(R-J3/R-J3i MODELB)

Robot Link Approach Deterrence Function

OPERATOR’
OPERATOR’S MANUAL

B-81564EN/01
Ȧ No part of this manual may be reproduced in any form.
Ȧ All specifications and designs are subject to change without notice.

In this manual we have tried as much as possible to describe all the

various matters.
However, we cannot describe all the matters which must not be done,
or which cannot be done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in
this manual should be regarded as ”impossible”.
B-81564EN/01 PREFACE

PREFACE
The approach deterrence function for the robot link monitors the
distance from the tool or arm of a robot to that of another robot in real
time If uses the Ethernet communication function installed on the R-J3
controller as standard to avoid collisions of operating robots adjacent to
each other. This function also monitors the distance between each
robot and its peripheral fixture of which the position, figure, and size
have been set to avoid collisions.

This function consists of two functions: Approach deterrence function

and approach waiting function.
When the approach deterrence function is enabled, it always monitors
the approach to each target set in advance regardless of operation mode
(such as execution of a program in progress or manual operation).
When the approach is detected, an alarm occurs and the robot
decelerates, then stops. If there is a possibility that the robot will cause
a collision after decelerating, then stopping, however, emergency stop
processing equivalent to E-Stop is performed.

Emergency stop

When the approach waiting function is enabled and the distance

between robots is reaching the value set in advance, the function
automatically decelerates and stops the robots. The function waits
until the distance between the robots is increased. When the distance is
increased, operation can automatically be restarted.

Approach waiting (I/O waiting)

p-1
B-81564EN/01 CONTENTS

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

1 OUTLINE..................................................................................................................................................................1

2 SETTINGS ................................................................................................................................................................4

2.1 NETWORK........................................................................................................................................................5
2.1.1 Wiring and Connection ..................................................................................................................................5
2.1.2 Settings ...........................................................................................................................................................8
2.1.3 Checking the Network-Related Settings .......................................................................................................12
2.2 CALIBRATION ...............................................................................................................................................14
2.2.1 Calibration Data ..........................................................................................................................................15
2.2.2 Setting Calibration TCPs .............................................................................................................................15
2.2.3 Teaching Reference Positions ......................................................................................................................16
2.2.4 Calculating Calibration Data ......................................................................................................................17
2.2.5 Indirect Calibration .....................................................................................................................................18
2.2.6 Setting Calibration Data ..............................................................................................................................21
2.2.7 Troubleshooting ...........................................................................................................................................24
2.3 SETTING MODELS........................................................................................................................................26
2.3.1 Definition of Elements..................................................................................................................................26
2.3.2 Setting a Hand Model ..................................................................................................................................28
2.3.3 Setting a Fixture Model................................................................................................................................37
2.3.4 Setting a Robot Model..................................................................................................................................46
2.4 SETTING APPROACH DETERRENCE COMBINATIONS.........................................................................53
2.5 SETTING OTHER PARAMETERS................................................................................................................59
2.6 MODEL DATA STORAGE DESTINATION .................................................................................................62
2.7 APPROACH WAITING COMBINATIONS...................................................................................................63
2.7.1 Approach Waiting Combination List Screen................................................................................................63
2.7.2 Detail Approach Waiting Combination Screen............................................................................................66

3 PROGRAM INSTRUCTIONS ..............................................................................................................................70

3.1 APPROACH DETERRENCE FUNCTION ENABLE/DISABLE INSTRUCTION .......................................71

3.1.1 Details ..........................................................................................................................................................71
3.1.2 Sample Program ..........................................................................................................................................72
3.1.3 Reverse Program Execution.........................................................................................................................72
3.1.4 Notes.............................................................................................................................................................73

c-1
CONTENTS B-81564EN/01

3.2 APPROACH WAITING CONDITION ENABLE/DISABLE INSTRUCTION .............................................76

3.2.1 Details ..........................................................................................................................................................76
3.2.2 Sample Program ..........................................................................................................................................77
3.2.3 Reverse Program Execution.........................................................................................................................78
3.2.4 Disabling Deceleration Stop Based on Approach Waiting ..........................................................................79
3.2.5 Example of Use ............................................................................................................................................80
3.2.6 Deadlock Caused by the Approach Waiting Function .................................................................................81
3.2.7 Notes.............................................................................................................................................................82
3.3 APPROACH DETERRENCE SENSITIVITY INSTRUCTION .....................................................................85
3.3.1 Details ..........................................................................................................................................................85
3.3.2 Reverse Program Execution.........................................................................................................................85
3.3.3 Notes.............................................................................................................................................................85

4 CHECK AND RECOVERY METHODS .............................................................................................................86

4.1 METHOD OF CHECKING APPROACH DETERRENCE (STATUS SCREEN)..........................................87

4.1.1 Approach Deterrence Status List Screen......................................................................................................87
4.1.2 Approach Deterrence Status Detail Screen..................................................................................................88
4.2 CHECKING THE STATUS OF THE APPROACH WAITING FUNCTION ................................................90
4.2.1 Approach Waiting Status List Screen...........................................................................................................90
4.3 RECOVERY METHOD ..................................................................................................................................93

5 APPROACH DETERRENCE GUIDELINES .....................................................................................................94

6 ALARM CODES ....................................................................................................................................................96

APPENDIX

A SCREEN CONFIGURATION.............................................................................................................................107

B LR-Mate 200iL PARAMTERS ...........................................................................................................................108

C M-6i PARAMETERS...........................................................................................................................................111

D S-430iW/165 AND S-430iF PARAMETERS .......................................................................................................113

E S-430iW/200 PARAMETERS .............................................................................................................................118

F M-710iW PARAMETERS...................................................................................................................................120

G S-500i PARAMETERS ........................................................................................................................................122

c-2
B-81564EN/01 CONTENTS

H M-16iL PARAMETERS ......................................................................................................................................124

I R-2000i/165F PARAMETERS ............................................................................................................................126

J CONNECTION OF THE COMMUNICATION FUNCTION .........................................................................128

J.1 CONNECTION TO ETHERNET ..................................................................................................................129

J.2 ROUTING OF THE ETHERNET CABLE....................................................................................................130
J.3 PIN ALLOCATION OF THE 10BASE-T CONNECTOR (CD38) ...............................................................131
J.4 TWISTED PAIR CABLE SPECIFICATIONS..............................................................................................132
J.4.1 Cable Connection.......................................................................................................................................132
J.4.2 Cable Wire .................................................................................................................................................134
J.4.3 Connector Specifications ...........................................................................................................................136
J.4.4 Switing HUB(Switch) .................................................................................................................................137
J.5 NOISE PROTECTION ..................................................................................................................................138
J.5.1 Cable Clamping and Shield Processing.....................................................................................................138
J.5.2 Network Installation...................................................................................................................................141

c-3
B-81564EN/01 1.OUTLINE

1 OUTLINE
Approach deterrence function
The approach deterrence function exercises approach deterrence
control as follows:

1. Approach deterrence control is exercised over the following three

types of objects: robot arm, hands, and fixture.
2. You can set multiple hands and switch to a desired hand by
associating its number with a tool coordinate number.
3. Use points and line segments to make an approximation to the
figure of each of the robot arm, hands, and fixture. (Section 2.3,
"SETTING MODELS") (Set representative points of each figure
and the distance including the figure of each of the arm, tool, and
fixture.)
4. You can set a device installed on the robot arm such as a wire
send-supply unit as an extension of the robot arm figure setting.
5. The standard maximum number of settings for each figure is
shown below. The number of any elements can be decreased to
increase the number of other elements, however.
l Robot arm (line segments: 3, points: 3)
l Hand (line segments: 2, point: 1)
l Fixture (line segment: 1, point: 1)
The more settings are made, the longer the processing time
becomes. If the processing time becomes longer, the approach
monitoring period also becomes longer, so the approach is
detected earlier than usual if the distance between robots is long.
6. You can set multiple combinations of objects over which approach
deterrence control is to be exercised (robots including hands, and a
robot and fixture) and can use DI to specify whether to enable or
disable the approach deterrence function for each combination.
7. If a robot is in the approach status, an alarm occurs, and the robot
decelerates, then stops. If there is a possibility that the robot will
cause a collision after decelerating, then stopping, however,
emergency stop processing equivalent to E-Stop is performed.
8. You can use the status screen to check the recent approach
deterrence status (status in which the indicated points overlap one
another). If multiple points are in the approach status, up to 10
approach points can be displayed.
9. To teach the positional relationships among multiple robots, a
calibration function is available. Perform calibration for each pair
of robots. Make the TCPs of two robots touch at three different
points and teach each position to determine the positional
relationship between the robots. You can also enter numeric
values directly. For more than two robots, determine a reference

-1-
1.OUTLINE B-81564EN/01

robot and perform calibration for another robot based on the

reference robot.
10. If the operation speed of a robot is fast, this function detects the
approach earlier than usual to avoid collisions.
11. When a model is in the approach status, pressing the RESET key,
then releasing it while holding the SHIFT key down disables the
approach deterrence function. The function remains disabled until
the SHIFT key is released or program execution operation is
performed. Use this operation if models cannot be released from
the approach status because the distance between the models is
decreased by jog feed in any direction. If no model is in the
approach status and SHIFT + RESET operation is performed, this
function is not performed (the approach deterrence function is not
disabled).
12. You can load hand model data set on one controller onto another
controller using a memory card or another medium.
13. You can use program instructions to temporarily disable this
function and enable it again.

Approach waiting function

The approach waiting function exercises approach waiting control as
follows:

1. Under approach waiting control, when the distance to the

specified monitoring target reaches the specified distance
(approach waiting distance), the robot automatically decelerates,
then stops. The robot waits until the distance to the monitoring
target is increased (this status is called the approach waiting
status).
2. You can specify the following three types of objects: another
robot arm, hand, and fixture as monitoring targets of approach
waiting control.
3. You can set multiple monitoring targets of approach waiting
control.
4. Set the approach waiting distance for each robot arm, hand, and
fixture specified as monitoring targets of approach waiting control.
Set the distance to each monitoring target based on the figure of
the robot arm, hand, or fixture set for approach deterrence control
as the approach waiting distance.
5. Use program instructions to specify the operating range in which
approach waiting control is to be applied.
6. If a robot enters the approach status in the operating range in
which approach waiting control is applied, the robot automatically
decelerates, then stops. When the distance to the monitoring
target is increased after that, operation can automatically be
restarted.
7. Within the operating range in which approach waiting control is
applied, you can use the status screen to check the current distance
and shortest approach distance to each monitoring target.
8. If the operation speed of a robot is fast, this function detects the
approach earlier than usual to avoid collisions.

-2-
B-81564EN/01 1.OUTLINE

Restrictions
l The robot link approach deterrence function cannot be used
together with the following option:
− Approach deterrence function for dual robot (A05B-2400-
J780)

l Automatic stop/restart by the approach waiting function does not

function when the following option is installed:
− Axis-by-axis constant path function (A05B-2400-J642)

l Automatic stop/restart by the approach waiting function does not

function during the following operations:
− Follow-up operation of the slave by robot link
synchronization
− Use of the continous rotation function

-3-
2.SETTINGS B-81564EN/01

2 SETTINGS
For the approach deterrence function, settings can roughly be divided
into the following six types:

1. Network settings
2. Calibration settings
3. Model settings
4. Combination settings
5. Other data settings
6. Approach waiting settings

This chapter explains each type of setting and how to make each
setting.

-4-
B-81564EN/01 2.SETTINGS

2.1 NETWORK

2.1.1 Wiring and Connection

2.1.1.1 Environment

l For Ethernet cables, use twisted pair cables for 10BASE-T that are
protected against noise.
For details, refer to Sections 2.1 to 2.3 in CHAPTER 2,
"CONNECTING COMMUNICATION FUNCTIONS," in the
CNC operator's manual.
l A hub (concentrator) is required for constructing a network. Use a
switching hub.
To protect the robot link network against noise generated from the
main line, use of a switching hub with no shield (metal) on the
modular connectors is recommended.
l For Ethernet cables, use cross cables for two robots for which no
switching hub is used. Use straight cables for three or more robots
for which a switching hub is used.
l Run the Ethernet cables so that each cable can make a good
contact with the hub.
For example, install the Ethernet cables and hub as follows:
At least about 50 mm At least about 30 mm

Hub

Fix the hub. Fix the cable at two places.

Connect the connector to the hub so that they

are perpendicular to each other.

l Install the hub in an environment according to the specifications of

the hub manufacturer. For example, the hub must be installed in a
dustproof location that is free from vibrations.
Full protection against noise is required.
l For details, refer to Sections 2.4 and 2.5 in CHAPTER 2,
"CONNECTING COMMUNICATION FUNCTIONS," in exerpts
of the CNC operator's manual.

-5-
2.SETTINGS B-81564EN/01

The customer must prepare the cables and hub.

Purchasing spares is recommended.

l Configure the Ethernet network as follows.

In the configuration shown in the figure below, the robot link
network1 is connected to the main network line via a personal
computer so that the effects of the main line on this function and
those of this function on the main line can be interrupted.

Main line (Yellow)

RC RC RC

Switching 10BASE-T
PC
hub
(NT)
RC RC
PC-available environment
Robot link network

RC: Robot controller

Another robot link network

2.1.1.2 Notes
Basic notes on using the robot link approach deterrence function are
listed below. Your system must satisfy the following requirements at
the minimum. You need to add measures according to the safety
standards for your system if required.

l The robot link network must completely be separated from the

main Ethernet line. If not so, an unexpected robot connected to
Ethernet may detect the approach.
l The Ethernet cables must be routed so that they will not be broken
by any factor. For example, a worker may stumble over a cable,
resulting in a break in the cable. Full protection against noise is
required.

1
Robot link network A collection of multiple robot controllers which link robots
-6-
B-81564EN/01 2.SETTINGS

l The Ethernet cables must be routed so that noise will not affect
them. Therefore, do not route any Ethernet cable near what is apt
to cause noise.
l The power cable to the switching hub must be routed so that no
worker will stumble over the cable and disconnect it.
l Consider the Ethernet cable routing and location where the
switching hub is to be installed so that the connector of each cable
can make a good contact with the hub. If the contact is poor, good
communication cannot be established and wrong approach may be
detected.
This requirement is very important. Take great care.
l When an Ethernet cable is connected to the hub and the other end
of the cable is inserted into the Ethernet cable socket on the main
board on a robot controller, the orange LED on the printed circuit
board at the back of the socket glows. At this time, the power to
both the hub and robot controller must be on. If the LED does not
glow, the main board may be faulty. Contact the FANUC Service
Center.
l The front panel of the hub has an LED indicating the
communication status. If the approach is not detected normally,
this LED must be checked. For this reason, install the hub so that
the LED can be checked easily.
l On the TCP/IP setting screen, the correct IP addresses and host
names must be set. If not so, an unexpected robot connected to
Ethernet may detect the approach.
Check in particular that the common host name and IP address are
used for each robot on the robot link network. For example,
assume that there are three robots A, B, and C. If robot B
recognizes robot A with host name RC21, but robot C recognizes
robot A with host name RC31, these robots does not operate
normally. The same applies to the IP address.
l FTP communication must be started. If not so, approach
deterrence cannot be performed. For how to start FTP
communication, see the chapter titled "SETTINGS" in this
manual.
l The settings on the robot link calibration screen must be correct
and precise calibration must be performed. If not so, wrong
approach may be detected or a robot may cause interference
because it cannot detect the approach.

-7-
2.SETTINGS B-81564EN/01

2.1.2 Settings
The robot link approach deterrence function uses Ethernet. Settings for
using Ethernet must be made first.
This section explains how to make the settings using the following
system configuration as an example:
Controller 1 PC Controller 4
RC21 RC24

G1 G2 G1

Switching

Controller 2 hub Controller 3

RC22 RC23

G1 G1 G2 G3

Controller 1 is a two-group system. Its host name is RC21.

Controller 2 is a one-group system. Its host name is RC22.
Controller 3 is a three-group system. Its host name is RC23.
Controller 4 is a one-group system. Its host name is RC24.

2.1.2.1 Setting the board (MAC) address

Display the host communication protocol setting screen using the
following procedure:
MENUS 6 SETUP

[TYPE] (F1) 0 -- NEXT --

Host Comm

SETUP Protocols G1 JOINT 100%

1/4
Protocol Description
1 TCP/IP TCP/IP Detailed Setup
2 TELNET Telnet Protocol
3 FTP File Transfer Protocol
4 NONE Connects tag to port

[ TYPE ] DETAIL [ SHOW ]

Display the protocol setting screen.

[SHOW] (F4) 1 Protocols

[DETAIL] (F3)
-8-
B-81564EN/01 2.SETTINGS

SETUP Host Comm G1 JOINT 100%

1/31
TCP/IP
Node name : RC21
Router name : R
Board address: 08:00:19:02:F3:50
Subnet Mask : 255.255.0.0

Host Name (LOCAL) Internet Address

1 RC21 190.10.91.21
2 RC22 190.10.91.22
3 RC23 190.10.91.23
4 RC24 190.10.91.24
5 R 190.10.91.100

[ TYPE ] LIST

On the host communication setting screen, check that the board address
has been set ("****" is not displayed for "Board address"). When the
board address has been set, no other processing is required.
If the board address is not set, set the address using the following
procedure:

① Turn the power to the controller and the circuit breaker off, open
the door, and draw out the main board.
② A label on which a small bar code is printed seal is affixed to the
CPU board on the main board. Write down the 12-digit number on
the label. This number indicates the board (MAC) address.
③ Remount the main board, close the door, and turn the circuit
breaker on. Turn the power on while holding the PREV and
NEXT→ keys down. The configuration menu appears.
④ Select "4 Maintenance" → "6 Ethernet based Loading …..".
⑤ There are only options 0 to 3, but enter 11.
⑥ The board (MAC) address setting screen appears. Enter the 12-
digit number you wrote down without colons (:).
After this operation, the prompt appears again. Wait until the board
(MAC) address has been written. Never turn the power off until the
write operation is complete. If the power is turned off before
completion of the write operation, the system does not start up
again unless you replace the CPU card.

2.1.2.2 Setting the host names, Internet (IP) addresses, and subnet
mask
Display the host communication setting screen, then the protocol
setting screen.

On this setting screen, the following items must be set:

l Node name of the local controller

l Node name of the router (If there is no router, always enter a
dummy name.)

-9-
2.SETTINGS B-81564EN/01

l Board address (See "Setting the board address" above.)

l Subnet mask
l Node names and IP addresses of all controllers (including the local
controller) using robot link communication

CAUTION
Characters must be entered to set the items on this
screen. If an entered character string contains a space
(blank) (leading spaces are difficult to check in
particular), communication cannot be performed
properly. In this case, delete the entire line, then reenter
a character string.

Sample settings are shown below:

TCP/IP
Node name : RC21
Router name : R
Board address : 08:00:19:02:F3:50
Subnet Mask : 255.255.0.0
← See the previous subsection.
Host Name (LOCAL) Internet Address
← Always set this value.
1 RC21 190.10.91.21
2 RC22 190.10.91.22
3 RC23 190.10.91.23
4 RC24 190.10.91.24
5 R 190.10.91.100

l The node name and Internet (IP) addresses must be unique in the
system. Specify any desired name that is easy-to-understand.
Make the above settings on all robot controllers on the robot link
network. Only the settings for "Node name" and "Board address" differ
depending on the controller.

2.1.2.3 Starting the FTP server

After setting the board (MAC) address, node name, and Internet (IP)
addresses, start FTP communication as the server using the following
procedure.
Display the host communication protocol setting screen using the
following procedure:
MENUS 6 SETUP

[TYPE] (F1) 0 -- NEXT --

Host Comm

- 10 -
B-81564EN/01 2.SETTINGS

SETUP Protocols G1 JOINT 100%

1/4
Protocol Description
1 TCP/IP TCP/IP Detailed Setup
2 TELNET Telnet Protocol
3 FTP File Transfer Protocol
4 NONE Connects tag to port

[ TYPE ] DETAIL [ SHOW ]

Display the server screen.

[SHOW] (F4) 3 Servers

SETUP Servers G1 JOINT 100%

1/8
Tag Protocol Port State
1 S1: ******** ***** [UNDEFINED]
2 S2: ******** ***** [UNDEFINED]
3 S3: ******** ***** [UNDEFINED]

[ TYPE ][ACTION] DETAIL [ SHOW ]

Select [DETAIL] (F3) to display the tag setting screen.

SETUP Tags G1 JOINT 100%

1/11
Tag S1:

1 Comment: ****************
2 Protocol name: ********
3 Portname: *****
4 Mode: *************************
Current
State: UNDEFINED
5 Remote: ********
6 Path: ****************************
Startup
7 State:
8 Remote: ********

[ TYPE ][ACTION] LIST [CHOICE]

Position the cursor on "2 Protocol name", press [CHOICE] (F4), and
select "3 FTP".
Then, position the cursor on "7 (Startup) State", press [CHOICE] (F4),
and select "3 START".
After that, turn the power off, then on again.

- 11 -
2.SETTINGS B-81564EN/01

After the system restarts, display the server setting screen and check
that the S1 state is "START".

SETUP Servers G1 JOINT 100%

1/8

Tag Protocol Port State

1 S1: FTP ***** [START ]
2 S2: ******** ***** [UNDEFINED]
3 S3: ******** ***** [UNDEFINED]

[ TYPE ][ACTION] DETAIL [ SHOW ]

CAUTION
If the state is not "START", an item set on the TCP/IP
protocol setting screen is invalid. The string set for the
node name, Internet (IP) address, board address, or host
name contains a space (blank). Set the item again.

2.1.2.4 Setting the full duplex mode (for each robot controller)
Set each robot controller to the full duplex mode. Set the system
variable $ENETMODE.$FULL_DUPLEX to TRUE.

2.1.2.5 Setting the full duplex mode (for the hub)

When the hub has a DIP switch for switching between full duplex and
half duplex, set the switch to the full duplex mode. A high-end
switching hub automatically switches between full duplex and half
duplex. For an ordinary hub, the half duplex mode is set by default, so
the full duplex mode must be set.

2.1.3 Checking the Network-Related Settings

After setting the above items, check the following items to confirm that
the settings are correct:
① Check whether an Ethernet cable is connected between the hub
and each robot controller.
② → If no cable is connected, connect a cable.
③ When the power to the hub and robot controllers are on, check
whether the orange LED on the printed circuit board at the back of
the Ethernet cable socket on the main board in each robot
controller glows.
④ → If the LED does not glow, reinsert the cable, and turn the power
to the hub and controller off, then on again. If the LED still does
not glow, the main board may be faulty. Contact the FANUC
Service Center.

- 12 -
B-81564EN/01 2.SETTINGS

⑤ On the server screen described above, check that the state of the S1
tag is "START".

- 13 -
2.SETTINGS B-81564EN/01

2.2 CALIBRATION
Calibration is to teach a robot the position of the reference coordinate
system viewed from the robot. More precisely, calibration is to set the
position and posture of the reference coordinate system viewed from
the world coordinate system of a certain robot in the robot.

Calibration must be performed as many times as the number of robots

because all robots are required to know the position of the reference
coordinate system.
The world coordinate system of a robot can normally be assumed as the
reference coordinate system to facilitate calibration. In this case, the
reference coordinate system need not be set.
This manual covers only this case.

This section explains calibration data, then calibration. The following

outlines calibration:

l Set a calibration TCP on each robot.

l Make the TCPs of the reference robot and a robot to be calibrated
touch and teach the position on each robot.
The TCPs must touch at three different points for each pair of the
reference robot and another robot.

l Copy the program containing the taught positions from each of the
reference robot and the robot to be calibrated onto a personal
computer.
l Calculate calibration data using a dedicated tool on the personal
computer.
l Set the result of calculation on the personal computer on the robot
to be calibrated.
l Repeat the above operation as many times as the number of robots.
For the reference robot itself, however, set (0,0,0,0,0,0) (initial
value).

- 14 -
B-81564EN/01 2.SETTINGS

2.2.1 Calibration Data

To use the approach deterrence function, the positional relationships

among installed robots must be set.
Calibration must be performed as many times as the number of robots
because all robots are required to know the position of the reference
coordinate system.

As specific setting data, set the position (X,Y,Z) of the origin and
posture (W,P,R) of the reference coordinate system viewed from the
world coordinate system of a target robot.
Directly enter the values of the position and posture of the reference
coordinate system to set data.

Sample calibration data

Assume that two robots are installed as shown in the figure. The zero
points of these robots are deviated from each other by 3000 mm
horizontally (X-axis direction). There is no deviation vertically (Z-axis
direction) or perpendically (Y-axis direction). The following shows
calibration data when R1 is set as the reference robot in this status:
Data to be set for R2 when R1 is set as the reference robot
(X, Y, Z, W, P, R) = (3000.0, 0, 0, 0, 0, 180)

Data to be set for R1 when R1 is set as the reference robot

(X, Y, Z, W, P, R) = (0.0, 0, 0, 0, 0, 0)
R1 Z1-axis R2 Z2-axis

X1-axis X2-axis

Y1-axis
Y2-axis
Reference robot

2.2.2 Setting Calibration TCPs

The positional relationships between two robots (reference robot and
robot to be calibrated) can be determined by checking the positions of
appropriately selected three points in the work area common to both
robots that are seen in the world coordinate system of each robot. The
three points used for determining the positional relationships between
robots are called reference positions below.
For calibration, repeat the operation which makes the TCPs of two
robots touch and teaches the position three times. In other words, teach

- 15 -
2.SETTINGS B-81564EN/01

three reference positions on each robot and process the result using a
personal computer to determine the positinal relationships between the
two robots.
Note the following points on selecting reference positions because the
selected reference positions affect the precision of calibration:
• Avoid selecting a posture with which the precision of the absolute
position of a robot is relatively low (near an operating area limit or
specific point) as much as possible.
• If the selected reference positions are close or three reference
positions are in line, the error generated through calculation for
determining the positional relationships becomes larger. As a
guide, for reference positions, select the vertexes of a triangle
whose sides are about 1 m long so that both robots will not assume
an unnatural posture at each position as much as possible.

Calibration TCPs are used for teaching reference positions. In normal

cases, attach an appropriate fixture (calibration fixture) with which
reference positions can easily be taught to a robot and set a TCP at the
end of the fixture. You can use a calibration fixture of any shape which
is convenient to teach reference positions and will not be bent by a
posture of the robot. A needle-shaped fixture can be thought of as a
simple example, but a fixture pointed more sharper than needed is
dangerous. Round the tip and carefully handle the fixture to give due
consideration to safety.
You need not prepare calibration fixtures unless teaching reference
positions is hindered. You can use mechanical interface and hand
TCPs in place of calibration TCPs.

Set TCPs on the ordinary TCP setting screen using the three-point
teaching method or direct teaching method. The TCP setting precision
greatly affects the precision of calibration. Set TCPs as precisely as
possible, checking them with posture jog feed.

2.2.3 Teaching Reference Positions

① Change the TCPs of the reference robot and a robot to be
calibrated to calibration TCPs.
② Create a calibration program on each of the reference robot and
robot to be calibrated.
③ Make the TCPs of both robots touch and teach the position of the
touch point in the program created in step 2 on each controller. At
this time, assign the same position number to the reference
position for the reference robot and that for the robot to be
calibrated. For example, "Pos[1]" in the program on the reference
robot and "Pos[1]" in the program on the robot to be calibrated
must indicate the same reference position. The same applies to
other position numbers. Do not change Cartesian set for the
position mode. If the mode is changed to the joint mode, position
data will not be able to be read using a personal computer during
subsequent operations.

- 16 -
B-81564EN/01 2.SETTINGS

④ Change the reference position and perform step 3. Repeat this

operation which makes the TCPs touch three times. (Teach three
lines of operation statements.)

[Determining reference positions]

Reference positions are used for determining the positional
relationships between two installed robots (reference robot and a robot
to be calibrated). If a reference position is near an operating area limit
or specific point, reference positions are close, or three reference
positions are in line, the precision of calibration becomes lower. As a
guide for determining reference positions, select the vertexes of a
triangle whose sides are about 1 m long so that both robots will not
assume an unnatural posture at each position as much as possible.

Conceptual drawing of teaching a reference position

Reference
position

2.2.4 Calculating Calibration Data

① On the system variable list screen, set $FILECOMP.$TPP to
TRUE.
② Temporarily move the programs created according to instructions
described in the previous subsection (in which the reference
positions are recorded) onto a memory card or floppy disk in the
MS-DOS format. Then, copy the programs onto a personal
computer on which a tool dedicated to calibration has been
installed.
③ On the system variable list screen, set $FILECOMP.$TPP back to
FALSE.
④ Start the dedicated tool on the personal computer. The screen
shown in Fig. 5-1 appears.
⑤ Select the directory containing TP programs for "Directory:" and
"Drive:".
⑥ Select the program created on the robot to be calibrated from the
"TP Program:" list box for "Slave Robot:" and the program created
on the reference robot corresponding to that program from the "TP
Program:" list box for "Master Robot:".
⑦ Set the motion group of the robot to be calibrated for "Motion
Group:" for "Slave Robot:".
⑧ Set the motion group of the reference robot for "Motion Group:"
for "Master Robot:".
⑨ Click the "Calibrate" button.
Relevant values are displayed for "X", "Y", "Z", "W", "P", "R",
"Mean Error:", and "Max Error:". If nothing is displayed, see
Subsection 0, "Troubleshooting."
- 17 -
2.SETTINGS B-81564EN/01

⑩ Numeric values roughly indicating the precision of calibration are

displayed for "Mean Error:" and "Max Error:". These values
change according to the determined reference positions and the
postures of the robots at that time. Generally, "Mean Error:" is
within about 2 mm. If "Mean Error:" exceeds 10 mm, an invalid
procedure may have been used. See Subsection 0,
"Troubleshooting."
⑪ Set the values indicated by "X", "Y", "Z", "W", "P", and "R" on
the controller of the robot to be calibrated. For how to set these
values, see Subsection 2.2.6, "Setting Calibration Data."
Fig. 5-1. Screen displayed when the robot link calibration tool
starts

2.2.5 Indirect Calibration

The calibration method described in Subsections 2.2.2 to 2.2.4 is used
on the premise that the reference robot and robot to be calibrated are
installed in the positional relationships in which three reference
positions can be shared. In other words, the distance between both
robots must be short and there must be no obstacle between the robots
(in a case as shown in Fig. 5-2). If a robot to be calibrated is installed
apart from the reference robot and the reference positions cannot be
shared (in a case as shown in Fig. 5-3), however, the above method
cannot be used. This subsection explains the calibration method used
for this case.
The dashed lines schematically indicate the operating range of each

robot.

Reference robot

Robot R1 Robot R2

Fig. 5-2 Arrangement for which direct calibration is available

- 18 -
B-81564EN/01 2.SETTINGS

The dashed lines schematically indicate the operating range of

each robot.

Robot R1

Reference robot Robot R2

Fig. 5-3 Arrangement for which direct calibration is unavailable

2.2.5.1 Concepts of indirect calibration

Look at Fig. 5-3. Direct calibration is available for robot R1 because
the robot is close to the reference robot. For robot R2, direct
calibration cannot be performed because the robot is away from the
reference robot. R2 and R1 are installed close to each other. "Close"
means here the status in which both robots can share the three reference
positions, are enough close for direct calibration, and there is no
obstacle between the robots.
The concepts of indirect calibration are described below. For R1,
direct calibration with the reference robot is available, so the position
of the reference coordinate system (world coordinate system of the
reference robot here) viewed from R1 can be determined. R2 and R1
are installed close to each other, so for R2, calibration with R1 is
available with assuming R1 to be a tentative reference robot to
determine the position of R1 viewed from R2. Consequently, the
results of both calibration processes can be added to determine the
position of the reference robot viewed from R2 via R1. The concepts of
indirect calibration are summarized below:
l Direct calibration is performed between the reference robot and
robot R1.
The position of the reference robot viewed from R1 is determined.
l Direct calibration is performed between R1 (tentative reference
robot) and R2.
The position of the R1 viewed from R2 is determined.
l The above results can be added to determine the position of the
reference robot viewed from R2. In other words, the result of
calibration between R2 and the reference robot is indirectly
obtained.
Indirect calibration via only one robot (single-robot indirect
calibration) was explained above. These concepts can be extended to
allow indirect calibration via n robots (n-robot indirect calibration).
The greater the number of robots via which indirect calibration is
performed becomes, the larger the error becomes. For practical use,
regard one- and two-robot indirect calibration as available.

- 19 -
2.SETTINGS B-81564EN/01

2.2.5.2 Single-robot indirect calibration

Assume that the following conditions are satisfied as the example
shown in Fig. 5-3:
[Condition 1] Direct calibration with the reference robot is available
for R1.
[Condition 2] Direct calibration with the reference robot is unavailable
for R2. If R1 is assumed to be a tentative reference robot, however,
direct calibration with R1 (tentative reference robot) is available for
R2.
The following explains the procedure for indirectly determining the
position of the reference robot viewed from R2:
① Assume R1 to be a tentative reference robot and perform direct
calibration between R1 (tentative reference robot) and R2 using
the procedure described in Subsections 2.2.2 to 2.2.4 to step 0 in
Subsection 2.2.4. Setting on the controller, step ⑪ in Subsection
2.2.4, is not required.
② "X", "Y", "Z", "W", "P", "R", "Mean Error:", and "Max Error:" on
the screen shown in Fig. 5-1 indicate the results of calibration
between R1 (tentative reference robot) and R2. Click the "Add to
ListBox" button. The values indicated by "X", "Y", "Z", "W", "P",
and "R" are copied into the list box at the bottom of the screen.
Continue using the dedicated tool in the next step ③ without
terminating the tool.
③ Perform direct calibration between the reference robot and R1
using the procedure described in Subsections 2.2.2 to2.2.4 to step
⑪ in Subsection 2.2.4.
④ "X", "Y", "Z", "W", "P", "R", "Mean Error:", and "Max Error:" on
the screen shown in Fig. 5-1 indicate the results of calibration
between the reference robot and R1. In the list box at the bottom
of the screen, the results of calibration between R1 (tentative
reference robot) and R2 that are set in step ② are also displayed.
Click the "Add to ListBox" button. The values indicated by "X",
"Y", "Z", "W", "P", and "R" are copied into line 2 of the list box at
the bottom of the screen. Data in line 1 remains unchanged.
⑤ In the list box at the bottom of the screen, data of calibration
between R1 (tentative reference robot) and R2 is displayed in line
1 and data of calibration between the reference robot and R1 is
displayed in line 2. Click the "Multiply" button. Values are
displayed in the text box under the list box. These values indicate
the results of multiplication, that is, results of single-robot indirect
calibration.
⑥ Set the values indicated by "X", "Y", "Z", "W", "P", and "R" on
the controller for robot R2. For how to set these values, see
Subsection 2.2.6, "Setting Calibration Data."

[Reference]
If you set an invalid value in the list box at the bottom of the screen,
click the "Clear ListBox" button to erase the contents of the list box.

- 20 -
B-81564EN/01 2.SETTINGS

2.2.5.3 n-robot indirect calibration

Assume that the following conditions are satisfied:
[Condition 1] Direct calibration with the reference robot is available
for R1.
[Condition 2] Direct calibration with the reference robot is unavailable
for R2. If R1 is assumed to be a tentative reference robot, however,
direct calibration with R1 (tentative reference robot) is available for
R2.
: :
[Condition n+1] Direct calibration with the reference robot is
unavailable for R(n+1). If R(n) is assumed to be a tentative reference
robot, however, direct calibration with R(n) (tentative reference robot)
is available for R(n+1).
The following explains the procedure for indirectly determining the
position of the reference robot viewed from R(n+1):
① Set the following data in the list box at the bottom of the screen
(Fig. 5-1) of the dedicated tool on the personal computer using the
same procedure as described in Subsection 2.2.5.2, "Single-robot
indirect calibration".
Line 1: Data of calibration between R(n) (tentative reference
robot) and R(n+1)
: :
Line n: Data of calibration between R1 (tentative reference robot)
and R2
Line n+1: Data of calibration between the reference robot and R1
② Click the "Multiply" button. Values are displayed in the text box
under the list box. These values indicate the results of
multiplication, that is, results of n-robot indirect calibration.
③ Set the values indicated by "X", "Y", "Z", "W", "P", and "R" for
robot R(n+1). For how to set these values, see Subsection 2.2.6,
"Setting Calibration Data."

[Number of robots via which indirect calibration is performed]

The greater the number of robots via which indirect calibration is
performed becomes, the larger the error becomes. For practical use,
regard one- and two-robot indirect calibration as available.

2.2.6 Setting Calibration Data

Set the position and posture between two robots.
To set calibration data, directly enter the numeric values indicating the
position and posture of the world coordinate system of a reference
robot viewed from a certain robot.
Calibration data must also be set for robots in the reference group. In
this case, set (0,0,0,0,0,0).

- 21 -
2.SETTINGS B-81564EN/01

Directly entering calibration data

Procedure
1. Press the MENUS key to display the screen menu and select
"SETUP".
2. Press the [TYPE] (F1) key and select "AP Deterrenc". The setting
list screen for the approach deterrence function appears.

APRC Deterrence G1 JOINT 100%

1/4
Setup list of Approach Deterrence

1 C a l i b r a t i o n b e t we e n r o b o t <* DE T A I L * >
2 Models setup <*DETAIL*>
3 Check combination setup <*DETAIL*>
4 Check data setup <*DETAIL*>
5 Waiting condition setup <*DETAIL*>

[ TYPE ]

3. Position the cursor on "1 Calibration between robot

<*DETAIL*>" and press the Enter key. The calibration list
screen appears.

APRC Deterrence G1 JOINT 100%

1/2
Calibration list
1 G1[M-6i ] NotYet
2 G2[M-6i ] NotYet

[ TYPE ][METHOD] Done NotYet

4. Position the cursor on the name of the robot for which calibration
data is to be entered. (In this example, the cursor is positioned on
G1.)

5. Press the [METHOD] (F2) key. The screen changes as shown

below:

APRC Deterrence G1 JOINT 100%

1/2
Calibration list

1 G1[M-6i ] NotYet
2 G2[M-6i ] NotYet

__________________
￨ 1 Direct Entry ￨
-----+ +-----
[ TYPE ]￨METHOD￨ Done NotYet

6. Select "1 Direct Entry".

- 22 -
B-81564EN/01 2.SETTINGS

7. The following direct entry screen appears:

APRC Deterrence G1 JOINT 100%

1/6
Calibration Direct entry

G1[M-6i]
1 X: 0.000
2 Y: 0.000
3 Z: 0.000
4 W: 0.000
5 P: 0.000
6 R: 0.000

[ TYPE ] CHANGE

This screen shows the position and posture of the reference robot
viewed from the world coordinate system of the position (X,Y,Z) and
posture (W,P,R) of the displayed robot (M-6i in group 1 in the above
figure).

8. Press the [CHANGE] (F4) key. The edit screen appears.

APRC Deterrence G1 JOINT 100%

1/6
Calibration Direct entry

G1[M-6i]
1 X: 0.000
2 Y: 0.000
3 Z: 0.000
4 W: 0.000
5 P: 0.000
6 R: 0.000

[ TYPE ] COMPLETE

9. Position the cursor on each desired position and enter the

corresponding data.

- 23 -
2.SETTINGS B-81564EN/01

10. After entering all required data, press the [COMPLETE] (F4) key.

APRC Deterrence G1 JOINT 100%

1/6
Calibration Direct entry

G1[M-6i]
1 X: 0.000
2 Y: 1020.000
3 Z: 0.000
4 W: 90.000
5 P: 0.000
6 R: 0.000

[ TYPE ] COMPLETE

CAUTION
Registration of calibration data is not complete unless
the [COMPLETE] key is pressed.

11. When registration of calibration data is complete, the calibration

list screen automatically appears. Confirm that "Done" is
displayed in the line of the robot for which calibration data has
been set.
----Screen after setting----

APRC Deterrence G1 JOINT 100%

Calibration list 1/2

1 G1[M-6i ] Done
2 G2[M-6i ] NotYet

[ TYPE ][METHOD] Done NotYet

2.2.7 Troubleshooting
① Although the "Calibrate" button is pressed, no calculation results
are displayed.
Check the following items:
l Check whether the programs were saved after
$FILECOMP.$TPP was set to TRUE.
l Check whether all position data in the programs is in the
Cartesian mode.
② The value indicated by "Mean Error:" exceeds 10 mm.
Check the following items:
l Check whether proper TCPs are selected. Check that the
currently selected TCPs are for calibration (for both robots).
If these TCPs are for calibration, perform posture jog feed
and check the TCP setting precision. After the TCPs are
corrected, the reference positions must also be taught again.

- 24 -
B-81564EN/01 2.SETTINGS

l Check whether the same index number is used for position

data of each of the three reference positions in the program on
the reference robot and that on the robot to be calibrated.
l Execute the programs containing the positions taught on the
reference robot and robot to be calibrated step by step and
check that both TCPs match.

- 25 -
2.SETTINGS B-81564EN/01

2.3 SETTING MODELS

This section covers the following topics related to models:
l Description of elements of each model and how to set them
l How to set each model (hand, fixture, or robot)

2.3.1 Definition of Elements

This subsection explains elements common to models.
The following parameters are set for each element:
l Enabled/Disabled
l Link No.
l Link type
l Shape
l Size
l Pos1
l Pos2
These parameters are explained in detail below.

Enabled/Disabled
When this parameter is set to "ENABLED", the element is set for the
relevant model. The initial value is "DISABLED" (except for the
parameters factory-set for a robot).

Link No.
This parameter indicates the number of the robot link attached to the
coordinate system for describing the position of the element. It is
mainly used for setting an element of a robot. For an element of a hand,
set this item to 99. This setting indicates that the reference coordinate
system indicating the position of the element matches the coordinate
system of the mechanical interface of the robot. The world coordinate
system is used as the reference coordinate system for setting an element
of a fixture regardless of which number is set (the setting is ignored).

Link type
This parameter indicates how the link is attached. It is mainly used for
setting an element of a robot. The initial value is "NORMAL".

Shape
This parameter indicates the geometrical shape of an element.
Currently, "Point" and "Link_seg" are supported.

Size
This parameter is used for determining whether to perform approach
deterrence.
Distance between points or line segments <= sum of sizes of both
models + other parameters
When the above condition is satisfied, both models are determined to
be in the approach status. Other parameters include values which vary
depending on the status such as a delay in communication.

- 26 -
B-81564EN/01 2.SETTINGS

CAUTION
Set at least 24 mm for this value. If the set value is less
than 24 mm, the robot may come into collision with an
object depending on the speed of the robot even if the
function operates as specified

Pos1 and Pos2

When "Point" is set for "Shape" of an element, set the coordinates of
the element viewed from the description coordinate system for "Pos1".
At this time, position data for "Pos2" is not used.
When "Line_seg" is set for "Shape" of an element, set the positions of
both ends for "Pos1" and "Pos2" ("Pos1" and "Pos2" may be specified
in no particular order).

Conceptual drawings of elements

Line_seg
Point
Size
Size

Pos1

Pos2
Pos1

- 27 -
2.SETTINGS B-81564EN/01

Conceptual drawings of setting elements (not indicating actual settings)

2.3.2 Setting a Hand Model

This subsection explains how to set a hand model. Set the following
items:
l Comment
Describe the name and comment of each hand. No problem will
arise if this item is not set. Describe the name and comment to
easily make distinctions among hands.
l Setting a model
Set a model as described in Subsection 2.3.1, "Definition of
Elements." Up to five elements can be set for each hand on the
screen. If many elements are set, however, an alarm may occur
depending on the number of elements set for another model. Set
elements, referencing CHAPTER 1, "OUTLINE."
When "Link No." is set to 99, the position of each element is
described based on the coordinate system of the mechanical
interface.
Set elements for a posture in which all axes are placed in the 0-
degree position.
l Setting a correspondence between the tool coordinate system
numbers and hand numbers
Set a correspondence between the number of a set hand and that of
the tool coordinate system set for each group. In the currently
- 28 -
B-81564EN/01 2.SETTINGS

selected tool coordinate system, the approach deterrence function

operates for the model having the corresponding hand number set
in this table. If the hand number is 0, the function operates,
assuming that the relevant robot has no hand.

You can also clear all settings for a hand model or those for each
element at a time.

2.3.2.1 Sample hand modeling

This subsection explains an example of setting a hand model using
drawing data. Assume that a model is set for the hand mounted on the
mechanical interface as shown below when the robot assumes a posture
in which all axes are placed in the 0-degree position. Use the drawing
data at left and determine the type, size, and position of each element
that covers each section in the drawing data. The drawings at right
show sample element settings. The coordinate system in the right
drawings that consists of X, Y, and Z coordinates indicates the
mechanical interface coordinate system (reference coordinate system
used for indicating the position of an element, "Line No." = 99) when
the J6-axis is placed in the 0-degree position.

Hand drawings and element drawings

Sizes

Elements 1 to 3 are set as follows.

- 29 -
2.SETTINGS B-81564EN/01

Settings for each element

Item/element Element 1 Element 2 Element 3
Enabled/Disabled ENABLED ENABLED ENABLED
Link No. 99 99 99
Link type NORMAL NORMAL NORMAL
Shape Line_seg Point Line_seg
Size 40.0 100.0 30.0
Pos1 X -40.0 151.0 151.0
Y 0.0 0.0 0.0
Z 25.0 29.0 164.0
Pos2 X 70.0 - 87.5
Y 0.0 - 0.0
Z 25.0 - 272.0

2.3.2.2 Setting a hand model (entering a comment statement) )

Procedure
1. Press the MENUS key to display the screen menu and select
"SETUP".
2. Press the [TYPE] (F1) key and select "AP Deterrenc". The setting
list screen for the approach deterrence function appears.

APRC Deterrence G1 JOINT 100%

1/5
Setup list of Approach Deterrence

1 Calibration between robot <*DETAIL*>

2 Models setup <*DETAIL*>
3 Check combination setup <*DETAIL*>
4 Check data setup <*DETAIL*>
5 Waiting condition setup <*DETAIL*>

[ TYPE ]

3. Position the cursor on "2 Models setup <*DETAIL*>" and press

the Enter key. The model list screen appears.

APRC Deterrence G1 JOINT 100%

Setup list of Models

1 Tool models setup <*DETAIL*>

2 Fixture models setup <*DETAIL*>
3 Robot models setup <*DETAIL*>

[ TYPE ]

- 30 -
B-81564EN/01 2.SETTINGS

4. Position the cursor on "1 Tool models setup <*DETAIL*>" and

press the Enter key. The Hand figure list screen appears.

APRC Deterrence G1 JOINT 100%

Hand figure list 1/10
Comment
1
2
3
4
5
6
7
8
9
10

[ TYPE ] DETAIL CLEAR UT_DATA

5. Press the Enter key. The comment edit screen appears. Press the
F1 to F5 keys and enter a comment statement. Up to 13 characters
can be entered.

G1 JOINT 100%
1 Upper Case
2 Lower Case
3 Punctuation
4 Options --Insert--
APRC Deterrence
Comment
1 GP1 HAND
2
3
4

abcdef ghijkl mnopqr stuvwx yz_@*

- 31 -
2.SETTINGS B-81564EN/01

2.3.2.3 Setting a hand model (element list) )

You can check and edit element settings for each hand model.
Procedure for setting a model
Display the Hand figure list screen, referencing Subsection 0, "
1. Setting a hand model (entering a comment statement)."

APRC Deterrence G1 JOINT 100%

Hand figure list 1/10
Comment
1 GP1 HAND
2 GP2 HAND
3
4
5
6
7
8
9
10

[ TYPE ] DETAIL CLEAR UT_DATA

2. Position the cursor on the number of a hand of which settings are to

be checked or edited and press the [DETAIL] (F2) key. The
element list screen appears.

APRC Deterrence G1 JOINT 100%

Figure data 1/5

Hand: 1 [GP1 HAND ]

Shape Size
1 ENABLED Line_seg 40
2 ENABLED Line_seg 50
3 ENABLED Line_seg 30
4 DISABLED Point 0
5 DISABLED Point 0

[ TYPE ] DETAIL ENABLED DISABLED

3. You can use this screen to specify whether to enable or disable

each element, change its shape, and set its size. You can also set
these parameters on the detail data screen for each element
(displayed by pressing the F2 key on this screen).
l Specifying whether to enable or disable an element
Position the cursor on "ENABLED" or "DISABLED" for a
desired element and press the [ENABLED] (F4) or
[DISABLED] (F5) key.
l Changing the shape
Position the cursor on the field under "Shape" for a desired
element and press the [CHOICE] (F4) key. The screen for

- 32 -
B-81564EN/01 2.SETTINGS

selecting "Point" or "Line_seg" appears. On this screen, you

can set a desired shape.

G1 JOINT 100%
1 Point
2 Line_seg
3
4
APRC Deterrence
Figure data
1 ENABLED Line_seg 40
2 ENABLED Line_seg 50
3 ENABLED Line_seg 30
4 DISABLED Point 0
5 DISABLED Point 0

[ TYPE ] DETAIL [CHOICE]

l Setting the size

Position the cursor on the field under "Size" for a desired
element and directly enter size data.

APRC Deterrence GP1 JOINT 100%

Figure data 1/10
Hand :1[GP1 HAND ]
Shape Size
1 ENABLED Line_seg 40
2 ENABLED Line_seg 50
3 ENABLED Line_seg 30
4 DISABLED Point 0
5 DISABLED Point 0

[ TYPE ] DETAIL

l Displaying detail data for each element

On the Figure data screen, press the F2 key. The detail screen
for the element on which the cursor is positioned appears.
For how to set detail data, see Subsection 2.3.2.4, "Setting
details of an element."

2.3.2.4 Setting details of an element

Set items for each element of a hand. The items include the position of
data that cannot be set using the Figure data list screen. For the
elements of hands, always set "Link No." to 99 and "Link type" to
"NORMAL".
For details of each element, see Subsection, 2.3.1, "Definition of
Elements."

- 33 -
2.SETTINGS B-81564EN/01

Setting an element
Press the [DETAIL] (F2) key on the Figure data list screen. The detail
element data screen appears.

APRC Deterrence G1 JOINT 100%

Element data 1/7

Hand: 1 [GP1 HAND ]

Element : 1

1 Enabled/Disabled: ENABLED
2 Link No.: 99
3 Link type: NORMAL
4 Shape: Line_seg
5 Size (mm): 40

Pos1 on Flange frame

6 X:-40.000 Y:0.000 Z:25.000

Pos2 on Flange frame

7 X:70.000 Y:0.000 Z:25.000

[ TYPE ] CLEAR ENABLED DISABLED

l Specifying whether to enable or disable the element

Position the cursor on "ENABLED" or "DISABLED" and press
the [ENABLED] (F4) or [DISABLED] (F5) key.
l Changing data set for "Link No." and "Link type"
For hands, set "Link No." to 99 and "Link type" to "NORMAL"
and do not change the settings. (Except when a hand is mounted
on a section other than the mechanical interface)
l Changing the shape
Position the cursor on data set for "Shape" and press the
[CHOICE] (F4) key. The screen for selecting "Point" or
"Line_seg" appears. On this screen, you can set a desired shape.
l Entering the size
Position the cursor on the field indicating the size and directly
enter size data.
l Entering position data
For both "Pos1" and "Pos2", position the cursor on the field for a
coordinate axis to be set and directly enter data. When the shape
of the element is set to "Point", set the coordinates of the center for
"Pos1". For "Point", data set for "Pos2" is ignored. When the
shape is "Line_seg", "Pos1" and "Pos2" may be specified in no
particular order. The coordinate system of the mechanical
interface is used as the reference coordinate system. Use drawing
data and enter values, referencing Subsection 2.3.2.1, "Sample
hand modeling."

- 34 -
B-81564EN/01 2.SETTINGS

APRC Deterrence G1 JOINT 100%

Element data 1/7

Hand: 1 [GP1 HAND ]

Element : 1

1 Enabled/Disabled: ENABLED
2 Link No.: 99
3 Link type: NORMAL
4 Shape: Line_seg
5 Size (mm): 40

Pos1 on Flange frame

6 X:-40.000 Y:0.000 Z:25.000

Pos2 on Flange frame

7 X:70.000 Y:0.000 Z:25.000

[ TYPE ] CLEAR

Clearing an element

CAUTION
Once an element is cleared, all data of the element is
deleted. Carefully clear an element.

You can restore all data of an element to its initial values.

Press the [CLEAR] (F3) key on the detail element data screen. The
following message appears:
"Clear this element? [Y=1/N=else]:"
To clear the element, enter 1.

2.3.2.5 Table listing a correspondence between hand numbers and

tool coordinate system numbers
The approach deterrence function uses the currently set table listing a
correspondence between tool coordinate system numbers and hand
numbers to determine which hand the robot is currently using. Note
that the function does not recognize a hand model unless it is set in the
correspondence table.
If the hand number is 0, the function operates, assuming that the
relevant robot has no hand.

- 35 -
2.SETTINGS B-81564EN/01

Setting a hand correspondence table

1. Display the Hand figure list screen.

APRC Deterrence G1 JOINT 100%

Hand figure list 1/10
Comment
1 GP1 HAND
2 GP2 HAND
3
4
5
6
7
8
9
10

[ TYPE ] DETAIL CLEAR UT_DATA

2. Select the [UT_DATA] (F4) key. The UT-Hand definition screen

appears. (This screen is displayed regardless of where the cursor is
positioned on the Hand figure list screen.)

APRC Deterrence G1 JOINT 100%

UT-Hand definition 1/14
GROUP : 1
Utool No. Hand No.
1 1 - 0
2 2 - 0
3 3 - 0
4 4 - 1
5 5 - 0
6 6 - 0
7 7 - 0
8 8 - 0
9 9 - 0
10 10 - 0

[ TYPE ] GROUP

3. Check the value set for "GROUP" and enter the number of a
desired hand for the corresponding tool coordinate system number.
In the above sample screen, hand number 1 corresponds to tool
coordinate system number 4 in group 1. According to this setting,
the function operates, assuming that the hand model having
number 1 is mounted when the tool coordinate system number is 4
in group 1. According to the settings on this screen, the function
performs a calculation, assuming that no hand is mounted when the
tool coordinate system number is not 4.

4. Press the [GROUP] (F2) key and make the setting for each group.
You can select the same hand model for different groups (when
you want to use a hand identical in shape). You can also select the
same hand for difference tool coordinate systems.

- 36 -
B-81564EN/01 2.SETTINGS

2.3.2.6 Deleting a model

You can clear the settings of a hand model. The comment statement
and all element settings are reset.

CAUTION
Once a model is cleared, the comment statement and
element data settings are all deleted. Carefully clear a
model.

Procedure for deleting a model

1. Display the Hand figure list screen.

APRC Deterrence G1 JOINT 100%

Hand figure list 1/10
Comment
1 GP1 HAND
2 GP2 HAND
3
4
5
6
7
8
9
10

[ TYPE ] DETAIL CLEAR UT_DATA

2. Position the cursor on a hand to be cleared and press the [CLEAR]

(F3) key. The following confirmation message appears:
"Clear this hand data? [Y=1/N=else]:"
3. To clear the hand, enter 1. All data is initialized.

2.3.3 Setting a Fixture Model

This subsection explains how to set a fixture model. For a fixture, set
the model with up to two elements. Set the following items:
l Comment
Describe the name and comment of each fixture. No problem will
arise if this item is not set. Describe the name and comment to
easily make distinctions among fixtures.
l Setting a taught group
Specify the group having the world coordinate system to be used
as the reference of the position of the fixture.
l Setting a model
Set a model as described in Subsection 2.3.1, "Definition of
Elements."
Up to two elements can be set for each fixture. If many elements
are set, however, an alarm may occur. Set elements, referencing
CHAPTER 1, "OUTLINE."
You can teach a position using a robot in the specified group to
specify the position of an element.

- 37 -
2.SETTINGS B-81564EN/01

Data specified for "Link No." and "Link type" as element settings
are ignored. The position of each element is described based on
the world coordinate system of the specified group.
You can also clear all settings for a fixture model or those for each
element at a time.

2.3.3.1 Settings for an element of a fixture model

This subsection shows an example of setting a fixture model. Assume
that a robot (FANUC robot M-6i in the figure) and fixture are installed
as shown in the following figure. The coordinate system in the figure
indicates the world coordinate system of the robot used as the reference
of the position of elements (for the M-6i, the origin of the world
coordinate system is positioned at the intersection of the extension line
of the rotation axis of the J1-axis and the line horizontally drawn from
the center of the rotation of the J2-axis as shown in the figure).

Size

The settings for the element in this example are as follows. (Note: No
value is set for "Pos2" because the shape is set to "Point".)

- 38 -
B-81564EN/01 2.SETTINGS

Settings for the element

Item/element Element 1
Enabled/Disabled ENABLED
Link No. 0
Link type NORMAL
Shape Point
Size 230
Pos1 X 1100.0
Y -250.0
Z 200.0
Pos2 X ――
Y ――
Z ――
In the above figure, the position relative to the robot (in the world
coordinate system) has been known. You can also teach the position
using a robot to specify it (→ Subsection 2.3.3.5, "Setting a fixture
model (details of an element)").

2.3.3.2 Setting a fixture model (entering a comment statement)

Procedure
1. Press the MENUS key to display the screen menu and select
"SETUP".
2. Press the [TYPE] (F1) key and select "AP Deterrenc". The setting
list screen for the approach deterrence function appears.

APRC Deterrence G1 JOINT 100%

Setup list of Approach Deterrence

1 Calibration between robot <*DETAIL*>

2 Models setup <*DETAIL*>
3 Check combination setup <*DETAIL*>
4 Check data setup <*DETAIL*>
5 Waiting condition setup <*DETAIL*>

[ TYPE ]

3. Position the cursor on "2 Models setup <*DETAIL*>" and press

the Enter key. The model list screen appears.

APRC Deterrence G1 JOINT 100%

Setup list of Models

1 Tool models setup <*DETAIL*>

2 Fixture models setup <*DETAIL*>
3 Robot models setup <*DETAIL*>

[ TYPE ]

- 39 -
2.SETTINGS B-81564EN/01

4. Position the cursor on "2 Fixture models setup" and press the Enter
key. The Fixture figure list screen appears.

APRC Deterrence G1 JOINT 100%

Fixture figure list 1/10
Comment TAUGHT GP
1 1
2 1
3 1
4 1
5 1
6 1
7 1
8 1
9 1

[ TYPE ] DETAIL CLEAR

5. Press the Enter key. The comment edit screen appears. Press the
F1 to F5 keys and enter a comment statement. Up to 13 characters
can be entered.

APRC Deterrence G1 JOINT 100%

1 Upper Case
2 Lower Case
3 Punctuation
4 Options --Insert--
APRC Deterrence
Comment TAUGHT GP
1 CLAMP A 1
2 1
3 1
4 1
5 1
6 1
Old Value:
ABCDEF GHIJKL MNOPQR STUVWX YZ_@*.

2.3.3.3 Setting a fixture model (setting a taught group) )

To set a fixture model, before its elements are determined, the robot
having the world coordinate system to be used as the reference of its
positions (robot from which the positions viewed are to be set) must be
specified. This group setting is used to determine the reference and
does not put restrictions on combinations set for the approach
deterrence function. For example, you can specify a fixture taught
using group 1 for a combination for group 2. Position data of each
element of a fixture all indicates the positions viewed from the world
coordinate system of the same taught group.
CAUTION
If this taught group is omitted, invalid data may be set.
Before setting elements, always check the taught group.
Procedure

- 40 -
B-81564EN/01 2.SETTINGS

1. Display the Fixture figure list screen, referencing Subsection

2.3.3.2, "Setting a fixture model (entering a comment statement)."

APRC Deterrence G1 JOINT 100%

Fixture figure list 1/10
Comment TAUGHT GP
1 CLAMP A 1
2 1
3 CLAMP B 2
4 1
5 1
6 1
7 1
8 1
9 1

[ TYPE ] DETAIL CLEAR

2. Position the cursor on the field under "TAUGHT GP" for a target
fixture and directly enter a value.

APRC Deterrence G1 JOINT 100%

Fixture figure list 1/10
Comment TAUGHT GP
1 CLAMP A 1
2 1
3 CLAMP B 2
4 1
5 1
6 1
7 1
8 1
9 1

[ TYPE ] DETAIL CLEAR

- 41 -
2.SETTINGS B-81564EN/01

2.3.3.4 Setting a fixture model (element list) )

You can check and edit element settings for each fixture model. Up to
two elements can be set for each fixture model on the screen.
Procedure for setting a model
1. Display the Fixture figure list screen.

APRC Deterrence G1 JOINT 100%

Fixture figure list 1/10
Comment TAUGHT GP
1 CLAMP A 1
2 1
3 CLAMP B 2
4 1
5 1
6 1
7 1
8 1
9 1

[ TYPE ] DETAIL CLEAR

2. Position the cursor on the number of a fixture of which settings are

to be checked or edited and press the [DETAIL] (F2) key. The
Figure data list screen appears.

APRC Deterrence G1 JOINT 100%

Figure data 1/2

Fixture: 1 [CLAMP A ]
Taught GP : 1
Shape Size
1 ENABLED Line_seg 40
2 ENABLED Line_seg 50

[ TYPE ] DETAIL ENABLED DISABLED

3. You can use this screen to specify whether to enable or disable

each element, change its shape, and set its size. You can also set
these parameters on the detail data screen for each element
(displayed by pressing the F2 key on this screen).
l Specifying whether to enable or disable an element
Position the cursor on "ENABLED" or "DISABLED" for a
desired element and press the [ENABLED] (F4) or
[DISABLED] (F5) key.

- 42 -
B-81564EN/01 2.SETTINGS

l Changing the shape

Position the cursor on the field under "Shape" for a desired
element and press the [CHOICE] (F4) key. The screen for
selecting "Point" or "Line_seg" appears. On this screen, you
can set a desired shape.

G1 JOINT 10 %
1 Point
2 Line_seg
3
4
APRC Deterrence
Figure data
1 ENABLED Line_seg 40
2 ENABLED Line_seg 50

[ TYPE ] DETAIL [CHOICE]

l Setting the size

Position the cursor on the field under "Size" for a desired
element and directly enter size data.

APRC Deterrence G1 JOINT 100%

Figure data 1/2

Fixture: 1 [CLAMP A ]
Taught GP : 1
Shape Size
1 ENABLED Line_seg
2 ENABLED Line_seg 50

[ TYPE ] DETAIL ENABLED DISABLED

l Displaying detail data for each element

On the Figure data screen, press the F2 key. The detail screen
for the element on which the cursor is positioned appears.
For how to set detail data, see Subsection 2.3.3.5, "Setting a
fixture model (details of an element)."

2.3.3.5 Setting a fixture model (details of an element) )

Set each element of a fixture. For fixture elements, "Link No." and
"Link type" need not be set. Describe the position of an element based
on the world coordinate system of the group set for the taught group.
You can also move the TCP of a robot in the taught group to the set
position by jog feed and record the position using the setting screen to
specify data for "Pos1" and "Pos2".

- 43 -
2.SETTINGS B-81564EN/01

Conceptual drawing of teaching position data (recorded using the detail element
data screen)
Recorded as "Pos1" Recorded as "Pos2"

Size

For each element, see Subsection 2.3.1, "Definition of Elements."

Setting details of an element
Press the [DETAIL] (F2) key on the Figure data list screen. The detail
element data screen appears.

APRC Deterrence G1 JOINT 10 %

Element data 1/9

Fixture: 1 [CLAMP A ]
Element : 1
Taught GP : 1
1 Enabled/Disabled: ENABLED
2 Link No.: 0
3 Link type: NORMAL
4 Shape: Line_seg
5 Size (mm): 40

6 Pos1 on World frame: <*Record*>

7 X: 1000.000 Y: 500.000 Z: 500.000

8 Pos2 on World frame: <*Record*>

9 X: 1000.000 Y:1500.000 Z: 500.000

[ TYPE ] CLEAR ENABLED DISABLED

l Specifying whether to enable or disable the element

Position the cursor on "ENABLED" or "DISABLED" and press
the [ENABLED] (F4) or [DISABLED] (F5) key.
l Changing data set for "Link No." and "Link type"
For fixtures, you need not set these parameters. Use the initial
values ("Link No." = 0, "Link type" = "NORMAL").
l Changing the shape
Position the cursor on data set for "Shape" and press the
[CHOICE] (F4) key. The screen for selecting "Point" or
"Line_seg" appears. On this screen, you can set a desired shape.
l Entering the size (direct entry)
Position the cursor on the field indicating the size and directly
enter size data.
l Entering the size (with the taught group)
1. Position the cursor on "Pos1 on World frame: <*Record*>".

- 44 -
B-81564EN/01 2.SETTINGS

2. Operate a robot in the taught gr oup (already set)

and make the toop top point (TCP) of the robot point to the set
point.
Caution: The currently selected group is not always the
taught group. Use the specified taught group for
teaching the position.
3. Press the [RECORD] (F5) key while holding the SHIFT key
down. When the position has been recorded, the message
"Position was recorded." appears and position data is updated.

APRC Deterrence G1 JOINT 100%

Element data 1/9

Fixture: 1 [CLAMP A ]
Element : 1
Taught GP : 1
1 Enabled/Disabled: ENABLED
2 Link No.: 0
3 Link type: NORMAL
4 Shape: Line_seg
5 Size (mm): 40

6 Pos1 on World frame: <*Record*>

7 X:1000.000 Y:500.000 Z:500.000

8 Pos2 on World frame: <*Record*>

9 X:1000.000 Y:1500.000 Z:500.000

[ TYPE ] CLEAR ENABLED DISABLED

4. After setting, check that the displayed position data indicates

the position based on the set group.
5. You can perform the same operation for "Pos2". (When the
shape is "Point", no operation is required for "Pos2".)
l Directly entering position data
For both "Pos1" and "Pos2", position the cursor on the field for a
coordinate axis to be set and directly enter data. When the shape
of the element is set to "Point", set the coordinates of the center for
"Pos1". For "Point", data set for "Pos2" is ignored. When the
shape is "Line_seg", "Pos1" and "Pos2" may be specified in no
particular order. The world coordinate system of the taught group
is used as the reference coordinate system. Enter values,
referencing Subsection 2.3.3.1, "Settings for an element of a
fixture model."

Clearing an element
You can restore all data of an element to its initial values.
Press the [CLEAR] (F3) key on the detail element data screen. The
following message appears:
"Clear this element? [Y=1/N=else]:"
To clear the element, enter 1.

- 45 -
2.SETTINGS B-81564EN/01

CAUTION
Once an element is cleared, all data of the element is
deleted. Carefully clear an element.

2.3.3.6 Deleting a model

You can clear the settings of a fixture model. The comment statement
and all element settings are reset.
CAUTION
Once a model is cleared, the comment statement and
element data settings are all deleted. Carefully clear a
model.

Procedure for deleting a model

1. Display the Fixture figure list screen.

APRC Deterrence G1 JOINT 100%

Fixture figure list 1/10
Comment TAUGHT GP
1 CLAMP A 1
2 1
3 CLAMP B 2
4 1
5 1
6 1
7 1
8 1
9 1

[ TYPE ] DETAIL CLEAR

2. Position the cursor on a fixture to be cleared and press the

[CLEAR] (F3) key. The following confirmation message appears:
"Clear this fixture? [Y=1/N=else]:"
To clear the fixture, enter 1. All data is initialized.

2.3.4 Setting a Robot Model

This subsection explains how to set a robot model. For the arm of a
robot, modeling is factory-set. You can check the factory-set data on
the setting screen, but cannot change it. For coordinate system data and
element arrangement for each robot, see Appendix. When you want to
install a unit such as a repeater box on the arm of a robot, you can
register the unit as an element of the robot.
This subsection explains how to check factory-set data and set an
element.

l Setting an additional element for a model

Set a model as described in Subsection 2.3.1, "Definition of
Elements." Up to ten elements (including factory-set data) can be
set for each robot on the screen. If many elements are set, however,

- 46 -
B-81564EN/01 2.SETTINGS

an alarm may occur during operation. Set elements, referencing

the paragraph about the number of element settings in CHAPTER
1, "OUTLINE."

You can also clear all data for a desired element that was additionally
set at a time (except for factory-set data).

2.3.4.1 Robot list

You can use the following procedure to check the name and group
number of each robot connected to the controller.
Procedure
1. Press the MENUS key to display the screen menu and select
"SETUP".
2. Press the [TYPE] (F1) key and select "AP Deterrenc". The setting
list screen for the approach deterrence function appears.

APRC Deterrence G1 JOINT 100%

1/5
Setup list of Approach Deterrence

1 Calibration between robot <*DETAIL*>

2 Models setup <*DETAIL*>
3 Check combination setup <*DETAIL*>
4 Check data setup <*DETAIL*>
5 Waiting condition setup <*DETAIL*>

[ TYPE ]

3. Position the cursor on "2 Models setup <*DETAIL*>" and press

the Enter key. The model list screen appears.

APRC Deterrence G1 JOINT 100%

1/3
Setup list of Models

1 Tool models setup <*DETAIL*>

2 Fixture models setup <*DETAIL*>
3 Robot models setup <*DETAIL*>

[ TYPE ]

- 47 -
2.SETTINGS B-81564EN/01

4. Position the cursor on "3 Robot models setup <*DETAIL*>" and

press the Enter key. The Robot figure list screen appears.

APRC Deterrence G1 JOINT 100%

Robot figure list 1/2
Robot
1 M-6i
2 M-6i

[ TYPE ] DETAIL

On this screen, press the [DETAIL] (F2) key. The detail screen for the
robot on which the cursor is positioned appears. You cannot edit data
on this screen.

2.3.4.2 Robot model (element list) )

You can check element settings and edit some elements for each robot
model.
Element list screen
1. Display the Robot figure list screen.

APRC Deterrence G1 JOINT 100%

Robot figure list 1/2
Robot
1 M-6i
2 M-6i

[ TYPE ] DETAIL

2. Position the cursor on the number of a robot of which elements are

to be checked or edited and press the [DETAIL] (F2) key. The
figure data list screen appears.

APRC Deterrence G1 JOINT 100%

Figure data 2/10

Robot: 1 [M-6i ]

Shape Size
1 ENABLED Point 40
2 ENABLED Line_seg 50
3 ENABLED Line_seg 100
4 ENABLED Line_seg 30
5 ENABLED Line_seg 50
6 DISABLED Point 0
7 DISABLED Point 0
8 DISABLED Point 0
9 DISABLED Point 0
10 DISABLED Point 0

[ TYPE ] DETAIL

- 48 -
B-81564EN/01 2.SETTINGS

3. On the line of an element which cannot be edited (factory-set

element), the cursor is positioned at the right of the element
number (the cursor does not move to any setting item). When the
cursor is positioned on such a line, press the [DETAIL] (F2) key to
check the settings for the relevant element (you can edit no
setting).
4. The number of elements which can be edited differs depending on
the robot. The element of which the cursor is positioned on setting
items can be set and edited. For such an element, you can specify
whether to disable or enable the element, change its shape, and set
its size. You can also set these parameters on the detail data screen
for each element (displayed by pressing the F2 key on this screen).
l Specifying whether to enable or disable an element
Position the cursor on "ENABLED" or "DISABLED" for a
desired element and press the [ENABLED] (F4) or
[DISABLED] (F5) key.
l Changing the shape
Position the cursor on the field under "Shape" for a desired
element and press the [CHOICE] (F4) key. The screen for
selecting "Point" or "Line_seg" appears. On this screen, you
can set a desired shape.

G1 JOINT 100%
1 Point
2 Line_seg
3
4
APRC Deterrence
Figure data
6 ENABLED Line_seg 40
7 DISABLED Point 0
8 DISABLED Point 0
9 DISABLED Point 0
10 DISABLED Point 0

[ TYPE ] DETAIL [CHOICE]

- 49 -
2.SETTINGS B-81564EN/01

l Setting the size

Position the cursor on the field under "Size" for a desired
element and directly enter size data.

APRC Deterrence G1 JOINT 100%

Figure data 1/10
Robot: 1 [M-6i ]

Shape Size
1 DISABLED Point 40
2 ENABLED Line_seg 50
3 ENABLED Line_seg 100
4 ENABLED Line_seg 30
5 ENABLED Line_seg 50
6 DISABLED Point 25
7 DISABLED Point 0
8 DISABLED Point 0
9 DISABLED Point 0
10 DISABLED Point 0

[ TYPE ] DETAIL ENABLED DISABLED

l Displaying detail data for each element

On the Figure data screen, press the F2 key. The detail screen
for the element on which the cursor is positioned appears.
For how to set detail data, see Subsection 2.3.4.3, "Detail
element data list."

2.3.4.3 Detail element data list

A list of each element for a robot is displayed. You can check the
factory-set elements, but cannot edit them. For an element which can
be edited, set the position of data and other items that cannot be set
using the Figure data list screen. For the elements of robots, set "Link
No." and "Link type", referencing figures in Appendix.
For details of each element, see Subsection 2.3.1, "Definition of
Elements."

- 50 -
B-81564EN/01 2.SETTINGS

Detail element data screen

Press the [DETAIL] (F2) key on the Figure data list screen. The detail
element data screen appears.
--Detail factory-set element data screen (cannot be edited)--

APRC Deterrence G1 JOINT 100%

Element data 1/7

Robot: 1 [M-6i ]
Element: 2

1 Enabled/Disabled: ENABLED
2 Link No.: 2
3 Link type: NORMAL
4 Shape: Line_seg
5 Size (mm): 113

Pos1 on specified Link frame

X:0.000 Y:0.000 Z:-185.000
Pos2 on specified Link frame
X:-600.000 Y:0.000 Z: -185.000

[ TYPE ]

--Detail data screen for an element which can be set--

APRC Deterrence G1 JOINT 10 %

Element data 1/7

Robot: 1 [M-6i ]
Element: 2

1 Enabled/Disabled: ENABLED
2 Link No.: 2
3 Link type: NORMAL
4 Shape: Line_seg
5 Size (mm): 113

Pos1 on specified Link frame

X:0.000 Y:0.000 Z:-185.000
Pos2 on specified Link frame
X:-600.000 Y:0.000 Z:-185.000

[ TYPE ]

l Specifying whether to enable or disable the element

Position the cursor on "ENABLED" or "DISABLED" and press
the [ENABLED] (F4) or [DISABLED] (F5) key.
l Changing data set for "Link No." and "Link type"
For robots, set "Link No." and "Link type", referencing figures in
Appendix.
l Changing the shape
Position the cursor on data set for "Shape" and press the
[CHOICE] (F4) key. The screen for selecting "Point" or
"Line_seg" appears. On this screen, you can set a desired shape.
l Entering the size
- 51 -
2.SETTINGS B-81564EN/01

Position the cursor on the field indicating the size and directly
enter size data.
l Entering position data
For both "Pos1" and "Pos2", position the cursor on the field for a
coordinate axis to be set and directly enter data. When the shape
of the element is set to "Point", set the coordinates of the center for
"Pos1". For "Point", data set for "Pos2" is ignored. When the
shape is "Line_seg", "Pos1" and "Pos2" may be specified in no
particular order. The specified link coordinate system is used as
the reference coordinate system.

- 52 -
B-81564EN/01 2.SETTINGS

2.4 SETTING APPROACH DETERRENCE COMBINATIONS

To use the approach deterrence function, a combination of target
models must be set. The disable signal, approach deterrence signal,
and temporary disable signal must also be set.

Combination of models
Set a combination of models for which the approach deterrence
function is to be operated. For a combination, specify the types (robot
including a hand/fixture) and numbers (group number/fixture number)
of target models and whether to enable or disable the combination. Up
to 10 combinations can be specified.
Disable signal
Assign an input signal
．． for each specified combination. When the
specified signal is on, the approach deterrence function does not
operate for the combination. Set a signal with associating it with the
clamp signal for the fixture. An SDI, WDI, or RDI signal can be
specified. If no disable signal is defined for a combination, the
approach deterrence function always operates for the combination.

Approach deterrence signal

The approach deterrence signal is turned on when the combination
enters in the approach deterrence status.
An SDO, RDO, or WDO signal can be set.
If the index is set to 0, the approach deterrence signal is not output.
Temporary disable signal
The temporary disable signal is on when the approach deterrence
function is temporarily disabled for the combination. For details of
when this signal is turned on and off and the approach deterrence
instructions, see Section 3.1, "APPROACH DETERRENCE
FUNCTION ENABLE/DISABLE INSTRUCTION."
An SDO, RDO, or WDO signal can be set. If the index is set to 0, the
temporary disable signal is not output.

- 53 -
2.SETTINGS B-81564EN/01

Setting a combination of models

The procedure for setting a combination is described below:
Procedure
1. Press the MENUS key to display the screen menu and select
"SETUP".
2. Press the [TYPE] (F1) key and select "AP Deterrenc". The setting
list screen for the approach deterrence function appears.

APRC Deterrence G1 JOINT 100%

1/5
Setup list of Approach Deterrence

1 Calibration between robot <*DETAIL*>

2 Models setup <*DETAIL*>
3 Check combination setup <*DETAIL*>
4 Check data setup <*DETAIL*>
5 Waiting condition setup <*DETAIL*>

[ TYPE ]

3. Position the cursor on "3 Check combination setup <*DETAIL*>"

and press the Enter key. The Combination to check list screen
appears.

APRC Deterrence G1 JOINT 100%

Combination to check 1/10
Item1 - Item2 Host name
1 RH 1 RH 1 DISABLED
2 RH 1 RH 1 DISABLED
3 RH 1 RH 1 DISABLED
4 RH 1 RH 1 DISABLED
5 RH 1 RH 1 DISABLED
6 RH 1 RH 1 DISABLED
7 RH 1 RH 1 DISABLED
8 RH 1 RH 1 DISABLED
9 RH 1 RH 1 DISABLED
10 RH 1 RH 1 DISABLED
[ TYPE ] DETAIL

- 54 -
B-81564EN/01 2.SETTINGS

4. Position the cursor on the number of a combination to be set and

set the following items:
l Setting the host name
Set the host name of the other robot. Always set this item
even if the robot is in another group on the same controller.

Press [CHOICE] (F4). The screen for selecting a host name

appears.

G1 J OI N T 1 0 0 %
1 5 RC24
2 RC21 6 R
3 RC22 7
4 RC23 8
A P R C De te r r e n c e

[ TYPE ]
Select the host name of the controller for the other robot.
To erase the host name, select option 1.
After setting the host name, turn the power off, then on
again.

l Setting models
Specify RH for a robot (including a hand) and F for a fixture.
Position the cursor on RH (or F) on the screen and press the
[CHOICE] (F4) key. The screen changes as shown below.
On this screen, you can specify RH or F.

G1 JOINT 10 %
1 RH
2 F
3
4
APRC Deterrence
Item1 - Item2 Host name
1 RH 1 RH 1 DISABLED
2 RH 1 RH 1 DISABLED
3 RH 1 RH 1 DISABLED

[ TYPE ] DETAIL [CHOICE]

- 55 -
2.SETTINGS B-81564EN/01

l Setting model numbers

Directly enter set model numbers.
For RH, enter the group number of the corresponding robot;
for F, enter the number of the corresponding fixture model.

APRC Deterrence G1 JOINT 100%

Combination to check 1/10
Item1 - Item2 Host name
1 RH 2 F 1 DISABLED
2 RH 1 RH 1 DISABLED

[ TYPE ] DETAIL

l Specifying whether to enable or disable a combination

Specify whether to enable or disable the combination.
Position the cursor on "ENABLED" or "DISABLED" and
press the [ENABLED] (F4) or [DISABLED] (F5) key.

If either of the following errors occurs for an

enabled combination,
l SSPC-190 No communication (%s)
l SSPC-193 IAL detect overload (%d)
communication with the other robot may not be
performed properly. Check the network
settings once again.

- 56 -
B-81564EN/01 2.SETTINGS

Sample settings
Assume that the following settings are made on the controller having
host name R2:

A P R C De te r r e n c e G1 J OI N T 1 0 %
C o mb i n a ti o n to ch e c k 1 /1 0
I t e m 1 - I t e m 2 Ho s t n a m e
1 RH 1 RH 2 R1 ENABLED
2 RH 2 F 3 R2 ENABLED

[ T Y P E ] DE T A I L

Approach deterrence combination 1 is:

A combination of robot/hand corresponding to the tool in use in group
1 on R2 and robot/hand corresponding to the tool in use in group 2 on
R1.

Approach deterrence combination 2 is:

A combination of robot/hand corresponding to the tool in use in group
2 on R2 and fixture 3 on R2.

Assigning each signal

Set signals for each set combination.
Procedure
1. Display the Combination to check screen.

APRC Deterrence G1 JOINT 100%

Combination to check 1/10
Item1 - Item2 Host name
1 RH 1 F 1 ENABLED
2 RH 2 F 2 ENABLED
3 RH 1 RH 2 ENABLED
4 RH 1 RH 1 DISABLED
5 RH 1 RH 1 DISABLED
6 RH 1 RH 1 DISABLED
7 RH 1 RH 1 DISABLED
8 RH 1 RH 1 DISABLED
9 RH 1 RH 1 DISABLED

[ TYPE ] DETAIL

- 57 -
2.SETTINGS B-81564EN/01

2. Position the cursor on the line of a combination for which signals

are to be assigned and press the [DETAIL] (F2) key. The signal
setting screen appears.
(In this example, the disable signal is set.)

APRC Deterrence G1 JOINT 100%

Combination to check 1/3

Combination[ 1]
1 DI for disabled: DI [ 0]
2 Under halted DO: DO [ 0]
3 Temporary invalid DO: DO [ 0]

[ TYPE ] LIST [CHOICE]

3. Position the cursor on the type of signal and press the [CHOICE]
(F4) key. The signals which can be selected are displayed to set a
signal.

G1 JOINT 100%
1 DI
2 RI
3 WI
4
APRC Deterrence
Combination to check

Combination[ 1]
1 DI for disabled: DI [ 0]
2 Under halted DO: DO [ 0]
3 Temporary invalid DO: DO [ 0]

[ TYPE ] LIST [CHOICE]

4. Directly enter a signal assignment number. When this value is set

to 0, the corresponding signal is always off.

APRC Deterrence JOINT 100%

1/10
Combination to check

Combination[ 1]
1 DI for disabled: DI [ 0]
2 Under halted DO: DO [ 0]
3 Temporary invalid DO: DO [ 0]

[ TYPE ] LIST [CHOICE]

- 58 -
B-81564EN/01 2.SETTINGS

2.5 SETTING OTHER PARAMETERS

This section explains other data for the approach deterrence function.
The data is provided for each group. Do not change the data except for
special cases.

Use command at M-lock

When this is set to FALSE (default value), approach deterrence control
is exercised using the true current positions of the robots. When this is
set to TRUE, approach deterrence control is exercised using the
positions specified in an operation command. This setting is used for
simulating the approach deterrence function in the machine lock status.
Do not change the setting in principle.
Speed slope factor
This is a constant used for calculating the coasting distance according
to the speed. An adjusted parameter is set. Do not change the setting.
Model size offset
This is a constant used for calculating the coasting distance according
to the speed. An adjusted parameter is set. Do not change the setting.
Max margin
This is a constant used for calculating the coasting distance according
to the speed. An adjusted parameter is set. Do not change the setting.

Max speed
This is a constant used for calculating communication delay margins.
Do not change the setting.
Max margin
This is a constant used for calculating communication delay margins.
Do not change the setting.
Approach stop rate
The approach deterrence function monitors the distance between
models. If a model enters the approach status, the function decelerates
the robot, then stops it. If there is a possibility that the robot will cause
a collision after decelerating, then stopping, the function performs E-
Stop.
The approach stop rate adjusts the distance between models that
triggers deceleration of a robot. The greater the approach stop rate is
set, the earlier the robot starts decelerating. Do not change the setting
in principle.

When the approach stop rate is set to 100, the robot starts decelerating
so that it can stop without causing a collision.
When the approach stop rate is set to 0, the robot does not decelerate,
then stop.

l For an approach deterrence combination containing a group

during retract operation, the function causes no robot to decelerate
and stop.
l When the approach waiting function is enabled, it causes no robot
to decelerate and stop for an equivalent approach deterrence

- 59 -
2.SETTINGS B-81564EN/01

combination. For details, see Subsection 3.2.4, "Disabling

Deceleration Stop Based on Approach Waiting."
l No robot decelerates and stops after the following operation:
Press the RESET key while holding the SHIFT key down.
Deceleration and stop operation is disabled until the SHIFT key is
released or a program is executed.

Approach deterrence function data list

WARNING
If one of these settings is changed, the stop distance
may greatly change as compared with the previous
distance. Before changing a setting, always save data
before change. Be careful not to rewrite data
unintentionally. Setting a robot at control start restores
the data to factory-settings.

Procedure
1. Press the MENUS key to display the screen menu and select
"SETUP".
2. Press the [TYPE] (F1) key and select "AP Deterrenc". The setting
list screen for the approach deterrence function appears.

APRC Deterrence G1 JOINT 100%

1/5
Setup list of Approach Deterrence

1 Calibration between robot <*DETAIL*>

2 Models setup <*DETAIL*>
3 Check combination setup <*DETAIL*>
4 Check data setup <*DETAIL*>
5 Waiting condition setup <*DETAIL*>

[ TYPE ]

- 60 -
B-81564EN/01 2.SETTINGS

3. Position the cursor on "Check data setup" and press the Enter key.
The approach deterrence data list screen appears.

APRC Deterrence G1 JOINT 100%

Approach Deterrence data 1/7

GROUP: 1
1 Use command at M-lock: ENABLED
2 Speed slope factor: 0.013
3 Model size offset(mm): 0.0
4 Max margin(mm): 510.0
5 Max speed(mm/sec): 2000
6 Max margin(mm/sec^2): 2000
7 Approach stop rate(%): 100

[ TYPE ] GROUP ENABLED DISABLED

4. To check data for another group, press the [GROUP] (F2) key and
enter the group number.

- 61 -
2.SETTINGS B-81564EN/01

2.6 MODEL DATA STORAGE DESTINATION

Data set for the approach deterrence function is all stored in system
variables having a name beginning with $IA_**. When system files
are saved onto a memory card or another medium, the data is all saved
in SYSVARS.SV except for hand model data. Data related to hands set
as described in Subsection 2.3.2, "Setting a Hand Model" is all saved in
system file IA_HAND.SV. To load hand model data set on a controller
onto another controller, read the system file IA_HAND.SV at control
start.

- 62 -
B-81564EN/01 2.SETTINGS

2.7 APPROACH WAITING COMBINATIONS

To use the approach waiting function, target hosts and models must be
set. Various types of signals must also be set.
To set approach waiting combinations, use the approach waiting
combination list screen and detail approach waiting combination
screen.

2.7.1 Approach Waiting Combination List Screen

Use the approach waiting combination list screen to set a combination
of models for which the approach waiting function is to be used.

Display the approach waiting condition list screen using the following
procedure:
Procedure
1. Press the MENUS key to display the screen menu and select
"SETUP".
2. Press the [TYPE] (F1) key and select "AP Deterrenc". The setting
list screen for the approach deterrence function appears.

APRC Deterrence G1 JOINT 100%

1/5
Setup list of Approach Deterrence

1 Calibration between robot <*DETAIL*>

2 Models setup <*DETAIL*>
3 Check combination setup <*DETAIL*>
4 Check data setup <*DETAIL*>
5 Waiting condition setup <*DETAIL*>

[ TYPE ]

3. Position the cursor on "5 Waiting condition setup <*DETAIL*>"

and press the Enter key. The approach waiting condition list
screen appears.

A P R C De te r r e n c e G1 J OI N T 1 0 0 %
Wa i ti n g co n d i ti o n 1 /1 0
I te m1 - I te m2 Ho s t n a me
1 RH 1 RH 1
2 RH 1 RH 1
3 RH 1 RH 1
4 RH 1 RH 1
5 RH 1 RH 1

[ T Y P E ] DE T A I L

- 63 -
2.SETTINGS B-81564EN/01

2.7.1.1 Setting items

Item1
Set one model of an approach waiting combination. A combination
consists of a model on the local host and any model. For "Item1", set a
model on the local host.
Specify the type and number of the model.

Item2
Specify the type and number of the other model of the approach waiting
combination.

Host name
Enter the host name of the other model.

Sample settings
Assume that the following settings are made on the controller having
host name R1:

A P R C De te r r e n c e G1 J OI N T 1 0 0 %
Wa i ti n g co n d i ti o n 1 /1 0
I te m1 - I te m2 Ho s t n a me
1 RH 1 RH 2 R2
2 RH 2 F 2 R1

[ T Y P E ] DE T A I L

Approach waiting combination 1 is:

A combination of robot/hand corresponding to the tool in use in group
1 on R1 and robot/hand corresponding to the tool in use in group 2 on
R2.

Approach waiting combination 2 is:

A combination of robot/hand corresponding to the tool in use in group
2 on R1 and fixture 2 on R1.

- 64 -
B-81564EN/01 2.SETTINGS

Setting a combination of models

1. Display the approach waiting combination list screen according to
the procedure described in Subsection 2.7.1.
2. Position the cursor on the number of a combination to be set and
set the following items:
l Setting the host name
Position the cursor on the column under "Host name".

A P R C De te r r e n c e G1 J OI N T 1 0 0 %
Wa i ti n g co n d i ti o n 1 /1 0
I te m1 - I te m2 Ho s t n a me
1 RH 1 RH 1
2 RH 1 RH 1
3 RH 1 RH 1
4 RH 1 RH 1
5 RH 1 RH 1

[ T Y P E ] DE T A I L

Press [CHOICE] (F4). The screen for selecting a host name

appears.

G1 JOINT 100%
1 5 RC24
2 RC21 6 R
3 RC22 7
4 RC23 8

APRC Deterrence
Select the host name of the controller for the other model.
To erase the host name, select option 1.
After setting the host name, turn the power off,
then on again.

l Setting the types of models under "Item1" and "Item2"

Specify RH for a robot (including a hand) and F for a fixture.
Position the cursor on RH (or F) on the screen and press the
[CHOICE] (F4) key. The submenu appears. On this
submenu, you can select RH or F.

A P R C De te r r e n c e G1 J OI N T 1 0 0 %
Wa i ti n g co n d i ti o n 1 /1 0
I te m1 - I te m2 Ho s t n a me
1 RH 1 RH 1
2 RH 1 RH 1
3 RH 1 RH 1
4 RH 1 RH 1
5 RH 1 RH 1

[ T Y P E ] DE T A I L

- 65 -
2.SETTINGS B-81564EN/01

l Setting model numbers

Position the cursor on the number following RH or F and
directly enter a model number.
For RH, enter the group number of the corresponding robot.
For F, enter the number of the corresponding fixture model.

A P R C De te r r e n c e G1 J OI N T 1 0 0 %
Wa i ti n g co n d i ti o n 1 /1 0
I te m1 - I te m2 Ho s t n a me
1 RH 1 RH 1
2 RH 1 RH 1
3 RH 1 RH 1
4 RH 1 RH 1
5 RH 1 RH 1

[ T Y P E ] DE T A I L

2.7.2 Detail Approach Waiting Combination Screen

Use the detail approach waiting combination screen to set the approach
waiting distances, specify various types of signals, and set the restart
mode and waiting time.

Display the detail screen using the following procedure:

Procedure
1. Display the approach waiting combination list screen according to
the procedure described in Subsection 2.7.1.
2. Move the cursor to the line of the combination number for which
details are to be set.

A P R C De te r r e n c e G1 J OI N T 1 0 0 %
Wa i ti n g co n d i ti o n 1 /1 0
I te m1 - I te m2 Ho s t n a me
1 RH 1 RH 1
2 RH 1 RH 1
3 RH 1 RH 1
4 RH 1 RH 1
5 RH 1 RH 1

[ T Y P E ] DE T A I L

- 66 -
B-81564EN/01 2.SETTINGS

3. Press [DETAIL] (F2). The detail screen appears.

A P R C De te r r e n c e G1 J OI N T 1 0 0 %
C o mb i n a ti o n o f a p p r o a ch wa i t 1 /8

C o mb i n a ti o n [ 1 ]
1 Wa i t i n te rva l R (mm): 0
2 Wa i t i n te rva l H (mm): 0
3 DI fo r d i s a b l e d : DI [ 0]
4 A u to re -s ta rt: ENABLED
5 L i mi t ti me to wai t(s ec): 10
6 DI fo r i n te rru p u ti o n : DI [ 0]
7 DO fo r va l i d s ta tu s : DO [ 0]
8 DO d u ri n g wa i ti n g s ta tu s : DO [ 0]

[ TYPE ] L I ST

- 67 -
2.SETTINGS B-81564EN/01

2.7.2.1 Settings
Wait interval R
Specifies the distance between a line segment or point of a robot model
and the other model that triggers the robot model to wait (or
temporarily stop).

Example
Assume that the size of robot model 1 of RH1 is X mm.
Also assume that "Wait interval R" is set to 100 mm.
The condition is assumed to be satisfied when
the distance from a line segment or point to the other model becomes X
+ 100 mm + other margins.

Wait interval H
Specifies the distance between a line segment or point of a hand model
and the other model that triggers the hand model to wait (or temporarily
stop).

DI for disabled
When this signal is input, the corresponding approach waiting
combination is disabled.
The robot or hand does not wait or temporarily stop even if the
condition is satisfied.
Use this signal when you do not want the approach waiting function to
cause the robot or hand to decelerate and stop during spot welding
operation. An SDO, SDI, RDO, RDI, WDO, or WDI signal can be
used.

Example) The spot signal can be set for "DI for disabled" to disable the
approach waiting function during spot welding.
Auto re-start: ENABLED/DISABLED
You can specify whether to enable or disable auto restart.
When a robot assumes that the robot and the other robot come within
the approach waiting distance, the robot turns the signal set for "DO
during waiting status" on and starts decelerating and stopping.

When auto restart is enabled at this time, the robot enters the approach
waiting status.
In this status, the robot waits for the other robot to get away from that
robot.
To determine whether to release the robot from the waiting status, the
distance between the models that triggered the waiting status is used.
The robot in the waiting status automatically restarts operation when
the distance to the other model becomes longer than the distance that
triggered the waiting status.

When auto restart is disabled, the program temporarily stops.

To restart the program, an external START signal is required.
At this time, use the signal set for "DO during waiting status" to check
that the waiting distance is exceeded.

- 68 -
B-81564EN/01 2.SETTINGS

Limit time to wait

If a robot is not released from the approach waiting status within the
specified time, the program is temporarily stopped for safety. After
that, the robot does not restart operation unless an external START
signal is input even if the distance between models becomes longer
than the approach waiting distance.

l Time measurement for "Limit time to wait" starts when a robot

enters the approach waiting status.
l The time is reset when a robot in the approach waiting status
temporarily stops.
l The default setting is 10 seconds.
l When a value of 0 is set, the robot waits endlessly.
l The elapsed time is not reset by changing the time in the waiting
status.
Example) Assume that a value of 0 (endless waiting) is first set for
"Limit time to wait". Four seconds after a robot enters the
approach waiting status:
l Setting 2 to "Limit time to wait" immediately causes a time-
out.
l Setting 10 to "Limit time to wait" causes a time-out 6 seconds
after that time (10 seconds after the robot enters the approach
waiting status).
DI for interruption
When the signal set for "DI for interruption" is input in the approach
waiting status, the following alarm occurs and the program temporarily
stops:
SSPC-157 "Intrrupt signal (combination-number)"
The robot does not restart operation after that unless an external
START signal is input even if the distance between models becomes
longer than the approach waiting distance. An SDO, SDI, RDO, RDI,
WDO, or WDI signal can be used.
DO for valid status
This signal is on when the corresponding combination is enabled by an
approach waiting instruction.
When the enable instruction is executed, this signal is turned on. The
signal is kept on until the combination is disabled. In other words, the
signal is on until one of the following operation is performed:
l Program end
l Temporary stop, then line change and restart
l Execution of the disable instruction
This signal is on in the status in which the corresponding robot
temporarily stops.
DO during waiting status
This signal is turned on when the corresponding combination is
enabled and the distance between models reaches the approach waiting
distance.
This signal is turned off when the distance between models becomes
longer than the distance that triggered the waiting status.
When auto restart is disabled, use this signal to determine whether
restart can be performed safely.

- 69 -
3.PROGRAM INSTRUCTIONS B-81564EN/01

3 PROGRAM INSTRUCTIONS
With the approach deterrence function, the following program
instructions are available:
l Approach deterrence enable/disable instruction
l Approach waiting enable/disable instruction
l Approach deterrence sensitivity instruction

With the program instructions, the following can be performed:

l Enable/disable the approach deterrence function
l Enable/disable the approach waiting function
l Modify the approach deterrence sensitivity
CAUTION
The approach deterrence function disable instruction
disables a combination temporarily. While a
combination is disabled, an interference can occur even
if the setting is correct. Use this instruction only when it is
necessary.

CAUTION
The approach waiting function, when simply set, does
not operate. This function operates only after a condition
is enabled in the program. When using the approach
waiting function, be sure to use the approach waiting
condition instruction.

- 70 -
B-81564EN/01 3.PROGRAM INSTRUCTIONS

3.1 APPROACH DETERRENCE FUNCTION ENABLE/DISABLE

INSTRUCTION
The approach deterrence function does not affect the structure and
instructions of a program. No special program instructions need to be
taught. The approach deterrence function is basically enabled at all
times after setting.
However, the approach deterrence function may need to be disabled
temporarily when the robot needs to be operated closely.
The approach deterrence disable instruction temporarily disables an
approach deterrence combination. Use the approach deterrence enable
instruction to enable an approach deterrence combination.

3.1.1 Details
The following instruction temporarily disables the approach deterrence
function:
Approach_STOP[1]=TMP_DISABLE (ENABLE)
Approach deterrence combination number

CAUTION
The function is enabled on the setting screen even while
the function is temporarily disabled.

In accordance with a specified approach deterrence condition number,

the approach deterrence function for the robot to be monitored is
temporarily disabled. The table below indicates the relationship
between program status after instruction execution and function status.

Program
After ENABLE instruction After TMP_DISABLE
execution
execution instruction execution
status
During Enabled Disabled
execution
Temporary Enabled → Enabled →
stop Enabled Disabled
→ restart
Restart Enabled Enabled
from
different
line
Termination Enabled Enabled automatically

When the approach deterrence TMP_DISABLE instruction is executed,

the Temporary invalid DO signal is turned on. This signal is on while
the approach deterrence function is disabled. This means that this
signal continues to be on until any of the following is performed:
l Temporary stop
l Program termination
l Restart from a different line

- 71 -
3.PROGRAM INSTRUCTIONS B-81564EN/01

l Reverse program execution

l ENABLE instruction execution

3.1.2 Sample Program

Suppose that approach deterrence condition 1 is enabled by setting.

1: J P[1] 100% FINE
2: Approach_STOP[1]=TMP_DISABLE
Combination [1]
3: L P[2] 200mm/sec FINE
is disabled in
4: L P[3] 500mm/sec FINE
this section.
5: Approach_STOP[1]=ENABLE
6: L P[4] 100mm/sec FINE

Approach deterrence combination 1 is temporarily disabled on line 2

and is enabled on line 4.
Approach deterrence combination [1] is disabled between P[1] and
P[3].
In other portions, approach deterrence combination [1] is enabled.
Even in the disable section (between P[1] and P[3]), approach
deterrence combination [1] is enabled when a temporary stop occurs.

3.1.3 Reverse Program Execution

Reverse program execution of an approach deterrence instruction
Even when reverse program execution is performed,
Approach_STOP[1]=TMP_DISABLE/ENABLE is not executed.

Example) The program below is executed reversely starting with line 6.

Suppose that approach deterrence combination 1 is enabled by setting.
1: J P[1] 100% FINE
2: Approach_STOP[1]=TMP_DISABLE
3: L P[2] 200mm/sec FINE
4: L P[3] 500mm/sec FINE
5: Approach_STOP[1]=ENABLE
6: L P[4] 100mm/sec FINE
In the reverse program execution of line 5 and line 2, combination [1]
continues to be enabled or disabled.
During this reverse program execution, combination 1 is enabled at all
times.

- 72 -
B-81564EN/01 3.PROGRAM INSTRUCTIONS

Reverse program execution after temporary disable instruction execution

When reverse program execution is performed after temporary disable

instruction execution, the temporary disable status is canceled and
approach deterrence is enabled.

Example) The program below is executed. Suppose that approach

deterrence combination 1 is enabled by setting.
7: J P[1] 100% FINE
8: Approach_STOP[1]=TMP_DISABLE
9: L P[2] 200mm/sec FINE
10 : L P[3] 500mm/sec FINE
11 : Approach_STOP[1]=ENABLE
12 : L P[4] 100mm/sec FINE

Suppose that a temporary stop occurs on line 4. Since a temporary stop

occurs, the combination is enabled. (See Subsection 3.1.1, "Details.")
If the program is restarted directly, the temporary disable status occurs,
and the disable status is canceled on line 5. (See Subsection 3.1.1,
"Details.")

If the program is not restarted directly, but reverse program execution

is performed from line 4 where a temporary stop occurred, the
following is issued:
SSPC-161 App_STOP is enabled (ST,C:%d)
Then, the disable status is canceled. If the program is restarted later,
the temporary disable status does not occur.
3.1.4 Notes
Setting screen display during temporary disable status
Even when approach deterrence is temporarily disabled by a program
instruction, approach deterrence is enabled on the setting screen.
Reverse program execution
If reverse program execution is performed after approach deterrence is
temporarily disabled, the following is issued:
SSPC-161 App_STOP is enabled (ST,C:%d)
Then, the disable status of approach deterrence is canceled.

Use with the multitask function

When the multitask function is used, multiple programs may be
executed at a time. At this time, each of the multiple programs may use
a separate approach deterrence instruction for the same condition.
It is dangerous that the approach deterrence instruction is used by
different tasks. So, the following restriction is imposed:

When a task executes the approach deterrence disable instruction,

the instruction is dedicated to the task until the any of the
following is performed:
l Approach deterrence is enabled with the approach
deterrence instruction.
l The program of the task is terminated.
- 73 -
3.PROGRAM INSTRUCTIONS B-81564EN/01

A combination dedicated to a task cannot be enabled or disabled by

another task.
Only the execution status of a task that executes the temporary disable
instruction affects the status of the combination.

Example) The program below is executed.

PROG_A PROG_B
1: J P[1] 100% FINE 1:
2: Approach_STOP[1]=TMP_DISABLE 2: Approach_STOP[1]=ENABLE
3: RUN PROG_B 3:
4: L P[2] 200mm/sec FINE
5: L P[3] 500mm/sec FINE
6: Approach_STOP[1]=ENABLE
Incapable of being enabled
7: L P[4] 100mm/sec FINE
from PROG_B.

In this example, PROG_A first disables combination 1 temporarily.

An attempt is made to cancel the disable status from PROG_B executed
from PROG_A. However, combination 1 is being used by another task
(PROG_A). So, PROG_B cannot cancel the disable status. In this case,
the following is issued:
SSPC-154 (ST,C:%d) is disabled by other

The results of executing the TMP_DISABLE instruction and ENABLE

instruction vary according to the status of combination use by another
task as described below.

Approach_STOP[ ]=TMP_DISABLE
Setting
Disabling task Processing
screen
Enabled Local task (Already disabled) No processing is
performed.
Another task SSPC-154 (PAUSE.G)
None Disables approach deterrence, and
has exclusive control.
SSPC-160 (WARNING)
Disabled Local task SSPC-151 (WARNING)
Another task SSPC-154 (PAUSE.G)
None SSPC-151 (WARNING)

- 74 -
B-81564EN/01 3.PROGRAM INSTRUCTIONS

Approach_STOP[ ]=ENABLE
Setting
Disabling task Processing
screen
Enabled Local task Enables approach deterrence, and
allows any task to disable approach
deterrence.
Another task SSPC-154 (PAUSE.G)
None No processing is performed.
Disabled Local task SSPC-152 (PAUSE.G)
Another task SSPC-154 (PAUSE.G)
None SSPC-152 (PAUSE.G)

For an alarm issued, see CHAPTER 6, "ALARM CODES."

- 75 -
3.PROGRAM INSTRUCTIONS B-81564EN/01

3.2 APPROACH WAITING CONDITION ENABLE/DISABLE

INSTRUCTION
The setting of an approach deterrence condition cannot be enabled or
disabled.
Only a program instruction can enable an approach waiting condition.
With the approach waiting function, the robot can be stopped/restarted
only during program execution.
So, in order to stop/restart the robot with the approach waiting function,
the approach waiting condition enable instruction needs to be used.
The approach waiting function cannot be used by setting an approach
waiting condition alone.

3.2.1 Details
The following instruction is used to enable/disable an approach waiting
condition:
Approach_WAIT[1]=ENABLE (DISABLE)
In accordance with a specified approach waiting condition number, the
approach waiting function for the robot to be monitored is
enabled/disabled. An approach waiting condition includes the
specification of an approach waiting distance. So, when modifying the
approach waiting distance, switch between approach waiting
conditions with this instruction. The table below indicates the
relationship between program status and function status.

Program
After ENABLE instruction After DISABLE
execution
execution instruction execution
status
During Enabled Disabled
execution
Temporary Enabled (However,, Disabled →
stop automatic restart is not Disabled
→ restart performed) →
Enabled
Restart Disabled Disabled
from
different
line
Termination Disabled Disabled automatically

CAUTION
If reverse program execution is performed after ENABLE
instruction execution, approach waiting is disabled.

Waiting signal
When the enable instruction is executed, the approach waiting signal is
turned on. This signal continues to be on until the combination is
disabled. This means that this signal continues to be on until any of the
following is performed:
l Program termination
l Restart from a different line after a temporary stop
- 76 -
B-81564EN/01 3.PROGRAM INSTRUCTIONS

l Reverse program execution

l Enable instruction execution
This signal is on simply in the temporary stop status.

If an approach waiting condition is satisfied in the enable status,

processing is performed as described below according to whether
automatic restart is enabled or disabled.
When automatic restart is disabled
l The program is temporarily stopped.
l The approach waiting signal is output.
l The robot can be jogged. If the approach waiting status is
canceled by jogging or by the operation of another robot, the
approach waiting signal is turned off.

For automatic restart when the approach waiting condition is canceled,

check with the PLC that the approach waiting signal is off.
When automatic restart is enabled
l The robot automatically stops. At this time, the program
continues running.
l The approach waiting signal is output.
l The program is running, so that the robot cannot be jogged.
l When the approach waiting status is canceled, the approach
waiting signal is turned off, and the robot restarts operation.

If hold operation is performed when the program is being executed and

the robot is waiting, the processing below is performed.
l The approach waiting signal continues to be on.
l The program temporarily stops, so that the robot can be jogged.
l If the approach waiting condition is no longer satisfied because of
jogging or the operation of another robot, the approach waiting
signal is turned off.
l If an approach operation is performed by jogging, the approach
waiting signal is turned on again.
However, the robot is not stopped, so that an approach can be made as
close as allowed by the approach deterrence distance.

3.2.2 Sample Program

Suppose that approach waiting condition 1 is already set.
13 : J P[1] 100% FINE
14 : Approach_WAIT[1]=ENABLE
Approach waiting
15 : L P[2] 200mm/sec FINE
condition [1] is enabled
16 : L P[3] 500mm/sec FINE
in this section.
17 : Approach_WAIT[1]=DISABLE
18 : L P[4] 100mm/sec FINE

- 77 -
3.PROGRAM INSTRUCTIONS B-81564EN/01

Approach waiting condition 1 is enabled on line 2.

At this time, the approach waiting enabled signal is turned on.

Approach waiting condition 1 is disabled on line 5.

Approach waiting combination [1] is enabled between P[1] and P[3].
In other portions, approach waiting combination [1] is disabled. Even
when a temporary stop occurs in the enable section (between P[1] and
P]3]), approach waiting combination [1] continues to be enabled.
During a temporary stop, however, the program is not restarted
automatically.

Suppose that a temporary stop occurs on line 4. The robot can be

jogged because a temporary stop occurred. If the approach waiting
condition is satisfied by jogging, the approach waiting signal is turned
on. In this case, however, the robot does not stop.

3.2.3 Reverse Program Execution

Reverse program execution of the approach waiting instruction
Even when reverse program execution is performed,
Approach_WAIT[1]=ENABLE (DISABLE) is not executed.

Example) Suppose that the program below is in the terminated state.

The program is executed reversely from line 6.
19 : J P[1] 100% FINE
20 : Approach_WAIT[1]=ENABLE
21 : L P[2] 200mm/sec FINE
22 : L P[3] 500mm/sec FINE
23 : Approach_WAIT[1]=DISABLE
24 : L P[4] 100mm/sec FINE
In the reverse program execution of line 5 and line 2, combination [1]
continues to be enabled or disabled.
During this reverse program execution, combination 1 is disabled at all
times.

Reverse program execution after approach waiting instruction execution

When reverse program execution is performed after approach waiting
enable instruction execution, the enable status is canceled and
approach waiting is disabled.

Example) The program below is executed.

25 : J P[1] 100% FINE
26 : Approach_WAIT[1]=ENABLE
27 : L P[2] 200mm/sec FINE
28 : L P[3] 500mm/sec FINE
29 : Approach_WAIT[1]=DISABLE
30 : L P[4] 100mm/sec FINE

- 78 -
B-81564EN/01 3.PROGRAM INSTRUCTIONS

Suppose that a temporary stop occurs on line 4. If the program is

restarted directly, combination 1 continues to be enabled.

If the program is not restarted directly, but reverse program execution

is performed from line 4 where a temporary stop occurred, the
following is issued:
SSPC-163 App_WAIT is disabled (WT,C:%d)
Then, the combination is disabled.

3.2.4 Disabling Deceleration Stop Based on Approach Waiting

When an approach waiting combination is enabled, an equivalent
approach deterrence combination is not subject to deceleration stop.
Immediate stop is performed.

The equivalent combination depends on whether a monitoring target

belongs to the local host (in the same controller).
An approach waiting combination that disables deceleration stop is
determined as described below.
• When the monitoring target host is another host (separate
controller)
Combination with a match in both Item 1 and Item 2
• When the monitoring target host is the local host (same controller)
The order of Item 1 and Item 2 may be reversed.

Example
Suppose that the setting below is made on the controller of a host
named R1.

A P R C De te rre n c e G1 J OI N T 1 0 0 %
Wa i ti n g co n d i ti o n 1 /1 0
I te m1 - I te m2 Ho s t n a me
1 RH 1 RH 2 R2
2 RH 1 RH 2 R1
3 RH 2 F 1 R1

[ T Y P E ] DE T A I L

While No. 1 is enabled, deceleration stop is disabled for the following

approach deterrence combination (when the monitoring target is
another host):
RH1-RH2 R2
While No. 2 is enabled, deceleration stop is disabled for the following
approach deterrence combinations (when the monitoring target is the
local host):
RH1-RH2 R1
RH2-RH1 R1
While No. 3 is enabled, deceleration stop is disabled for the following
approach deterrence combination:
RH2-F1 R1
With No. 3, the monitoring target belongs to the local host. Item 1 is
not set for a fixture, so that the target is the combination above only.
- 79 -
3.PROGRAM INSTRUCTIONS B-81564EN/01

3.2.5 Example of Use

The approach waiting function is useful when multiple robots are used
close to each other.
An example of spot welding system is shown below. In this system,
robots A and B perform spot welding for the same car body. The work
areas of robots A and B overlap each other at the bottom of the car
body.

Robot Ａ
Robot Ｂ

For cycle time reduction, the robots are operated from left to right so
that robot A moves after robot B.
In such a case, the approach waiting function can be used so that robot
A monitors robot B. This eliminates the need for interlocking at each
spot welding point.

Robot Ａ
Robot Ｂ

Robot A waits when it catches up with robot B.

Robot A moves again when robot B is
sufficiently apart.

For this use, robot B needs to move ahead of robot A. So, robot A
needs to wait for robot B to start operation. Interlocking for this
purpose is needed.
CAUTION
The approach waiting function does not eliminate the
need for interlocking. The function is useful if the
sequence of operations of robots is clearly defined.
Interlocking may be required to make an operation
sequence clear.

In this system, the following operations are performed:

- 80 -
B-81564EN/01 3.PROGRAM INSTRUCTIONS

Robot Ａ
Robot Ｂ Robot Ａ
Robot Ｂ

Robot A waits at this interlock point

When robot B stars an advanced
until robot B starts an advanced
motion, robot A enables the approach
motion in the interference area.
condition and restarts motion.

First, ensure by interlocking that robot B moves ahead of robot A.

Then, robot A approaches and waits for robot B.

3.2.6 Deadlock Caused by the Approach Waiting Function

When the approach waiting function is used, the motion of a robot can
be restarted automatically after another robot moves away. However,
if multiple robots regard each other as targets of the approach waiting
function, the robots may be deadlocked. This deadlock state occurs
because the robots wait for each other to move away.

Robot A Robot A
Robot B Robot B
Approaching each other Waiting for each other

In the example above, robots A and B move to their target points (¡),
but the approach waiting function places the robots in approach waiting
status.
In the right-hand figure, robot A is waiting for robot B to move away.
On the other hand, robot B is waiting for robot A to move away. The
robots are deadlocked.
The approach waiting function cannot protect against such a deadlock.
In order to avoid such a deadlock, interlocking may be required.
CAUTION
The approach waiting function does not eliminate the
need for interlocking. To avoid a deadlock, interlocking
may be required.

- 81 -
3.PROGRAM INSTRUCTIONS B-81564EN/01

3.2.7 Notes
Power supply of a communication destination
When using the approach waiting function, turn on the power to the
controller of the combination partner. If an approach waiting
combination is enabled when the power to the partner is off, the
following alarm is issued:
SSPC-190 No communication (%s)

Reverse program execution

If reverse program execution is performed after approach waiting is
enabled, the following alarm is issued:
SSPC-163 App_WAIT is disabled (WT,C:%d)
Then, approach waiting is disabled.
Necessity of interlocking
The approach waiting function does not eliminate the need for
interlocking.
Interlocking may be needed to ensure the sequence of operations of the
robots and avoid a deadlock. For details, see Subsections 3.2.5 and
3.2.6.

Approach waiting immediately before motion statement termination

If the approach waiting state is entered immediately before the
termination of a motion statement, the target point may be reached
during deceleration. In such a case, the motion statement is terminated,
so that the next line is executed. If the next line specifies an approach
waiting statement, the statement is executed in the approach waiting
state. In this case, an "approach waiting time-out" can occur during
approach waiting (based on the approach waiting statement).

Example:
1:Approach_WAIT[1]=ENABLE
2:L P[1] 2000mm/sec FINE
3:WAIT 100sec

・ The approach waiting state is entered immediately before line 2 is

terminated.
・ The target point is reached during deceleration.
・ WAIT is started by line 3.
・ Ten seconds after, an "approach waiting time-out" occurs,
resulting in a temporary stop.

Restart based on the approach waiting signal

If automatic restart is disabled, the program needs to be restarted, for
example, by PLC. At this time, the approach waiting signal can be used
as a guideline for restarting the program.
If the approach waiting signal is shared as another signal, the program
can be restarted with an incorrect timing.
Use a dedicated signal for the approach waiting signal.

- 82 -
B-81564EN/01 3.PROGRAM INSTRUCTIONS

Disabling deceleration stop

When an approach waiting combination is enabled, an equivalent
approach deterrence combination disables deceleration stop. For
details, see Subsection 3.2.4, "Disabling Deceleration Stop Based on
Approach Waiting."

Use with the multitask function

When the multitask function is used, multiple programs may be
executed at a time. At this time, each of the multiple programs may use
a separate approach waiting instruction for the same condition.
It is dangerous that the approach waiting instruction is used by different
tasks. So, the following restriction is imposed:

l When a task executes the approach waiting enable instruction,

the instruction is dedicated to the task until any of the
following is performed:
l Approach waiting is disabled with the approach waiting
disable instruction.
l The program of the task is terminated.

A combination dedicated to a task cannot be enabled or disabled by

another task.
Only the execution status of a task that executes the enable instruction
affects the status of the combination.

Example) The program below is executed.

PROG_A PROG_B
1: J P[1] 100% FINE 1:
2 :Approach_WAIT[1]=ENABLE 2: Approach_WAIT[1]= DISABLE
3: RUN PROG_B 3:
4: L P[2] 200mm/sec FINE
5: L P[3] 500mm/sec FINE
6: Approach_WAIT[1]=DISABLE
7: L P[4] 100mm/sec FINE iIncapable of being disabled
from PROG_B.

In this example, PROG_A first enables combination 1.

An attempt is made to disable combination 1 from PROG_B executed
from PROG_A. However, combination 1 is being used by another task
(PROG_A). So, PROG_B cannot disable combination 1. In this case,
the following is issued:
SSPC-153 (WT,C:%d) is enabled by other

The results of executing the DISABLE instruction and ENABLE

instruction vary according to the status of combination use by another
task as described below.

- 83 -
3.PROGRAM INSTRUCTIONS B-81564EN/01

Approach_WAIT[ ]=ENABLE
Enabling task Processing
Local task No processing is performed.
Another task SSPC-153 (PAUSE.G)
None SSPC-162 (WARNING)
Enables approach waiting, and has
exclusive control.

Approach_WAIT[ ]=DISABLE
Enabling task Processing
Local task Disables approach waiting, and
allows any task to enable approach
waiting.
Another task SSPC-153 (PAUSE.G)
None No processing is performed.

Safety measures for the approach waiting function

If automatic restart is enabled with the approach waiting function, and a
robot that moves ahead is jogged away, the waiting robot can start
motion abruptly, causing a dangerous situation.

Robot Ａ
Robot Ａ
Robot Ｂ Robot Ｂ

Robot A is waiting for robot B to move When robot B is jogged away from

away. robot A, robot A abruptly moves.

When manually manipulating a robot that moves ahead in a waiting

enabled section, ensure that the waiting robot (robot A in the figure
above) is held.

For example, when "the waiting enable signal of robot A is on" and "TP
enabled of robot B is on", ensure that robot A is held.

- 84 -
B-81564EN/01 3.PROGRAM INSTRUCTIONS

3.3 APPROACH DETERRENCE SENSITIVITY INSTRUCTION

With the approach deterrence sensitivity instruction, the approach
deterrence sensitivity can be modified. For the approach deterrence
sensitivity, see Section 2.5, "SETTING OTHER PARAMETERS."

3.3.1 Details
The instruction below modifies the approach deterrence sensitivity.
Approach_RATE[GP:1]=100%

Group number
Unlike the approach deterrence instruction and approach waiting
instruction, the result of executing this instruction is not affected by a
change in the subsequent program execution status.

Once "Approach_RATE[GP:1]=0%" is executed, 0% remains

unchanged even when the program is terminated or the power is turned
off.
In order to modify the sensitivity again, modify the sensitivity on the
setting screen or execute the Approach_RATE instruction again.

3.3.2 Reverse Program Execution

Even when reverse program execution is performed, the approach
deterrence sensitivity instruction is not executed.

3.3.3 Notes

Modifying the approach deterrence sensitivity

Once "Approach_RATE[GP:1]=0%" is executed, 0% remains
unchanged even when the program is terminated or the power is turned
off.
In order to modify the sensitivity again, modify the sensitivity on the
setting screen or execute the Approach_RATE instruction again.

- 85 -
4.CHECK AND RECOVERY METHODS B-81564EN/01

4 CHECK AND RECOVERY METHODS

This chapter describes the method of checking the approach deterrence
function and approach waiting function, and the method of robot
recovery after the robot stops.

- 86 -
B-81564EN/01 4.CHECK AND RECOVERY METHODS

4.1 METHOD OF CHECKING APPROACH DETERRENCE

(STATUS SCREEN)
If the minimum distance between models becomes smaller than the size
of each element, the approach deterrence function detects a close
approach and the robot stops automatically. At this time, the status
screen can be used to check if the minimum distance of which element
of which model becomes smaller than the model size.

On the approach deterrence status detail screen, more detailed

information such as inertia margins and communication delay margins
can be viewed.

4.1.1 Approach Deterrence Status List Screen

The approach deterrence status list screen displays the current

approach deterrence statuses. If approach deterrence status is not set
currently, the latest approach deterrence status is displayed. On the
screen, "R" of "Item" represents a robot, "H" represents a handle, and
"F" represents a fixture. A number represents a model. An Element
number represents the setting element number of each model.

APRC Deterrence G1 JOINT 100%

Approach status 1/1
Item1 - Item2 Host name
1 R1 4 R2 4 r1
1 R1 4 R2 5 r1

[ TYPE ] DETAIL

Display of the approach deterrence status list screen

Procedure
1. Press the MENUS key to display the screen menu, then select
[STATUS].
2. Press the [TYPE] (F1) key, then select [AP Deterrenc]. The
approach deterrence function list screen appears.

APRC Deterrence G1 JOINT 100%

Approach status 1/1
Item1 - Item2 Host name
1 R1 4 R2 4 r1
1 R1 4 R2 5 r1

[ TYPE ] DETAIL

- 87 -
4.CHECK AND RECOVERY METHODS B-81564EN/01

4.1.2 Approach Deterrence Status Detail Screen

On the approach deterrence status detail screen, the cause of approach
deterrence can be checked. Inertia margins and communication delay
margins can be viewed.

APRC Deterrence G2 JOINT 100%

Combiantion status 1/11
Detected number[ 1]
R1 4 - R1 4 r1
1 Halted Distance (mm): 0
2 Model size L (mm): 100
3 Model size R (mm): 100
4 Speed L (mm/sec): 0
5 Speed R (mm/sec): 0
6 Inertia Margin L (mm): 11
7 Inertia Margin R (mm): 11
8 Margin for rduction(mm): 33
9 Net Delay (msec): 32
10 Net Delay margin L (mm): 1
11 Net Delay margin R (mm): 1

[ TYPE ] LIST

Detected number
This is the approach deterrence combination number for which the
detail screen is currently displayed
Halted Distance
This is the distance between models when approach deterrence is
detected
Model size L
This is the size of the local model
Model size R
This is the size of the remote model
Speed L
This is the speed of the local model
Speed R
This is the speed of the remote model
Inertia Margin L
This is the coasting distance margin until the robot stops.
This margin becomes greater as the speed increases. As the speed
increases, the coasting distance until the robot stops is longer. So, in
order to avoid collision, the robot needs to start stopping earlier.
Inertia Margin R
This is the coasting distance margin for the remote model
Margin for reduction
This is the margin for deceleration stop
Net Delay
This is the communication delay

- 88 -
B-81564EN/01 4.CHECK AND RECOVERY METHODS

Net Delay margin L

This is the margin considering the distance the local model moves for a
monitoring period. This margin increases as the number of models
increases.
Net Delay margin R
This is the margin considering the distance the remote model moves for
a delay in communication with the remote host and a monitoring period.
This margin increases as the number of models increases.

- 89 -
4.CHECK AND RECOVERY METHODS B-81564EN/01

4.2 CHECKING THE STATUS OF THE APPROACH WAITING

FUNCTION
The statuses of approach waiting function combinations can be
checked on the approach waiting status screen. The statuses include
Enable and Disable. For Enable, whether the robot is waiting is
indicated.

4.2.1 Approach Waiting Status List Screen

The statuses of all approach waiting combinations are displayed.

APRC Deterrence G2 JOINT 100%

1/10
Approach status
Item1 - Item2 Host name Status
1 RH 1 RH 2 R1 Waiting
2 RH 2 RH 1 R2 Disable
3 RH 2 F 1 R1 Enable
4 RH 1 RH 2 R3 Disable

[ TYPE ] DETAIL
The both elements of a combination, remote host name, and status are
displayed.
This screen is updated as the status changes.
Status
The following statuses are available:
Display Description
Disable The combination is currently disabled.
Enable The combination is currently enabled.
However, the approach waiting distance is
not reached.
Paused The combination is enabled. This status is
set when an enabled program is stopped
temporarily.
For a disabled combination, Disable remains
unchanged.
Waiting The combination is enabled, and the
approach waiting status is set.
Transit* The asterisk (*) represents a character,
which is 1, 5, 8, 9, C, E, or F.
This status means that processing is being
performed. Another status is set
immediately.
Error* The asterisk (*) represents a number, which
is 2, 3, 10, and 11.
This status represents an internal error.
When this status is set, an alarm is issued
for an internal error. Contact your FANUC
service representative.

- 90 -
B-81564EN/01 4.CHECK AND RECOVERY METHODS

Display of the approach waiting status list screen

1. Press the MENUS key to display the screen menu, then select
[STATUS].
2. Press the [TYPE] (F1) key, then select [AP Wait]. The approach
waiting function list screen appears.

APRC Deterrence G2 JOINT 100%

Approach status 1/10
Item1 - Item2 Host name Status
1 RH 1 RH 2 R1 Waiting
2 RH 2 RH 1 R2 Disable
3 RH 2 F 1 R1 Enable
4 RH 1 RH 2 R3 Disable

[ TYPE ] DETAIL

4.2.1.1 Approach waiting detail status screen

Detailed information can be obtained on the approach waiting status
screen.

APRC Deterrence G2 JOINT 100%

Waiting status
RH 1 - RH 2 Enable
R:Robot
Waiting Distance (mm): 100
Current Distance (mm): 299
Minimum Distance (mm): 184
H:Hand
Waiting Distance (mm): 200
Current Distance (mm): 297
Minimum Distance (mm): 199

[ TYPE ] LIST

For each of the robot and hand specified in an approach waiting

combination, the information indicated below can be obtained.
The screen above displays an example of such information.
If the status changes while this screen is displayed, the information
currently displayed is not updated.

Waiting Distance
A value set on the combination setting screen is set.
Current Distance
The current shortest distance between the model with the indicated
robot/hand and the remote model.
When the combination is disabled, "******" is displayed.
Minimum Distance
The shortest distance from the remote model during the period from the
enabling of the combination to the present time.

- 91 -
4.CHECK AND RECOVERY METHODS B-81564EN/01

This value is not cleared when the combination is disabled. Each time
a combination is enabled, the value is initialized.
Display of the approach waiting status detail screen
1. Display the approach waiting status screen according to
Subsection 4.2.1, "Approach Waiting Status List Screen."
2. Move the cursor to a condition whose detailed information is to be
displayed.
3. Press the [DETAIL] (F2) key.

- 92 -
B-81564EN/01 4.CHECK AND RECOVERY METHODS

4.3 RECOVERY METHOD

When the approach deterrence function detects an approach, the robot

performs a deceleration stop. If a deceleration stop is unlikely to occur
in time, the robot performs an immediate stop equivalent to an E-Stop.
At the same time, the alarm “SSPC-101 (G:%d) is close to target”,
“SSPC-102 (G:%d) is close to target(qstop)”, or “SSPC-103 (G:%d) is
near to target” is issued.
These alarms are alarms on the temporary program stop level, and can
be released by a normal reset operation.
If the robot is jogged in the approach deterrence status, “SSPC-101
(G:%d) is close to target”, “SSPC-102 (G:%d) is close to target(qstop)”,
or “SSPC-103 (G:%d) is near to target” is immediately issued, and the
robot may become immovable. In such a case, press the RESET key
while holding down the SHIFT key. The approach deterrence function
is disabled, and this disable status continues until the SHIFT key is
released or a program execution operation (pressing of the FWD key) is
performed. While maintaining this status, move the robot away by
jogging. Use special care because this jogging is performed while the
function is disabled. However, pressing the SHIFT+RESET keys when
the model is not in approach status has no effect (the approach
deterrence function cannot be disabled.)

- 93 -
5.APPROACH DETERRENCE GUIDELINES B-81564EN/01

5 APPROACH DETERRENCE GUIDELINES

To increase the maximum settable number of hands and fixtures (The
initial value is 10.)
→ In the system variables $IA_NUM_HAND (for hands) and
$IA_NUM_FOBJ (for fixtures), maximum settable numbers
are set. When modifying a number, set the corresponding
system variable then perform a control start.

To increase the number of approach deterrence function combinations

→ In the system variable $IA_NUM_CHK, a maximum
settable number is set. When modifying the number, set the
system variable then perform a control start.

To load hand data into a separate controller

→ When a backup operation is performed or the system files are
saved, all hand data is saved to a file named IA_HAND.SV.
To read hand model data, read the file when performing a
control start.

When you attempt to jog a robot, the alarm“SSPC-101 (G:%d) is close

to target”“SSPC-102
, (G:%d) is close to target(qstop)”, or“SSPC-103
(G:%d) is near to target”is issued immediately, and the robot cannot be
moved in any direction.
→ While holding down the SHIFT key, press the RESET key to
release the alarm. The approach deterrence function is
disabled, and this disable status continues until the SHIFT
key is released or a program execution operation (pressing of
the FWD key) is performed. While maintaining this status,
jog the robot. Use special care because this jogging is
performed while the function is disabled.

The alarm “SSPC-105 Too many settings” is issued.

→ Too many settings are made. Reduce the number of model
elements or the number of combinations.

When the override is increased, the alarm “SSPC-101 (G:%d) is close

to target”“SSPC-102
, (G:%d) is close to target(qstop)”, or“SSPC-103
(G:%d) is near to target” is issued where these alarms have not been
issued so far.
→ As a model moves faster, the approach deterrence function
detects an approach and stops the model at an earlier time.
So, the alarms (SSPC-101/SSPC-102/SSPC-103) tend to be
issued. The reason is that as a higher speed is used, a longer
coasting distance is required, and therefore a collision can

- 94 -
B-81564EN/01 5.APPROACH DETERRENCE GUIDELINES

occur unless deceleration starts earlier. In this case, decrease

the taught speed in the program, or move the taught point
away. If the operation ensures that no collision occurs,
disable the approach deterrence function only for the motion
in question with the TMP_DISABLE instruction.

A robot stops during the execution of a motion statement. The program

continues running.
→ The approach waiting function may be enabled, and the
robot may be waiting for the partner robot to move away. On
the status screen, check the approach waiting combination
status.
In combination detail setting, set "Limit time to wait" to a
desired value. After the approach waiting status lasts for the
specified time, an alarm is issued and the robot stops.
(Standard value: 10 seconds)

- 95 -
6.ALARM CODES B-81564EN/01

6
SSPC-101
[Cause]
ALARM CODES
(G:%d) is close to target

An approach was detected. (i: Group number)

[Remedy]
The alarm can be released by a normal reset operation.

SSPC-102 (G:%d) is close to target(qstop)

[Cause]
An approach was detected. (i: Group number)
[Remedy]
The alarm can be released by a normal reset operation.

SSPC-103 (G:%d) is near to target

[Cause]
A deceleration stop occurred. (i: Group number)
[Remedy]
The alarm can be released by a normal reset operation.

SSPC-104 APDT error %x

[Cause]
An internal error occurred. (i: Error number)
[Remedy]
This alarm is not issued usually. Inform your FANUC service representative of the numeric value indicated by
(i) of the message.

SSPC-105 Too many settings

[Cause]
Too many models or too many combinations are set.
[Remedy]
Decrease the number of set models or combinations.

SSPC-106 Failed to get dist (%d,C:%d)

[Cause]
The distance between model elements could not be calculated.
[Remedy]
This alarm is not issued usually. Inform your FANUC service representative of the numeric value indicated by
(j,C:i) of the message.

SSPC-111 Invalid comb type (ST,C:%d,%s)

[Cause]
The model type on the (s) side (L [left], R [right]) of combination number (C:i) in the approach deterrence
combination setting is invalid.
[Remedy]
Check the model type on the approach deterrence combination setting screen.

- 96 -
B-81564EN/01 6.ALARM CODES

SSPC-112 Invalid comb index(ST,C:%d,%s)

[Cause]
The model number on the (s) side (L [left], R [right]) of combination number (C:i) in the approach deterrence
combination setting is invalid.
[Remedy]
Check the model number on the approach deterrence model combination setting screen.

SSPC-113 APDT isn't supported (ST,G:%d)

[Cause]
The robots of group (G:i) do not support the approach deterrence function.
[Remedy]
Check the model type and number on the approach deterrence combination setting screen.

SSPC-114 Not calibrated (ST,G:%d)

[Cause]
The positioning of group (G:i) is not completed.
[Remedy]
Perform positioning.

SSPC-115 Invalid utool number (ST,G:%d)

[Cause]
The tool coordinate system number of group (G:i) is invalid.
[Remedy]
Check the tool coordinate system number.

SSPC-116 Invalid hand num(ST,G:%d,UT:%d)

[Cause]
The hand number assigned to tool coordinate number (UT:j) of group (G:i) is invalid.
[Remedy]
Check the hand number assignment on the model setting screen.

SSPC-117 Common frame setting (ST,G:%d)

[Cause]
The inter-robot calibration of group (G:i) is not completed.
[Remedy]
Perform the inter-robot calibration.

SSPC-118 Invalid element (ST,%s:%d,%d)

[Cause]
A model element setting is incorrect.
Example of display:
(ST,G:1,6) : The setting of the 6th model element of Gourp 1 is invalid.
(ST,H:2,1) : The setting of the 1st model element of Hand No.2 is invalid.
[Remedy]
Check the model element setting. Check that the link number and link type settings are correct.

- 97 -
6.ALARM CODES B-81564EN/01

SSPC-119 Can't get elem pos(ST,G:%d,%d)

[Cause]
The current position of a model element could not be calculated.
[Remedy]
This alarm is not issued usually. Inform your FANUC service representative of the numeric value indicated by
(ST,G:i, j) of the message.

SSPC-120 Invalid fixture obj (ST,F:%d)

[Cause]
The teach group number of fixture model (F:i) is invalid.
[Remedy]
Check the teach group number on the fixture model setting screen.

SSPC-131 Invalid comb type (WT,C:%d,%s)

[Cause]
The model type on the (s) side (L [left], R [right]) of combination number (C:i) in the approach waiting
combination setting is invalid.
[Remedy]
Check the model type on the approach waiting combination setting screen.

SSPC-132 Invalid comb index(WT,C:%d,%s)

[Cause]
The model number on the (s) side (L [left], R [right]) of combination number (C:i) in the approach waiting
combination setting is invalid.
[Remedy]
Check the model number on the approach waiting combination setting screen.

SSPC-133 APDT isn't supported (WT,G:%d)

[Cause]
The robots of group (G:i) do not support the approach waiting function.
[Remedy]
Check the model type and number on the approach waiting combination setting screen.

SSPC-134 Not calibrated (WT,G:%d)

[Cause]
The positioning of group (G:i) is not completed.
[Remedy]
Perform positioning.

SSPC-135 Invalid utool number (WT,G:%d)

[Cause]
The tool coordinate system number of group (G:i) is invalid.
[Remedy]
Check the tool coordinate system number.

SSPC-136 Invalid hand num(WT,G:%d,UT:%d)

[Cause]
The hand number assigned to tool coordinate number (UT:j) of group (G:i) is invalid.
[Remedy]
Check the hand number assignment on the model setting screen.

- 98 -
B-81564EN/01 6.ALARM CODES

SSPC-137 Common frame setting (WT,G:%d)

[Cause]
The inter-robot calibration of group (G:i) is not completed.
[Remedy]
Perform the inter-robot calibration.

SSPC-138 Invalid element (WT,%s:%d,%d)

[Cause]
A model element setting is incorrect.
Example of display:
(WT,G:1,6) : The setting of the 6th model element of Gourp 1 is invalid.
(WT,H:2,1) : The setting of the 1st model element of Hand No.2 is invalid.
[Remedy]
Check the model element setting. Check that the link number and link type settings are correct.

SSPC-139 Can't get elem pos(WT,G:%d,%d)

[Cause]
The current position of a model element could not be calculated.
[Remedy]
This alarm is not issued usually. Inform your FANUC service representative of the numeric value indicated by
(WT,G:i, j) of the message.

SSPC-140 Invalid fixture obj (WT,F:%d)

[Cause]
The teach group number of fixture model (F:i) is invalid.
[Remedy]
Check the teach group number on the fixture model setting screen.

SSPC-151 App_STOP (ST,C:%d) is disabled

[Cause]
An attempt was made to temporarily disable approach deterrence combination (C:i) disabled on the setting
screen with a program instruction.
[Remedy]
Enable the approach deterrence combination on the setting screen beforehand.

SSPC-152 App_STOP (ST,C:%d) is disabled

[Cause]
An attempt was made to temporarily disable approach deterrence combination (C:i) disabled on the setting
screen with a program instruction.
[Remedy]
Enable the approach deterrence combination on the setting screen beforehand.

SSPC-153 (WT,C:%d) is enabled by other

[Cause]
An attempt was made to enable/disable approach waiting condition number (C:i) enabled by another task.
[Remedy]
The approach waiting condition number is being used by another program. Wait until it is freed.

- 99 -
6.ALARM CODES B-81564EN/01

SSPC-154 (ST,C:%d) is disabled by other

[Cause]
The approach deterrence instruction was used for approach deterrence condition number (C:i) being used by
another task.
[Remedy]
The approach waiting condition number is being used by another program. Wait until it is freed.

SSPC-155 Invalid host name (ST,C:%d)

[Cause]
In a specified approach deterrence combination, an invalid host name is set.
[Remedy]
Check the host name on the host communication screen of the setting screen.
Set a correct host name.

SSPC-156 Invalid host name (WT,C:%d)

[Cause]
In a specified approach waiting combination (C:i), an invalid host name is set.
[Remedy]
Check the host name on the host communication screen of the setting screen.
Set a correct host name.

SSPC-157 Intrupt signal (WT,C:%d)

[Cause]
In the approach waiting status, the approach waiting interrupt signal was input.
[Remedy]
If an unanticipated interrupt occurs, check the setting of the approach waiting interrupt signal.
Check also if the same signal is used for another purpose.

SSPC-158 App_WAIT timeout (WT,C:%d)

[Cause]
In the approach waiting status, the limit time to wait has elapsed.
[Remedy]
Adjust the limit time to wait.
To wait infinitely, set "Limit time to wait" on the approach waiting combination setting screen to 0.

SSPC-159 App_WAIT can't be used(WT,G:%d)

[Cause]
During the following operations, automatic stop/restart operations based on the approach waiting function are
disabled:
l During slave robot follow-up operation based on robot link synchronization
l While the continuous rotation function is being used
[Remedy]
Do not perform automatic stop/restart operations based on the approach waiting function when any of the
operations above is being performed.

SSPC-160 App_STOP is TMP_DISed(ST,C:%d)

[Cause]
This message is output for confirmation when combination (C:i) is temporarily disabled with the approach
deterrence instruction.
[Remedy]

- 100 -
B-81564EN/01 6.ALARM CODES

SSPC-161 App_STOP is enabled (ST,C:%d)

[Cause]
This alarm is issued in one of the following cases:
l Case where the program is temporarily stopped by the approach deterrence instruction with combination
(C:i) temporarily disabled, then is restarted from a different line
l Case where the program is temporarily stopped by the approach deterrence instruction with combination
(C:i) temporarily disabled, then is executed reversely
After this alarm is issued, the combination is not temporarily disabled even if the program is restarted.
[Remedy]
If the program is restarted from a different line, the combination is not enabled when you reply NO in response
to a message for confirmation.

SSPC-162 App_WAIT is enabled (WT,C:%d)

[Cause]
This message is output for confirmation when combination (C:i) is enabled with the approach waiting
instruction.
[Remedy]

SSPC-163 App_WAIT is disabled (WT,C:%d)

[Cause]
This alarm is issued on one of the following cases:
l Case where the program is temporarily stopped by the approach waiting with combination (C:i) enabled,
then is restarted from a different line
l Case where the program is temporarily stopped by the approach waiting instruction with combination
(C:i) enabled, then is executed reversely
After this alarm is issued, approach waiting is disabled even when the program is restarted.
[Remedy]
If the program is restarted from a different line, the combination is not disabled when you reply NO in
response to a message for confirmation.

SSPC-168 (%s,%d) invalid group number

[Cause]
The group number in the approach deterrence sensitivity instruction is invalid.
[Remedy]
Specify a correct group number. (s: Program name, i: Line number)

SSPC-169 (%s,%d) invalid rate value

[Cause]
The sensitivity in the approach deterrence sensitivity instruction is invalid. (s: Program name, i: Line number)
[Remedy]
Enter a correct value (0 to 100).

SSPC-181 Comm init error %d %s

[Cause]
An error occurred at communication initialization time. (i: Error cause number, s: Controller name)
[Remedy]
For the controller name indicated in the alarm message, check the address setting, host name, and
communication line status.

- 101 -
6.ALARM CODES B-81564EN/01

SSPC-182 Invalid hostname (%s)

[Cause]
In an approach deterrence or approach waiting combination, a new controller name was set, then the setting
was enabled before the power is turned off then back on.
Alternatively, an invalid controller name was specified. (s: Controller name)
[Remedy]
When a new controller name is specified, the power needs to be turned off then back on for the setting to be
become effective.
Check the controller name on the host communication setting screen.

SSPC-183 Invalid address (%s)

[Cause]
For the controller name indicated in the alarm message, the communication address setting is invalid. (s:
Controller name)
[Remedy]
After checking and correcting the controller name and address as required, turn off the power then turn on the
power again.

SSPC-184 Number of host exceed limit

[Cause]
The maximum number of controllers that can be specified for approach deterrence and approach waiting by
one controller was exceeded.
[Remedy]
On the approach deterrence and approach waiting setting screens, delete any controller names not used.
Otherwise, reduce the number of controller names to be specified.

SSPC-185 Number of element exceed limit

[Cause]
The maximum number of elements that can be enabled by one controller was exceeded.
[Remedy]
Check the settings of elements. If there is an element that need not be used, disable the setting of the element.
Otherwise, reduce the number of elements to be enabled.

SSPC-186 Invalid element (%s,%d,%d)

[Cause]
The setting of an element of the controller identified by the controller name indicated in this alarm message is
invalid.
(s: Controller name, i: Element type, j: Element number)
Element type 1 represents robots, element type 2 represents hands, and element type 3 represents fixtures.
[Remedy]
Check and correct the setting of the element.

SSPC-187 Receive invalid data %d %s

[Cause]
Data received from another controller contains an error.
[Remedy]
Check if an error occurred on the controller or hub of the transmission source.

- 102 -
B-81564EN/01 6.ALARM CODES

SSPC-188 Invalid data for send %d

[Cause]
Data to be transmitted to another controller contained an error.
[Remedy]
Open the element setting screen, and check if the settings are correct, and data is displayed correctly. If this
alarm is issued when all elements are set correctly, contact your FANUC service representative.

SSPC-189 Timeout element (%s,%d,%d)

[Cause]
The position data of a remote element received from another controller is obsolete.
Communication with the controller may be disconnected.
(s: Controller name, i: Element type, j: Element number)
[Remedy]
If communication is disconnected, the "No communication" alarm is usually issued.
Turn off the power then turn on the power again.

SSPC-190 No communication (%s)

[Cause]
This alarm is issued when there is no response from another controller. (s: Controller name)
The function does not perform communication with a controller that is not specified as a partner for approach
deterrence or approach waiting. So, this alarm is issued also when the setting of approach deterrence or
approach waiting involving the controller is not set on the controller indicated in the alarm message.
[Remedy]
Check the communication cabling, and the address, host name, and hub settings.
In addition, ensure that approach deterrence or approach waiting involving the controller is set on the partner
controller.

SSPC-191 Target elem not exist(ST,C:%d,%s)

[Cause]
The element setting on the (s) side (L [left], R [right]) of approach deterrence combination (C:i) contains an
error.
The cause may be one of the following:
• A nonexistent element type or number is specified.
• A nonexistent group is specified.
• All target elements of $IA_GRP.$ROBOT, $IA_HAND, and $IA_FOBJ are invalid.
• The communication destination controller has failed to set a target successfully for a cause listed
above or a calibration failure.
[Remedy]
Check the items above.

- 103 -
6.ALARM CODES B-81564EN/01

SSPC-192 Target elem not exist(PA,C:%d,%s)

[Cause]
The element setting on the (s) side (L [left], R [right]) of approach waiting combination (C:i) contains an error.
The cause may be one of the following:
• A nonexistent element type or number is specified.
• A nonexistent group is specified.
• All target elements of $IA_GRP.$ROBOT, $IA_HAND, and $IA_FOBJ are invalid.
• The communication destination controller has failed to set a target successfully for a cause listed
above or a calibration failure.
[Remedy]
Check the items above.

SSPC-193 IAL detect overload (%d)

[Cause]
An overload is imposed on operation within the controller, communication processing, and approach
deterrence and approach waiting processing.
The interpolation period may be too short for the current robot setting.
[Remedy]
This alarm is not issued usually. Contact your FANUC service representative.

- 104 -
APPENDIX
B-81564EN/01 APPENDIX A.SCREEN CONFIGURATION

A SCREEN CONFIGURATION

l Setting screen

Setting list screen for the approach Direct entry

deterrence function Calibration list screen screen

Model list screen

Hand figure list Hand element Hand element

list detail

Coordinate system
support

Fixture figure Fixture Fixture element

list element list detail

Robot element
Robot figure list Robot element list detail

Approach deterrence Signal setting

combination list

Other data

Approach waiting Detail

combination list condition

l Status screen
Approach deterrence Approach deterrence status
status list detail

Approach waiting Approach waiting

status list status detail

- 107 -
B.LR-Mate 200iL PARAMTERS APPENDIX B-81564EN/01

B LR-Mate 200iL PARAMTERS

Link coordinate systems
The origins and orientations of the link coordinate systems of LR-Mate
200iL and major robot dimensions are illustrated below.
Note that in LR-Mate 200iL, the world frame and link0 coordinate
system are the same.

Link4
Z is forward

NOTE: The origins of all link coordinate systems are on

the paper.

- 108 -
B-81564EN/01 APPENDIX B.LR-Mate 200iL PARAMTERS

Locations of factory-set elements

The locations of the factory-set elements of LR-Mate 200iL and
parameters are shown below.

Parameters
EL Link Shape Link type Size Pos1 x Pos1 y Pos1 z Pos2 x Pos2 y Pos2 z
1 2 Line_seg NORMAL 80 0 0 90 -250 0 120
2 2 Line_seg NORMAL 78 0 0 -98 -250 0 -110
3 3 Point NORMAL 163 -31 -7 0 0 0 0
4 3 Line_seg NORMAL 113 0 0 -160 0 0 -442

- 109 -
B.LR-Mate 200iL PARAMTERS APPENDIX B-81564EN/01

Addition of elements
The position data of representative tapped positions (P1 to P3) on the
J3 flange surface in the link3 coordinate system and the position data of
a representative tapped position on the J4 arm in the link 4 coordinate
system are shown below. When adding robot elements, make use of

this position data as reference information.

For LR-Mate 200iL, use element numbers 5 and up when adding
elements.

Position data
Item/Point P1 P2 P3 P4
Link number 3 3 3 4
Link type NORMAL NORMAL NORMAL NORMAL
X 60.0 60.0 60.0 15.0
Y 68.0 20.0 -68.0 348.0
Z -70.5 -20.0 59.5 60.5

- 110 -
B-81564EN/01 APPENDIX C.M-6i PARAMETERS

C M-6i PARAMETERS
Link coordinate systems
M-6i Robot has six coordinate systems for links as illustrated below.
All link types are "NORMAL".

Link5 Link6
Y is backward Y is forward
Link3
Y is backward

Link2
Z is forward Link4
Link1 Z is forward
Z is forward Origin is same
Link0 as L ink4 ’s
is backward

- 111 -
C.M-6i PARAMETERS APPENDIX B-81564EN/01

Locations of factory-set elements

The locations of the factory-set elements and the parameters of these
elements are shown below.

Element4
Element2 Size 80
Size 230

Element3
Element1 Size 110
Size 140

Parameters
EL Link Shape Link type Size Pos1 x Pos1 y Pos1 z Pos2 x Pos2 y Pos2 z
1 2 Line_seg NORMAL 140 0 0 -185 -600 0 -185
2 3 Point NORMAL 230 -30 -30 0 0 0 0
3 4 Line_seg NORMAL 110 0 0 18 0 550 18
4 5 Line_seg NORMAL 80 0 0 -45 0 0 45

- 112 -
B-81564EN/01 APPENDIX D.S-430iW/165 AND S-430iF PARAMETERS

D S-430iW/165 AND S-430iF PARAMETERS

Link coordinate systems
Link6 (Y is forward)

Link4 (Z is forward)
Link3 (Y is backward)

Origin is
same as Link4’s

Link2 (Z is forward)

Word frame Link5 (Y is backward)

(Y is backward)
Origin is same as Link4’s

Link1 (Z is forward)

Link0 (Y is backward)

The S-430iW/165 and S-430iF robots have a origin-based coordinate

system on which the world frame is based, and six coordinate systems
for the links as shown below. All link types are "NORMAL".
Note that the origin-based coordinate system and link0 coordinate
system do not match.

- 113 -
D.S-430iW/165 AND S-430iF PARAMETERS APPENDIX B-81564EN/01

Locations of factory-set elements

The locations of the factory-set elements of S-430iW/165 and S-430iF
and the parameters of these elements are shown below.
In the following figure, EL3 to EL6 are made valid by initialization.

Element 6
Size 161

Element 5
Size 400
Element 4
Size 118
Element 2
Size 200

Element 11
Size 424
Element 3
Size 290

Parameters
EL Link Shape Link type Size Pos1 x Pos1 y Pos1 z Pos2 x Pos2 y Pos2 z
1 1 Line_seg NORMAL 424 0 -89 -141 -510 -89 -141
2 1 Point NORMAL 200 -5 -40 276.8 0 0 0
3 2 Line_seg NORMAL 290 -1075 0 -226 0 0 -226
4 3 Line_seg NORMAL 118 0 0 -1275 0 0 -282
5 3 Point NORMAL 400 -140 55 -60 0 0 0
6 5 Line_seg NORMAL 161 0 -15 15 0 -15 -120

- 114 -
B-81564EN/01 APPENDIX D.S-430iW/165 AND S-430iF PARAMETERS

Changing model 1 to Point

When Point is set for model 1, the J1 arm can also be covered as shown
in the figure below. Although the model becomes large, the model can
be assigned to a hand because the shape is Point.

Referrence
Element 1
Size 650 Already set
Element 1
Size 400

Parameters
EL Link Shape Link type Size Pos1 x Pos1 y Pos1 z Pos2 x Pos2 y Pos2 z
Already- 1 Line_seg NORMAL 424 0 -89 -141 -510 -89 -141
set EL１
Reference 1 Point NORMAL 650 -345 -120 0 0 0 0
element

- 115 -
D.S-430iW/165 AND S-430iF PARAMETERS APPENDIX B-81564EN/01

Addition of elements
The position data of representative tapped positions (P1 to P3) on the
J3 flange surface in the link3 coordinate system and the position data of
a representative tapped position on the J4 arm in the link 4 coordinate
system are shown below. When adding robot elements, make use of
this position data as reference information.
When adding elements, use element numbers 7 and up.

Position data
Item/Pint P1 P2 P3
Link number Link3 Link3 Link4
Link type NORMAL NORMAL NORMAL
X -195 146 83
Y -120 -40 512.5
Z -244.5 -251.5 0

- 116 -
B-81564EN/01 APPENDIX D.S-430iW/165 AND S-430iF PARAMETERS

Adding an element to link0

When 0 is specified as the link number, the position is determined in
the link0 coordinate system.
In this case, note that the world frame is not used to determine the
position.

- 117 -
E.S-430iW/200 PARAMETERS APPENDIX B-81564EN/01

E S-430iW/200 PARAMETERS
Link coordinate systems
The S-430iW/200 robot has six coordinate systems for the links as
illustrated below. All link types are "NORMAL".

Link6 (Y is forward)

Link4 (Z is forward) X X
X
Z Y Z
X
Link3 (Y is backward)
Y
Link2 (Z is forward) X
Z
Link5 (Y is backward)
The origin is the same as
LINK4's.
Link0 (Y is backward) Z Y
Link1 (Z is forward)

X X

- 118 -
B-81564EN/01 APPENDIX E.S-430iW/200 PARAMETERS

Locations of factory-set elements

The locations of the factory-set elements of S-430iW/200 and the
parameters of these elements are shown below.

Parameters
EL Link Shape Link type Size Pos1 x Pos1 y Pos1 z Pos2 x Pos2 y Pos2 z
1 1 Line_seg NORMAL 424 -510 -89 -141 0 -89 -141
2 1 Point NORMAL 200 -5 -40 276.8 0 0 0
3 2 Line_seg NORMAL 290 -925 0 -226 0 0 -226
4 3 Point NORMAL 400 -120 -55 -60 0 0 0
5 3 Line_seg NORMAL 118 0 0 -282 0 0 -1114
6 5 Line_seg NORMAL 190 0 -15 -140 0 -15 -10

- 119 -
F.M-710iW PARAMETERS APPENDIX B-81564EN/01

F M-710iW PARAMETERS
Link coordinate systems
The M-710iW robot has a origin-based coordinate system on which the
world frame is based, and six coordinate systems for the links as shown
below. All link types are "NORMAL".

Link5 (Y is backward)
Link3 (Y is backward)
X
Z X X
X Z Z
Y
Link2 (Z is forward)
X
Link6 (Y is forward)
Y
Z Y
Link0 (Y is backward)
Link4 (Z is forward)
The origin is the same as
X X LINK5's.

Link1 (Z is forward)

- 120 -
B-81564EN/01 APPENDIX F.M-710iW PARAMETERS

Locations of factory-set elements

The locations of the factory-set elements of M-710iW and the
parameters of these elements are shown below.

Parameters
EL Link Shape Link type Size Pos1 x Pos1 y Pos1 z Pos2 x Pos2 y Pos2 z
1 1 Point NORMAL 510 -50 -40 30 0 0 0
2 2 Line_seg NORMAL 240 -770 -40 -290 -20 -40 -290
3 3 Point NORMAL 460 -170 -30 0 0 0 0
4 3 Line_seg NORMAL 110 0 0 -320 0 0 -1020
5 5 Point NORMAL 170 0 -20 -40 0 0 0

- 121 -
G.S-500i PARAMETERS APPENDIX B-81564EN/01

G
Link coordinate systems
S-500i PARAMETERS
The S-500i robot has a origin-based coordinate system on which the
world frame is based, and a fixed coordinate system for each link.
There are eight link-fixed coordinate systems including coordinate
systems fixed to parallel links. Link3 has three coordinate systems
with different link types.

Link6 (Y is forward)

Link5 (Y is backward)

X
Link3: Vertical (Z is forward)
X
X X Z Z
Y Y
Link2 (Z is forward)

Y
Y
Link3: Horizontal
X (Y is forward)
X The origin is the same as
Link3:NORMAL Link2's.
(Z is forward) Y

Link1 (Z is forward)

Link0 (Y is backward)

- 122 -
B-81564EN/01 APPENDIX G.S-500i PARAMETERS

Locations of factory-set elements

The locations of the factory-set elements of S-500i and the parameters
of these elements are shown below.

Element 6
Element 4 Size 150
Size 350

Element 5
Size 100
Element 3
Size 280
Element 2
Size 125

Element 1
Size 420

Parameters
EL Link Shape Link type Size Pos1 x Pos1 y Pos1 z Pos2 x Pos2 y Pos2 z
1 1 Point NORMAL 420 -200 -300 0 0 0 0
2 1 Line_seg NORMAL 125 -25 -45 450 -25 -45 -450
3 2 Line_seg NORMAL 280 0 90 0 -900 90 0
4 3 Point Horizontal 350 100 -110 0 0 0 0
5 3 Line_seg Horizontal 100 0 -180 0 -1600 -180 0
6 5 Line_seg NORMAL 150 0 0 -20 0 0 -70

- 123 -
H.M-16iL PARAMETERS APPENDIX B-81564EN/01

H M-16iL PARAMETERS
Link coordinate systems
The M-16iL robot has a origin-based coordinate system on which the
world frame is based, and six coordinate systems for the links as shown
below. All link types are "NORMAL".

Link5 (Y is backward)
Link3 (Y is backward) X X X
X Z Z
Z
Y
Link2 (Z is forward)
X
Y Link6 (Y is forward)

Z Y
Link0 (Y is backward)

Link4 (Z is forward)
X X The origin is the same as
LINK5's.

Link1 (Z is forward)

- 124 -
B-81564EN/01 APPENDIX H.M-16iL PARAMETERS

Locations of factory-set elements

The locations of the factory-set elements of M-16iL and the parameters
of these elements are shown below.

Parameters
EL Link Shape Link type Size Pos1 x Pos1 y Pos1 z Pos2 x Pos2 y Pos2 z
1 1 Point NORMAL 300 -125 -20 50 0 0 0
2 2 Line_seg NORMAL 120 -60 0 -175 -810 0 -175
3 3 Point NORMAL 270 -75 -10 20 0 0 0
4 4 Line_seg NORMAL 110 0 -15 10 0 935 10
5 5 Line_seg NORMAL 50 0 0 -80 0 0 85

- 125 -
I.R-2000i/165F PARAMETERS APPENDIX B-81564EN/01

I R-2000i/165F PARAMETERS
Link coordinate systems
The R-2000i/165F robot has a origin-based coordinate system on
which the world frame is based, and five coordinate systems for the
links as shown below. All link types are "NORMAL".

Link5 (Y is backward)

Link3 (Y is backward) X X X
Z Z
Z X

Y
Link2 (Z is forward)
X Link6 (Y is forward)
Y

Link0 (Y is backward)
Z Y
Link4 (Z is forward)
The origin is the same as
X X LINK5's.

Link1 (Z is forward)

- 126 -
B-81564EN/01 APPENDIX I.R-2000i/165F PARAMETERS

Parameters
EL Link Shape Link type Size Pos1 x Pos1 y Pos1 z Pos2 x Pos2 y Pos2 z
1 1 Line_seg NORMAL 415 -482 0 -80 -102 0 -80
2 2 Line_seg NORMAL 250 0 2 -250 -1075 2 -250
3 3 Point NORMAL 350 -110 40 -88 0 0 0
4 3 Line_seg NORMAL 110 0 0 -418 0 0 -1148
5 5 Line_seg NORMAL 150 0 -15 12 0 -15 -113

- 127 -
J.CONNECTION OF THE
COMMUNICATION FUNCTION APPENDIX B-81564EN/01

J CONNECTION OF THE
COMMUNICATION FUNCTION
This chapter provides information required for Ethernet connection of
the R-J3 Controller.

CAUTION
1 Before attaching or detaching a cable to the R-J3
Controller, turn off the power to the Controller, and
confirm that the power is off.
2 For network building and the condition for using
devices other than the R-J3 Controller (such as media
converters, hubs, transceivers, and cables), contact
the supplier of each device. For network installation,
care must be taken to protect the network from a
noise source. Separate the network wiring sufficiently
away from a noise source such as a power line and
motor from an electrical viewpoint, and ground each
device as required. If grounding is insufficient
because of high impedance, a communication error
may occur. Before going into actual operation after
equipment installation, check the operation by
conducting a communication test. FANUC cannot
take responsibility for network trouble arising from a
device other than the R-J3 Controller.

- 128 -
 J. CONNECTION OF THE
B-81564EN/01 APPENDIX COMMUNICATION FUNCTION

J.1 CONNECTION TO ETHERNET

The R-J3 controller has a 10BASE-T interface. For connection to a

10BASE5 system, a media converter or hub (concentrator) is used.
A typical example of connection is shown below.

Transceiver cable

Hub
(concentrator)

・
・
・
Twisted pair cable

R-J3 Controller
Transceiver

Main CPU board

10BASE5
trunk cable
Max. 100m

Some devices (such as hubs and transceivers) used to build a network

do not have a dust-proof structure. Using such devices in an
atmosphere containing dust or oil mist can cause a communication
error or failure. Be sure to house such devices in a dust-proof cabinet.

- 129 -
J.CONNECTION OF THE
COMMUNICATION FUNCTION APPENDIX B-81564EN/01

J.2 ROUTING OF THE ETHERNET CABLE

The Ethernet cable can be routed only from the front of the main CPU
board unit. For connector location information, see the outside
drawing of each board.

Radius of 70 mm or more

10BASE-T
Ethernet cable

Clamp

Ground plate

The Ethernet cable needs to be secured with a clamp so that no tension

is applied to the connector installed at the end of the cable even if the
cable is pulled. This clamping also serves as the grounding of the cable
shield.

- 130 -
 J. CONNECTION OF THE
B-81564EN/01 APPENDIX COMMUNICATION FUNCTION

J.3 PIN ALLOCATION OF THE 10BASE-T CONNECTOR (CD38)

CD38
Pin No. Signal Meaning
1 TX+ Transmission +
2 TX- Transmission -
3 RX+ Reception +
4 Not used
5 Not used
6 RX- Reception -
7 Not used
8 Not used

- 131 -
J.CONNECTION OF THE
COMMUNICATION FUNCTION APPENDIX B-81564EN/01

J.4 TWISTED PAIR CABLE SPECIFICATIONS

J.4.1 Cable Connection

Referring to the operator’s manual of a device used, select an

appropriate cable. An example of straight cable connection between
the main CPU board 10BASE-T interface CD38 and a hub (or media
converter) is given below.

Main CPU board Media converter

CD38 or hub

1 TX+ RJ-45 1 TX+

2 TX- modular connector 2 TX-
3 RX+ 3 RX+
4 4
5 5
6 RX- 6 RX-
7 7
8 MAX.100m
8

TX+ (1) (1) TX+

TX- (2) (2) TX-
RX+ (3) (3) RX+
RX- (6) (6) RX-

Shield

- The cable must not be longer than 100 m. Do not extend the cable
unnecessarily.

- 132 -
 J. CONNECTION OF THE
B-81564EN/01 APPENDIX COMMUNICATION FUNCTION

An example of cross cable connection between the main CPU board

10BASE-T interface CD38 and a mediate converter (or hub) is given
below.

Main CPU board Media converter

CD38 or hub

1 TX+ RJ-45 1 TX+

2 TX- modular connector 2 TX-
3 RX+ 3 RX+
4 4
5 5
6 RX- 6 RX-
7 7
8 MAX.100m
8

TX+ (1) (3) TX+

TX- (2) (6) TX-
RX+ (3) (1) RX+
RX- (6) (2) RX-

Shield

- The cable must not be longer than 100 m. Do not extend the cable
unnecessarily.

NOTE
A straight cable is usually used for connection between a
communication device and hub. The cable required for
connection may differ depending on the manufacturer of
the hub or media converter, however. Check whether a
straight or cross cable is required, then prepare a correct
cable.
When connection is correct, the LED marked with
"TPPIL" on the main CPU board lights up.

- 133 -
J.CONNECTION OF THE
COMMUNICATION FUNCTION APPENDIX B-81564EN/01

J.4.2 Cable Wire

As twisted pair cables for 10BASE-T, unshielded cables (UTP cables)

are available on the market. For improved protection against noise in
an FA environment, however, use a common shielded category-5
twisted pair cable (STP cable).

Recommended cables (For standard)

Manufacturer name Specification Remarks
The Furukawa Electric Co., Ltd. DTS5087C-4P Twisted wire
Nissei Electric Co., Ltd. F-4PFWMF Solid wire

Contact point
Manufacturer name Contact point
Sales Division, the 2-6-1 Marunouchi Chiyoda Ward, Tokyo, 100-8233
Furukawa Electric TEL: 03-3286-3126 FAX: 03-3286-3979
Co., Ltd.
Remarks
Tamachi Office, MU Building 3F, 1-9-1 Minaminaruse, Machida City,
Nissei Electric Co., Tokyo 194-0045
Ltd. TEL: 0427-29-2531 FAX: 0427-29-3375
Contact IWATANI International Corporation
point for Tokyo Head Office
overseas 21-8 NISHI-SHINBASHI 3-CHOME, MINATO-KU,
sales TOKYO, 105-8458, JAPAN
TEL：03-5405-5810 FAX：03-5405-5666
Telex：2524256 IWATYO J
Remarks A processed cable with the both terminal connector
is provided.

NOTE
The recommended standard cables cannot be used with
movable parts.

Recommended cable (For movable parts)

Manufacturer name Specification Remarks
Oki Electric Cable Co., AWG26 4P TPMC-C5-F(SB) FANUC-specific
Ltd. cable

Cable specifications (FANUC-specific cable No connector)

Drawing number: A66L-0001-0453
Manufacturer: Oki Electric Cable Co., Ltd.
Nagano Sales Office TEL: 0266-27-1597
Specifications
• Electric characteristics: Conform to EIA/TIA 568A
categories 3 and 5.
For reasons related to attenuation performance, the
distance to the hub must be 50 m or shorter.
• Structure: Common shield cable (braided shield). Drain
wire provided.

- 134 -
 J. CONNECTION OF THE
B-81564EN/01 APPENDIX COMMUNICATION FUNCTION

The conductor is AWG26 annealed copper stranded wire. The

sheath thickness is 0.8 mm. The outside diameter is 6.7±0.3 mm.
• Flame resistance: UL1581 VW-1
• Oil resistance: Based on the FANUC standard.
(equivalent to the conventional oil-resistant electric cables)
• Flexing resistance: 1 million times or more with 50 mm of
a bend radius (U-shape flexing test)
• UL style No.: AWM 20276 (80℃/30 V/VW-1)

NOTE
Always use connector TM21CP-88P(03) manufactured
by Hirose Electric for this cable.

Cable assembly
Oki Electric Cable Co., Ltd. also supplies cable assemblies using
connector TM21CP-88P(03) manufactured by Hirose Electric.
Make arrangements directly with the manufacturer for the
specifications (length, outgoing inspection, packing, and others)
and purchase cable assemblies.
Contact point: Oki Electric Cable Co., Ltd.
Sales contact point) Nagano Sales Office
TEL: 0266-27-1597

- 135 -
J.CONNECTION OF THE
COMMUNICATION FUNCTION APPENDIX B-81564EN/01

J.4.3 Connector Specifications

As a connector used with a twisted pair cable for Ethernet, an 8-bit

modular connector called RJ-45 is used. Use the following connector
or equivalent:

Specification Manufacturer Remarks

For solid wire 5-569530-3 AMP Japan, Ltd.
For solid wire MS8-RSZT-EMC SK KOHKI Co., Ltd. Special tool
required
For twisted wire 5-569552-3 AMP Japan, Ltd.
For twisted wire TM11AP-88P Hirose Electric Co., Special tool
Ltd. required

For movable parts Specification Manufacturer Remarks

For cable AWG26 TM21CP-88P(03) Hirose Electric (Note)
4P TPMC-C5-F(SB) Co., Ltd.

NOTE
TM21CP-88P(03)
Connector (manufacturer standard part)
Drawing number: A63L-0001-0823#P
Manufacturer: Hirose Electric Co., Ltd.
Manufacturer catalog number: TM21CP-88P(03)
Conforms to EIA/TIA 568A categories 3 and 5.
For how to assemble the connector and cable, contact Hirose
Electric.
(Hirose Electric technical document "TM21CP-88P(03) Connection
Procedure Specifications" (technical specification No ． ATAD-
E2367) is available.)

- 136 -
 J. CONNECTION OF THE
B-81564EN/01 APPENDIX COMMUNICATION FUNCTION

J.4.4 Switing HUB(Switch)

A switch (switching hub) with the following features must be used.

• Incorporating 10BASE-T ports (when connecting to the R-J3

control unit)
• Incorporating 10BASE-T or 100BASE-T ports (when connecting
to the R-J3iB control unit)
• Allowing setup for switching between full-duplex and half-duplex

- 137 -
J.CONNECTION OF THE
COMMUNICATION FUNCTION APPENDIX B-81564EN/01

J.5 NOISE PROTECTION

J.5.1 Cable Clamping and Shield Processing

Clamp those cables that are run into the Controller and require shield
processing, as shown below. Process the shield of a twisted pair cable
for Ethernet in the same way. This clamp processing secures a cable,
and also processes the shield of the cable. Be sure to perform this
clamp processing because it is key to stable operation of the system.
As shown below, peel off a part of the outer sheath to expose the shield,
then press the exposed portion of the shield against the ground plate
with a clamp. The user needs to prepare a ground plate and install it as
shown below.

Ground plate

Cable

Cable clamp
Ground plate

Shield

Cable sheath

- 138 -
 J. CONNECTION OF THE
B-81564EN/01 APPENDIX COMMUNICATION FUNCTION

Prepare the following ground plate:

Mounting screw hole

Ground terminal
(for grounding)
Clamp mounting hole

As a ground plate, use an iron plate as thick as 2 mm or more, and plate

it with nickel.

8mm Ground plate

12mm

20mm

- 139 -
J.CONNECTION OF THE
COMMUNICATION FUNCTION APPENDIX B-81564EN/01

55mm max.

28mm

6mm

17mm

Outline Drawing of the Clamp

Ordering code of the clamp: A02B-0124-K001 (8 clamps)

- 140 -
 J. CONNECTION OF THE
B-81564EN/01 APPENDIX COMMUNICATION FUNCTION

J.5.2 Network Installation

Even when the grounding condition on the Controller side is satisfied,

noise generated may induce a communication error on the
communication line, depending on the installation condition and
environment of the Controller. To prevent such trouble, the
Controller(s) should be separated and insulated from the Ethernet trunk
cable and personal computer. Examples of connections are given
below.

Personal computer

(Note 1) 10BASE5
trunk cable

(Note 1) Power
supply for
Personal computer/ HUB hub
trunk side
Electrical separation by
10BASE-T connection STP cable STP cable

Machine system side

Controller Controller Controller

(Note 1) (Note 1) (Note 1)

Large network

Personal computer
Power
supply for
HUB hub
(Note 1)
Personal computer/
trunk side
Electrical separation by STP cable
10BASE-T connection

Machine system side

Controller

(Note 1)
Small network

- 141 -
J.CONNECTION OF THE
COMMUNICATION FUNCTION APPENDIX B-81564EN/01

NOTE
1 Ensure that the ground system of the personal
computer/trunk side is separated from the ground
system of the Controller. If ground system separation
is impossible because only one grounding point is
available, run the personal computer/trunk side
ground wire and the Controller side ground wire
separately to the grounding point. (See the figure
below.) The ground resistance must be 100 ohms or
less (glass-2 grounding). The ground wire must not
be thinner than the AC power line, and must be at
2
least 5.5 mm in diameter.
2 Even when the insulation/separation method based
on 10BASE-T is used as described above, noise can
impede normal communication. When a network is
used in such a very poor environment, consider the
use of 10BASE-FLAG (optical fiber media) to
completely separate the Controller from the personal
computer side.

FG

Shield Trunk cable

HUB

Ground wire of the personal

computer/trunk side

Controller
Ground wire of the machine side

Grounding point

When only one grounding point is available

- 142 -
INDEX B-81564EN/01

INDEX
Details 71, 76, 85
A
Disabling Deceleration Stop Based on Approach
ALARM CODES 96
Waiting 79
APPROACH DETERRENCE FUNCTION
E
ENABLE/DISABLE INSTRUCTION 71
APPROACH DETERRENCE GUIDELINES 94 Example of Use 80
APPROACH DETERRENCE SENSITIVITY
I
INSTRUCTION 85
Indirect Calibration 18
Approach Deterrence Status Detail Screen 88
Approach Deterrence Status List Screen 87 L
Approach Waiting Combination List Screen 63
LR-Mate 200iL PARAMTERS 108
APPROACH WAITING COMBINATIONS 63
M
APPROACH WAITING CONDITION
ENABLE/DISABLE INSTRUCTION 76 M-16iL PARAMETERS 124
Approach Waiting Status List Screen 90 M-6i PARAMETERS 111
M-710iW PARAMETERS 120
C
METHOD OF CHECKING APPROACH
Cable Clamping and Shield Processing 138
DETERRENCE (STATUS SCREEN) 87
Cable Connection 132
MODEL DATA STORAGE DESTINATION 62
Cable Wire 134
N
Calculating Calibration Data 17
CALIBRATION 14 NETWORK 5
Calibration Data 15 Network Installation 141
CHECK AND RECOVERY METHODS 86 NOISE PROTECTION 138
Checking the Network-Related Settings 12 Notes 73, 82, 85
CHECKING THE STATUS OF THE APPROACH
O
WAITING FUNCTION 90
OUTLINE 1
CONNECTION OF THE COMMUNICATION
FUNCTION 128 P
CONNECTION TO ETHERNET 129
PIN ALLOCATION OF THE 10BASE-T
Connector Specifications 136
CONNECTOR (CD38N) 131
D PREFACE p-1
PROGRAM INSTRUCTIONS 70
Deadlock Caused by the Approach Waiting
Function 81 R
Definition of Elements 26
R-2000i/165F PARMAETERS 126
Detail Approach Waiting Combination Screen 66
RECOVERY METHOD 93

i-1
B-81564EN/01 INDEX

Reverse Program Execution 72, 78, 85 Setting Calibration Data 21

ROUTING OF THE ETHERNET CABLE 130 Setting Calibration TCPs 15
SETTING MODELS 26
S
SETTING OTHER PARAMETERS 59
S-430iW/165 AND S-430iF PARAMETERS 113
SETTINGS 4, 8
S-430iW/200 PARAMETERS 118
Switing HUB(Switch) 137
S-500i PARAMETERS 122
T
Sample Program 72, 77
SCREEN CONFIGURATION 107 Teaching Reference Positions 16
Setting a Fixture Model 37 Troubleshooting 24
Setting a Hand Model 28 TWISTED PAIR CABLE SPECIFICATIONS 132
Setting a Robot Model 46
W
SETTING APPROACH DETERRENCE
Wiring and Connection 5
COMBINATIONS 53

i-2
 Revision Record

FANUC Robot series (R-J3/R-J3i MODELB) Approach Deterrence Function For Robot Link
OPERATOR’S MANUAL (B-81564EN)

01 Sep.,2001

Edition Date Contents Edition Date Contents