Robotic

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Basic Description

FANUC Robotics’ SYSTEMR-J3 Controller uses advancedtechnology packaged in a proven,reliable third generation controllerdesign. Process capability andopen architecture featuresimprove application and motionperformance while simplifyingsystem integration.

SYSTEM R-J3 incorporatesFANUC Robotics’ unique “plug-inoptions” concept, which allowsflexibility for application specificconfigurations while maintaining acommonality for all users of thesystem.

HardwareFeatures/Benefits

■ Use of surface mounting and3-D packaging reducescomponents and increasesreliability.

■ 32-bit main CPU with dualprocessor architecture permitsfast calculations, reducesprogram execution times andincreases path accuracy.

■ Quick change servo amplifierreduces maintenance time.

■ Distributed I/O options reducecabling costs and simplifytroubleshooting.

■ Provides extensive line ofcompact I/O modules for bothdigital and analog signals.

■ Allows for fast power-up andprogram execution with autoresume after cycle start.

■ Increased use of fiber opticssimplifies connections andenables fastercommunications.

SystemFeatures/Benefits

■ Ergonomically designed, light-weight teach pendant withlarge, easy-to-read backlit LCDdisplay

■ High-speed, precision controlof up to 16 axes of motion

■ Auxiliary axes options cansupport up to three separatemotion groups, each with itsown control program andsimple kinematic models.

■ Multi-tasking operating systemallows execution of severalconcurrent user programs.

■ Advanced communications andnetworking capabilities includebuilt-in Ethernet and PCMCIAinterface.

ProcessFeatures/Benefits

■ AccuPath provides enhancedpath tracking during linear andcircular motion while mini-mizing speed variations.

■ Instant trigger response (<4ms)increases repeatability andimproves process control.

■ Collision detection minimizespotential damage to the robotor end-of-arm tooling.

■ Zone I/O provides applicationflexibility by monitoring andcontrolling robot interfacesignals independent of thetaught path.

■ Coordinated motion simplifiesthe teaching of part programson a moving table orpositioner.

■ TurboMove provides minimalcycle time by computing robotdynamics in real-time.

SYSTEM R-J3Controller™

i-size Cabinet See drawing for dimensions (integrated or remote)Operating - Ambient temperature:environment 0-45˚C

- Humidity: 75% RH or lessnon-condensing (95% max)

- Vibration: 0.5G or lessPower supply Three phase 200-575 VAC

+10%, -15%, 50/60Hz ±1Hz with circuit breaker

CPU 32-bit dual processor architecture (separate motion and commun-ication) with real-time clock/ calendar

Controlled axes 16 (up to three motion groups)

Serial/host - Built-in Ethernet (10BaseT)communications - FTP: allows simple file

transfers to a variety of host platforms

- Ethernet Controller Backup/Restore: provides backup and/or restore of the robot Controller memory image

- Three RS-232 ports (one can be configured as RS-422)

Teach Pendant Back-lit LCD, multi-function

R-J3 Standard ConfigurationItems Specifications

R-J3 OptionsItems Specifications

OP Box Configurations

Type B Op BoxType A Op Box

i-size Cabinet

600mm(23.6”)

790mm(31.1”)

740mm(29.1”)

550mm(21.7”)

1100mm(43.3”)

200mm(7.9”)

Optional B-size Cabinet

114mm(4.5”)93mm(3.7”)

470mm(18.5”)

600mm(23.6”)

500mm(19.7”)

52mm(2”)

10mm(.39”)

100mm(3.9”)

174mm(6.9”)

64mm(2.5”)

302mm(11.9”)

6mm(.24”)

48mm(1.9”)

6mm(.24”)

48mm(1.9”)

7mm(.28”)

140mm(5.5”)

410mm(16.1”)

350mm(13.8”)

510mm(20.1”)

7mm(.28”)

19mm(.75”)

20mm(.79”)

490mm(19.3”)

20mm(.79”)

200mm(7.9”)

350mm(13.8”)

30mm(1.2”) 10mm

(.39”)

290mm(11.4”)

10mm(.39”)410mm

(16.1”)140mm(5.5”)

310mm(12.2”)

30mm(1.2”)

Top Top

Front

Front

Front

Front Side

Side

Top Top

B-size Cabinet See drawing for dimensions

I/O sub-systems - Model A (modular rack mounted - 5 or 10 slots)

- Model B (distributed DIN rail mounted)

I/O types - DI/DO: 512 point maximumeach (includes process I/O)

- Digital AC or DC input modules

- Digital AC or DC output modules

- 12-bit Analog input or output modules

Process I/O - Digital input: 40 points maximum

- Digital output: 40 points maximum

- Multiple points can be utilized as a code (group I/O)

- Analog inputs: 6 points- Analog outputs: 2 points- Digital input for welding: 8

points- Digital output for welding: 8

points- Wire stick detect

Remote I/O - Allen Bradley Remote I/Osub-systems interface

- Devicenet (1 channel in i-cabinet, up to 4 in B-cabinet)

- Profi-bus DP slave

Host - AUI (hardware interface)communications - PC Interface: enables PC(Ethernet-based) application communication

Diskette drive - 3.5” HD MS-DOS format(PS--110)

- IBM-PC compatible disk emulator program

Memory card for PCMCIA type 2 interface for:system software - 2MB SRAM card installation or - ATA flash disk cardsprogram backups (SanDisk compatible)

FANUC Robotics North America Charlotte, NC Toronto, Canada3900 W. Hamlin Road Phone (704) 596-5121 Phone (905) 812-2300Rochester Hills, MI 48309-3253Phone (248) 377-7000 Chicago, IL Montréal, QuébecFax (248) 276-4133 Phone (847) 898-6000 Phone (450) 492-9001

Literature Request Cincinnati, OH Mexico City, Mexico1-800-47-ROBOT Phone (513) 754-2400 Phone 52 (5) 611-5998

Los Angeles, CA Aguascalientes, MexicoPhone (949) 595-2700 Phone 52 (49) 10-8000

Toledo, OH Sao Paulo, BrazilPhone (419) 866-0788 Phone (55)(11) 3955-0599

www.fanucrobotics.com

©1999 FANUC Robotics North America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A.FRNA-8/9-DS-013