CADM MC600

ROBOTICS

ROBOT SYSTEM
 OBJECTIVES
2

• Know the Robot components

• Learn the Major and Minor Axes, Joints and Links
• Understanding Servo Motors and Serial Pulse
Coders
• Know what Software / Operating System is
• Know the different controller types
• Become familiar with the different Standard
Operating Panels
 3

ROBOT SYSTEM OVERVIEW

There are four main Robot

components to the
system: Motion

1. Mechanical Unit
2. Software
Standard Operator Panel
(SOP)
Input/Output (I/O)

3. Controller
4. Peripheral Equipment
Teach Pendant
Communications

Memory

Controller

F- Number
 MECHANICAL UNIT 4

A robot is a series of mechanical

links driven by servomotors. The
area at each junction between
the links is a joint, or axis. The first
three axes make up the major
axes as shown. The major and
minor axes, shown below, move
the tooling at the end of the
robot arm. The movements are
twisting up-and-down and side-
to-side motions.

The area at each junction

between the links is a joint, or
axis. The major axes (1,2 & 3)
and minor axes (4,5 &6) move
the tooling at the end of the
arm. The range of motion
depends on the End Of Arm
Tooling (EOAT).
 5

ROBOT AXES - DESCRIPTION

• J1 – Base or Waist
• J2 – Shoulder
• J3 – Elbow
• J4 – Rotation of the Arm
• J5 – Pitch of the Wrist
• J6 – Rotation of the Hand or Face Plate
• J7 – Optional (X-Rail, Gantry, Turn Table, EOAT motion,
Spot Welding)
 6

R2000IB MECHANICAL UNIT

J4 J6

J5
Wrist
J3

Minor Axes
(J4, J5, J6)
Major Axes
(J1, J2, J3)

J2 Shoulder

J1

Waist
 MECHANICAL UNIT
7

Each axis is driven by an electric servomotor

• Uses Serial Pulse Coder for positioning
• Motors are not customer serviceable

Most motors have an internal brake

• Applied mechanically, released electrically
by signal from servo amplifier
• Can be damaged by improper lubrication of
robot
• Brake failure is typically due to lack of current
at the brake rather than failure of the brake
itself
• If the brake fails, the motor must be replaced
 8

SERIAL PULSE ENCODER (SPC)

• Each motor has a rotary pulse encoder
• An encoder is a device that senses the
angle of the motor shaft and convert
the angle to a digital code
• Encoders send speed and position
information to the controller
• Encoder pulse counts are stored in
robot memory when the robot is
powered
• When the robot is powered down,
batteries retain the pulse encoders
counts to match when powered up
 Robot Cell Level 3
Supervisor

Controller Level 2
& Program

Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6 Sensors Level 1

 Electric
 Uses electric motors to actuate individual joints
 Preferred in today's robots
 Hydraulic
 Uses hydraulic pistons and rotary vane actuators
 Good for their high power and lift capacity
 Pneumatic
 Normally limited to smaller robots and
simple material transfer applications
 The special tooling for a robot that
enables it to perform a specific task
 Two types:
 Grippers – to grasp and manipulate
objects (e.g., parts) during work cycle
 Tools – to perform a process, e.g.,
spot welding, spray painting
Can be sinking, sourcing our either. Many newer devices are made to be both
sinking and sourcing.

Sourcing input card requires a sinking input sensor.

Sinking input card requires a sinking input sensor.
 16

M1IA/M2IA/M3IA UNIT

J1 link J2 link J3 link

J4 link J5 link J6 link

 FANUC CONTROLLERS 17

A – Size Controller B – Size Controller

 CONTROLLER 18

Controller contains:
• Power supply, Operator controls,
Control circuitry, Memory
Converts program data into servo
drive signals
• Main Board, Servo Amplifier
Contains communication hardware
• I/O Hardware
Interface with work cell 3V
Lithium
Power
Supply
• Communication ports Battery

• Emergency stop connections

Main
Board

Servo Amplifier

Ethernet Board
 19

STANDARD OPERATOR PANEL (SOP)

R-30iB (Software V8.0)

R-30iA/RJ3iC (Software V7.0)

Open Air Controller R-30iA (Software V7.0)

R-J3iB (Software V6.0)

 20

STANDARD OPERATOR PANEL (SOP)

Mode Switch Reset button Fault light

Hour meter for

servo

Cycle Start Power light

The operator panel allows control of certain basic

robot functions, facilitates the loading and saving of
files and provides indication concerning robot
operation.
 SOP STATUS INDICATORS 21

INDICATOR DESCRIPTION R-J3 R-J2IB R-30IA/

R-30IB
BATTERY This item indicates that the backup battery voltage
is low

FAULT This item indicates that a fault condition has
occurred
  
REMOTE This item indicates that the operator panel does not
have motion control

REMOTE/LOCAL This item allows you to set control to either remote
(such as a PLC) or local (controller has control)

ON/OFF This item indicates that the controller is either ON or
OFF
 
CYCLE START This item, when lit, indicates that a program is
running
  
USER #1, #2 These items are user-definable. You can assign
macros to run when these buttons are pushed.
 
HOLD This item pauses a running program without
dropping servo motors

E-STOP This item stops the robot immediately
CAUTION: under certain load/speed conditions it
could be possible to damage some mechanical
units when E-stop button is pressed. In non-
  
emergency situations the HOLD button is the
preferred method of stopping the robot
FAULT RESET This item clears a fault message from the teach
pendant screen after it has been corrected
  
 SOFTWARE
22

• Defines the function of the

robot

• Contains core operating

program

• Fault isolation and diagnostics

• Communication protocols
 PERIPHERAL EQUIPMENT
23

Any item that is not a part of the Mechanical Unit,

Controller or Software
• PLC (Programmable Logic Controller)
• End-of-Arm Tooling (EOAT)
• Proximity switches
• Limit switches
• Photo Eyes
• Vision Systems
• Force Sensing Unit
• Panel View
• HMI (Human Machine Interface)
• Ethernet IP and various communication
interfaces
 APPLICATION SOFTWARE
24

Handling Tool is the application software installed on material handling

robots. There are two versions of material handling software:
• LR HandlingTool (lighter version application –
installed on all LR Mate robots only)
• HandlingTool for all other material handling robots
Handling Tool software working in conjunctions with the robot and
controller to allow you to:
• Set up information required for the application
• Program your application
• Test your program
• Run production
• Display and monitor process information
 MODE SELECT SWITCH

T2 MODE (Test Mode

AUTO MODE – 2) – Jog speed is
Robot operated at restricted to 250
the specified mm/sec or less.
maximum speed. Program testing
Cannot start speeds are at full
programs using the program speed.
Teach Pendant.

T1 MODE (Test Mode 1) – Jog and program testing

speeds are restricted. Cartesian speed is less than
250 mm/sec and Joint speed is less than 10% of
the maximum override speed.
 MODE SELECT SWITCH
26

**Note that most controllers within

Canada will not be equipped with T2
selection
 TEACH PENDANT 27

The teach pendant is the device you use

to:
• Gives motion control solely to the
operator
• Move the robot
• Create and edit programs
• Test Programs
• Set up production run
• Check Status
• Preform manual functions
• Configure the application
 28

R-30IA
R-30iA R-30iB
 29

TEACH PENDANT / IPENDANT

The iPendant provides: • R-30iA iPendant
• A colour graphics Hardware
interface • iPendant Firmware
• Pop-up menus Higher performance
• Multiple windows New rear grip
• Internet/Intranet access New browser
 Current WEB tools can be
• Integrated help and used to create custom
diagnostics pages
• Customised displays • USB port (faster
• May be Touch Screen controller)
capable
• Built-in error code
diagnostics
 R-30IB IPENDANT
30

• R 30iB +Pendant Hardware

– Bright light weight LED
Backlight
– New + Key (shortcut key)
– 4 additional Jog Keys
• Axis 7 & 8
– New Lighter Weight
– Faster Internal Processor
– New Rear Grip
• New +Pendant Firmware
– Higher performance
– New Browser
• Current WEB tools can be used to
create
custom pages
– Unique 3D Graphics Capability
– NOT compatible with R-30iA
 31

TEACH PENDANT KEY COMPONENTS

• Deadman switch
• ON/OFF Switch (Enable/Disable
Switch)
• Emergency Stop (E-Stop)
• Navigation and Data entry keys
• Robot Motion keys
• Execution keys Editing Keys
• Application-Specific keys
• Help/Diagnostic Keys (iPendant only)
 32

ON/OFF Switch

Deadman Switch
E-Stop Button

Status Indicators
Display system status

Screen
Can be split in 2 or 3 screens
Jog Keys
Will move the robot
Fly-out menu selection relative to the Jog
Black arrow next to menu item mode selected and
Indicated sub menu items must have SHIFT
available to select held along with Jog
key

Cursor keys
Move cursor up/down a line
or right/left a field.
Will page up/down or far
left/right with SHIFT Key Jog Speed keys
Numerical Keypad
Adjust the Override
speed of the robot
COORD (coordinate) key
Selects Jog method and
presents Jog Menu with SHIFT Key
 33

R-30IB IPENDANT I KEY

i + MENU - Displays the Top Menu.
i + FCTN - Displays the Related View Menu if i is
displayed on the right side of the title line.
i + SELECT - Displays the Select menu in the left pane
and 3D node map in the right pane for the program which
is highlighted by the cursor.
i + EDIT - Displays the TPP editor in the left pane and 3D
node map in the right pane.
i + DATA - Displays the position register data in the left
pane and a 3D display of position registers in the right
pane.
i + POSN - Presents a 3D display of the robot using the
last selected scene.
i + COORD - Toggle jog preview off and on.
i + JOG KEY - Shows you the direction that the robot will
move when the jog key is pressed when 3D screen is
displayed.
i + DISP - Switches the display to the next window if
one is available.
 34

R-30IB IPENDANT – MENU FAVOURITES

Menu Favorites allows you to generate and store a list of

menus that you display most often.
 TEACH PENDANT STATUS INDICATORS 35

INDICATO DESCRIPTION
R
Busy Step Hold
Step Fault
Run I/O Prod TCyc FAULT Indicates that a fault condition has
occurred
HOLD Indicates that the robot is a hold
condition. HOLD is not on continuously
during a hold condition/
STEP Indicates that the robot is in step mode

BUSY Indicates that the controller is

processing information
RUN Indicates that a program is being
executed
I/O Indicates that the I/O is ENABLED
PROD Indicates that the robot is in
PRODUCTION MODE
T CYC Indicates that the robot is in the TEST
CYCLE
 36

Fctn

FUNCTION MENUS

FULL MENUS QUICK MENUS

Menu
Navigation and Data Entry Keys 37
Navigation and Data Entry 38

Keys Cont’d
Robot Motion Keys
39
 40

Execution Keys
Editing Keys 41
HandlingTool Specific Keys 42