< Robot !

R-30+B/R-30+B Mate/R-30+B Plus/R-30+B Mate Plus/

R-30+B Mini Plus CONTROLLER

OPERATOR'S MANUAL(Collaborative Robot Function)

B-83744EN/04

© FANUC CORPORATION, 2015

 • Original Instructions

Thank you very much for purchasing FANUC Collaborative Robot.

Before using the Collaborative robot, be sure to read MECHANICAL UNIT OPERATOR’S MANUAL and
understand the content.

• No part of this manual may be reproduced in any form.

• The appearance and specifications of this product 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 endeavor to include all pertinent matters. There are, however, a very
large number of operations that must not or cannot be performed, and if the manual
contained them all, it would be enormous in volume. It is, therefore, requested to assume
that any operations that are not explicitly described as being possible are "not possible".
B-83744EN/04 SAFETY PRECAUTIONS

SAFETY PRECAUTIONS
Before using the FANUC collaborative robot, be sure to read MECHANICAL UNIT OPERATOR’S
MANUAL to become familiar with those contents.

DEFINITION OF SAFETY NOTATIONS

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". Please read each "WARNING", "CAUTION" and "NOTE" before using the
robots.

Symbol Definitions
Used if hazard resulting in the death or serious injury of the user will be expected to
WARNING occur if he or she fails to follow the approved procedure.
Used if a hazard resulting in the minor or moderate injury of the user, or equipment
CAUTION damage may be expected to occur if he or she fails to follow the approved procedure.
Used if a supplementary explanation not related to any of WARNING and CAUTION
NOTE is to be indicated.

• Check this manual thoroughly, and keep it handy for the future reference.

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B-83744EN/04 PREFACE

PREFACE
The coexistence of human and robot will make a difference in production site from the point of view of
productivity, efficiency and so on. However, for coexistence of human and robot, adequate risk
assessment for the whole the robot system is necessary to verify the human safety.

Collaborative robot is befitted for this purpose, because the collaborative robot has the contact stop
function to stop when the external force exceeds the limit. This function is useful for design of the robot
system.

The collaborative robot is certified to meet the requirements of International Standard ISO 10218-1 by an
internationally accredited certification body.
The contact stop function is certified to meet the requirements of International ISO 13849-1 for Category
3, PL (Performance Level) d by an internationally accredited certification body.

In order to design the collaborative robot system, it is necessary to understand the collaborative robot
function. This manual describes the collaborative robot function use.

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PREFACE B-83744EN/04

RELATED MANUALS
For the FANUC Robot series, the following manuals are available:

R-30iB, OPERATOR’S MANUAL Intended readers :

R-30iB Mate, Basic Operation Operator, programmer, maintenance engineer, system
R-30iB Plus, B-83284EN designer
R-30iB Mate Plus Alarm Code List Topics :
controller B-83284EN-1 Robot functions, operations, programming, setup,
Optional Function interfaces, alarms
B-83284EN-2 Use :
Dual Check Safety Function Robot operation, teaching, system design
B-83184EN
MAINTENANCE MANUAL Intended readers :
B-83525EN Maintenance engineer, system designer
Topics :
Installation, start-up, connection, maintenance
Use :
Installation, start-up, connection, maintenance
FANUC Robot OPERATOR’S MANUAL Intended readers:
CR-4iA, B-83774EN System designer, Maintenance engineer
CR-7iA, Topics:
CR-7iA/L Installation, connection to controller, maintenance
CR-14iA/L Use:
Mechanical unit Installation, start-up, connection, maintenance
FANUC Robot OPERATOR’S MANUAL Intended readers:
CR-35iA B-83734EN System designer, Maintenance engineer
Mechanical unit Topics:
Installation, connection to controller, maintenance
Use:
Installation, start-up, connection, maintenance
FANUC Robot OPERATOR’S MANUAL Intended readers:
CR-15iA B-84054EN System designer, Maintenance engineer
Mechanical unit Topics:
Installation, connection to controller, maintenance
Use:
Installation, start-up, connection, maintenance
FANUC Robot OPERATOR’S MANUAL Intended readers:
CRX-10iA, B-84194EN System designer, Maintenance engineer
CRX-10iA/L Topics:
Mechanical unit Installation, connection to controller, maintenance
Use:
Installation, start-up, connection, maintenance

This manual uses following terms.

Name Terms in this manual

Robot mechanical unit Mechanical unit
CR-4iA, CR-7iA, CR-7iA/L, CR-14iA/L, CR-15iA, CR series
CR-35iA
CRX-10iA, CRX-10iA/L CRX series

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B-83744EN/04 TABLE OF CONTENTS

TABLE OF CONTENTS
SAFETY PRECAUTIONS ............................................................................ s-1

PREFACE ....................................................................................................p-1

1 ABSTRACT ............................................................................................. 1
1.1 RESTRICTION OF COLLABORATIVE ROBOT ............................................ 1
1.2 SOFTWARE OPTION FOR COLLABORATIVE ROBOT ............................... 1
1.3 SETUP STEPS .............................................................................................. 2
1.4 NOTES .......................................................................................................... 3
2 SETTING UP ........................................................................................... 4
2.1 SETTING SAFE I/O DEVICE ......................................................................... 4
2.2 SETTING COLLABORATIVE ROBOT FUNCTION ....................................... 5
2.2.1 Verify Payload Setup.............................................................................................. 12
2.3 OUTPUT SIGNAL OF COLLABORATIVE ROBOT STATUS ...................... 14
2.3.1 Output Safety Signal of Collaborative Robot Status .............................................. 16

3 PAYLOAD CONFIRMATION OPERATION AFTER POWER ON ........ 17

3.1 Payload Confirmation without Teach Pendant ............................................. 18
4 SPECIFICATION OF COLLABORATIVE FUNCTION .......................... 19
4.1 CONTACT STOP FUNCTION ..................................................................... 19
4.1.1 Contact Stop in Teach Mode .................................................................................. 20
4.2 COLLABORATIVE ROBOT MONITOR ....................................................... 20
4.2.1 Auto Status Check .................................................................................................. 20
4.2.2 Payload Monitor ..................................................................................................... 21
4.2.3 Collaborative Robot Monitor Screen...................................................................... 22
4.3 RETREAT AFTER CONTACT STOP .......................................................... 25
4.4 PUSH TO ESCAPE ..................................................................................... 26
4.5 Manual guided teaching ............................................................................... 27
4.5.1 Usage ...................................................................................................................... 28
4.5.2 Notice ..................................................................................................................... 28

5 PROGRAMMING ................................................................................... 29
5.1 PICKING WORKPIECE ............................................................................... 29
5.1.1 Simple Picking Program ......................................................................................... 29
5.1.2 Limiting Picking Area ............................................................................................ 32
5.2 DISABLING CONTACT STOP IN PROGRAM............................................. 36
6 PERIODICAL CHECK ........................................................................... 43
7 UTILITY ................................................................................................. 45
7.1 AUTO RESUME FUNCTION ....................................................................... 45
7.2 HIGH SPEED MODE ................................................................................... 46
7.3 LED AND BUTTON ON ROBOT ARM ........................................................ 49
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TABLE OF CONTENTS B-83744EN/04

7.3.1 CR series................................................................................................................. 49
7.3.2 CRX series .............................................................................................................. 51
7.4 OPERATION LOG BOOK ............................................................................ 52
7.5 Variable Payload Compensation function (CR series) ................................. 53
7.5.1 How to use Variable Payload Compensation Function .......................................... 54
7.5.2 Restrictions of Variable Payload Compensation Function ..................................... 55
7.5.3 Push to Escape with Variable Payload Compensation ........................................... 57
7.6 DOUBLE TAP FUNCTION (CR series) ....................................................... 58
7.7 PAYLOAD IDENTIFICATION ...................................................................... 59
7.7.1 CRX series .............................................................................................................. 59
7.7.2 CR series................................................................................................................. 59
7.8 Installation Diagnostic Tool (CR series) ....................................................... 64
8 iHMI FOR COLLABORATIVE ROBOT ................................................. 66
8.1 OVERVIEW OF THE HOME SCREEN ........................................................ 66
8.2 OPERATIONS RELATED TO SETUP ......................................................... 67
8.2.1 Collaborative Setup Guide ..................................................................................... 68
8.3 OPERATIONS RELATED TO TEACH ......................................................... 69
8.3.1 Create Program ....................................................................................................... 69
8.3.2 Pick & Place with Light Work ............................................................................... 70
8.3.3 Pick & Place with Heavy Work.............................................................................. 71
8.4 COLLABORATIVE MONITOR (CR series only) .......................................... 72
8.4.1 Collaborative Robot Monitor Screen...................................................................... 72

APPENDIX
A TROUBLESHOOTING .......................................................................... 77
A.1 INDELIBLE ALARM ..................................................................................... 77
A.2 STOP DURING MOVE ................................................................................ 78
A.3 STOP DURING PERIODICAL CHECK ........................................................ 78

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B-83744EN/04 1. ABSTRACT

1 ABSTRACT
1.1 RESTRICTION OF COLLABORATIVE ROBOT
• Constant path function is needed for the collaborative robot function. So you can NOT use any
option unsupported by Constant path function.
• Speed clamping function to reduce speed to the collaborative speed automatically does not works for
Jogging, Circular motion, Circle arc motion, Spline motion and Remote tool motion. When the robot
moves at over collaborative speed, “SYST-323 Collaborative speed limit (TCP)” or “SYST-359
Collaborative speed limit (Elbow)” is posted, and the robot stops.

1.2 SOFTWARE OPTION FOR COLLABORATIVE ROBOT

Robot library software of Collaborative robot is sufficient for the simple collaborative system.
For more advanced system as followings, DCS function is required. Refer to Chapter 5.
• Limit the area for picking or placing a workpiece
• Disable the contact stop function in specified area

Zone for placing a workpiece

Recommended DCS functions

J567 DCS Position/Speed check function
J568 DCS Safe I/O connection function

(CR series) DCS Joint Position Check function is installed as standard.

(CRX series) DCS Basic Position Check function and DCS Safe I/O connection function are installed as
standard.
Refer to Dual Check Safety Function OPERATOR’S MANUAL (B-83184EN) for detail of this function.

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1.3 SETUP STEPS

To use the collaborative robot, you must do the followings. You can use the other functions except for the
collaborative robot function as same manner as the standard FANUC robot. Refer to each function
manual.

1 Set up the collaborative robot function. Refer to Chapter 2. For more detail information of the
collaborative robot function, refer to Chapter 4.
2 Perform the payload confirmation operation after every power on. Refer to Chapter 3.
3 Teach production programs. Refer to Chapter 5 of this manual and OPERATOR’S MANUAL
(Basic Operation) (B-83284EN), Chapter of PROGRAMMING.
4 (CR series) Make periodical check program of force sensor. Refer to Chapter 6.
5 Run production with above programs. Refer to OPERATOR’S MANUAL (Basic Operation)
(B-83284EN), Chapter of EXECUTING A PROGRAM.
6 Set up the special functions of the collaborative robot. Refer to Chapter 7.

If you have any problem of the collaborative robot, refer to Appendix A.

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1.4 NOTES
• In the software version 7DF1/10 or later, “Enable UI signals” is disabled by default. When you use
UI signals, enable “Enable UI signals”. Refer to OPERATOR’S MANUAL (Basic Operation)
(B-83284EN), Section of SYSTEM CONFIG MENU.
• In the software version 7DF1/10 or later, payload setting no.1 is set to 0kg and selected by default.
When you attach an end effector to the robot, set the payload setting correctly. When you move the
robot with fault payload setting, “SYST-325 Payload error is detected” might occur. Refer to
OPERATOR’S MANUAL (Basic Operation) (B-83284EN), Section of PAYLOAD SETTING.
• On CRX series, cartesian motions become WJNT motion when wrist configures differ between start
and destination positions if Singularity Avoidance function is disabled. Therefore, wrist joints’
behavior can change when Offset option is used like below. If you want to disable this function,
make the item “Wjnt when config changes:” FALSE on the System/Config screen.
• The turn numbers performed are not always the same to taught position’s on linear motion
because the robot tool moves toward the target point while adopting an attitude very similar to
that at the start point
• If Offset option on the line 2 is removed from the TP program below, J6 goes to not -175
degrees but 185 degrees.
• With Offset option, J5 is fixed and wrist configure changes so line 2 is added WJNT option.
With WJNT option, taught position’s joint angles are performed so J6 goes to -175 degrees on
line 2.

1:J P[1] 100% FINE ;

2:L P[2] 1000mm/sec FINE Offset,PR[1] ;

P[1]{
GP1:
UF : 0, UT : 1,
J1= 0.000000 deg, J2= 0.000000 deg, J3= 0.000000 deg,
J4= 0.000000 deg, J5= -5.000000 deg, J6= 175.000000 deg
};
P[2]{
GP1:
UF : 0, UT : 1,
J1= 0.000000 deg, J2= 0.000000 deg, J3= 0.000000 deg,
J4= 0.000000 deg, J5= -5.000000 deg, J6= -175.000000 deg
PR[1]{
GP1:
UF : 0, UT : 1,
J1= 0.000000 deg, J2= 0.000000 deg, J3= 0.000000 deg,
J4= 0.000000 deg, J5= 10.000000 deg, J6= 0.000000 deg

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2 SETTING UP
This chapter describes how to set up the collaborative robot. By default, SAFE I/O device is set correctly.
Set up after Section 2.2.

2.1 SETTING SAFE I/O DEVICE

Collaborative robot has a built sensor, and this sensor detects a external force to realize the contact stop
function. By default, the sensors are assigned to SAFE I/O DEVICE. These devices are needed for the
collaborative robot function. If the safe I/O device configuration is changed, the following operation is
needed.

Initialize Safe I/O device

1 Press [MENU] key.
2 Select SYSTEM.
3 Press F1, [TYPE].
4 Select DCS. If neither DCS top screen nor Safe I/O device screen, press [PREV] key, and select Safe
I/O device.
5 Press F2, [INIT]. The message “Do you want to change setting?” is displayed.
6 Press F4, [YES].
7 Press F2, [INIT] again. The message “Initialize device configuration?” is displayed.
8 Press F4, [YES].
9 Make sure that the types of Device 2 to 5 are “Force Sensor” (CR series) or the types of Device 2 to
12 are “Torque Sensor” (CRX series). The following screen will be displayed.

DCS
Safe I/O device
1 Safe I/O device: I/O connect OK
2 SFDO Pulse check: ENABLE(PL e) OK
Configuration status
--- Device 1 ----------------
3 Type: E-stop board OK
4 Robot number: 1 OK
5 Input: SPI[ 1 - 8](PL e) OK
6 Output: SPO[ 1 - 8](PL e) OK
--- Device 2 ----------------
7 Type: Force Sensor CHGD
8 Robot number: 0 OK
9 Input: SPI[ 0 - 0](PL e) OK
10 Output: SPO[ 0 - 0](PL e) OK
--- Device 3 ----------------
11 Type: Force Sensor CHGD
12 Robot number: 0 OK
13 Input: SPI[ 0 - 0](PL e) OK
14 Output: SPO[ 0 - 0](PL e) OK
--- Device 4 ----------------
15 Type: Force Sensor CHGD
16 Robot number: 0 OK
17 Input: SPI[ 0 - 0](PL e) OK
18 Output: SPO[ 0 - 0](PL e) OK
--- Device 5 ----------------
19 Type: Force Sensor CHGD
20 Robot number: 0 OK
21 Input: SPI[ 0 - 0](PL e) OK
22 Output: SPO[ 0 - 0](PL e) OK

[TYPE] INIT UNDO

10 Apply DCS parameter. Refer to Dual Check Safety Function OPERATOR’S MANUAL
(B-83184EN), Chapter of OVERVIEW, Section of APPLY TO DCS PARAMETER.
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B-83744EN/04 2. SETTING UP

2.2 SETTING COLLABORATIVE ROBOT FUNCTION

This section introduces the setting of the collaborative robot function. In the collaborative robot screen,
you can set up the collaborative robot function.

Collaborative robot screen

1 Press the [MENU] key.
2 Select SYSTEM.
3 Press F1, [TYPE].
4 Select DCS.
5 If neither DCS top screen nor Collaborative robot screen, press the [PREV] key, and select
Collaborative robot. The following screen will be displayed. Some items is not displayed depending
on the software version.

DCS
Collaborative robot

Contact stop status STOP

Enable/Disable ENABLE OK
Force sensor
Serial number: 0 OK
Group: 1 OK
Payload setup: <DETAIL> OK
Active Payload number: No. 1 [**********]
External force Limit / Disabling input
Current: 0.0
Limit 1: 150.00[N] ---[ 0] OK
Limit 2: 0.00[N] ---[ 0] OK
Limit 3: 0.00[N] ---[ 0] OK
Limit 4: 0.00[N] ---[ 0] OK
Escape: 300.00[N] OK

[TYPE] CONFIRM PEAKCLR UNDO

You can set up the collaborative function in this screen.

For configurable items, OK/CHGD/PEND is displayed in the right.
OK : Setting parameter and DCS parameter are the same.
CHGD : Setting parameter is changed, but not applied to DCS parameter.
PEND : Setting parameter is changed and applied to DCS parameter, but controller power has not been
cycled.

When you change DCS parameter setting, “Apply to the DCS parameter” is necessary. Refer to Dual
Check Safety Function OPERATOR’S MANUAL (B-83184EN), Chapter of OVERVIEW, Section of
APPLY TO DCS PARAMETER.
DCS
Collaborative robot

Contact stop status STOP

Enable/Disable ENABLE OK
Force sensor
Serial number: 0 OK
Group: 1 OK
Payload setup: <DETAIL> OK
Active Payload number: No. 1 [**********]
External force Limit / Disabling input
Current: 0.0
Limit 1: 150.00[N] ---[ 0] OK
Limit 2: 0.00[N] ---[ 0] OK
Limit 3: 0.00[N] ---[ 0] OK
Limit 4: 0.00[N] ---[ 0] OK
Escape: 300.00[N] OK

[TYPE] CONFIRM PEAKCLR UNDO

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2. SETTING UP B-83744EN/04

Contact stop status

The status of the contact stop function is displayed. Refer to Section 2.3.

Enable/Disable (configurable)
Enabling or disabling the contact stop function.
DISABLE
The contact stop function is disabled. In this setting, the robot is same as a standard robot. You can move
the robot only in T1 mode. In T2 or AUTO mode, “SYST-343 Enable Contact Stop function” occurs, and
you cannot move the robot.
ENABLE
The contact stop function is enabled.
ENBL (Shift+Reset)
Contact stop is always enabled in AUTO mode. When you hold down the [SHIFT] key and press the
[RESET] key in T1 or T2 mode and the contact stop status is STOP (Refer to Section 2.3), the contact
stop function is disabled until the [SHIFT] key is released or the safety is confirmed.

Refer to Subsection 4.1.1 for the detail of the difference between ENABLE and ENBL(Shift+Reset).

CAUTION
When “ENBL (Shift+Reset)” is selected, the contact stop function might be
disabled when you hold down the [SHIFT] key and press the [RESET] key in T1
or T2 mode. If “ENBL (Shift+Reset)” is used, adequate risk assessment for the
whole the robot system is necessary to verify that the contact stop can be
disabled while Shift+Reset is pressed in T1 or T2 mode.

Force Sensor Serial number (CR series)

The serial number of the force sensor is displayed.

Group (configurable)
Set the group number of the collaborative robot.

Payload setup
You can see current payload setup. Refer to Subsection 2.2.1.

Active payload number

Current payload number is displayed and not configurable in this screen. You can select the payload
number in “SYSTEM > Motion” screen or by PAYLOAD instruction in program. Refer to
OPERATOR'S MANUAL (Basic Operation) (B-83284EN).

External force (N)

Current (CR series)
You can see the current external force. This item moved to Force monitor in the software version
7DC3/30 or later.

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B-83744EN/04 2. SETTING UP

Limit 1 to 4 (configurable)
Set the external force limit 1 to 4 between 0[N] and 150[N], inclusive. 0[N] means disable and you cannot
set the limit 1 to 0[N].
When the contact stop function is enabled, “@” is displayed as following.

Limit 1: 150.00[N] ---[ 0] OK

@Limit 2: 90.00[N] ---[ 0] OK
Limit 3: 0.00[N] ---[ 0] OK
Limit 4: 0.00[N] ---[ 0] OK

This means the active force limit. The active force limit is minimum limit in available limits. When the
external force exceeds the active force limit, the robot will stop. To disable the force limit, set the limit to
0[N] or the corresponding disabling input to ON. You can disable the force limit to change the active
force limit dynamically in a program. In the example of this screen, the limit 1 and 2 are enabled, then @
is attached to the minimum limit 2. The limit 3 and 4 is set 0[N], then they are disabled.

For CRX series, the external force is calculated by the torque acting on each axis. Therefore, when the
robot contacts at the point near the each axis, the robot may not stop even if the external force is more
than the external force limit. On the other hand, when the robot contacts at the point far from the each
axis, the robot may stop even if the external force is smaller than the external force limit.
※External force：Force to act on the robot at the time of contact by the robot motion.

When you push [NEXT] key and F5[DETAIL] on each limit item, detail setting screen is displayed.

Limit 1: 150.00[N] OK
Disabling input ---[ 0] OK
Payload Error Margin 60.00[N] OK

Payload Error Margin (configurable)

Set Payload Error Margin. When steady load applied to the robot exceeds Payload Error Margin,
SYST-325 “Payload error is detected” will be posted, and the robot will stop.

Escape (configurable)
Set the external force limit for Push To Escape between 0[N] and 300[N], inclusive. In Push To Escape, if
the external force exceeds this limit, the robot is stopped. This means that the robot does not escape when
you push with a force more than the force limit.

Disabling input (configurable)

Set the Safe I/O to disable each force limit. When the disabling input is ON, the corresponding force limit
is disabled. When the all limits are disabled, the contact stop function is disabled.

@Limit 1: 150.00[N] SIR[ 1] OK

Limit 2: 90.00[N] SIR[ 2] OK
Limit 3: 0.00[N] ---[ 0] OK
Limit 4: 0.00[N] ---[ 0] OK

In the example of this screen, SIR[2] is ON to disable the limit 2. The limit 1 is only enabled, then @ is
attached to the limit 1.

WARNING
When the contact stop is disabled, the collaborative robot does not stop even
though the external force exceeds the limit, and a serious personal injury could
result. If the robot system is designed to be able to disable the contact stop,
adequate risk assessment for the whole robot system is necessary to verify that
the contact stop can be disabled.
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DCS
Collaborative robot

Force Monitor:
Resultant X Y Z
Curr: 0.00[N]
0% 0% 0% 0%
Peak: 0% 0% 0% 0%
Output:
Curr: GO[ 0] GO[ 0] GO[ 0] GO[ 0]
Warning: 0%
Payload Monitor:
FORCE Resultant X Y Z
Curr: 0% 0% 0% 0%
Comp: 0% 0% 0%
Peak: 0% 0% 0% 0%
Output:
Curr: GO[ 0] GO[ 0] GO[ 0] GO[ 0]
Comp: GO[ 0] GO[ 0] GO[ 0]
Warning: 50%
MOMENT Resultant X Y Z
Curr: 0% 0% 0% 0%
Comp: 0% 0% 0%
Peak: 0% 0% 0% 0%
Output:
Curr: GO[ 0] GO[ 0] GO[ 0] GO[ 0]
Comp: GO[ 0] GO[ 0] GO[ 0]
Warning: 50%
Warning in DSBL: DISABLE

[TYPE] CONFIRM PEAKCLR UNDO

Force Monitor/Payload Monitor

These items is displayed in the software version 7DC3/30 or later. An external force and a load applied to
the robot is displayed. You can configure the warning posted when the monitored value exceeds specified
value, and output monitored value. Refer to Subsection 4.2.3.

DCS
Collaborative robot

Payload change distance (mm)

Current +Limit -Limit
X: 0.00 0.00 0.00 OK
Y: 0.00 0.00 0.00 OK
Z: 0.00 0.00 0.00 OK
Rotation: Current Limit
0.00[deg] 0.20[deg] OK
Enabling input: ON [ 0] OK
Password for CONFIRM: ENABLE OK
CONFIRM by DI: DISABLE OK
CONFIRM input: DI[ 0]
Payload No. output: GO[ 0]

[TYPE] CONFIRM PEAKCLR UNDO

Payload change distance

Current
You can see the current distance and the rotation angle of the posture from a payload change position.
The rotation angle of the posture is displayed in the software version 7DC3/30 or later. When the payload
changing output is OFF (Refer to Section 2.3), this value is 0.
+Limit, -Limit, Rotation Limit (configurable)
When the payload change distance is enabled, the active payload number is changed, then the contact stop
function will switch to disable. If the face plate position is changed more than the payload change
distance, the contact stop function switches to enable immediately. The payload change distance can be
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B-83744EN/04 2. SETTING UP
set for each direction individually, +X, -X, +Y, -Y, +Z and –Z of the world coordinate system. Rotation
Limit is displayed in the software version 7DC3/30 or later. Rotation Limit is one value without
distinction of direction. This is useful for the collaborative robot to pick or place a workpiece. Refer to
Chapter 5.

Enabling input (configurable)

Set the Safe I/O to enable the payload change distance. When the enabling input is ON, the payload
change distance is enabled. When the Safe I/O is OFF, the payload change distance is disabled, and STOP
state (Refer to Section 2.3) will be initiated immediately when the actual payload number is changed.
Default setting is ON[ 0]. It means the payload change distance is always enabled.

Password for CONFIRM (configurable)

After power on the controller, the payload confirmation operation must be performed to clear the alarm.
The collaborative robot does not move until the payload confirmation is performed. When Password for
CONFIRM is ENABLE, DCS password is required for the payload confirmation operation. Default
setting is ENABLE. Refer to Chapter 3.

CONFIRM by DI (configurable)
This item is displayed in the software version 7DC3/30 or later. You can perform the payload
confirmation operation with some kind of terminal without other than the teach pendant. Refer to Chapter
3.
DCS
Collaborative robot

Speed Limit
Collaborative Speed: 250 [mm/s] OK
Speed Clamping: ENABLE
Disabling Input: DI[ 0]
Max Speed: 250 [mm/s]

[TYPE] CONFIRM PEAKCLR UNDO

Speed limit
Collaborative Speed (configurable)
This item is displayed the software version 7DC3/28. When the contact stop is enable, the TCP speed or
the elbow (joint position between J2 arm and J3 arm) speed of the collaborative robot exceeds the speed
limit, “SYST-323 Collaborative speed limit(TCP)” or “SYST-359 Collaborative speed limit(elbow)” will
be posted, and the robot will stop.

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WARNING
If the speed limit is set to inappropriate value, the force at the time of contact
increases, and a serious personal injury could result. Risk assessment for the
whole robot system is required to determine appropriate speed limit. Refer to
followings about the risk according to the speed.
CR-35iA:
MECHANICAL UNIT OPERATOR’S MANUAL(B-83734EN), Section 3.6 THE
CHARACTERISTIC OF COLLABORATIVE ROBOT AND LIMITATIONS AND
USAGE NOTES
CR-4iA, CR-7iA, CR-7iA/L, CR-14iA/L:
MECHANICAL UNIT OPERATOR’S MANUAL(B-83774EN), Section 3.6 THE
CHARACTERISTIC OF COLLABORATIVE ROBOT AND LIMITATIONS AND
USAGE NOTES
CR-15iA:
MECHANICAL UNIT OPERATOR’S MANUAL(B-84054EN), Section 3.6 THE
CHARACTERISTIC OF COLLABORATIVE ROBOT AND LIMITATIONS AND
USAGE NOTES
CRX-10iA, CRX-10iA/L:
MECHANICAL UNIT OPERATOR’S MANUAL(B-84194EN), Section 3.6 THE
CHARACTERISTIC OF COLLABORATIVE ROBOT AND LIMITATIONS AND
USAGE NOTES

Speed Clamping, Disabling input (configurable)

Speed Clamping is the function to slow down such that the speed of the TCP and the elbow are less than
Collaborative Speed. It is ENABLE by default. When you set Disabling input and turn signal to ON, it
will turn to DISABLE.

Max Speed (configurable)

When you want to teach higher speed more than default, set this item to the maximum speed. Refer to
Section 7.2 about procedure to switch the speed according to the conditions.

DCS
Collaborative robot

Use Payload Comp: DISABLE OK

Enabling input: ON [ 0 ] OK
Alarm in disabled: DISABLE

[TYPE] CONFIRM PEAKCLR UNDO

Use Payload Comp (configurable, CR series)

This item is displayed in the software version 7DC3/33 or later. Use when same payload acts on the robt
every time during robot move. Refer to Section 7.5.

Enabling input (configurable)

When the set signal is ON, the compensation value is used, and when it is OFF, the compensation value is
not used.

Alarm in disabled (configurable)

When this item is enabled, you use the KAREL programs for compensation with Use Payload Comp”
disabled or Enabling input OFF, the robot will stop with alarm.

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B-83744EN/04 2. SETTING UP
DCS
Collaborative robot

Safety I/O Setting:

Contact Stop enable: ---[ 0] OK
SAFE: ---[ 0] OK
STOP: ---[ 0] OK
ESCP: ---[ 0] OK
In Payload chg dist: ---[ 0] OK

[TYPE] CONFIRM PEAKCLR UNDO

Safety I/O Setting (configurable)

This item is displayed in the software version 7DC3/37, 7DF1/08 or later. You can output the
collaborative robot status to safety signals. Refer to Subsection 2.3.1.

DCS
Collaborative robot

Auto Status Check:

Check During Moving: DISABLE OK
Flex Time Limit: DISABLE OK
Time Limit Input: --[ 0]
Warning Output: DO[ 0]
Time setting: 0s before

[TYPE] CONFIRM PEAKCLR UNDO

Auto Status Check (configurable)

This item is displayed in the software version 7DC3/42, 7DF1/10 or later. You can change setting of Auto
Status Check. Refer to Subsection 4.2.1.

DCS
Collaborative robot

Push to Escape: ENABLE

Password Lock: DISABLE
PyldComp during Escp: DISABLE
Retract after Contact: ENABLE
Password Lock: DISABLE
Auto Resume: DISABLE
Program Running Output: DO[ 0]
Program Pause Output: DO[ 0]
Double Tap: OFF
Output: DO[ 0]

[TYPE] CONFIRM PEAKCLR UNDO

Push to Escape (configurable)

You can enable/disable for Push to Escape. Refer to Section 4.4 for details.

Password Lock (configurable)

When this item is enabled, password is required to change Push to Escape item.

PyldComp during Escp (configurable)

When this item is enabled and Push to Escape is done while the payload compensation working, the
compensation keeps when Push to Escape is performed. When this item is disabled and Push to Escape is
done while the payload compensation working, the compensation value becomes 0. After restarting
program, the compensation value will be back when the robot returns on original path.

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2. SETTING UP B-83744EN/04

Retract after Contact (configurable)

You can enable/disable for Retract after Contact. Refer to Section 4.3 for details.

Password Lock (configurable)

When this item is enabled, password is required to change Retract after Contact item.

Auto Resume (configurable)

You can enable/disable for Auto Resume function. Refer to Section 7.1 for details.

Program Running Output (configurable)

It is ON when the program is running or the auto resume function is waiting to resume. This keeps ON
when the program is resumed by Auto resume function.

Program Pause Output (configurable)

It is ON when the program is paused and the auto resume function is not waiting to resume.

Double Tap (configurable, CR series)

It is ON when the double tap is detected. Refer to Section 7.6 for details.

F2 [CONFIRM]
Pressing the F2 [CONFIRM] and the payload confirmation starts. The payload confirmation operation
must be performed at least once after power on. The collaborative robot does not move until the payload
confirmation is performed. Refer to Chapter 3.

WARNING
1 If the collaborative robot settings are incorrectly, the safety function will not work,
and a serious personal injury could result. When the collaborative robot settings
are changed, the values must be verified and the function must be tested again.
2 When the contact stop is disabled, the collaborative robot does not stop even
though the external force exceeds the limit, and a serious personal injury could
result. If the robot system is designed to be able to disable the contact stop,
adequate risk assessment for the whole robot system is necessary to verify that
the contact stop can be disabled.
3 If “Password for CONFIRM” is set to DISABLE, anybody can perform the
payload confirmation operation. If the payload confirmation operation is
performed incorrectly, the external force is not detected correctly and safety
function will not work, and a personal injury could result. When “Password for
CONFIRM” is set to DISABLE, everybody who can operate the teach pendant
must be authorized to perform the payload confirmation operation.

2.2.1 Verify Payload Setup

In the collaborative robot screen, select Payload setup: <DETAIL>, then the payload setup screen is
displayed. In this screen, current parameters for the contact stop are displayed as followings. In this
screen, you cannot change their parameters. Refer to Section 7.7 and each MECHANICAL UNIT
OPERATER’S MANUAL, Section of “LOAD SETTING” for procedure to set payload.

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B-83744EN/04 2. SETTING UP
DCS
Payload setup
Status
PAYLOAD 1
PAYLOAD [kg] 35.00 OK
CENTER X [cm] 0.00 OK
CENTER Y [cm] 0.00 OK
CENTER Z [cm] 0.00 OK
INERTIA X [kg cm^2] 0.00 OK
INERTIA Y [kg cm^2] 0.00 OK
INERTIA Z [kg cm^2] 0.00 OK
PAYLOAD 2
PAYLOAD [kg] 35.00 OK

[TYPE]

PAYLOAD 1 to 9
Payload settings are displayed. In “SYSTEM > Motion” screen, you can change the payload settings.

DCS
Payload setup
Status
ARM LOAD #3
PAYLOAD [kg] 0.00 OK
CENTER X [cm] -3.50 OK
CENTER Y [cm] 0.00 OK
CENTER Z [cm] 8.00 OK
ARM LOAD #0
PAYLOAD [kg] 0.00 OK
CENTER X [cm] 0.00 OK
CENTER Y [cm] 0.00 OK
CENTER Z [cm] 0.00 OK
ARM LOAD #0

[TYPE]

ARM LOAD #axis_number

Arm load settings are displayed. In “SYSTEM > Motion” screen, you can change the payload settings.

DCS
Payload setup
Status
Gravity vector
X [mm/s^2] 0.00 OK
Y [mm/s^2] 0.00 OK
Z [mm/s^2] 9800.00 OK
Speed limit for push to escape
J1 [deg/s] 9.00 OK
J2 [deg/s] 9.00 OK
Monitor interval(ms): 500 OK
Vibration limit(N): 30.00 OK
Payload error limit(N): 60.00 OK
Status chk err lim(N): 60.00 OK
Status chk time lim(s): 90.00 OK
Vibration tolerance: 32 OK
Payload change distance
Rotation limit (deg): 0.20 OK

[TYPE]

Gravity vector
Gravity vector is displayed. The gravity vector is changed by the mount angle of the robot.
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2. SETTING UP B-83744EN/04

Speed limit for push to escape

Speed limit in Push To Escape is displayed.

Monitor interval
Sampling time of the external force monitor is displayed. Refer to the section 4.2.

Vibration limit
The force limit by vibration is displayed.

Payload error limit

Payload error limit is displayed. When the error of the payload setting exceeds the payload error limit, the
robot can not move. Refer to the subsection 4.2.2.

Status chk error lim

This is “Status check error limit”, internal parameter for the auto status check.

Status chk time lim

This is “Status check time limit”, the limit of time interval for the auto status check.

Vibration tolerance
Tolerance of floor vibration

Payload change distance Rotation limit (deg)

The orient rotation limit of the payload change distance. This item is displayed in the software version
before 7DC3/29.

WARNING
If the payload setting is incorrect, the safety function will not work correctly, and
a personal injury could result. When payload settings are changed, the values
must be verified and the function must be tested again.

2.3 OUTPUT SIGNAL OF COLLABORATIVE ROBOT STATUS

The state of the collaborative robot could be output as the digital output (DO, RO, Flag) by set the system
variables. This is useful for programming and visual indicator.

SAFE state output

SETTING
$DCSS_CLLB[1].$DOTYP_SAFE: Set the type of output (DO:2, RO:9, F:35)
$DCSS_CLLB[1].$DOIDX_SAFE: Set the index of output
SPECIFICATION
ON: The contact stop function is enabled and the safety is confirmed. In this case, the robot can move as
usual.

STOP state output

SETTING
$DCSS_CLLB[1].$DOTYP_STOP: Set the type of output (DO:2, RO:9, F:35)
$DCSS_CLLB[1].$DOIDX_STOP: Set the index of output
SPECIFICATION
ON: The contact stop function is enabled and the safety is not confirmed. In this case, the robot cannot
move. The signal is ON in the following cases.
- The payload number is changed, but the payload change distance is disabled.
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B-83744EN/04 2. SETTING UP
- The intensity of the external force is high.
- The auto status check has not been performed for Status check time limit. Refer to the
subsection 4.2.1.

DSBL state output

SETTING
$DCSS_CLLB[1].$DOTYP_DSBL: Set the type of output (DO:2, RO:9, F:35)
$DCSS_CLLB[1].$DOIDX_DSBL: Set the index of output
SPECIFICATION
ON: The contact stop function is disabled.
This signal is useful for a visual indication when the robot is in collaborative operation.

ESCP state output

SETTING
$DCSS_CLLB[1].$DOTYP_ESCP: Set the type of output (DO:2, RO:9, F:35)
$DCSS_CLLB[1].$DOIDX_ESCP: Set the index of output
SPECIFICATION
ON: In Push To Escape.

Payload changing output

SETTING
$DCSS_CLLB[1].$DOTYP_PLCHG: Set the type of output (DO:2, RO:9, F:35)
$DCSS_CLLB[1].$DOIDX_PLCHG: Set the index of output
SPECIFICATION
ON: The contact stop function is disabled and the safety is not confirmed. In this case, if the contact stop
is changed to enabling, the state would transition to STOP state, and the robot would stop. The
signal is ON in the following cases.
- The payload number is changed when the payload change distance is enabled.
- The intensity of the external force is high.
- The auto status check has not been performed for Status check time limit. Refer to the
subsection 4.2.1.
Auto status check Time Out output
SETTING
$DCSS_CLLB[1].$DOTYP_TMOUT: Set the type of output (DO:2, RO:9, F:35)
$DCSS_CLLB[1].$DOIDX_TMOUT: Set the index of output
SPECIFICATION
ON: The auto status check has not been performed for Status check time limit. Refer to the subsection
4.2.1.

Program Running output

SETTING
$DCSS_CLLB[1].$DOTYP_RUN: Set the type of output (DO:2, RO:9, F:35)
$DCSS_CLLB[1].$DOIDX_RUN: Set the index of output
SPECIFICATION
ON: The program is running or the auto resume function is waiting to resume. This keeps ON when the
program is resumed by Auto resume function. Refer to Section 7.1.

Program Paused output

SETTING
$DCSS_CLLB[1].$DOTYP_PAUSE: Set the type of output (DO:2, RO:9, F:35)
$DCSS_CLLB[1].$DOIDX_PAUSE: Set the index of output

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2. SETTING UP B-83744EN/04

SPECIFICATION
ON: The program is paused and the auto resume function is not waiting to resume. Refer to Section 7.1.

WARNING
Collaborative status output is not a Safe I/O. If you assign it to Safe I/O used by
the safety function, the safety function will not work under some fault conditions
and serious personal injury could result. Do not use the collaborative status
output for safety purposes.

2.3.1 Output Safety Signal of Collaborative Robot Status

This function is available in the software version 7DC3/37, 7DF1/08 or later.

You can output the collaborative robot status to safety signals.

Assign the collaborative robot status to safety signal at items of “Safety I/O setting” in the collaborative
robot screen.

DCS
Collaborative robot

Safety I/O Setting:

Contact Stop enable: ---[ 0] OK
SAFE: ---[ 0] OK
STOP: ---[ 0] OK
ESCP: ---[ 0] OK
In Payload chg dist: ---[ 0] OK

[TYPE] CONFIRM PEAKCLR UNDO

NOTE
Don’t specify CSO because this function doesn’t support output to CSO.

Contact Stop enable

When contact stop enable, the signal turns on.

SAFE
When the contact stop function is enabled and the safety is confirmed, the signal turns on. In this case, the
robot can move as usual.

STOP
When the contact stop function is enabled and the safety is not confirmed, the signal turns on. In this case,
the robot cannot move. The signal turns on in the following cases.
- The payload number is changed, but the payload change distance is disabled.
- The intensity of the external force is high.
- The auto status check has not been performed for Status check time limit. Refer to the
subsection 4.2.1.
ESCP
In Push To Escape, the signal turns on.

In Payload chg dist

When the payload change distance is enabled and payload number is changed, the signal turns on. The
robot moves more than payload change distance, or the payload change distance turns disabled, the signal
turns off.

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 3. PAYLOAD CONFIRMATION
B-83744EN/04 OPERATION AFTER POWER ON

3 PAYLOAD CONFIRMATION OPERATION

AFTER POWER ON
You must confirm that the payload setting is consistent with the actual payload at least once after power
on the controller. This operation is called as Payload confirmation. The robot cannot move before
Payload confirmation. In the collaborative robot screen, pressing F2[CONFIRM] and the payload
confirmation process starts.

WARNING
If the payload confirmation operation is performed incorrectly, the external force
is not detected correctly and the safety function will not work, and a personal
injury could result. When the payload confirmation operation is performed, the
actual payload of the robot must be confirmed correctly, and anybody must not
contact the robot.

Payload confirmation Operation

1 If the message “Code number (master)” is displayed, enter the master code number for DCS. If the
code number is not correct, the payload confirmation operation is failed.
If the “Password for CONFIRM” is DISABLE in the collaborative robot screen, it is not necessary
to enter code number.
2 First question “Actual payload is No. X?” is displayed.
Confirm the actual payload of the robot hand/tool/workpiece is surely equal to payload No. X.
- If No. X is correct, press F4 [YES] and next question will be displayed.
- Else, press F5 [NO] and the payload confirmation operation is failed. Change the payload
setting and try again.
3 Second question “Nobody contacts with the robot?” is displayed.
Confirm nobody contacts the robot, no foreign material is on the robot, and there is no external force
to the actual robot.
- If nobody contacts with the robot, press F4 [YES] and the result of the payload confirmation
will be displayed.
- Else, press F5 [NO] and the payload confirmation is failed. Remove the external force to the
robot and try again.

The result of the payload confirmation

“Payload confirmation success”
Payload confirmation operation is completed. You can use the collaborative robot after this.
“Payload confirmation failed”
Remove the external force to the robot and try again. For example, a floor vibration may cause the
external force.
Wait few seconds and try again. Payload confirmation can fail soon after power up

WARNING
If “Password for CONFIRM” is set to DISABLE, anybody can perform the
payload confirmation operation. If the payload confirmation operation is
performed incorrectly, the external force is not detected correctly and safety
function will not work, and a personal injury could result. When “Password for
CONFIRM” is set to DISABLE, everybody who can operate the teach pendant
must be authorized to perform the payload confirmation operation.

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3. PAYLOAD CONFIRMATION
OPERATION AFTER POWER ON B-83744EN/04

3.1 Payload Confirmation without Teach Pendant

When you would like to perform the payload confirmation operation with some kind of terminal other
than the teach pendant, configure “CONFIRM by DI” in the collaborative robot screen. This
configuration is displayed in the software version 7DC3/30 or later.

DCS
Collaborative robot

CONFIRM by DI: DISABLE OK

CONFIRM input: DI[ 0]
Payload No. output: GO[ 0]

[TYPE] CONFIRM PEAKCLR UNDO

CONFIRM by DI (configurable)
When this item is set to ENABLE, you can perform the payload confirmation operation with an external
signal. If it is ENABLE, you can also perform the payload confirmation operation with the teach pendant.

CONFIRM input (configurable)

When “CONFIRM by DI” is ENABLE and you change CONFIRM from OFF to ON, the payload
confirmation will be performed. When the CONFIRM input changes from OFF to ON, you need to
confirm that the actual payload of the robot hand/tool/workpiece is surely equal to current payload setting
and nobody contacts with the robot. When CONFIRM input switches over and over in a short time, the
payload confirmation may be performed incorrectly. CONFIRM input should be ON state more than 1
second. If CONFIRM input is ON at the power-up, “SRVO-473 DCS CLLB CC_EXTF alarm” might be
occur.

Payload No. output (configurable)

Current payload setting number is output to a group output signal or a register set in this item. When you
perform the payload confirmation operation with some kind of terminal other than the teach pendant, you
can confirm the actual payload of the robot hand/tool/workpiece is surely equal to current payload setting
by display of current payload setting number on the terminal.

WARNING
If “CONFIRM by DI” is set to ENABLE, you set CONFIRM input to ON, it is
necessary to confirm that the actual payload of the robot matches current
payload setting and anybody does not contact the robot. Measure is necessary
to prevent putting CONFIRM input by unauthorized person such as locking. If the
payload confirmation operation is performed incorrectly, the external force is not
detected correctly and safety function will not work, and a personal injury could
be result.

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 4. SPECIFICATION OF
B-83744EN/04 COLLABORATIVE FUNCTION

4 SPECIFICATION OF COLLABORATIVE
FUNCTION
This chapter introduces functions of the collaborative robot.

4.1 CONTACT STOP FUNCTION

When the external force exceeds the active force limit, the robot will stop.

After a contact stop, the robot cannot moves until the intensity of the external force becomes low.

When multiple programs are executed by multitasking function, all programs pause by the contact stop
function. If you don’t want to stop a program by the contact stop, set Interruption Disable in the program
detail screen. Refer to OPERATOR’S MANUAL (Basic Operation) (B-83284EN), Chapter of
PROGRAM STRUCTURE.

WARNING
Motion groups other than Collaborative robot are outside of the scope of the
contact stop function. If a person comes into contact with the motion group other
than Collaborative robot, a serious personal injury could result. If the robot
system is designed to include the motion group other than Collaborative robot,
adequate risk assessment for the whole robot system is necessary to verify that
the motion group other than Collaborative robot are outside of the scope of the
contact stop function.

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4. SPECIFICATION OF
COLLABORATIVE FUNCTION B-83744EN/04

4.1.1 Contact Stop in Teach Mode

The contact stop function is also enabled in T1/T2 mode. When the contact stop occurs, you cannot jog
the robot in the usual manner until the intensity of the external force becomes low. This section provides
the way to escape the robot by jogging in the contact stop situation. If the intensity of the external force
does not become low, for example the robot contacts fixed object, you cannot jog in the usual manner. To
recover this STOP situation, there are different manners between “ENABLE” and “ENBL(Shift+Reset)”
set in the collaborative robot screen.

ENABLE
To recover from the STOP situation, you can jog the robot to the direction to go back to before contact.
Hold down SHIFT key, press RESET key, and jog the robot without releasing SHIFT key. If the robot
moves to the other direction, the robot stops immediately.

ENBL(Shift+Reset)
To recover from the STOP situation, hold down SHIFT key and press RESET key, then the contact stop
function is disabled, and you can jog the robot. If the SHIFT key is released, or the intensity of the
external force becomes low, the contact stop function is enabled again.

CAUTION
1 In ENBL (Shift+Reset) case, when the contact stop is disabled by holding SHIFT
key and pressing RESET key, even if an operator moves the robot to a
dangerous direction by jogging, the robot will not stop.
2 When “ENBL (Shift+Reset)” is selected, the contact stop might be disabled when
you hold down SHIFT key and press RESET key in T1 or T2 mode. If “ENBL
(Shift+Reset)” is used, adequate risk assessment for the whole robot system is
necessary to verify that the contact stop can be disabled when you hold down
SHIFT key and press RESET key in T1 or T2 mode.

4.2 COLLABORATIVE ROBOT MONITOR

To verify that the contact stop function works correctly, the status of Collaborative robot is monitored
periodically. If the status is possibly-abnormal, the robot stops until the external force data is confirmed
normal status.

4.2.1 Auto Status Check

For the safety confirmation of Collaborative robot function, Auto Status Check is performed periodically.

• While the robot moving, the auto status check will not be performed by default. That is, when all
motors of the robot stops, the auto status check is performed, even if the program is running.
• When the external force is large, the auto status check is not performed.
• When the elapsed time from a previous auto status check is longer than the status check time limit,
the robot stops until the auto status check is performed. About Status check time limit, refer to the
subsection 2.2.1.

By default, Collaborative robot cannot move continuously more than Status check time limit. It is
necessary to program that the robot stops in a state that does not receive any external force. Or you can
use the auto resume function to avoid the program continues to be paused. Refer to Section 7.1.

You can change setting of Auto Status Check in the software version 7DC3/42, 7DF1/10 or later. Setting
is available in the collaborative robot screen.
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 4. SPECIFICATION OF
B-83744EN/04 COLLABORATIVE FUNCTION

DCS
Collaborative robot

Auto Status Check:

Check during Moving: DISABLE OK
Flex Time Limit: DISABLE OK
Time Limit Input: --[ 0]
Warning Output: DO[ 0]
Time Setting: 0s before

[TYPE] CONFIRM PEAKCLR UNDO

Check during Moving

• When you set it to enable, the auto status check is also performed during the robot moving.
• When it is enable, Push to Escape function is disabled.

Flex Time Limit

• When you set it to enable, you can extend the status check time limit from the default value.
• When you extend the status check time limit, the robot might tend to stop with “SYST-320 Program
paused by contact stop” or “SYST-325 Payload error is detected”.
• You can change the time limit dynamically.
• Range of the time limit is from Default value of the status check time limit to 10000s. You can see
the default value of time limit is in the payload setup screen. Refer to subsection 2.2.1. When you
input a value outside the range, the default value is used.

Time Limit Input

You can input the status check time limit by using following types. The unit is seconds.
GI: Group input
R: Numeric Register (Please input integer value. If real value is input, the default value is used as status
check time limit.)

Warning Output
The elapsed time from a previous auto status check exceeds specified time before the time limit, signal
turns to ON.

Time Setting
Specify the timing of warning output. The unit is seconds.

4.2.2 Payload Monitor

If the payload setting is inconsistent with the actual payload, the sensor cannot detect the external force
correctly. In this case, the robot stops until the intensity of the external force becomes low. For example,
when the robot drops a workpiece unexpectedly, the robot cannot move.

When the robot picks or places a workpiece, an actual payload would be inconsistent with the payload
setting temporarily. Then the sensor cannot also detect the external force correctly. In this case, the
payload change distance is useful. Please refer to Chapter 5.

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4. SPECIFICATION OF
COLLABORATIVE FUNCTION B-83744EN/04

4.2.3 Collaborative Robot Monitor Screen

“Force Monitor” and “Payload Monitor” are displayed in the collaborative robot screen in the software
version 7DC3/30 or later. You can monitor an external force and a load applied to the robot.

DCS
Collaborative robot

Force Monitor: Current Peak

0.00[N] ( 0%) 0%
Settings : Warning Output
0% GO[ 0]
Payload Monitor: Current Peak
Force : 0% 0%
Moment : 0% 0%
Settings : Warning Output
Force : 50% GO[ 0]
Moment : 50% GO[ 0]
Warning in DSBL: DISABLE

[TYPE] CONFIRM PEAKCLR UNDO

In the software version 7DC3/31 or later, direction components based on the robot world frame is
displayed.

DCS
Collaborative robot

Force Monitor:
Resultant X Y Z
Curr: 0.00[N]
0% 0% 0% 0%
Peak: 0% 0% 0% 0%
Output: GO[ 0] GO[ 0] GO[ 0] GO[ 0]
Warning: 0%
Payload Monitor:
FORCE Resultant X Y Z
Curr: 0% 0% 0% 0%
Peak: 0% 0% 0% 0%
Output: GO[ 0] GO[ 0] GO[ 0] GO[ 0]
Warning: 50%
MOMENT Resultant X Y Z
Curr: 0% 0% 0% 0%
Peak: 0% 0% 0% 0%
Output: GO[ 0] GO[ 0] GO[ 0] GO[ 0]
Warning: 50%
Warning in DSBL: DISABLE

[TYPE] CONFIRM PEAKCLR UNDO

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 4. SPECIFICATION OF
B-83744EN/04 COLLABORATIVE FUNCTION
In the software version 7DC3/33 or later, the compensation value of Variable Payload Compensation
function is also displayed. Refer to Section 7.5.

DCS
Collaborative robot

Force Monitor:
Resultant X Y Z
Curr: 0.00[N]
0% 0% 0% 0%
Peak: 0% 0% 0% 0%
Output:
Curr: GO[ 0] GO[ 0] GO[ 0] GO[ 0]
Warning: 0%
Payload Monitor:
FORCE Resultant X Y Z
Curr: 0% 0% 0% 0%
Comp: 0% 0% 0%
Peak: 0% 0% 0% 0%
Output:
Curr: GO[ 0] GO[ 0] GO[ 0] GO[ 0]
Comp: GO[ 0] GO[ 0] GO[ 0]
Warning: 50%
MOMENT Resultant X Y Z
Curr: 0% 0% 0% 0%
Comp: 0% 0% 0%
Peak: 0% 0% 0% 0%
Output:
Curr: GO[ 0] GO[ 0] GO[ 0] GO[ 0]
Comp: GO[ 0] GO[ 0] GO[ 0]
Warning: 50%
Warning in DSBL: DISABLE

[TYPE] CONFIRM PEAKCLR UNDO

For CRX series, each joint direction components of the force is displayed.

DCS
Collaborative robot

Force Monitor:
Resultant J1 J2 J3
Curr: 0% 0% 0% 0%
Peak: 0% 0% 0% 0%
Output:
Curr: GO[ 0] GO[ 0] GO[ 0] GO[ 0]
Warning: 0%
J4 J5 J6
Curr: 0% 0% 0%
Peak: 0% 0% 0%
Output:
Curr: GO[ 0] GO[ 0] GO[ 0]
Payload Monitor:
Resultant J1 J2 J3
Curr: 0% 0% 0% 0%
Peak: 0% 0% 0% 0%
Output:
Curr: GO[ 0] GO[ 0] GO[ 0] GO[ 0]
Warning: 0%
J4 J5 J6
Curr: 0% 0% 0%
Peak: 0% 0% 0%
Output:
Curr: GO[ 0] GO[ 0] GO[ 0]
Warning in DSBL: DISABLE

[TYPE] CONFIRM PEAKCLR UNDO

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Force Monitor
External force applied to the robot is displayed and output to external signals. You can monitor instant
force such that a human contact.
Curr[N] (CR series)
Current external force applied to the robot is displayed.
Curr[%]
Current force / Active Force Limit x 100 (When the contact stop function is disabled, the value is 0 %.)
When the value is 100 %, a contact stop occurs. (SYST-320 “Contact force exceeds limit” is posted.)

Payload Monitor
Steady load applied to the robot is displayed and output to external signals. When the payload setting
does not match the actual payload, this value will be large.
Force: Curr [%]
Averaged force / Payload Error Margin x 100 (During the payload change, the value is 0 %.)
When the value is 100 %, payload error occurs. (SYST-325 “Payload error is detected” is posted.)
Force: Comp [%] (CR series)
Force Compensation value during playback of Variable Payload Compensation function. Refer to Section
7.5.
Moment: Curr [%] (CR series)
Averaged moment / tolerance x 100 (During the payload change, the value is 0 %.)
When the value is 100 %, payload error occurs. (SYST-325 “Payload error is detected” is posted.)
Moment: Comp [%] (CR series)
Moment Compensation value during playback of Variable Payload Compensation function. Refer to
Section 7.5.

Peak
Peak hold value of each item is displayed. Press F3[PEAK CLR] to clear the value.

Warning
When the current value[%] exceeds each warning value[%], following warning occurs.
• SYST-350 Force Monitor warning
• SYST-348 Payload Monitor (Force) warning
• SYST-349 Payload Monitor (Moment) warning
Set integer value from 0 to 100. When the value is 0, warning does not occur.
Warning in DSBL
DISABLE: No warning occurs when the contact stop function is disabled.
ENABLE: Warnings also occur when the contact stop function is disabled.

Output
Each item can be output to signals etc. Following signal types can be set.
GO: Current value is output to Group output.
R: Current value is output to Numeric Register.
DO/RO: When the current value exceeds the set warning value, signal is set to ON.

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4.3 RETREAT AFTER CONTACT STOP

When the robot was stopped by the contact stop and if strong force remained, the robot will retreat
slightly.

Condition
Only at the contact stop in execution of the program (not in jogging)

How to disable the function

In the software version 7DC3/44, 7DF1/17 or later, set in the collaborative screen. In earlier software
version, set the system variable “$DCSS_CLLB[1].$REV_ENB” to FALSE.

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4.4 PUSH TO ESCAPE

When an operator pushes the robot, the robot moves to pushed direction. Only J1 and J2 (CR series) or J1,
J2 and J3 (CRX series) can respectively escape by pushing. In Push To Escape, TCP orientation is not
kept.

J2

J1

CRX series only

Condition
• AUTO mode
• Any alarm is not posted.
• The robot stops.
• The contact stop function is enabled.
• The external force is less than the force limit for Push To Escape.

How to disable the function

In the software version 7DC3/44, 7DF1/17 or later, set in the collaborative screen. In earlier software
version, set the system variable “$DCSS_CLLB[1].$PTE_ENABLE” to FALSE.

Tips for pushing

• When you push the robot too strongly, the robot cannot escape.
• Farther and farther from the rotation axis, it is easy to push.
• If the robot does not escape, release your hand for a moment and try again.

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4.5 Manual guided teaching

The manual guided teaching function enables operators to move the robot by pushing it directly.

The manual guided teaching is enabled when the enabling device (deadman switch) is pressed.
The correct operation is shown in Fig.4.5 (a). The tablet TP (or iPendant) and the robot must be held by
the same person.

Fig. 4.5(a) Correct operation of manual guided teaching

The wrong operation is shown in the Fig.4.5 (b). The tablet TP (or iPendant) and the robot are held by
two persons.

Fig. 4.5(b) Wrong operation of manual guided teaching

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WARNING
• If payload setting is not appropriate, the robot can move unexpectedly in the
manual guided teaching operation. Please confirm before operation that the
payload setting is correct, and release the enabling device immediately if
unexpected movement occurs.
• The contact stop function is disabled during the manual guided teaching
operation. If you feel danger, for example, there is a risk that the work piece
collides yourself or the stand etc., please release the enabling device
immediately.

4.5.1 Usage
1. Enable the manual guided teaching function.
・ On the tablet TP, open the Robot Operation tab on the bottom of the screen and push the
『manual guided teaching』 button.
・ On iPendant, open JOG ASSIST screen, and push the 『MANUAL』 button.

2. Press the enabling device in AUTO mode.

3. When all conditions are fulfilled, the green LED on the robot starts flashing and you can start
moving the robot.

4.5.2 Notice
• When TCP or the elbow speed exceeds 1000 [mm/s] during manual guided teaching, the robot stops.
• If manual guided teaching doesn’t start, please check these conditions.
・ The controller is in AUTO mode.
・ All alarms are removed.
・ The robot axes are inside of joint limits.
・ Payload confirmation is done.
・ The robot stops.

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B-83744EN/04 5. PROGRAMMING

5 PROGRAMMING
You can teach a program of the collaborative robot in much the same way as other FANUC robots except
for situations such that the collaborative robot is subjected to external force.

For example, while the robot picks or places a workpiece, the robot is subjected to external force. The
payload number is changed by PAYLOAD instruction in program. The timing of PAYLOAD instruction
execution is not the same as the timing of the actual workpiece picking/placing. Therefore a contact stop
may occur by mismatch between the payload setting and the actual payload. To avoid the unnecessary
contact stop during the payload change, the contact stop function can be disabled.

In this situation, to prevent a program from being paused by the contact stop, you should set the contact
stop function to disable in limited area. There are following ways to disable the contact stop function.
• To set all disabling I/O of force limits to ON
• To change payload number when the payload change distance enabling input
The disabling I/O of force limits and the payload change distance enabling could be assigned with the
safety I/O (e.g. Cartesian position check, Joint speed check, etc.). The safety I/O is helpful to teach a
safety program.

WARNING
1 When the contact stop is disabled, the collaborative robot does not stop even
though the external force exceeds the limit, and serious personal injury could
result. If the robot system is designed to be able to disable the contact stop,
adequate risk assessment for the whole robot system is necessary to verify that
the contact stop can be disabled.
2 Opening and closing of a robot hand could do a human serious personal injury.
When you design a robot hand, adequate risk assessment for the robot hand is
necessary to verify that the robot hand do a human no injury.

This chapter provides some examples of programming the collaborative robot.

5.1 PICKING WORKPIECE

5.1.1 Simple Picking Program

This section provides a setting to pick a workpiece. In following way, the contact stop is disabled just
after payload number change. If the robot moves more than the payload change distance, the contact stop
is enabled.

WARNING
When the contact stop is disabled, the collaborative robot does not stop even
though the external force exceeds the limit, and serious personal injury could
result. If the robot system is designed to be able to disable the contact stop,
adequate risk assessment for the whole robot system is necessary to verify that
the contact stop can be disabled.

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SETTING

Payload change distance

1 Press the [MENU] key.
2 Select SYSTEM.
3 Press F1, [TYPE].
4 Select DCS.
5 If neither DCS top screen nor Collaborative robot screen, press [PREV] key, and select
Collaborative robot.
6 Scroll down. You will see a screen similar to the following.

DCS
Collaborative robot
Limit 1: 105.00 ---[ 0] OK
Limit 2: 0.00 ---[ 0] OK
Limit 3: 0.00 ---[ 0] OK
Limit 4: 0.00 ---[ 0] OK
Escape: 300.00 OK
Payload change distance (mm)
Current +Limit -Limit
X: 0.00 0.00 0.00 OK
Y: 0.00 0.00 0.00 OK
Z: 0.00 0.00 0.00 OK
Enabling input: ON [ 0] OK

[TYPE] CONFIRM UNDO

7 Set Payload change distance +Limit and –Limit of each direction(X, Y, Z). In this example, +Limit
of Z = 3.0mm, and the limit of other directions is 1.0mm.

DCS
Collaborative robot
Limit 1: 105.00 ---[ 0] OK
Limit 2: 0.00 ---[ 0] OK
Limit 3: 0.00 ---[ 0] OK
Limit 4: 0.00 ---[ 0] OK
Escape: 300.00 OK
Payload change distance (mm)
Current +Limit -Limit
X: 0.00 1.00 1.00 CHGD
Y: 0.00 1.00 1.00 CHGD
Z: 0.00 3.00 1.00 CHGD
Enabling input: ON [ 0] OK

[TYPE] CONFIRM UNDO

8 Apply to DCS parameter. Refer to Dual Check Safety Function OPERATOR’S MANUAL
(B-83184EN), Chapter of OVERVIEW, Section of APPLY TO DCS PARAMETER.

In above setting, when the payload number is changed, the contact stop is disabled. When the flange
position of the robot moves to +Z direction of the world coordinate system more than 3mm or other
direction more than 1mm from the position the payload number is changed, the contact stop returns to
enabled.

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SAMPLE PROGRAM
Example of workpiece picking
1: L P[1] 200mm/s FINE Position for picking workpiece
2: PAYLOAD[2] Change payload for gripper and workpiece, Contact stop is disabled.
3: L P[2] 50mm/s FINE In payload change distance, workpiece leaves the placing stand
4: WAIT 1.0sec Payload monitor confirms no external force.
5: L P[3] 200mm/s CNT100 When the robot goes out of payload change distance, Contact stop is enabled.

X
Y

World coordinate system

If the contact stop returns to enabled before the external force is sufficiently small, the program will be
paused. Adjust the setting as followings, and prevent the program from being paused.
• Reduce the speed of the movement the robot lift up a workpiece.
• Wait a little after lifting up a workpiece.
• Set the payload change distance to sufficient distance to the external force is small.

CAUTION
The payload change distance is 0 by default. If you change the payload change
distance, adequate risk assessment for the whole robot system is necessary to
verify that the payload change distance does not cause any dangerous situation.

WARNING
1 When the contact stop is disabled, the collaborative robot does not stop even
though the external force exceeds the limit, and serious personal injury could
result. If the robot system is designed to be able to disable the contact stop,
adequate risk assessment for the whole robot system is necessary to verify that
the contact stop can be disabled.
2 In this setting, when the payload number is changed, the contact stop function is
disabled anywhere in the envelope of the robot. This indicates the contact stop
function is disabled unexpectedly, if any mistakes.

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5.1.2 Limiting Picking Area

In previous sample program, when the payload number is changed, the contact stop function is disabled
anywhere in the envelope of the robot. This indicates the contact stop function is disabled unexpectedly,
if any mistakes. For example, the payload number is changed by a mistake of programming.
This section provides additional setting to specify the area to payload change. In this setting, even if the
payload number is changed out of the zone, the contact stop function still is enabled. You can program as
below.
• Set the DCS tool model for the payload change.
• Set the zone for the payload change to the DCS Cartesian Position Check.
• Set Safe I/O connect
• Set Safe I/O of the zone as the payload change distance enabling input.

Zone for the payload change

SOFTWARE OPTION
The following options are necessary for below setting.
J567 DCS Position/Speed check function
J568 DCS Safe I/O connection function (Standard with CRX series)

Refer to Dual Check Safety Function OPERATOR’S MANUAL (B-83184EN) for more detail
information about these options. Below setting is one example.

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B-83744EN/04 5. PROGRAMMING

SETTING

DCS Tool model setting

1 Press [MENU] key.
2 Select SYSTEM.
3 Press F1, [TYPE].
4 Select DCS.
5 If neither DCS top screen nor User model, press [PREV] key several times, and select User model.
6 Select No.1 and press F3, [DETAIL]. You will see a screen similar to the following.

DCS
User element detail
No. 1 [***************************]
Element: 1 Status: OK

1 Enable/Disable: DISABLE
2 Link No. (99:FacePlate) : 99
3 Link type: NORMAL
4 Tool frame: 0
5 Shape: Point
6 Size (mm): 0.0
Pos1
7 X: 0.000 Y: 0.000 Z: 0.000
Pos2
8 X: 0.000 Y: 0.000 Z: 0.000

[TYPE] UNDO >

7 Set the TCP model as below. Please set the Tool frame position in (X, Y, Z) of Pos1. In this example,
size is 50mm.

DCS
User element detail
No. 1 [***************************]
Element: 1 Status: CHGD

1 Enable/Disable: ENABLE
2 Link No. (99:FacePlate) : 99
3 Link type: NORMAL
4 Tool frame: 0
5 Shape: Point
6 Size (mm): 50.0
Pos1
7 X: 0.000 Y: 0.000 Z: 0.000
Pos2
8 X: 0.000 Y: 0.000 Z: 0.000

[TYPE] UNDO >

8 Apply to DCS parameter. Refer to Dual Check Safety Function OPERATOR’S MANUAL
(B-83184EN), Chapter of OVERVIEW, Section of APPLY TO DCS PARAMETER.

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DCS Cartesian Position Check setting

1 Press [MENU] key.
2 Select SYSTEM.
3 Press F1, [TYPE].
4 Select DCS.
5 If neither DCS top screen nor Cart. position check, press [PREV] key, and select Cart. position
check.
6 Select No.1 and press F3, [DETAIL]. You will see a screen similar to the following.

DCS
Cartesian position check
No. 1 Status:----
1 Comment: [************************]
2 Enable/Disable: DISABLE
3 Method(Safe side):Diagonal(IN)
4 Group: 1
5 Target model 1: -1
6 Target model 2: 0
7 Target model 3: 0
(0:Disable, -1:Robot, -2:Tool)
8 User frame: 0
Position(mm):
Current Point 1 Point 2
9 X 1110.0 0.0 0.0
10 Y 0.0 0.0 0.0
11 Z 940.0 0.0 0.0
12 Stop type: Power-Off stop
13 disabling input: ---[ 0: ]

[TYPE] PREV NEXT RECORD UNDO >

7 Set the zone for the payload change such as below.

• Set target model to TCP model.
• Set Stop type to Not stop. The robot can move both inside and outside this zone.
• Set the Position for the payload change. Please note that the contact stop function is disabled
when TCP is in this zone.

DCS
Cartesian position check
No. 1 Status:CHGD
1 Comment: [************************]
2 Enable/Disable: ENABLE
3 Method(Safe side):Diagonal(IN)
4 Group: 1
5 Target model 1: 1
6 Target model 2: 0
7 Target model 3: 0
(0:Disable, -1:Robot, -2:Tool)
8 User frame: 0
Position(mm):
Current Point 1 Point 2
9 X 1110.0 1000.0 800.0
10 Y 0.0 -100.0 100.0
11 Z 940.0 600.0 800.0
12 Stop type: Not stop
13 disabling input: ---[ 0: ]

[TYPE] PREV NEXT RECORD UNDO >

8. Apply to DCS parameter. Refer to Dual Check Safety Function OPERATOR’S MANUAL
(B-83184EN), Chapter of OVERVIEW, Section of APPLY TO DCS PARAMETER.

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Safe I/O connect setting

1 Press [MENU] key.
2 Select SYSTEM.
3 Press F1, [TYPE].
4 Select DCS.
5 If neither DCS top screen nor Safe I/O connect, press [PREV] key several times, and select Safe I/O
connect. You will see a screen similar to the following.

DCS
Safe I/O connect
Output Input1 Input2 Status
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK

[TYPE] CLEAR UNDO

6 Set SIR[1] = CPC[1] (Cartesian Position Check of the zone for the payload change).

DCS
Safe I/O connect
Output Input1 Input2 Status
SIR[ 1]= CPC[ 1] ---[ 0] CHGD
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK

[TYPE] CLEAR UNDO

7 Apply DCS parameter. Refer to Dual Check Safety Function OPERATOR’S MANUAL
(B-83184EN), Chapter of OVERVIEW, Section of APPLY TO DCS PARAMETER.

When you would like to set plural zones for the payload change, you can set such as followings.

DCS
Safe I/O connect
Output Input1 Input2 Status
SIR[ 2]= CPC[ 2] OR CPC[ 3] CHGD
SIR[ 1]= CPC[ 1] OR SIR[ 2] CHGD
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK
---[ 0]= ---[ 0] ---[ 0] OK

[TYPE] CLEAR UNDO

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Payload change distance Enabling input

1 Press [MENU] key.
2 Select SYSTEM.
3 Press F1, [TYPE].
4 Select DCS.
5 If neither DCS top screen nor Collaborative robot screen, press [PREV] key, and select
Collaborative robot.
6 Scroll down. You will see a screen similar to the following.
DCS
Collaborative robot
Limit 1: 105.00 ---[ 0] OK
Limit 2: 0.00 ---[ 0] OK
Limit 3: 0.00 ---[ 0] OK
Limit 4: 0.00 ---[ 0] OK
Escape: 300.00 OK
Payload change distance (mm)
Current +Limit -Limit
X: 0.00 1.00 1.00 OK
Y: 0.00 1.00 1.00 OK
Z: 0.00 3.00 1.00 OK
Enabling input: ON [ 0] OK

[TYPE] CONFIRM UNDO

7 Set Payload change distance Enabling input to SIR[1].

DCS
Collaborative robot
Limit 1: 105.00 ---[ 0] OK
Limit 2: 0.00 ---[ 0] OK
Limit 3: 0.00 ---[ 0] OK
Limit 4: 0.00 ---[ 0] OK
Escape: 300.00 OK
Payload change distance (mm)
Current +Limit -Limit
X: 0.00 1.00 1.00 OK
Y: 0.00 1.00 1.00 OK
Z: 0.00 3.00 1.00 OK
Enabling input: SIR [ 1] CHGD

[TYPE] CONFIRM UNDO

8 Apply to DCS parameter. Refer to Dual Check Safety Function OPERATOR’S MANUAL
(B-83184EN), Chapter of OVERVIEW, Section of APPLY TO DCS PARAMETER.

In above setting, when the robot is out of the safety area, the contact stop is not disabled by the payload
number change. To avoid the contact stop disabled in unexpected area, set the area as above.

5.2 DISABLING CONTACT STOP IN PROGRAM

This section provides how to disable the contact stop function by program. This is useful in a system such
that the robot should stay in movement even though the robot is subjected to external force in specified
area.

WARNING
When the contact stop is disabled, the collaborative robot does not stop even
though the external force exceeds the limit, and serious personal injury could
result. If the robot system is designed to be able to disable the contact stop,
adequate risk assessment for the whole robot system is necessary to verify that
the contact stop can be disabled.
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SOFTWARE OPTION
The following options are necessary for below setting.
J567 DCS Position/Speed check function
J568 DCS Safe I/O connection function

Refer to Dual Check Safety Function OPERATOR’S MANUAL (B-83184EN) for more detail
information about these options. Below setting is one example.

SETTING

DCS Tool model setting

1 Press [MENU] key.
2 Select SYSTEM.
3 Press F1, [TYPE].
4 Select DCS.
5 If neither DCS top screen nor User model, press [PREV] key several times, and select User model.
6 Select No.1 and press F3, [DETAIL]. You will see a screen similar to the following.

DCS
User element detail
No. 1 [***************************]
Element: 1 Status: OK

1 Enable/Disable: DISABLE
2 Link No. (99:FacePlate) : 99
3 Link type: NORMAL
4 Tool frame: 0
5 Shape: Point
6 Size (mm): 0.0
Pos1
7 X: 0.000 Y: 0.000 Z: 0.000
Pos2
8 X: 0.000 Y: 0.000 Z: 0.000

[TYPE] DETAIL ROBOT UNDO >

7 Set the TCP model as below. Please set the Tool frame position in (X, Y, Z) of Pos1. In this example,
size is 50mm.

DCS
User element detail
No. 1 [***************************]
Element: 1 Status: CHGD

1 Enable/Disable: ENABLE
2 Link No. (99:FacePlate) : 99
3 Link type: NORMAL
4 Tool frame: 0
5 Shape: Point
6 Size (mm): 50.0
Pos1
7 X: 0.000 Y: 0.000 Z: 0.000
Pos2
8 X: 0.000 Y: 0.000 Z: 0.000

[TYPE] UNDO >

8 Apply to DCS parameter. Refer to Dual Check Safety Function OPERATOR’S MANUAL
(B-83184EN), Chapter of OVERVIEW, Section of APPLY TO DCS PARAMETER.

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DCS Cartesian Position Check setting

1 Press [MENU] key.
2 Select SYSTEM.
3 Press F1, [TYPE].
4 Select DCS.
5 If neither DCS top screen nor Cart. position check, press [PREV] key, and select Cart. position
check.
6 Select No.1 and press F3, [DETAIL]. You will see a screen similar to the following.

DCS
Cartesian position check
No. 1 Status:----
1 Comment: [************************]
2 Enable/Disable: DISABLE
3 Method(Safe side):Diagonal(IN)
4 Group: 1
5 Target model 1: -1
6 Target model 2: 0
7 Target model 3: 0
(0:Disable, -1:Robot, -2:Tool)
8 User frame: 0
Position(mm):
Current Point 1 Point 2
9 X 1110.0 0.0 0.0
10 Y 0.0 0.0 0.0
11 Z 940.0 0.0 0.0
12 Stop type: Power-Off stop
13 disabling input: ---[ 0: ]

[TYPE] PREV NEXT RECORD UNDO >

7 Set the zone for the contact stop disable

• Set target model to TCP model.
• Set Stop type to Not stop. The robot can move both inside and outside this zone.
• Set the Position for the contact stop disable.

DCS
Cartesian position check
No. 1 Status:CHGD
1 Comment: [************************]
2 Enable/Disable: ENABLE
3 Method(Safe side):Diagonal(IN)
4 Group: 1
5 Target model 1: 1
6 Target model 2: 0
7 Target model 3: 0
(0:Disable, -1:Robot, -2:Tool)
8 User frame: 0
Position(mm):
Current Point 1 Point 2
9 X 1110.0 1000.0 800.0
10 Y 0.0 -100.0 100.0
11 Z 940.0 600.0 800.0
12 Stop type: Not stop
13 disabling input: ---[ 0: ]

[TYPE] PREV NEXT RECORD UNDO >

8 Apply to DCS parameter. Refer to Dual Check Safety Function OPERATOR’S MANUAL
(B-83184EN), Chapter of OVERVIEW, Section of APPLY TO DCS PARAMETER.

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DCS NSI setting

1 Press [MENU] key.
2 Select I/O.
3 Press F1, [TYPE].
4 Select Digital.
5 Press F2, [CONFIG], and press F3, [IN/OUT]. You will see a screen similar to the following.

I/O Digital Out

# RANGE RACK SLOT START STAT.

1 DO[ 1- 64] 89 1 1 ACTIV
2 DO[ 65- 512] 0 0 0 UNASG

[TYPE] MONITOR IN/OUT DELETE HELP >

6 Set unassigned DO to NSI. In this example, DO[70] = NSI[1]. NSI is RACK 36, SLOT 0.

I/O Digital Out

# RANGE RACK SLOT START STAT.

1 DO[ 1- 64] 89 1 1 ACTIV
2 DO[ 65- 69] 0 0 0 UNASG
3 DO[ 70- 70] 36 0 1 PEND
4 DO[ 71- 512] 0 0 0 UNASG

[TYPE] MONITOR IN/OUT DELETE HELP >

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Safe I/O connect setting

1 Press [MENU] key.
2 Select SYSTEM.
3 Press F1, [TYPE].
4 Select DCS.
5 If neither DCS top screen nor Safe I/O connect, press [PREV] key several times, and select Safe I/O
connect. You will see a screen similar to the following.

DCS
Safe I/O connect
Output Input1 Input2 Status
SIR[ 1]= ---[ 0] ---[ 0] OK
SIR[ 2]= ---[ 0] ---[ 0] OK
SIR[ 3]= ---[ 0] ---[ 0] OK
SIR[ 4]= ---[ 0] ---[ 0] OK
SIR[ 5]= ---[ 0] ---[ 0] OK
SIR[ 6]= ---[ 0] ---[ 0] OK
SIR[ 7]= ---[ 0] ---[ 0] OK
SIR[ 8]= ---[ 0] ---[ 0] OK
SIR[ 9]= ---[ 0] ---[ 0] OK
SIR[ 10]= ---[ 0] ---[ 0] OK

[TYPE] CLEAR UNDO

6 Set SIR[1] = NSI[1] AND CPC[1] (Cartesian Position Check of the zone for the contact stop
disable).

DCS
Safe I/O connect
Output Input1 Input2 Status
SIR[ 1]= NSI[ 1] AND CPC[ 1] CHGD
SIR[ 2]= ---[ 0] ---[ 0] OK
SIR[ 3]= ---[ 0] ---[ 0] OK
SIR[ 4]= ---[ 0] ---[ 0] OK
SIR[ 5]= ---[ 0] ---[ 0] OK
SIR[ 6]= ---[ 0] ---[ 0] OK
SIR[ 7]= ---[ 0] ---[ 0] OK
SIR[ 8]= ---[ 0] ---[ 0] OK
SIR[ 9]= ---[ 0] ---[ 0] OK
SIR[ 10]= ---[ 0] ---[ 0] OK

[TYPE] CLEAR UNDO

7 Apply DCS parameter. Refer to Dual Check Safety Function OPERATOR’S MANUAL
(B-83184EN), Chapter of OVERVIEW, Section of APPLY TO DCS PARAMETER.

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B-83744EN/04 5. PROGRAMMING

Force limit disabling input setting

1 Press [MENU] key.
2 Select SYSTEM.
3 Press F1, [TYPE].
4 Select DCS.
5 If neither DCS top screen nor Collaborative robot screen, press [PREV] key, and select
Collaborative robot. You will see a screen similar to the following.

DCS
Collaborative robot
Status
Contact stop status: SAFE
Enable/Disable: ENABLE OK
Force sensor
Serial number: XXXXXXXX OK
Group: 1 OK
Payload setup: <DETAIL> OK
Active Payload: No. 1 [******************]
External force (N) / Disabling input
Limit 1: 105.00 ---[ 0] OK
Limit 2: 100.00 ---[ 0] OK
Limit 3: 0.00 ---[ 0] OK
Limit 4: 0.00 ---[ 0] OK
Escape: 300.00 OK

[TYPE] CONFIRM UNDO

6 Set the all set limits of disabling input to SIR[1].

DCS
Collaborative robot
Status
Contact stop status: SAFE
Enable/Disable: ENABLE OK
Force sensor
Serial number: XXXXXXXX OK
Group: 1 OK
Payload setup: <DETAIL> OK
Active Payload: No. 1 [******************]
External force (N) / Disabling input
LIMIT 1: 105.00 SIR[ 1] CHGD
LIMIT 2: 100.00 SIR[ 1] CHGD
LIMIT 3: 0.00 ---[ 0] OK
LIMIT 4: 0.00 ---[ 0] OK
Escape: 300.00 OK

[TYPE] CONFIRM UNDO

7 Apply DCS parameter. Refer to Dual Check Safety Function OPERATOR’S MANUAL
(B-83184EN), Chapter of OVERVIEW, Section of APPLY TO DCS PARAMETER.

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SAMPLE PROGRAM
1: L P[1] 200mm/s CNT100
2: L P[2] 200mm/s CNT100
3: DO[70] = ON
4: L P[3] 50mm/s CNT100
5: L P[4] 50mm/s CNT100
6: DO[70] = OFF
7: L P[5] 200mm/s CNT100

In the above settings, the contact stop function is disabled when the robot is in the zone for the contact
stop disable and DO[70] = ON. Therefore, in line 4 of the sample program, the contact stop function is
disabled just after the robot enters into the zone. When the robot leaves the zone after that, the contact
stop function is enabled.
If the external force is large and the contact stop function is enabled, the program will be paused. To
avoid the situation, set the zone for the contact stop disable appropriately.

P[5]
P[1]
Zone for the contact stop disable
P[4]

P[2] P[3]

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B-83744EN/04 6. PERIODICAL CHECK

6 PERIODICAL CHECK
To check the force sensor accuracy, the periodical function check operation should be performed in
proper interval. FANUC recommends once a month. Below check is unnecessary for CR-15iA and CRX
series because check is performed automatically.

HOW TO CHECK
• Execute checking program according to the following.
• The robot program can be executed with the robot hand.

How to make the checking program

1 Make a program that the robot moves to some positions.
• Term type of motion instruction is FINE.
• Each postures of the robot in the checking program must have a distance from each other. This
is for checking the output of all direction of the force sensor.
• The maximum number of the position in the checking program is 30.
• All operating time of the program must be less than 90 sec.
2 Insert CALL instruction to call FORCETST(parameter). FORCETST is KAREL program loaded by
default.
• In the first position, call FORCETST(1).
• In the second position onward, call FORCETST(2).
• In the last position, call FORCETST(3).

SAMPLE PROGRAM
The following is the example of the proper position data for the periodical function check.
CR-35iA

Posture 1 Posture 2 Posture 3 Posture 4

J1 = 0 deg J1=0 deg J1 = 90 deg J1 = 90 deg
J2 = -20 deg J2=20 deg J2 = -20 deg J2 = 20 deg
J3 to J6 = 0 deg J3 to J6 = 0 deg J3 to J6 = 0 deg J3 to J6 = 0 deg

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CR-4iA, CR-7iA, CR-7iA/L, CR-14iA/L

Posture 1 Posture 2 Posture 3 Posture 4

J1 = 0 deg J1=0 deg J1 = 90 deg J1 = 90 deg
J2 = -30 deg J2=60 deg J2 = -30 deg J2 = 60 deg
J3 to J6 = 0 deg J3 to J6 = 0 deg J3 to J6 = 0 deg J3 to J6 = 0 deg

The following is an example checking program.

1: J P[1] 30% FINE

2: CALL FORCETST(1)
3: J P[2] 30% FINE
4: CALL FORCETST(2)
5: J P[3] 30% FINE
6: CALL FORCETST(2)
7: J P[4] 30% FINE
8: CALL FORCETST(3)

RESULT OF CHECK
• If the execution of the checking program is completed without any alarms, the force sensor accuracy
is good.
• If “SYST-325 Payload error is detected” occurs, check the payload setting at first. If the payload
setting is correct, the force sensor may have problems.
• If “SYST-327 Inappropriate regular test program” occurs, the checking program has a problem.
Please refer to above explanation.
- Verify that each postures of the robot in the checking program must have a distance from each
other.
- Verify that the number of the positions of the checking program is less than 30.

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B-83744EN/04 7. UTILITY

7 UTILITY
This chapter explains special functions of the collaborative robot.

7.1 AUTO RESUME FUNCTION

Auto resume function automatically resumes the robot program paused by the contact stop function.
When following conditions is satisfied, the program resumes 4 seconds after the contact stop.

Condition
• In AUTO mode
• Teach Pendant is OFF.
• The program is paused by the contact stop function.
• Any alarm is not posted.

In following cases, the auto resume is canceled.

• The contact stop occurs continuously.
• An operator pushes the robot for a certain time.
• It has a certain time after the contact stop.
• The program was aborted.
• Push To Escape is performed.
• Retreat after the contact stop is performed.
• The paused program's group mask is not same as collaborative robot group.
• HOLD key was pressed after contact stop.

CAUTION
1 The auto resume function is disabled by default. If you enable this function,
adequate risk assessment for the whole robot system is necessary to verify that
the auto resume function does not cause any dangerous situation.
2 If the auto resume function is enable, the situation that the robot program is
possible to be resumed automatically should be indicated clearly that the
operator can notice from anywhere in the operation area.
The program running output can be used to the indication; it is ON when the
robot program is possible to be resumed automatically. Refer to Section 2.3.

Setting up
In the software version 7DC3/44, 7DF1/17 or later, set in the collaborative screen. In earlier software
version, when the system variable $DCSS_CLLB[1].$AUTO_RESUME is 1, the auto resume function is
enabled. When this value is 0, the auto resume function is disabled.

Limitation
• Multi task program is not supported, because the auto resume can resume only one task. When
multiple programs is executed by multitasking function, all programs pause by the contact stop
function. If you don’t want to stop a program by the contact stop, set Interruption Disable in the
program detail screen. Refer to OPERATOR’S MANUAL (Basic Operation) (B-83284EN), Chapter
of PROGRAM STRUCTURE.
• Auto resume function will not resume when the program group mask is not same as collaborative
robot group setting. Therefore, CALL instruction may cause unintended resuming. For example, if
using following two programs, the program will not be resumed when the cursor is in the
PRG_A.TP but the program will be resumed when the cursor is in the PRG_B.TP. In this case, set
Group mask of collaborative robot group to 1 in PRG_A detail screen, then the auto resume function
will resumes PRG_A.
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PRG_A.TP(Group Mask *,*,...)

1:CALL PRG_B
2:DO[1] = ON
3:WAIT DI[1] = ON
4:CALL PRG_B

PRG_B.TP(Group Mask 1,*,...)

1:J P[1] 10% CNT 100

2:J P[2] 10% CNT 10

7.2 HIGH SPEED MODE

By default, the speed of the collaborative robot is limited by limited speed value (CR-35iA: 250mm/s,
CR-15 iA: 350mm/s, CR-4iA, CR-7iA, CR-7iA/L, CR-14iA/L: 500mm/s, CRX series: 250mm/sec)

To use the collaborative robot as High Speed Mode, set [Max Speed] value in the collaborative robot
screen (In the software version 7DC3/43, 7DF1/16 or earlier, the system variable $CF_LIM_GRP[group
number of collaborative robot].$SPEEDLIM) to the value less than the maximum speed of the robot.
About the maximum speed of the robot, refer to the manual of each robot.

Setting method depends on the software version. Use in accordance with the following configuration.

SAMPLE CONFIGURATION
(CR-35iA before 7DC3/22, CR-4iA, CR-7iA and CR-7iA/L before 7DC3/35 or
7DF1/05)
When the contact stop function is enable, TCP speed is checked regardless of the value of
$CF_LIM_GRP[group number of collaborative robot].$SPEEDLIM. If the TCP speed exceeds the limit,
the robot stops. For example, on CR-35iA, to avoid the stop, please set the override to a integer value less
than “25000/$CF_LIM_GRP[group number of collaborative robot].$SPEEDLIM” when the contact stop
function is enabled. For example, when $CF_LIM_GRP[group number of collaborative
robot].$SPEEDLIM =750, set the override less than 33% (25000/750=33.333).

The following is the example of the robot system with high speed mode with the area sensor.
• When a human is in the Zone 1, the contact stop is enabled.
• When a human is in the Zone 2 (including Zone 1), the override is set to 33 % by Override Select
function.
• When a human is not in Zone 2 (including Zone 1), the override is set to 100 % by Override Select
function.

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Zone 1 (Override 33%, Contact stop is enabled)

Zone 2 (Override 33%, Contact stop is disabled)

Outside (Override 100%, Contact stop is disabled)

Area Sensor

• Area sensor has 1 safety output and 1 non-safety output.

• The safety output of the area sensor is connected to SFDI1 of the robot controller. This signal is
accessed as SPI[1] in DCS function. When a human is in Zone 1, the SPI[1] becomes OFF.
• The non-safety output of the area sensor is connected to digital input signal that is assigned to
DI[20]. When a human is in the Zone 2, DI[20] becomes OFF.
• Set the disabling input of the force limit to SPI[1]. Refer to Section 2.2.

@Limit 1: 105.00 SPI[ 1] OK

Limit 2: 0.00 ---[ 0] OK
Limit 3: 0.00 ---[ 0] OK
Limit 4: 0.00 ---[ 0] OK

• Set the Override select as below. By this setting, the override is set to 100% when DI[20] is ON, and
the override is set to 33% when DI[20] is OFF. (DI[21] is not used.)

OVERRIDE SELECT

1 Function Enable :ENABLE

2 Signal 1 : DI[ 20][OFF]

3 Signal 2 : DI[ 21][OFF]

Signal 1 Signal 2 Override

4 OFF OFF 33 %
5 OFF ON 33 %
6 ON OFF 100 %
7 ON ON 100 %

[TYPE]

WARNING
When the contact stop is disabled, the collaborative robot does not stop even
though the external force exceeds the limit, and a serious personal injury could
result. If the robot system is designed to be able to disable the contact stop,
adequate risk assessment for the whole robot system is necessary to verify that
the contact stop can be disabled.

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SAMPLE CONFIGURATION (CRX series, CR-14iA/L, CR-15iA, CR-35iA after

7DC3/23, CR-4iA, CR-7iA and CR-7iA/L after 7DC3/36 or 7DF1/06)
The following is the example of the robot system with high speed mode with the area sensor.
• When a human is in the Zone 1, the contact stop is enabled.
• When a human is in the Zone 2 (including Zone 1), the speed limit is ON by turning OFF the
disabling input of the speed limit.
• When a human is not in Zone 2 (including Zone 1), the speed limit is OFF by turning ON the
disabling input of the speed limit.

Zone 1 (Speed limit is ON, Contact stop is enabled)

Zone 2 (Speed limit is ON, Contact stop is disabled)

Area Sensor Outside (Speed limit is OFF, Contact stop is disabled)

• Area sensor has 1 safety output and 1 non-safety output.

• The safety output of the area sensor is connected to SFDI1 of the robot controller. This signal is
accessed as SPI[1] in DCS function. When a human is in Zone 1, the SPI[1] becomes OFF.
• The non-safety output of the area sensor is connected to digital input signal that is assigned to
DI[20]. When a human is in the Zone 2, DI[20] becomes OFF.
• Set the disabling input of the force limit to SPI[1]. Refer to Section 2.2.

@Limit 1: 105.00 SPI[ 1] OK

Limit 2: 0.00 ---[ 0] OK
Limit 3: 0.00 ---[ 0] OK
Limit 4: 0.00 ---[ 0] OK

• Assign “Disabling input of Speed Clamping” to DI[20]. In the software version 7DC3/43, 7DF1/16
or earlier, set following system variables.
$DCSS_CLLB[1].$DITYP_HISPD = 1 (Type of input DI:1, F:35)
$DCSS_CLLB[1].$DIIDX_HISPD = 20 (Index of input)

WARNING
When the contact stop is disabled, the collaborative robot does not stop even
though the external force exceeds the limit, and a serious personal injury could
result. If the robot system is designed to be able to disable the contact stop,
adequate risk assessment for the whole robot system is necessary to verify that
the contact stop can be disabled.

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7.3 LED AND BUTTON ON ROBOT ARM

7.3.1 CR series
The collaborative robot has the following LED and button connected to RO and RI.

CR-35iA

Green LED: RO[1]

Red LED: RO[2]

White LED: RO[4]

Button: RI[2]

White LED:RO[3]
Button: RI[1]

CR-15iA
White LED: RO[1]

Red LED: RO[2]

White LED: RO[3]

Button: RI[1]

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CR-4iA, CR-7iA, CR-7iA/L, CR-14iA/L

In these robot models, LED and Switch Box are optional.

LED

Switch Box

By default, these LED and button are not assigned to any function. The following is the example to set
up the LED and Button.

SAMPLE CONFIGURATION
SPECIFICATION
• Green LED turns ON when program is running. (It keeps ON when a program is resumed by the
auto resume function.)
• Red LED turns ON when an alarm occurs.
• White LED turns ON when the robot can move by pressing the button.
(Remote, Program is not running, Alarm does not occur and the status of the contact stop is SAFE)

Setting
Flag and the back ground logic is used for this setting. For more detail procedure to set Flag and the back
ground logic, refer to OPERATOR’S MANUAL (Basic Operation) (B-83284), Chapter of UTILITY,
Section of BACKGROUND LOGIC.
• Set F[101-118] are assigned to UI[1-18]. So F[106] is assigned to UI[6:Start]
• Assign F[120] to SAFE state output. Refer to Section 2.3.
• Assign F[121] to DSBL state output. Refer to Section 2.3.
• Execute the following program as the background logic.

1: RO[1]= (!F[121])
2: RO[2]=(SO[3:Fault LED])
3: RO[3]=(SO[0:Remote LED] AND !RO[1] AND !RO[2] AND F[120])
4: RO[4]=(RO[3])
5: F[106]=(RO[3] AND (RI[1] OR RI[2]))

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CAUTION
If the button on the robot arm is used to start robot program, emergency stop
button must be prepared near the robot. The emergency stop button on the
operator panel of the robot controller can be used for this purpose depending to
the position of the robot controller.

7.3.2 CRX series

On CRX series, The LED color differs depending on the robot status according to the following table.
You cannot change LED setting.

LED color Robot status

Green Collaborative mode
Flash green Direct teaching
Yellow High speed mode
Red Alarm occurrence

LED

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7.4 OPERATION LOG BOOK

Collaborative robot state, event of payload change and so on can be recorded in the Log Book by
operation log book function.

To use function, Operation Log Book option (J695) is required.

Refer to Chapter 12 of Optional Function OPERATOR'S MANUAL (B-83284EN-2) for detail of this
function.

The System variable of collaborative robot operation logbook number is $LOGBOOK.$LOG_CLLB.

Default value is 4. Logbook is started to record after first payload confirmation.

Following events are recorded to Log Book.

Message Event Reference

Collaborative state %d (Ch:%d) This event is recorded when the Refer to Section 2.3 OUTPUT
collaborative robot state is changed. SIGNAL OF COLLABORATIVE
ROBOT STATUS for detail.
Force limit is changed to %d This event is recorded when the Refer to Section 2.2 SETTING
force limit is changed. COLLABORATIVE ROBOT
FUNCTION for detail.
Contact stop is disabled This event is recorded when all of Refer to Section 2.2 SETTING
force limit is disabled. COLLABORATIVE ROBOT
FUNCTION for detail.
Payload number is changed to %d This event is recorded when Refer to Section 2.2 SETTING
payload number is changed. COLLABORATIVE ROBOT
FUNCTION for detail.
Contact stop(%s,%d) This event is recorded when the Refer to Section 4.1 CONTACT
robot is stopped by contact stop STOP FUNCTION for detail.
function.
Auto-resume done This event is recorded when the Refer to Section 7.1 AUTO
program is resumed by auto resume RESUME FUNCTION for detail.
function.
Auto resume canceled (%d) This event is recorded when the Refer to Section 7.1 AUTO
program could not resumed by auto RESUME FUNCTION for detail.
resume function.
%d is the factor of this event.
The factor is recorded in 2nd lines in
message.
Reverse motion This event is recorded when the Refer to Section 4.3 RETREAT
reverse motion is executed after AFTER CONTACT STOP for detail.
contact stop.
Contact force is not released This event is recorded when
resumed or started in spite of
exceeded the force limit and the
collaborative state is stop.

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7.5 Variable Payload Compensation function (CR series)

This function is available on the software version 7DC3/33 or after.

When a payload acts on Collaborative Robot, “SYST-325 Payload error is detected” is posted, and the
robot stops. For example, in case of that a cable is attached to the robot, when the robot moves and the
attitude changes, tension by cable might be detected as payload, and the robot stops.

Payload

Payload error threshold

Payload error is detected

Time

This function cancels an external payload as such system.

Firstly, move the robot in RECORD mode, and Payload is recorded at constant intervals.

Payload

Payload records

Time

During normal operation, recorded payload is canceled from payload detected by sensor.

Payload

Time

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7.5.1 How to use Variable Payload Compensation Function

Enable the function
In the collaborative robot screen, you can enable this function by [Use Payload Comp].
• After change, you need to apply DCS parameters.
• When it is [ENABLE], you can record or playback the payload.
• When you change from [ENABLE] to [DISABLE], the recorded data is not deleted.
• When switching dynamically between enable and disable, set [Use Payload Comp] to [ENABLE]
and assign Enabling input to Safe I/O.
DCS
Collaborative robot

Use Payload Comp: ENABLE OK

Enabling Input: ON [ 0] OK
Alarm in disabled: DISABLE

[TYPE] CONFIRM PEAKCLR UNDO

Enabling input
Assign Enabling input, the signal turns to ON, then the payload compensation is enabled. And the signal
turns to OFF, then the payload compensation is disabled.

Alarm in Disable
When it is enabled and you execute KAREL program for this function when payload compensation is
disabled, the program stops by alarm.

Procedure for use

1 Call Karel program “FCMPSTRT” at the start position of compensation.
• 1st parameter : 1 = RECORD mode, 2 = RECORD mode (RECORD clear), 0 = PLAY mode
• 2nd parameter : Schedule number
• 3rd parameter : Interval for compensation (ms) Recordable time is “Interval x 1000”.
Minimum of interval is 8(ms).

2 Call Karel program “FCMPEND” at the end position of compensation.

1: J P[1] 100% FINE

2: CALL FCMPSTRT(0, 20, 100)
3: J P[2] 100% FINE
4: L P[3] 250mm/sec FINE
5: L P[4] 250mm/sec FINE
6: CALL FCMPEND
7: J P[5] 30% FINE

3 Execute with RECORD mode (1st parameter is 1)

• Payload is recorded at set intervals.
• When the recording starts, “SYST-352 Payload Record Start” warning is posted.
• When the recording ends, “SYST-353 Payload Record Finish” warning is posted. It may take
time for save recorded data to the memory. If the controller power is off during saving data,
recorded data is gone.
• When the recording fails, “SYST-354 Payload Record Failed” warning is posted. The program
execution does not stop. For the cause of fail, refer to Subsection 7.5.2.
• When you execute again with the schedule already recorded, average of payload is recorded.
When you record 10 times, average value of 10 times is recorded. If you want to delete records,
execute with RECORD CLEAR (1st parameter is 2).

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4 When you execute with PLAY mode (1st parameter is 0)
• Payload is compensated with the recorded payload.
• When you specify unrecorded schedule, the warning “SYST-355 Payload is NOT recorded”
will be posted.
• When the compensation is failed, the warning “SYST-356 Payload Compensation is stopped”
will be posted, and compensation will be zero. For the cause of fail, refer to Subsection 7.5.2.
• In PLAY mode, specification of 3rd parameter (interval) for compensation has no meaning.
Compensation works at interval at the time of recording.

Compensation Data
• The compensation data is saved below FR:¥CLLB¥
• FR:¥CLLB is saved as CLLB.ZIP in backup of “all of above”.

Compensation value monitoring

Each elements of the compensation value is displayed in payload monitor screen. And you can set and
output the values to GO or Register.
DCS
Collaborative robot

Payload Monitor:
FORCE Resultant X Y Z
Curr: 0% 0% 0% 0%
Comp: 0% 0% 0%
Peak: 0% 0% 0% 0%
Output:
Curr: GO[ 0] GO[ 0] GO[ 0] GO[ 0]
Comp: GO[ 0] GO[ 0] GO[ 0]
Warning: 50%
MOMENT Resultant X Y Z
Curr: 0% 0% 0% 0%
Comp: 0% 0% 0%
Peak: 0% 0% 0% 0%
Output:
Curr: GO[ 0] GO[ 0] GO[ 0] GO[ 0]
Comp: GO[ 0] GO[ 0] GO[ 0]
Warning: 50%
Warning in DSBL: DISABLE

[TYPE] CONFIRM PEAKCLR UNDO

7.5.2 Restrictions of Variable Payload Compensation Function

General
• This function works well in the case of that the same payload acts at the same position every time.
• Payload is recorded in association with the point of motion path of the robot. There is no problem if
the override is changed or the robot stops with WAIT statement in both RECORD mode and PLAY
mode.
- It is not supported that the payload is changed when the robot stops.
• In below situation, the difference between the recorded payload and actual payload, and the robot
might stop by “SYST-325 Payload error is detected” alarm.
- In the system that the payload changes every time
- In the case of that the motion path or motion line is changed, the followings are examples
 The program includes branches with IF and so on.
 Execution with STEP mode
 Addition of motion lines after recording
 Re-teaching after recording
- When the speed is changed, the payload is also changed.
• In the system that the external force is detected by floor vibration, vibration is changed between
recording and playback, and this function will not compensates well.
• The shorter the interval for compensation, the higher the accuracy and the shorter the recording time.
Recommended interval is the value obtained by dividing the operating time by 1000.
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• Compensation don’t work for Force Control.

CAUTION
1. When the variable payload compensation is enabled and Push to Escape is
enabled, the mismatch between recorded payload and actual payload causes
Push to Escape movement with nobody pushing.
2. When the variable payload compensation is enabled and the retreat after contact
stop is enabled, the mismatch between recorded payload and actual payload
causes retreat movement without contact.

RECORD mode
• During recording, the compensation does not work. In the case of that the contact stop occurs on the
way, recording fails. Set disabling input of force limit to ON, record with the contact stop disable.

WARNING
When the contact stop is disabled, the collaborative robot does not stop even
though the external force exceeds the limit, and a serious personal injury could
result. If the robot system is designed to be able to disable the contact stop,
adequate risk assessment for the whole robot system is necessary to verify that
the contact stop can be disabled.

• In following cases, the warning “SYST-354 Payload Record Failed (No.X, Y)” occurs. During first
recording, it becomes an unrecorded state. During after second recording, it becomes the last
recorded state. X of warning message means the schedule number, and Y means the error code.
Refer below causes and remedies.

Error Code Cause Remedy

1 Hold occurs. Don’t hold during recording.
2 Hold occurs during after second Don’t hold during recording.
recording.
3 The program is aborted. Don’t abort the program during recording.
4 The program is aborted during after Don’t abort the program during recording.
second recording.
5 Backward execution occurs. Don’t execute backward during recording.
6 Backward execution occurs during Don’t execute backward during recording.
after second recording.
7 FCMPSTRT is called. Don’t call other FCMPSTRT between FCMPSTRT and
FCMPEND.
8 FCMPSTRT is called during after Don’t call other FCMPSTRT between FCMPSTRT and
second recording. FCMPEND.
9 The recording data is abnormal. Repower the controller. If the problem is not cleared, save
the diagnostic log just after failure and send the files to
FANUC sales person.
10 The recording data is abnormal Repower the controller. If the problem is not cleared, save
during after second recording. the diagnostic log just after failure and send the files to
FANUC sales person.
11 Payload is Unrecorded during after Execute with 1st parameter 2 (RECORD(RECORD
second recording CLEAR))
12 The recording data is abnormal Repower the controller. If the problem is not cleared, save
during after second recording. the diagnostic log just after failure and send the files to
FANUC sales person.
13 Cause Recording time exceeds. Recording time limit is “Interval x 1000”. Set the interval to
longer value.

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• When the controller power off occurs during recording, the recorded date does not remain.

PLAY mode
• When the program is paused, the compensation remains the value at stop.
• When the program is restarted with original path resume enable, the compensation remains the value
at stop until the robot returns stop positon.
• In following cases, “SYST-355 Payload Compensation is stopped (No. X, Y)” warning occurs, and
the compensation is finished. The compensation value is to zero. X of warning message means the
schedule number, and Y means the error code. Refer below causes and remedies.

Error Code Cause Remedy

1 The program is aborted. Don’t abort the program during compensation.
2 Backward execution occurs. Don’t execute backward during compensation.
3 FCMPSTRT is called. Don’t call other FCMPSTRT between FCMPSTRT and
FCMPEND.
4 The robot restarts on different When the motion path is changed after resume, the
motion path. compensation is stopped. If the original resume function is
disabled, enable it. Don’t change the program line
5 The recording data is abnormal. Repower the controller. If the problem is not cleared, save
the diagnostic log just after failure and send the files to
FANUC sales person.
● When the controller power off occurs during playback, the compensation is finished.

7.5.3 Push to Escape with Variable Payload Compensation

In the software version 7DC3/47, 7DF1/17 or later, Push to Escape can be enabled when variable payload
compensation is enabled.

CAUTION
When the variable payload compensation is enabled and Push to Escape is
enabled, the mismatch between recorded payload and actual payload causes
Push to Escape movement with nobody pushing.

CONDITION
When [Check during moving] in [Auto status check] is enabled, [Push to Escape] cannot be enabled.

SETTING
1 In Collaborative Robot screen, when both [Use Payload Comp] and [Push to Escape] are enabled,
the message “Mismatch between the payload recorded by payload comp and the actual payload
might cause Push to Escape movement with nobody pushing. Do you enable Push to Escape?” is
displayed.
• When [No] is selected, [Push to Escape] becomes disabled.
2 When [Yes] is selected, [Push to Escape] becomes enabled, and the message “In case the payload
remains during the escape, PyldComp during escp should be enabled. Do you enable PyldComp
during escp?” is displayed.
• In the case the payload still keeps even after robot position is changed by Push to Escape, select
[Yes]. For example, when a cable is attached to the robot, payload by tension of cable keeps
even if the robot position is changed. When [Yes] is selected, [PyldComp during Escp]
becomes enabled and Compensation value keeps when Push to Escape is performed in PLAY
mode.

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CAUTION
When [PyldComp during Escp] is enabled and Robot position is changed by
Push to Escape and the payload on the robot is changed, Push to Escape might
be perfomed with nobody pushing because of mismatch between the recorded
payload and the actual payload.

• In the case the payload will not work after Push to Escape, select [No]. For example, when the
robot works while touching workpiece, the robot leaves workpiece by Push to escape, payload
will not apply. When [No] is selected, [PyldComp during Escp] becomes disabled and the
compensation value becomes 0 when Push to Escape is performed in PLAY mode. After
restarting program, the compensation value will be back when the robot returns on original
path.

CAUTION
When [PyldComp during Escp] is disabled, if the payload keeps after Push to
Escape, the payload might cause Push to Escape.

• [PyldComp during Escp] is also configurable in Collaborative Robot screen.

7.6 DOUBLE TAP FUNCTION (CR series)

When you push the parts shown in the figure below twice, the digital signal is output. For example, you
set that the start signal is raised when the double tap signal is output, and then you can restart the robot
with double tap after the contact stop.

CAUTION
The double tap function is disabled by default. If you set this function, adequate
risk assessment for the whole robot system is necessary to verify that the double
tap function does not cause any dangerous situation.

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Condition
Only support for CR-4iA, CR-7iA, CR-7iA/L, CR-14iA/L and CR-15iA.
CR-35iA is not supported.

Setting up
You can set “Output” signal for double tap in the collaborative robot screen.

In the software version 7DC3/46, 7DF1/16 or earlier, you can set up the double tap function with below
system variables.
$DCSS_CLLB[1].$DOTYP_TAP: Set the type of output (DO:2, RO:9, F:35)
$DCSS_CLLB[1].$DOIDX_TAP: Set the index of output

TIPS for Pushing

• Push it lightly. It does not react when you swat it.
• Push the second within one second from the first.

7.7 PAYLOAD IDENTIFICATION

This function identifies the mass of the payload and the center of gravity automatically by movement of
collaborative robot. Payload inertia is not identified with this function.

7.7.1 CRX series

Select “UTool Payload Setup” in “Setup” menu of the Tablet TP, and following the instructions shown,
move the robot and make measurements to estimate the payload. After successful estimation, tapping
“FINISH” in “Confirming and Applying Results” screen will apply the estimated results to the setting.

7.7.2 CR series
This function is available on the software version 7DC3/47, 7DF1/17 or after

J6 move

J5 move

Translational motion Rotational motion

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Execute payload identification

1 Press [MENU] key.
2 Select [SYSTEM].
3 Press F1, [TYPE].
4 Select [Motion].
MOTION PERFORMANCE
Group1 1/10
No. PAYLOAD[kg] Comment
1 0.00 [ ]
2 0.00 [ ]
3 0.00 [ ]
4 0.00 [ ]
5 0.00 [ ]
6 0.00 [ ]
7 0.00 [ ]
8 0.00 [ ]
9 0.00 [ ]
10 0.00 [ ]
Active PAYLOAD number = 0

[ TYPE ] GROUP DETAIL ARMLOAD SETIND >

5 Press [NEXT], then press F2[IDENT]. The payload identification screen will be displayed.
MOTION/PAYLOAD ID
1/2
Group 1
Schedule No[ 1]:[****************]
1 PAYLOAD ESTIMATION *****
Previous Estimated value (Maximum)
Payload [Kg] : 0.00 ( 7.00)
Axis Moment [Nm]
J4: 0.00E+00 ( 1.66E+01)
J5: 0.00E+00 ( 1.66E+01)
J6: 0.00E+00 ( 9.40E+00)
Center of Gravity [cm]
X: 0.00
Y: 0.00
Z: 0.00

2 MASS IS KNOW [NO ] 0.000[Kg]

[ TYPE ] NUMBER EXEC APPLY >

6 Press F3[NUMBER], and select the payload No. for which payload identification is to be set up.
7 If the mass of the payload for which payload identification is to be performed is known, move the
cursor to line 2, select [YES], and enter the mass.

NOTE
1 A payload with very small mass cannot be identified.
2 The center of gravity can be identified more accurately by specifying the mass.

8 Press [NEXT] key, then press F4[DETAIL]. The detail payload identification screen will be
displayed.

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MOTION/PAYLOAD ID
1/7
1. Base position <UNINIT>
2. Translational motion
Direction +X
Distance 100.0 mm
3. Rotational motion
J5 move 45.0 deg
J6 move 45.0 deg

Press SHIFT+F3 to record the position

[ TYPE ] MOVE_TO RECORD EXEC POS >

9 Set base position. Move the robot to the desired position by jogging, then hold down the [SHIFT]
key and press F3[RECORD] to record the position. Hold down the [SHIFT] key and press
F2[MOVE_TO] moves the robot to the base position. By pressing F5[POS] shows the position
information of base position recorded. The position information (XYZWPR) can be modified by
entering their values directly.

MOTION/PAYLOAD ID
1/6
X: 550.000
Y: 0.000
Z: 475.000
W: -180.000
P: -90.000
R: 0.000
Config: N U T, 0, 0, 0

UT No.: 1
UF No.: 0

[ TYPE ] DONE

10 Set the translational motion. Select the direction of translational motion from +X, -X, +Y, -Y in the
robot world frame. The distance of translational motion can be modified by entering the value
directly. Please set it larger than 100mm. Move the cursor aligned with the translational motion, hold
down the [SHIFT] key and press F2[MOVE_TO], the robot will perform the translational motion.
Please verify that no interference occurs during the translational motion.
11 Set the rotational motion. The rotation angle of J5 and J6 motion can be modified by entering the
values directly. Please set it larger than 45deg. Move the cursor aligned with the rotational motion,
hold down the [SHIFT] key and press F2[MOVE_TO], robot will perform the rotational motion.
Please verify that no interference occurs during the rotational motion.
NOTE
Identification will be failed under specific conditions. For example:
● After J5 move, the direction of Z-axis of mechanical interface coordinate system
is parallel for the ground.
● The direction of the Z-axis of mechanical interface coordinate system is
symmetric for a horizontal plane between before and after J5 move. (For
example, when J3 = 0 deg and J4 = 0 deg, J5 moves from -45 deg to +45 deg)

12 Hold down the [SHIFT] key and press F4[EXEC]. The message “Did you verify that no interference
occurs during all motions?” will be displayed. It can also be executed in modes other than AUTO
mode. In that case, press Enabling device (Deadman switch) and hold down the [SHIFT] key while
executing the motion.

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NOTE
1 Payload identification motion cannot be started if robot is in the STEP operation
mode. Please make sure robot is not in the STEP operation mode.
2 Payload identification motion will be aborted when the robot passes near the
singularity or the position is not reachable. Please check the base position and
the setting of the payload identification motion.

13 Specify whether to perform payload identification

● To perform payload identification by running the robot, select [YES].
● To quit execution, select [NO].

NOTE
1 Robot will move. Please adjust the robot motion speed by changing the override.
2 If payload setting data while in identify motion is far different from the actual
payload, robot may stop by “SYST-320 Program paused by contact stop” or
“SYST-325 Payload error is detected”. In that case, please set the payload
roughly.

14 After the identify motion are finished, the payload identification result will be displayed.
15 Press F5[APPLY] to set the estimate at a payload setting schedule No. The message “Payload
identification result will be applied. Please apply to DCS parameter after this setup.” will be
displayed.
16 Specify whether to set the payload identification result.
● To set the payload identification result, select [YES].
● Not to set the payload identification result, select [NO].
17 If the value to be set is greater than the maximum allowable load (indicated in parentheses), the
message “Load is OVER spec! Accept?” will be displayed. Specify whether to set this value, just as
in the step above.
NOTE
1 When the payload identification is complete, “*****” of “1 PAYLOAD
ESTIMATION *****”changes to [DONE]. However if it is aborted for some reason,
such as Emergency Stop, it changes to [ABORT]. The payload are not
estimated, so do not [APPLY] and execute the estimation again.
2 If the payload identification fails, any or all of the applied results (payload, center
of gravity) would be 0. For example, identification fails.
● A payload with very small mass cannot be identified.
● After J5 move, the direction of Z-axis of mechanical interface coordinate
system is parallel for the ground.
● The direction of the Z-axis of mechanical interface coordinate system is
symmetric for a horizontal plane between before and after J5 move. (For
example, when J3 = 0 deg and J4 = 0 deg, J5 moves from -45 deg to +45
deg)

18 Apply DCS parameter. Refer to Dual Check Safety Function OPERATOR’S MANUAL
(B-83184EN), Chapter of OVERVIEW, Section of APPLY TO DCS PARAMETER.

Add positions of payload identification

Add positions can further improve the accuracy of payload identification. After executing payload
identification, please execute in the following procedure.

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Add positions of payload identification

1 On the payload identification detail screen, press [NEXT] key, then press F3[ADVANCED]. The
advanced payload identification screen will be displayed.
MOTION/PAYLOAD ID
1/6
Base position <RECORDED>
Add position 1 < UNINIT > <DISABLED>
Add position 2 < UNINIT > <DISABLED>
Add position 3 < UNINIT > <DISABLED>
Add position 4 < UNINIT > <DISABLED>
Add position 5 < UNINIT > <DISABLED>

Press F5 to confirm the position

[ TYPE ] MOVE_TO RECORD POS

2 Set the add position. Add position should be set the same wrist posture, the same UT No. and the
same UF No. with base position. Move the robot to the desired position by jogging, then hold down
the [SHIFT] key and press F3[RECORD] to record the position. The status will change from
[DISABLED] to [ENABLED] when add position recorded. Please change it to [DISABLED] if you
do not use it. By pressing F5[POS] shows the position information of add position recorded. The
position information (XYZ) can be modified by entering their values directly. Hold down the
[SHIFT] key and press F2[MOVE_TO], robot will first move to the base position, and then move to
the added positions with joint motion, in displayed order. Please verify that no interference occurs
during all motions.

NOTE
For example, when add position 1 and 3 are set to [ENABLED], the robot will
move in the following way.
Base position -> translational motion -> base position -> rotational motion ->
base position -> add position 1 -> add position 3 -> base position.

3 Press [PREV] key to return to the payload identification detail screen.

4 Hold down the [SHIFT] key and press F4[EXEC]. The message “Did you verify that no interference
occurs during all motions?” will be displayed. It can also be executed in modes other than AUTO
mode. In that case, press the deadman switch and hold down the [SHIFT] key while executing the
motion.

NOTE
1 Payload identification motion cannot be started if robot is in the STEP operation
mode. Please make sure robot is not in the STEP operation mode.
2 Payload identification motion will be aborted when the robot passes near the
singularity or the position is not reachable. Please check the base position and
the setting of the payload identification motion.

5 Specify whether to perform payload identification

● To perform payload identification by running the robot, select [YES].
● To quit execution, select [NO].

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NOTE
1 Robot will move. Please adjust the robot motion speed by changing the override.
2 If payload setting data while in identify motion is far different from the actual
payload, robot may stop by “SYST-320 Program paused by contact stop” or
“SYST-325 Payload error is detected”. In that case, please set the payload
roughly.

6 After the identify motion are finished, payload identification result will be displayed.
7 Press F5[APPLY] to set the estimate at a payload setting schedule No. The message “Payload
identification result will be applied. Please apply to DCS parameter after this setup.” will be
displayed.
8 Specify whether to set the payload identification result.
● To set the payload identification result, select [YES].
● Not to set the payload identification result, select [NO].
9 If the value to be set is greater than the maximum allowable load (indicated in parentheses), the
message “Load is OVER spec! Accept?” will be displayed. Specify whether to set this value, just as
in the step above.

NOTE
1 When the payload identification is complete, “*****” of “1 PAYLOAD
ESTIMATION *****”changes to [DONE]. However if it is aborted for some reason,
such as Emergency Stop, it changes to [ABORT]. The payload are not
estimated, so do not [APPLY] and execute the estimation again.
2 If the payload identification fails, any or all of the applied results (payload, center
of gravity) would be 0. Please change movement setting and execute the
estimation again.

10 Apply DCS parameter. Refer to Dual Check Safety Function OPERATOR’S MANUAL
(B-83184EN), Chapter of OVERVIEW, Section of APPLY TO DCS PARAMETER.

7.8 Installation Diagnostic Tool (CR series)

This tool is available on the software version 7DC3/47, 7DF1/17 or later.

You can verify the correctness of the robot installation by letting the robot do simple movement with this
tool. Verification with this tool is recommended first after installation of the robot.

Execution of Installation Diagnostic Tool

1 Create TP program for Diagnosis.
2 Teach movement only for J1.
● For the accurate diagnosis, teach J1 movement over 90 degrees.
● Don’t move other than J1.

3 Teach movement only for J2.

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● For the accurate diagnosis, teach J2 movement over 90 degrees.
● J3 may move.
● Don’t move other than J2 and J3.

4 Insert CALL commands to call “CRDIAG(parameter)” before and after each movements. CRDIAG
is KAREL program installed by default.
● Call CRDIAG(1) before J1 movement. Call CRDIAG(2) after J1 movement.
● Call CRDIAG(3) before J2 movement. Call CRDIAG(4) after J2 movement.
● Following is sample program.
1: J P[1] 30% FINE ：Start position of J1 movement
2: CALL CRDIAG(1)
3: J P[2] 30% FINE ：J1 movement
4: CALL CRDIAG(2)
5: J P[3] 30% FINE ：Start position of J2 movement
6: CALL CRDIAG(3)
7: J P[4] 30% FINE ：J2 movement
8: CALL CRDIAG(4)
5 Run program.
6 When the movement is done, installation state is judged, and judgment result is displayed.
● When the judgment is A or B, there is no problem for installation. Installation is done.
● When the judgment is C or D, deal according to the following tables depending on mode
displayed by the teach pendant.
Mode Remedy
Verify active payload settings match actual payload on the robot. Re-run Diagnostics test. If result
Mode 1
is the same, verify robot installation.
Mode 2 Verify active payload settings match actual payload on the robot.
Mode 3 Verify robot installation based on robot mechanical installation procedure.

For installation state, refer to manuals for each mechanical unit, Chapter of TRANSPORTATION
AND INSTALLATION.
For payload settings, refer to Section 7.7 PALOAD IDENTIFICATION, and manuals for each
mechanical unit, Section of LOAD SETTING.

● After remedy, re-run the program, and verify the judgment is A or B.

● If judgment is still not A or B after certain measures, sensor may be damaged. Contact your
local FANUC representative.

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8 iHMI FOR COLLABORATIVE ROBOT

iHMI is a user interface with a design that even who have never used FANUC product can start up easily.
Refer to OPERATOR’S MANUAL (Basic Operation) (B-83284EN), Chapter of iHMI.
This chapter introduces functions and operation of iHMI for Collaborative robot.

Contents of this chapter

8.1 OVERVIEW OF THE HOME SCREEN
8.2 OPERATIONS RELATED TO SETUP
8.3 OPERATIONS RELATED TO TEACH
8.4 COLLABORATIVE ROBOT MONITOR

iHMI can only be used with R-30iB Plus/R-30iB Mate Plus/R-30iB Mini Plus controller.

8.1 OVERVIEW OF THE HOME SCREEN

This section explains the overview of the home screen.
For iHMI for collaborative robot, added functions for collaborative robots to groups of "SETUP",
"TEACH", and "RUN".

Icon

Fig. 8.1 (a) Home screen

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Table 8.1 (a) Icons on the home screen
Type Icon Description
Setup Display the Basic Setup Selection screen.
On the selection screen, you select the Initial Setup screen and
End of Arm Tool Setup Screen, Collaborative Setup screen.
The collaborative setting guide will guide settings that make
simple pick & place programs executable and settings that enable
BASIC
to switch between fast modes.
Teach Display the Create a Program screen.
On the Create a Program screen, you create programs using
template programs (sample programs) for achieving certain
objectives. You can also select a "Blank Template" for creating a
CREATE PROGRAM program from scratch.
Run Display the Collaborative Monitor screen.
Graphically displays the external force applied to the robot.

COLLABORATIVE

8.2 OPERATIONS RELATED TO SETUP

Tap the [BASIC] icons on the home screen and display the Basic Setup Selection screen.
On the Basic Setup Selection screen, select either the Initial Setup screen or the End of Arm Tool Setup
screen, Collaborative Setup screen.
The screen display flow for setup is shown below.

HOME screen Basic Setup Selection Collaborative Setup screen

screen

Initial Setup screen End of Arm Tool Setup screen

Fig. 8.2(a) Screen display flow (Setup)

For Initial Setup Guide and End of Arm Tool Setup Guide, refer to OPERATOR’S MANUAL (Basic
Operation) (B-83284EN), Section of Operations related to Setup.

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8.2.1 Collaborative Setup Guide

The collaborative setup guide will guide settings that make simple pick & place programs executable and
settings that enable to switch between fast modes. The collaborative setup guide screen is shown below.

Fig.8.2.1(a) Collaborative Setup Guide screen

The main setup items on the Collaborative Setup Guide are as follows:
• Payload Setup
• Contact-Stop Invalid Area (Payload change distance)
• Tool Setup
• High Speed Mode

NOTE
1 When the Collaborative Setup guide is completed, the tool setting guide is also
automatically set to the completion state.
2 When the Collaborative Setup guide is completed, go to DCS screen.

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8.3 OPERATIONS RELATED TO TEACH

Tap the [Create Program] icon on the home screen and display the Create a Program screen.

The screen display flow when there are no programs is shown below.

HOME screen Create a Program screen

Fig.8.3(a) Screen display flow (when there are no programs)

Refer to OPERATOR’S MANUAL (Basic Operation) (B-83284EN), Section of Operations related to

teach.

8.3.1 Create Program

On the Create a Program screen, you create programs using template programs (sample programs) for
achieving certain objectives. You can also select a "Blank Template" for creating a program from scratch.
The Create Program guide screen is shown below.

Fig.8.3.1(a) Create a Program Screen

The templates that can be selected on the Create Program Guide screen are as follows:
• Blank Template
• Pick & Place with light work
• Pick & Place with heavy work
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8.3.2 Pick & Place with Light Work

This is a template for creating pick & place program with workpiece weight less than 1 kg. You can
create a pick & place program with only three teachings.
Teaching points that require teaching by Operator are 1st, 2nd, and 5th point. Other teaching points are
taught automatically from 1st and 5th point.

Fig. 8.3.2(a) Create a Pick & Place with light work screen

If the workpiece is less than 1 kg, you can usually operate without stopping the robot without switching
payload.

NOTE
If the workpiece is less than 1 kg, the robot may stop. In that case, please use
Pick & Place with heavy work template.

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8.3.3 Pick & Place with Heavy Work

This is a template for creating a pick & place program with a workpiece weight of 1 kg or more. You can
create a pick & place program with only 5 teachings.
Teaching points that require teaching by Operator are 1st, 2nd, 3rd, 4th and 7th point. Other teaching
points are taught automatically from 1st and 7th point.

Fig. 8.3.3(a) Create a Pick & Place with heavy work screen

If the workpiece weight is 1 kg or more, the robot stops unless the payload switching is properly
performed. Please make appropriate settings before operating.

WARNING
If switch payload, Contact Stop function is disabled In Contact-Stop Invalid Area.
The robot does not stop, if an operator contacts. If switch payload, adequate risk
assessment for the whole robot system is necessary to verify that the contact
stop function becomes invalid within the Contact-Stop Invalid Area.

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8.4 COLLABORATIVE MONITOR (CR series only)

Collaborative Robot Monitor provides the screen that can be graphically monitored external forces on
cooperating robots.
Tap the "COLLABORATIVE" icon on the home screen to display the Collaborative Robot Monitor
screen.

HOME screen Collaborative Robot Monitor Screen

Fig. 8.4(a) Screen display flow (Collaborative Robot Monitor)

8.4.1 Collaborative Robot Monitor Screen

Collaborative Robot Monitor Screen shows the following information.

(1) Collaborative Robot

(2) Contact Stop status
(3) The value of External Force, Payload and Moment
(4) Active Payload Number
(5) Direction and magnitude of the Force

Fig. 8.4.1(a) Information on Collaborative Robot Monitor screen

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B-83744EN/04 8. iHMI FOR COLLABORATIVE ROBOT
Followings are explanation of the information on the screen.

Collaborative Robot (1)

Collaborative robot graphic is shown. The robot model is the same posture as the actual robot.

Contact Stop status (2)

This parameter is the status of contact stop status of the collaborative robot. The contact stop status has
the following four statuses. Depending on each state, the background color of the status also changes.
Please refer to “2.3 OUTPUT SIGNAL OF COLLABORATIVE ROBOT STATUS” for details of the
parameter.
SAFE (green) : The contact stop function is enabled and the safety is confirmed.
STOP (red) : The contact stop function is enabled and the safety is not confirmed.
DSBL (yellow) : The contact stop function is disabled.
ESCP (yellow) : In Push To Escape.

The value of Force, Payload and Moment (3)

The magnitude of the force applied to the robot is displayed. Please refer to “4.2.3 Collaborative Robot
Monitor Screen” for details of the parameter.
Force[%]
External force applied to the robot is displayed by a blue bar. The maximum value is assumed to be 100%,
and when it exceeds 80% the color of the bar changes to red.
Payload[%]
Steady load applied to the robot is displayed by a green bar. The maximum value is assumed to be 100%,
and when it exceeds 80% the color of the bar changes to red.
Moment[%]
Moment applied to the robot is displayed by a green bar. The maximum value is assumed to be 100%, and
when it exceeds 80% the color of the bar changes to red.

Active Payload Number (4)

The selected payload number is displayed. If a comment is set for the selected payload, that comment is
also displayed.

Direction and magnitude of the Force (5)

The direction and magnitude of the external force applied to the robot is displayed. From the inner surface
of the sphere drawn to enclose the robot, a blue cone is displayed towards the direction of force applied to
the robot. The length of the cone changes depending on the magnitude of the external force. When the
magnitude of force applied to the robot exceeds 80 %, the color of the cone changes to red. If the
magnitude of force applied to the robot is less than 20%, the cone is not displayed. Please refer to “4.2.3
Collaborative Robot Monitor Screen” for details of external force.

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B-83744EN/04 APPENDIX A. TROUBLESHOOTING

A TROUBLESHOOTING
A.1 INDELIBLE ALARM
“SRVO-358 DCS INVPRM alarm” occurs.
Verify followings.
• The group number setting of the collaborative robot is correct.
• The force limit settings are between 0 and 150, inclusive.

“SRVO-473 DCS CLLB CC_EXTF alarm” occurs.

Verify followings.
• Refer to A.2 “SYST-320 Program paused by contact stop” or “SYST-325 Payload error is detected”
occurs, even though nobody contacts the robot.”
• Perform Payload confirmation operation after warm-up operation.
• Don’t cycle power when the payload CONFIRM input is ON.
• Don’t switch the payload CONFIRM input several times in a short time
• Replace the force sensor.

“SRVO-477 Calibration data error” occurs.

Verify if backup files were loaded after initial start. If not, execute one of the following items. After
executing, check that “Force Sensor Serial number on the manufacturing plate” corresponds to that of
“Force Sensor Serial number on TP”. Refer to PREFACE of each MECHANICAL UNIT OPERATOR’S
MANUAL.
• Restore appropriate backup files. If necessary, perform “APPLY TO DCS PARAMETER”. Refer to
section 1.3 of Dual Check Safety Function OPERATOR’S MANUAL (B-83184EN).
• Copy the "CLLB.CM" file from the CD-R that comes with the robot to the root directory of a
memory card or USB device. Using the Teach Pendant, select the CLLB.CM file and execute it
using the ENTER key to load the calibration for the sensor. After this file is executed, perform
"APPLY TO DCS PARAMETER". Refer to section 1.3 of Dual Check Safety Function
OPERATOR'S MANUAL(B-83184EN).

“SRVO-481 Invalid payload number” occurs.

Set correct payload number except for 0.

“SYST-326 Need to confirm payload” occurs.

Payload confirmation operation is necessary after power on. Refer to Chapter 3.

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A.2 STOP DURING MOVE

“SYST-320 Program paused by contact stop” or “SYST-325 Payload error is
detected” occurs, even though nobody contacts the robot.
Verify followings.
• The robot does not touch any object.
• Current payload setting is consistent with the actual payload. Estimated value by CAD may not
match to actual payload.
• Perform Payload confirmation operation after warm-up operation.
• Robot installation plate is fixed.
• The thickness of installation plate is more than the recommended installation plate. Refer to each
MECHANICAL UNIT OPERATOR’S MANUAL, Chapter of TRANSPORTATION AND
INSTALLATION for the recommended installation plate.
• Robot installation plate is not warped. When Robot installation plate is warped, correct warped
installation surface using spacer etc.
• Tighten the robot base diagonally evenly with the specified torq. Refer to each MECHANICAL
UNIT OPERATOR’S MANUAL, Chapter of TRANSPORTATION AND INSTALLATION for the
specified torq.
• No gaps are present at the installation surfaces.
• Vibration of the floor or the hand is not applied to the robot. If a vibration is applied to the robot,
deal so that the vibration is not applied to the robot. Reducing the speed or extending the
acceleration time with Acceleration override instruction may reduce the vibration of the hand.
• “Force Sensor Serial number on the manufacturing plate” corresponds to that of “Force Sensor
Serial number on TP”. Refer to PREFACE of each MECHANICAL UNIT OPERATOR’S
MANUAL .
• The time limit of the auto status check is too long.

“SYST-322 Auto status check time out” occurs.

External force reset must be performed periodically. Refer to the subsection 4.2.1.

“SYST-323 Collaborative speed limit (TCP)” or “SYST-359 Collaborative

speed limit (Elbow)” occurs.
TCP or Elbow position moves at over collaborative speed, and the robot stops.
• Confirm Speed clamping is enabled in the collaborative robot screen. Refer to Section 2.2.
• In jogging, lower override.
• In circular motion or arc circular motion, lower teaching speed.

“SYST-324 Over Payload change distance(Payload number is changed)”

occurs.
The robot moves over Payload change distance before the payload monitor confirms the external force is
small, and the robot stops. Verify followings. Refer to the subsection 5.1.1 for details.
• Payload change distance is sufficient long to move a position that the external force is not applied.
• The robot doesn’t moves over payload change distance soon after payload change. Addition of
“WAIT 1.0sec” command at the position that the external force is not applied is recommended.
• Rotation limit of Payload change distance is sufficient large.

A.3 STOP DURING PERIODICAL CHECK

Refer to Chapter 6.

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B-83744EN/04 INDEX

INDEX
PERIODICAL CHECK ................................................. 43
<A> Pick & Place with Heavy Work ..................................... 71
ABSTRACT ..................................................................... 1 Pick & Place with Light Work ....................................... 70
AUTO RESUME FUNCTION....................................... 45 PICKING WORKPIECE ............................................... 29
Auto Status Check .......................................................... 20 PREFACE .................................................................... p-1
PROGRAMMING ......................................................... 29
<C> PUSH TO ESCAPE ....................................................... 26
COLLABORATIVE MONITOR (CR series only) ........ 72 Push to Escape with Variable Payload Compensation ... 57
COLLABORATIVE ROBOT MONITOR..................... 20
Collaborative Robot Monitor Screen ........................ 22,72 <R>
Collaborative Setup Guide ............................................. 68 RESTRICTION OF COLLABORATIVE ROBOT ......... 1
CONTACT STOP FUNCTION ..................................... 19 Restrictions of Variable Payload Compensation
Contact Stop in Teach Mode .......................................... 20 Function...................................................................... 55
CR series ................................................................... 49,59 RETREAT AFTER CONTACT STOP .......................... 25
Create Program .............................................................. 69
CRX series ................................................................ 51,59 <S>
SAFETY PRECAUTIONS ........................................... s-1
<D> SETTING COLLABORATIVE ROBOT FUNCTION ... 5
DISABLING CONTACT STOP IN PROGRAM .......... 36 SETTING SAFE I/O DEVICE ........................................ 4
DOUBLE TAP FUNCTION (CR series) ....................... 58 SETTING UP ................................................................... 4
SETUP STEPS ................................................................. 2
<H> Simple Picking Program ................................................ 29
HIGH SPEED MODE .................................................... 46 SOFTWARE OPTION FOR COLLABORATIVE
How to use Variable Payload Compensation Function .. 54 ROBOT ........................................................................ 1
SPECIFICATION OF COLLABORATIVE
<I> FUNCTION ................................................................ 19
iHMI FOR COLLABORATIVE ROBOT...................... 66 STOP DURING MOVE ................................................. 78
INDELIBLE ALARM.................................................... 77 STOP DURING PERIODICAL CHECK....................... 78
Installation Diagnostic Tool (CR series) ........................ 64
<T>
<L> TROUBLESHOOTING ................................................. 77
LED AND BUTTON ON ROBOT ARM ...................... 49
Limiting Picking Area .................................................... 32 <U>
Usage ............................................................................. 28
<M> UTILITY ........................................................................ 45
Manual guided teaching ................................................. 27
<V>
<N> Variable Payload Compensation function (CR series) ... 53
NOTES ............................................................................. 3 Verify Payload Setup ..................................................... 12
Notice ............................................................................. 28

<O>
OPERATION LOG BOOK ............................................ 52
OPERATIONS RELATED TO SETUP......................... 67
OPERATIONS RELATED TO TEACH ....................... 69
Output Safety Signal of Collaborative Robot Status ...... 16
OUTPUT SIGNAL OF COLLABORATIVE ROBOT
STATUS ..................................................................... 14
OVERVIEW OF THE HOME SCREEN ....................... 66

<P>
PAYLOAD CONFIRMATION OPERATION AFTER
POWER ON ............................................................... 17
Payload Confirmation without Teach Pendant ............... 18
PAYLOAD IDENTIFICATION .................................... 59
Payload Monitor ............................................................. 21
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B-83744EN/04 REVISION RECORD

REVISION RECORD
Edition Date Contents
04 Jul., 2020 • Addition for CRX series and R-30iB Mini Plus
• Change of settings, High Speed Mode Specification for Small Collaborative Robot
03 Nov., 2019
• Addition of setting items, Payload Identification
• Support of small collaborative robot
02 Oct., 2017 • Addition of monitor function, Variable Payload Compensation function, Double Tap function,
iHMI
01 Sep., 2015

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