67 AUTO BACKWARD EXIT 67.1 overview Auto Backward Exit (R861) allows a programmer or operator to back a robot out of a machine or from within a ‘workpiece safely and easily without teaching apath or jogging. The robot starts recording its path a a specified point in a program, and moves back along the recorded path to returato the original start point under program ‘cont seta Seacoor yn 5 aia (Rec Path Start) i << “ae Stops where recording ’ Reeth telnet el = elitr aol aie oia pier) (Do Bwd Exit) Overview “Addition for FANUC Robot series R-30/G/R-30:5 Plus CONTROLLER Optional Function OPERATOR'S MANUAL B-83284EN-2/09-001 FANUC CORPORATION | =~] 2° |Auto Backward Exit can be enabled at Contvolled start. Setup tems can be set at both Cold Start and Controlled Start System Variables are also used to eonfigure Auto Backward Exit Auto Backward Exit is controlled through a system of macro type teach pendant programs. All except Do Bwd Exit can be executed without stopping the robct. Recording results will change however. depending on ‘movement speed and timing. The provided macros are listed in Table 1-1 “able 1-1: Auto Backward Exit Macros [macro] Pain Starts rocoring of obot pa [toc Pam End — [Stops recorang if curony recpding_ Record paths no longer avaabia [te Path Pause [Pauses recording ofthe rbot path und resumes or ended [Rec Path Resume Resumes paused path recon [boGmd Ext [Starts oxi motion backward along Ho ocordod path 67.2.2 Setup Auto Backward Exit can be set up and configured via the Auto Bwd Exit menu entry at Controlled start, Refer to ‘Table 1-2 for information on each item you can set. Changes take effect when F3, APPLY is pressed, or at the next Controlled start. Some setup items can also beset at Cold star. “Table 1.2; Auto Exit Setup toms, CST ‘DESCRIPTION [Controted Start Setup hems [Enable Auto Ext. (TRUE or FALSE) — [Enables tho foahre and alcatesrecorang memory or Gables feature and deatocaies memory [Wax Record Distance: (712000) —|Dotinos tho manimum path recording lengh. Longer distances use Inore memovy [ccna (TTD [Bete ine pi cording eval during robol moon vecadia [shores distances use more memory |coid Star or Controlied Star Sotup Rem Bui Spood. (1-250mmiscc) _[Dofinos te robot spood for backward ot motion up to 250, meters per second [roa Avay Warne: (7-1000rmm) A prompt asks i conanve the robot has been jogged or moved faway fom tho lest recorded pont more than this distance, The cure fposuon i compared to te last recorded pint whon’Do Bad Ex [G1 Avatabie DO[T-096](0= not |A aigta ouput can be tamed on when a path has been recorded or Jenabed) tris group [et Exccutng DO[t-4006] (0 not A digtal ouput can be tuned on when do bud ext 1s execng Tor Jenabiec) hms group Figure 1.2 Auto Backward Exit Setup Sereen “Addition for FANUC Robot series Te | R30/8/R-30:6 Plus CONTROLLER Optional Function OPERATOR'S MANUAL Dow no. | B-83284EN-2/09-001 eal oes ie Sei FANUC CORPORATION | =~) °”8 fous [oom Ts ne areable Auto Exit Nox Recors Distance Auto ExIt 3 254 oup Exit Statue Out Gi 'Avattapie Doll 7°61 Executing DOL 21 Tee | APPLY TRUE FALSE Operation Setting Up Auto Backward Exit Procedure 1 Perform a Controlled start. (Tum the power ON with “Prev” and “Next” keys pressed, then select “3 ‘Controlled start") 2. Press MENU, select 0 until you can seleet Auto Bed Exit, and press ENTER, 3 Pross F4, TRUE to set Auto Backward Exit to TRUE. Set all other items as necessary. Refer to Table 1-2 4 When you are done, press F3, APPLY. Note ‘Additional group status outputs will appear on multi group systems. f multiple groups are recorded in one teach pendant program, only the status outputs forthe lowest ‘group areset. Recording Notes ‘Ona Multi-anm system, positional data will be recorded for all groups / axes specified by the recording program's ‘roup mask. All groups will move together when executing the backward exit motion, While the a path is being recorded, the system will only record programmed motion, Other motions such as jox ‘motion, or the motion from original path resume, ec. will wot be recorded. Recording is only based on the set recording interval, and as such time of speed are not factors. The only exception is where a iaher speed changes the forward path of the robot. In these cases, the backward path will mimic the secorded forward path, but atthe backward exit speed speed. Ifthe recorded path exceeds the maximum distance, the system will fault with the message “Reached Maximum Path Distance”. Auto Bwd Exit is still available, bu: recording cannot be continued, “Addition for FANUC Robot series R-30/G/R-30:5 Plus CONTROLLER Optional Function OPERATOR'S MANUAL B-83284EN-2/09-001 FANUC CORPORATION67.2.3 System Variables Alternatively, you can direcly configure Auto Bwé Exit using the system variables shown in Table 1-3. Two ‘advanced settings — recording options and exit options ean only be changed via system variables. ‘able 1-3: Auto Backward Exit System Variables SYSTEM VARIABLE DESCRIPTION. JSAUTOEX CONF SENABLE ‘Saing to 1 enables he Teste and aloesies recording MOTO. ‘Sting 00 cisabies feature and deallocates memory. (Changes. roquro a Controlled Start) [SATO CONF SA DIST [Defines the eximum path recording enh up 0 12,000. Longer estances usa mare momory (Changes roqure contot stat) JSAUTOEX CONF SREC INTERV |Dofines the pnt rocading norval dung robot moton recording {Can be sot trom 1 to 100mm_{Changes requ contol start) JSAUTOEX CONF SREC_OPTION |Rocording Onions (Tis is amask, so you must add valuos toga Tormutple options. Changes require contol sat) '1 —Use interpolated positon, '2— Rocords oa moves while recoding a path forward. (During Iackward ext joa moves are always recorded) 4 — Allows Do Bard Ext to bo used aftr Roc Path End ito robot has boon jogged, but not flr program exertion, '8 — Allows Da Bard Ext o be used aller lc Path End or ater executing anchor program JSAUTOEX CONE SEXTT_SPEED —|Dotnes ho cbot speed for backward ext meton upto 2s0mmsec| JsaUTOEX CONF SMAXTOL [Ex path resie tolerance (same as jg away waming) A prompt asks to cant the robot has been jogged or moved away from {ne lst recorced pont more than this number in miimeters. The {cent postn s compared to to last recorded point whn ‘Do ud Ext isn JSAUTOEX CONF SPOS REGIDX [Shouse pion veins use |AUTOEX_CONF SEXIT_ OPTION i set to use a positon register instead ofa point J5AUTOEX CONF SEXTT_OPTION [Ent Options (This a mask, so you must add values together for ‘multiple opfons. Changes require coril start) "1 —Do not uso Wnt (ws nt) motion option during backward ‘maton. 4 — Use a postion ropstorinstoad ofa point during backward motion [SAUTOEX CONE SACRO START [Alows tha 5 ao oxi mac's blo nunbors to bo re alocaiod JSAUTOEX PORT SAVAIL_DO_TIGrH_Al [Defines to t)pe of output fo use forthe Ext Avalabe satus oulpal foreach metien group JSAUTOEX_ PORT SAVAIL_DO_NGIP_n} |Dotines tno intext use forthe Ext Available status cup for ech] motion group {0 = nol enabied) JSAUTOEX PORT SEXEC_D0_T(Gip nl |Dotins tho typeof ouput to use Tor the Ext Execing satus outa foreach motien group JSAUTOEX PORTSEXEC_DO_IGIp_A) [Doin tho mx to usa or the Eat Executing Salus oul Tor each] “Addition for FANUC Robot series R-30/G/R-30:5 Plus CONTROLLER Optional Function OPERATOR'S MANUAL B-83284EN-2/09-001 FANUC CORPORATION67.2.4 Programming ‘The following isa simple example of how the featare can be used based on Figure 12-S . In this example, the robot starts recording at [6] before moving fo P[7] AL the end of the program, Do Bwd Exit’ macro will move the robot all the way back to P[6] where recording started. The program would then continue to Pt) Figure 13: Example Program P(E:Outside] SOmn/sec CHTSO Sart recording 5c Pat 5 7:Cloae 1] 250mn/see cHr25 (Clese 2] 180en/sec CHTIO Drip] Sdm/sec FTE ‘DacP_PART sTnitiace backward exit 10: Do By Bit MMB :5 bristoee) 1008 rae Auto Backward Exit an be implemented into a wide variety of error recovery solutions due to the capabilities of ‘macro programs. “Addition for FANUC Robot series R-30/G/R-30:5 Plus CONTROLLER Optional Function OPERATOR'S MANUAL B-83284EN-2/09-001 FANUC CORPORATION