.SETTING LVC B-83534EN/01

- 10 -

3.2 “DISABLE STATE DO” ITEM When LVC schedule is disabled in the data menu, learning motion or playback motion associated with the LVC schedule also becomes disabled and normal motion is performed. In that case, if “Disable state DO” item is set to the DO number, the DO signal is set ON. “Disable state DO” output is ON when any of the LVC schedule is disabled. When all the LVC schedule is enabled, “disable state DO” becomes OFF. To use Disable state DO items, please follow these instructions: • Move the cursor to the Disable State DO and enter the desired ID number. • The type of the output signal is “DO”.

3.3 “CHANGE TO NORMAL DO” ITEM In playback mode, when a TP program with LVC instructions is executed after touch-up is done, robot motion becomes normal motion in the modified motion lines (Please refer to Ch. 4.6.2). In that case, if “Change to normal DO” item is set to the DO number, the DO signal is set ON. When LVC_START is executed, the DO signal turns OFF. To use Disable state DO items, please follow these instructions: • Move the cursor to the Disable State DO and enter the desired ID number. • The type of the output signal is “DO”.

3.4 ACCELEROMETER

3.4.1 “Sensor Frame and Sensor Frame number” item Set up the sensor frame (sensor position and orientation) after the accelerometer is connected.

NOTE Please mount the accelerometer at the location where vibration control is needed. (For example, locations close to servo gun tips). Attach the accelerometer to a high stiffness part of the end-of-arm tool or servo gun in order to measure the vibration correctly.

• The sensor frame is a fixed frame from the faceplate to the accelerometer, similar to the UTOOL

frame. The location of the sensor frame can be calculated by the following methods. Please refer to Fig.3.4.1 (a) for an example of setting the sensor frame.

1. Calculate the sensor frame using drawing data of end of arm tooling or servo gun. 2. Calculate or copy the sensor frame using the three point method or the six point method.

NOTE Sensor frame origin is defined as shown in the figure below.


Accelerometer mounting surface

Sensor Frame Origin

Fig. 3.4.1(a) Sensor frame

100

- +

+

-

+ -

X

Z

Y

W

P

R

X

Z

Y

Sensor Frame Origin

Mechanical I/F coordination

In right figure, the sensor frame is set to be as follows, X: －200.0 mm Y: ＋100.0 mm Z: ＋ 350.0 mm W: －90.0 deg P: －90.0 deg R: 0.0 deg

200

350

Fig. 3.4.1(b) Mechanical Interface Frame and Sensor Frame

Procedure 3-2 Setting the sensor frame location

1. Calculate the sensor position X, Y, Z and the orientation W, P, R, relative to the robot faceplate frame. The sensor position representation is equivalent to a UTool frame. One way to calculate the sensor frame is to teach an unused UTool at the sensor frame, and note the XYZWPR position of the UTool.

2. Move the cursor to the desired sensor frame and press “DETAIL”.

- 11 -

3.SETTING LVC B-83534EN/01

3. Enter the values of X, Y, Z, W, P, and R in the sensor frame.

4. Using Tool Frame Six Point (XY) method supports to set LVC Sensor Frames. Allows users to

“touch” the top of the sensor in various locations to define a TCP corresponding to the Sensor Origin and Orientation. More information about Tool Frame Six Point (XY) method, please refer to R-30iB OPERATOR'S MANUAL (Basic Operation) (B-83284EN) Section 3.9.1.

Approach Point 1, 2, 3

Orient Origin PointY Direction Point

X Direction Point

Fig. 3.4.1(c) Corresponding points between the top of the sensor and Six Point (XY) Frame

5. If you want to copy a sensor frame from UTool frame, Press F2 “COPY”. Then, input UTool No.

from which you want to copy. 6. Press F4 “YES”, a sensor frame is copied from UTool frame automatically.

- 12 -


7. After that, press F3, “LIST” or back key to display the previous screen.

NOTE It is recommended to confirm the validity of sensor frame by jogging the robot in tool frame, where the location of the tool frame is the same as the sensor frame.

CAUTION When the sensor frame number is not set correctly, LVC may generate incorrect data, which can result in poor LVC performance. Also, the incorrect frame may cause the robot to move in an unexpected way. Be careful to set the sensor frame number correctly.

8. Choose one of the configured sensor frames, and enter the sensor frame number. (If the robot can use multiple end-of-arm tools, each tool may require a different sensor frame.)

- 13 -

4.PROGRAM EXECUTION B-83534EN/01

4 PROGRAM EXECUTION This chapter explains how to teach, execute and touch-up TP programs with LVC instructions.

Procedure 4-1 Displaying LVC schedule menu 1. Press data key. 2. Press F1, [TYPE] to display screen change menu, and select “LVC”. 3. The LVC schedule menu appears.

4.1 LVC SCHEDULE MENU

• Learning motion and playback motion are performed between LVC_START and LVC_END in TP programs.

• The ID in LVC_START corresponds to the LVC schedule ID in the LVC schedule menu. For example, “LVC_START[1] Learned 0%” status is shown in that of LVC schedule No.1 in the LVC schedule menu.

ID LVC_START

LVC_END

Fig. 4.1(a) ID in LVC schedule • The flow chart (shown in Fig. 4.1(b)) explains the process flow for teaching, executing (learning

motion and playback motion), and touch-up of TP programs.

- 14 -

B-83534EN/01 4.PROGRAM EXECUTION

An alarm is issued or the vibration is not suppressed.

Touch-up

Section 4.3

※Automatic learning Section4.5

Yes

No

Teaching Stage

Production Stage

Adding LVC instructions to the TP programs

Section 4.6Section 4.4

Touch-up

Section 4.6

Section 4.7Section 4.8

Normal mode Learning percentage 100%

Replay mode Learning percentage 100%

WARNING MOTN-546

WARNING MOTN-545

Learning mode Learning percentage 0-99%

Adjustment mode Tune Value

TP programs are created w/o LVC instructions

Fig. 4.1(b) Teaching, execution, and touch-up of TP programs with LVC instructions

4.2 LIMITATIONS

• The LVC instruction has limitations to the size of LVC schedule stored in the memory, as follows. - The number of motion lines between LVC instructions must be less than six hundred. The motion

line with SPOT instruction is counted as four motion lines. - The Execution time of motion lines between LVC instructions is less than 45 seconds. When the execution time is over the limitation, the alarm MOTN-542 “LVC: Full memory” is issued. Please correct this issue in the following ways:

1. Reduce the number of motion lines or logic commands between LVC instructions. 2. Break up the motion lines with one LVC start/end block into the motion lines with two or more LVC

start/end blocks. • Each LVC “Block” (CNT0/FINE to CNT0/FINE) cannot exceed 15 sec of motion. When the block time is over the limitation, the alarm MOTN-532 “LVC: Internal error 2(Id2)” is issued. • LVC has two functions: automatic speed up, and vibration control for the motion lines between LVC

instructions. The automatic speed up function can be applied only to the following motion lines. 1. Aircut motion 2. Motion lines are SPOT motion lines

The automatic speed up function can be applied partially the following motion lines.

- 15 -


3. With condition no.2, termination types of motion lines are CNT1-100 and ED (end distance) termination types of motion lines for spot instruction are CNT0 or FINE.

The automatic speed up function increases motion speed step-by-step during learning until the learning percentage becomes 100%.

< Example 1: Speed up function works > All speed up conditions are satisfied. 1. ED position path options, 2. Position path options,

< Example 2: Speed up function does not work >

Speed up conditions Are not satisfied. ED position path option is not CNT 1 - 100.

The following functions are not compatible with LVC:

- Stand-alone SPOT instruction • Automatic speed function cannot be applied to motion lines with stand-alone SPOT

instructions. - LVC_START command

• LVC_START command cannot be used between LVC start/end instructions. - Override command

• If override change under 100%, the alarm MOTN-533 “LVC: Change override” is issued and the robot stop.

4.3 LVC INSTRUCTIONS There are four LVC instructions, LVC_START, LVC_END, NORMAL_MOTION_START and NORMAL_MOTION_END. These instructions apply the LVC algorithm to motion lines between LVC_START and LVC_END. In order to select these instructions in the TP editor, press [INST] and select LVC. These instructions menu for selecting LVC_START, LVC_END, NORMAL_MOTION_START and NORMAL_MOTION_END will appear.

4.3.1 LVC_START • The LVC_START command is displayed in TP programs as follows:

LVC_START [x] Learned y% • LVC_START starts learning mode or playback mode. • x is the data ID number. Select a number from 1-15. • y is learning percentage. 100% means the learning process is complete.

- 16 -


• In the learning mode, the data measured by accelerometer and other motion data is recorded in memory.

• In playback mode, the LVC schedule is applied to the motion lines.

4.3.2 LVC_END • The LVC_END command is displayed in TP programs as follows:

LVC_END • LVC_END stops the learning mode or playback mode. • In the learning mode, motion data collection stops, and LVC schedule is generated based on this

recorded motion data. When the learning percentage becomes 100%, LVC schedule is copied from D-RAM to F-ROM. (NOTE: Due to intense computation, it may take a minute to finish the LVC_END command during learning.)

• LVC schedule is applied to the motion lines in the play back mode without collecting motion data and updating LVC schedule.

NOTE

Termination types of motion lines before LVC_END should be CNT0 or FINE. ( CNT0 is recommended ) When CNTxx across LVC_END, automatic speed-up function is not applied, but the vibration control function can be applied.

Procedure 4-2 Generating and Executing TP programs with LVC instructions.

1. In the program select menu, move the cursor to a TP program and select it. The editor screen appears.

2. Move the cursor to the line you want to add an LVC instruction. 3. Press F1 key, “[INST]”, and a menu for instructions appears. Select LVC in the menu. 4. The LVC instruction menu appears. “LVC_START” and “LVC_END” can be selected. 5. Select LVC_START or LVC_END, and the LVC instruction is added to the program line.

4.3.3 NORMAL_MOTION_START • The NORMAL_MOTION_START command is displayed in TP programs as follows:

NORMAL_MOTION_START • and displayed in TP menus as follows:

NRM_MOTION_START • NORMAL_MOTION_START starts a normal motion block. • In this normal motion block, automatic speed-up function is not applied, but the vibration control

function can be applied to the motion lines between NORMAL_MOTION_START and NORMAL_MOTION_END.

- 17 -


• These instructions can be applied only to motion lines between LVC start/end instructions. They cannot be applied without LVC start/end instructions.

• When the NORMAL_MOTION_START instruction is used before CNT1-100, the motion speed is smoothly changed to normal motion.

4.3.4 NORMAL_MOTION_END • The NORMAL_MOTION_END command is displayed in TP programs as follows:

NORMAL_MOTION_END • and displayed in TP menus as follows:

NRM_MOTION_END • NORMAL_MOTION_END ends the normal motion block. • In this normal motion block, automatic speed-up function is not applied, but the vibration control

function can be applied to the motion lines between NORMAL_MOTION_START and NORMAL_MOTION_END.

Procedure 4-3 Generating and Executing TP programs with NORMAL_MOTION

instructions. 1. In the program select menu, move the cursor to a TP program and select it. The editor screen appears. 2. Move the cursor to the line you want to add an LVC instruction. 3. Press F1 key, “[INST]”, and a menu for instructions appears. Select LVC in the menu. 4. The LVC instruction menu appears. ” NRM_MOTION_START” and “NRM_MOTION_END” can

be selected: 5. Select “NRM_MOTION_START” or “NRM_MOTION_END”, and the NORMAL_MOTION

instruction is added to the program line.

4.4 TP PROGRAM CREATION AND EXECUTION

• Two modes of LVC instructions are defined according to learning percentage: - Learning mode (when learning percentage is 0-99%) - Playback mode (when learning percentage is 100%)

• In the learning mode, - When LVC_START is executed with learning percentage of 0%, the data measured by

accelerometer and other motion data is recorded in memory up to LVC_END. LVC schedule is generated at LVC_END.

- When LVC_START is executed with learning percentage of 1-99%, LVC schedule from the previous iteration is applied to the motion, and the data measured by accelerometer and other motion data is recorded in the memory up to LVC_END. LVC schedule is regenerated at LVC_END.

- 18 -


- As the iteration number of TP program increases, the learning percentage increases. When learning percentage reaches 100%, the learning process is complete.

• In the playback mode, LVC schedule is applied to the motion lines. Motion data is not stored in the memory.

CAUTION In the learning mode and the playback mode, the robot motion becomes much faster than in normal mode at the override of 100%. LVC speed up is not applied when the override is less than 100%. Therefore, the motion speed becomes significantly different at override 95% and at override of 100% in the learning mode and playback mode.

NOTE

Learning motion and playback motion are performed in T2 mode or Auto mode, at 100% override. Otherwise, learning motion and playback motion is not performed.

• LVC setup conditions

- Accelerometer and other hardware should be installed correctly. (Please refer to Ch. 2.1 and 2.2) - The sensor frame and other necessary software settings for LVC should be set up correctly.

(Please refer to Ch. 3)

NOTE Confirm if the necessary hardware and software for LVC are set up correctly.

Procedure 4-4 Creating and Executing TP programs with LVC instructions

As an example, the TP program for spot welding application as shown in Fig. 4.4(a) is considered.

1. Create a TP program. 2. Insert LVC_START just before motion lines to be learned, as shown Fig. 4.4(b). 3. Enter data ID of LVC schedule which is inserted into * in “LVC_START [*] Learned 0%”. 4. Insert LVC_END just after motion lines to be learned, as shown Fig. 4.4(b). 5. Start the TP program and repeat running until the learning percentage becomes 100%.

- 19 -


Welding points

Learning motion

LVC_START

LVC_END

Fig. 4.4(a) An example TP program with spot instructions

1: J P[1] 100% FINE

2: LVC_START[1] Learned 0%

3: L P[2] 2000mm/sec CNT100

: SPOT[SD=1,P=1,t=1.0,S=1,ED=1]

4: L P[3] 2000mm/sec CNT100

: SPOT[SD=1,P=1,t=1.0,S=1,ED=1]

5: L P[4] 2000mm/sec CNT100

: SPOT[SD=1,P=1,t=1.0,S=1,ED=1]

6: LVC_END

LVC_START

LVC_END

Motion line with SPOT

LVC schedule ID

Fig. 4.4(b) An example TP program with spot instructions & LVC

4.5 AUTOMATIC LEARNING

• Automatic learning allows TP programs to repeat automatically during learning. • Normally, an operator needs to repeat TP programs with LVC instructions during the learning process

in T2 mode. Using Automatic Learning, the operator executes the TP programs just once.

Procedure 4-5 Creating a TP program with LVC instructions 1. Create a TP program with LVC instructions (for example, LVC1.TP) as shown in bottom right

figure. 2. Create a main TP program (for example, LVC_MAIN.TP) as shown in bottom left figure and call

LVC1.TP. 3. Disable the teach pendant, and turn mode switch on the operator panel to auto mode. 4. Execute LVC_MAIN.TP.

- 20 -


5. When the learning percentage becomes 100% in LVC1.TP, LVC learning motion will halt automatically.

4.6 TOUCH-UP AND RE-LEARNING

4.6.1 Re-learning • LVC schedule is associated with the measured vibration data and other motion data specific to a TP

program with LVC instruction. If touch-up modifies the motion after learning is complete, the generated LVC schedule may not apply to the modified motion.

• In learning mode, when a TP program with LVC instruction is executed after touch-up is done, alarm “MOTN-537 LVC: Changed motion”, “MOTN-538” or “MOTN-539” is posted and the execution stops. After resuming program execution, the motion becomes normal (non-LVC) motion, neither learning motion nor playback motion.

• There are three parameters for alarm MOTN-537 and MOTN-539, and two parameters for alarm MOTN-538, to indicate how the motion instruction has changed. Please refer to Section 6.1 for the contents of the alarm.

2. MOTN-537 is issued

1. Motion format is modified from Joint to Linear in the line.

3.LVC schedule is disabled.

4. Digital output

Fig. 4.6.1 An example of MOTN-537

• When it is necessary to execute learning motion or playback motion after MOTN-537 occurs, follow

these instructions: 1. Re-enable the LVC schedule.

(Please refer to procedure 4-6) - 21 -


2. Delete the LVC schedule, and relearn the TP program starting from learning percentage of 0%. (Please refer to procedure 4-7)

Procedure 4-6 Re-enable LVC schedule

1. Go to the LVC schedule menu. 2. Move the cursor to enabled/disenabled item. 3. Please press F4, “enabled”.

Procedure 4-7 Deleting LVC schedule 1. Go to the LVC schedule menu. 2. Move the cursor to the LVC schedule to be deleted. 3. Press NEXT key and press F4 “DELETE”. 4. Press “YES” to delete the data or “NO” to keep the data.

4.6.2 Switching normal motion • In playback mode, when a TP program with LVC instructions is executed after touch-up is done,

warning “MOTN-545 LVC: Switched to normal motion” is posted in the modified motion lines. There, robot motion becomes normal motion.

• Afterward, when LVC schedule can apply to the robot motion, robot motion becomes playback motion with warning “MOTN-546 LVC: Restart LVC motion” posted.

- 22 -


2. MOTN-545 is posted


3. Digital output

3. MOTN-546 is posted


2. Returned to playback motion.

Fig. 4.6.2 An example of MOTN-545 to MOTN-546

4.7 ADJUSTMENT

• Normally, vibration from robot motion is reduced after learning is complete. However, sometimes the vibration cannot be suppressed enough because more iterations are needed. Then, it is necessary to repeat LVC learning more to realize better performance.

• Pressing “ADJ” in the data menu can cause LVC to perform additional learning iterations, called “adjustment”. Pressing “ADJ” decreases the learning percentage.

NOTE

When “ADJ” key is pressed at the learning percentage of 100%, playback mode becomes learning mode since the learning percentage becomes less than 100%.

- 23 -


Procedure 4-8 Procedure for adjustment 1. Go to the LVC schedule menu. 2. Move the cursor to the LVC schedule. 3. Press F2 “ADJ”. 4. Press F4 “YES” to adjust, or press F5 “NO” to cancel.

Adjustment reduces the learning percentage. The figure on the left shows that one execution of adjustment reduces learning percentage from 100% to 83%.

4.8 TUNE VALUE

• There is a possibility that servo gun contact speed cannot be maintained (Warning MOTN-526), or that the maximum speed of a robot is too high for some applications. The maximum speed (tune value) can be adjusted to eliminate these problems.

• The Tune value can be set from 0 to 100. 0 means that LVC doesn’t speed up at all (the motion speed is the same as that of normal motion at 100% override). 100 means that speed up is fully applied.

• When the Tune value is 0, speed up is turned off but vibration suppression is used.

NOTE When the tune value is changed, the learning percentage becomes 0% and re-learning is necessary.

Procedure 4-9 procedure for modifying tune value

1. Go to LVC schedule menu. 2. Move the cursor to the tune value of the LVC schedule. 3. Enter a new tune value. 4. “Re-learning is necessary, would that be ok?” pops up. 5. Press F4 “YES” to apply, or F5 “NO” to cancel.

Enter the number

Learning percentagebecomes zero.

- 24 -


4.9 COMMENT FOR LVC SCHEDULE ID Comments can be added to LVC schedule ID in the LVC schedule menu.

Procedure 4-10 Procedure to change a comment 1. Go to the LVC schedule menu. 2. Move the cursor to the comment item in the LVC schedule. 3. Press ENTER key.

4. Words or letters can be used for the comment. 5. After writing comments in the blank, press the ENTER key.

4.10 CASES WHERE LVC LEARNING AND PLAYBACK MOTION IS DISABLED

• LVC instructions are disabled in the following conditions. When LVC is disabled, robot motion becomes normal motion. - Less than override 100% - T1 mode - Single step mode - Backward mode - Resumption of the robot motion after HOLD and ESTOP - Execution of a TP program from the line between LVC instructions - Power failure handling

- 25 -


- 26 -

• When override is changed during learning motion or playback motion, the alarm MOTN-533 “Override was changed” is posted and the robot stops. Afterward, robot motion becomes normal motion.

• When single step mode is enabled, the alarm MOTN-534 “LVC: Input SingleStep on LVC” is issued. Afterward, robot motion becomes normal motion.

• When hold is enabled, the robot slows down and stops. Afterward, robot motion becomes normal motion.

• When emergency stop occurs during learning motion and playback motion, the robot stops. Afterward, robot motion becomes normal motion.

• If motion changed, alarm MOTN-545 “LVC: Switched to normal motion” is posted in the modified motion lines and switched normal motion. Afterward, if playback motion can be restarted, robot motion becomes playback motion with alarm MOTN-546 “LVC: Restart LVC motion” posted.

B-83534EN/01 5.LVC BACKUP

5 LVC BACKUP This chapter explains LVC backup.

5.1 GENERAL

• LVC schedule is stored in F-ROM after the learning process is completed. An “All files” backup or image backup can be performed to save the LVC schedule to an external memory device.

• In order to understand LVC schedule save and data restore, it is necessary to understand data flow among D-RAM, F-ROM, and external memory device, such as memory cards. The following figure shows the data flow.

D-RAM (Data Menu) F-ROM External Memory Device

Writing Reading

・Data screen F2:SAVE ・Save in file screen (Performing all backup)

・Data screen F3: LOAD ・Load in file screen ・Loading all backup in Controlled Start

Power ON

・Data screen F3:RECORD Save data in learned 100%

Data screen F9: DELETE

TP program with LVC instruction

・Data screen F2:ADJ ・Data screen F4:ENB ・Data screen F5:DIS ・Comment or Tune

lvc01.bin

lvc02.bin

・

lvc14.bin

lvc15.bin

lvc01.bin

lvc02.bin

・

lvc14.bin

lvc15.bin

LVC

LVC

・

LVC

LVC

R-30iB Controller

Fig. 5.1 Dependency diagram between function keys and memory device

5.2 All BACKUP

• In the file menu, all the LVC schedule (lvc**.bin) stored in F-ROM is saved in the designated external memory device.

• When restore is selected in the file menu at Controlled Start, the controller can read LVC schedule (lvc**.bin) to F-ROM.

• Loading individual LVC schedule files (lvc**.bin) can also be performed in the file menu after cold start.

5.3 IMAGE BACKUP

• An Image backup consists of image files of F-ROM and S-RAM. • When LVC schedule is in F-ROM, the LVC schedule is stored in an image file by performing image

backup.

- 27 -

5.LVC BACKUP B-83534EN/01

• When LVC schedule (lvc**.bin) is in the image file, the controllers can read the LVC schedule (lvc**.bin) to F-ROM.

5.4 SAVE AND LOAD IN DATA MENU

• LVC schedule files (lvc**.bin) in F-ROM are stored in the designated external memory device when all backup is selected in the file menu.

• LVC schedule files (lvc**.bin) in the external memory device are loaded into F-ROM when restore all is selected in the file menu after Controlled Start.

• LVC schedule files (lvc**.bin) in the external memory device can be loaded into F-ROM file in the file menu after Controlled Start.

• LVC schedule files (lvc**.bin) can be saved or loaded file by file between F-ROM and external device.

Procedure 5-1 Procedure for saving and loading LVC schedule

1. Display data menu (please refer to ch.4) and press [NEXT]. [SAVE] key appears in F2 and [LOAD] key appears in F3.

2. Move the cursor to the LVC schedule desired to be saved or loaded. 3. Press [SAVE] key, LVC schedule (lvc**.bin) indicated by cursor is saved in the designated memory

device selected in the file menu from F-ROM. 4. Press [LOAD] key, LVC schedule (lvc**.bin) indicated by cursor is loaded into F-ROM from the

designated memory device selected in the file menu.

NOTE The Load operation copies LVC schedule into F-ROM from the designated external memory device. However, LVC schedule must be in D-RAM to be used for learned motion. Cycle power to copy LVC schedule from F-ROM to D-RAM.

5.5 RECORDING IN THE LVC SCHEDULE MENU

• Go to the LVC schedule screen (Please refer to Ch.4) and press [RECORD] key F3. The LVC schedule in D-RAM is saved as LVC schedule file (lvc**.bin) in F-ROM.

• Each LVC schedule ID can be saved separately.

- 28 -

B-83534EN/01 5.LVC BACKUP

NOTE When learning is complete, the learning percentage becomes 100%, and LVC schedule in D-RAM is automatically saved in F-ROM when LVC_END is executed. Afterward, when a backup is performed, the LVC schedule is saved in the external memory device.

However, the LVC schedule is not saved in F-ROM when LVC_END is executed during learning mode, so the LVC schedule is not saved in the external memory device when backup is performed. If it is necessary to save the LVC schedule during learning mode, press the [RECORD] key to save LVC schedule in F-ROM and perform backup.

- 29 -

6.APPENDIX B-83534EN/01

- 30 -

6 APPENDIX

6.1 ALARM CODES

This chapter contains warnings and alarms that may occur while using LVC. NOTE

When alarm occurred, saving research data is recommended. It is useful for investigating some abnormal status or issues. Please send the saving data to FANUC. More information about saving research data, please refer to R-30iB OPERATOR'S MANUAL (Basic Operation) (B-83284EN) Appendix D.

MOTN-525 LVC: Out of DRAM memory (M%d, Id%d) Cause: LVC failed to acquire D-RAM data area. M is the data ID, and Id represents error type. (Id=1) Failed to acquire D-RAM for calculation data area. (Id=2) Failed to acquire D-RAM for data translation when LVC_START executed. (Id=3) Failed to acquire D-RAM data area for writing to F-ROM. (Id=4) Failed to acquire D-RAM data area for reading from F-ROM. Remedy: 1. Make sure system has 64MB (or more) D-RAM installed. LVC requires 64MB (or more) D-RAM. 2. If MOTN-525 occurs after 64MB (or more) D-RAM is installed, it is possible that other options use

too much memory. It may be required to remove other options or reduce option memory configuration to use LVC.

MOTN-526 LVC: GunTchSpd over (L%d, V%d) Cause: After LVC learning during SPOT motion, the contact speed after LVC learning exceeds the contact speed before LVC. L is the line number at which MOTN-526 is posted, and V is the exceeded contact speed. Remedy: Reduce the TUNE value of the LVC schedule, and repeat LVC learning. MOTN-527 LVC: Failure of getting memory1 Cause: LVC failed to acquire D-RAM for before-learning data area. Remedy: 1. Make sure system has 64MB (or more) DRAM installed. LVC requires 64MB (or more) D-RAM. 2. If MOTN-527 occurs after 64MB (or more) D-RAM is installed, it is possible that other options use


MOTN-528 LVC: Failure of getting memory2 Cause: LVC failed to acquire D-RAM for after-learning data area. Remedy: 1. Make sure system has 64MB (or more) DRAM installed. LVC requires 64MB (or more) D-RAM. 2. If MOTN-528 occurs after 64MB (or more) D-RAM is installed, it is possible that other options use


MOTN-529 LVC: This isn't allowed (L%d, Id%d)

B-83534EN/01 6.APPENDIX

- 31 -

Cause: The taught line contains a motion instruction that is incompatible with LVC. L is line number, and ID represents instruction ID that conflicts with LVC instruction. Refer to ID meaning in the below table.

ID Instruction 1 External path optimization 2 KAREL 3 Weaving 4 Line Tracking 5 Touch Sensor 6 Coordinated Motion 7 Continuous Turn 8 Clock Simultaneous function

Remedy: Remove either LVC instruction or other instruction that is incompatible with LVC. MOTN-531 LVC: Learning %d% (M%d) Cause: The LVC learning percentage. The first Argument is the learning percentage. M is the data ID number of the learning data. Remedy: Informational message, no action required. MOTN-532 LVC: Internal error 2(M%d, Id%d) Cause: Internal error in LVC calculation. M is the data ID number of the learning data, Id(=2-8) represents error type. (Id=2) The travel time of LVC “Block” (CNT0/FINE to CNT0/FINE) exceeded 15 sec. (Id=3-8) Others Remedy: (Id=2) Reduce the number of motion lines or logic instructions within the LVC “Block”. (Id=3-8) Please call FANUC service center. MOTN-533 LVC: Change override on LVC Cause: Override was changed during LVC execution. LVC requires 100% override. Remedy: Reset to clear alarm, and resume program. After resuming, normal motion takes place without LVC function. MOTN-534 LVC: Input SingleStep on LVC Cause: STEP mode was entered during LVC execution. LVC does not work with single step. Remedy: Reset to clear alarm, and resume program. After resuming, normal motion takes place without LVC function. MOTN-537 LVC: Changed motion (M%d, L%d, P%d) Cause: A motion line in the LVC region was modified by re-teaching. M is learning data ID, L is line number, P represents cause of Motion changed. Refer to P number at the below table.


- 32 -

P value Cause P value Cause 1 motion type 65536 MAXSPEED instruction 2 start position 131072 RT_LD value or AP_LD value 4 destination position 262144 CR value 8 via position(circle motion

only) 524288 RTCP instruction

16 taught speed 1048576 Simultaneous EV or Independent EV value

32 termination type 2097152 Simultaneous EV or Independent EV instruction

64 CNT value 4194304 move time 128 tool frame 8388608 move time of aux axis 256 user frame 16777216 filter length 512 override 33554432 filter type 1024 payload 67108864 $MRR_GRP[g].$PRGOVERRIDE 2048 ACC value 134217728 group number 4096 PATH instruction 268435456 Break 8192 WJNT instruction 536870912 NORMAL_MOTION instruction 16384 INC instruction 1073741824 EV instruction 32768 PSPD value

Remedy: 1. Un-do changes to original value that reported as cause. 2. Start LVC learning again. MOTN-538 LVC: Changed motion (M%d, L%d, P%d) Cause: Touch up was done in the motion lines between LVC instructions. M is learning data ID, L is line number, P represents cause of Motion changed. See the following table for the more detailed information of P number.

P Instruction 1 Path changed 2 WAIT condition changed 4 Occurrence time of “SRVO-171 MotorSpd lim/DVC” alarm between LVC instructions

changed Remedy: 1. Make the changes undone. Un-do changes to original value that reported as cause. 2. Remove the learning data and re-learn again. 3. (P4) Touch up program to remove DVC alarm. MOTN-539 LVC: Changed motion (M%d, P%d) Cause: Touch up was done in a motion line between LVC instructions. M is learning data ID, P represents cause of Motion changed. See the following table for the more detailed information of P number.

P Instruction 1 Motion-line which is before LVC_END deleted 2 WAIT condition changed

Remedy: 1. Make the changes undone. Un-do changes to original value that reported as cause. 2. Remove the learning data and re-learn again. MOTN-540 LVC: Internal error 1


- 33 -

Cause: Internal error in LVC. Remedy: Please call FANUC service center. MOTN-541 LVC: Fatal error of memory (M%d, S%x) Cause: Internal error in LVC function. M is learning data ID number, S is section of LVC schedule area. Remedy: Please call FANUC service center. MOTN-542 LVC: Full memory (M%d, S%x) Cause: The LVC schedule area on D-RAM is full, due to too much recorded motion data. M is the learning data ID. S represents type of LVC schedule area. Remedy: Memory for LVC schedule area is limited as follows:

- Standard motion lines are limited to about 600 lines. (Note: one spot-additional-instruction motion line is equivalent to 4 standard motion lines.)

-Total program execution time of LVC learning must be within 45 seconds. Apply following procedure after knowing above causes: Reduce the number of motion lines or logic instructions within LVC region. Split the LVC region into two or more LVC regions, using multiple LVC schedule indices. MOTN-543 LVC: No learned data (M%d, S%x) Cause: No LVC schedule found while trying to load LVC schedule from storage. LVC learning process may not be done correctly. M is LVC schedule ID. S represents type of LVC schedule area. Remedy: 1. Re-do LVC learning. 2. If could not recover, contact FANUC service center. MOTN-544 LVC: Learned data empty (M%d, S%x) Cause: No LVC schedule found while trying to load LVC schedule from storage. LVC process may not be done correctly, or Motion line may be inserted just before LVC_END line while LVC learning percentage larger than 0%. M represents data ID number of learning data. S represents kinds of LVC schedule area. Remedy: 1. If you are in the middle of the leaning process, un-do any program changes to return program to

original state 2. Perform learning again. 3. If could not recover, contact FANUC service center MOTN-545 LVC: Switched to normal motion (M%d, %s, L%d) Cause: LVC motion switched to normal motion because learned motion was changed. M represents data ID number of learning data. The second argument represents the program name. L is line number. Remedy: Informational message, no action required. MOTN-546 LVC: Restart LVC motion (M%d, %s, L%d) Cause: LVC motion restarted.


- 34 -

M represents data ID number of learning data. The second argument represents the program name. L is line number. Remedy: Informational message, no action required. SRVO-098 ACC sensor DTERR alarm Cause: The acceleration sensor has not been connected. Otherwise, an error occurred during communication between the acceleration sensor and the main board. Remedy: 1. Check connection of the connector of the connecting cable. 2. Check the shielding of the above cable is connected securely to the grounding plate. 3. Replace the above cable. 4. Replace the acceleration sensor. Before executing the remedy 5, perform a complete controller back up as image to save all your programs and settings. 5. Replace the main board, and restore the image backup. SRVO-099 ACC sensor CRCERR alarm Cause: Data changed during transfer from the acceleration sensor. Remedy: Refer to the SRVO-098 Remedy. SRVO-100 ACC sensor STBERR alarm Cause: A stop bit error of the data from the acceleration sensor occurred. Remedy: Refer to the SRVO-098 Remedy. SRVO-108 ACC sensor livecode error Cause: An error occurred in communication of the force sensor. Remedy: See the error message about the force sensor. SRVO-109 ACC sensor ID mismatch %d Cause: Below possible cause may be determined from shown conflict ID number: Conflict ID number 1: No pulse module unit. Conflict ID number 2: A sensor other than accelerometer is detected. Remedy: 1. Secure connection between R-30iB and ACC sensor. 2. Connect accelerometer sensor. SRVO-110 ACC sensor disabled %d (G%d, A%d) Cause: Below possible causes may be determined from shown error number: 1. Invalid number assigned for port number of tracking board. 2. Accelerometer sensor port number is disabled. 3. Assigned port number of Accelerometer conflicted with another purpose, such as line tracking or

secondary encoders. 4. Setting of Accelerometer is incorrect. Remedy: Contact FANUC service center.


- 35 -

INTP-683 LVC: LVC_START in block Cause: A LVC_START instruction is started while another LVC_START instruction is executed. Remedy: Delete one of LVC_START instruction. INTP-687 LVC: NORMAL_MOTION_END is missing Cause: NORMAL_MOTION_END is missing between NORMAL_MOTION_START and LVC_END instruction. Remedy: Add NORMAL_MOTION_END instruction. INTP-688 LVC: duplicated NORMAL_MOTION_START Cause: NORMAL_MOTION_START is duplicated. Remedy: Delete one of NORMAL_MOTION_START instruction.

B-83534EN/01 INDEX

i-1

INDEX

<A> Accelerometer .............................................................5,10 ADJUSTMENT..............................................................23 ALARM CODES ...........................................................30 All BACKUP .................................................................27 APPENDIX....................................................................30 AUTOMATIC LEARNING...........................................20

<C> CASES WHERE LVC LEARNING AND PLAYBACK

MOTION IS DISABLED...........................................25 “CHANGE TO NORMAL DO” ITEM..........................10 COMMENT FOR LVC SCHEDULE ID.......................25

<D> “DISABLE STATE DO” ITEM.....................................10

<G> GENERAL..................................................................1,27

<H> HARDWARE...................................................................3 HARDWARE AND SOFTWARE...................................3 HARDWARE INSTALLATION.....................................5

<I> IMAGE BACKUP..........................................................27

<L> Limitations ..................................................................8,15 LVC Applicable System Configuration ...........................7 LVC BACKUP...............................................................27 “LVC ENABLED/DISABLED” ITEM ...........................9 LVC INSTRUCTIONS ..................................................16 LVC SCHEDULE MENU .............................................14 LVC_END .....................................................................17 LVC_START .................................................................16

<N> Necessary Software Option..............................................7 NORMAL_MOTION_END...........................................18 NORMAL_MOTION_START ......................................17

<O> OVERVIEW ....................................................................1

<P> PROCEDURE..................................................................2 PROGRAM EXECUTION ............................................14

<R> RECORDING IN THE LVC SCHEDULE MENU .......28 Re-learning.....................................................................21

<S> SAFETY PRECAUTIONS ........................................... s-1 SAVE AND LOAD IN DATA MENU..........................28 “Sensor Frame and Sensor Frame number” item ...........10 SETTING LVC................................................................9 SOFTWARE ....................................................................7 Switching normal motion...............................................22

<T> TERMINOLOGY ............................................................1 TOUCH-UP AND RE-LEARNING ..............................21 TP PROGRAM CREATION AND EXECUTION ........18 TUNE VALUE ..............................................................24

B-83534EN/01 REVISION RECORD

r-1

REVISION RECORD Edition Date Contents

01 Feb., 2013

B-83534EN/01

* B - 8 3 5 3 4 E N / 0 1 *

B-83534EN_01

Documents

Transcript of B-83534EN_01