dokumen.tips r-j3ic-robot-link-user-manual

Preliminary Robot Link User’s Manual
FANUC Robot Series
(R-J3iC Controller)
Robot Link User’s Manual
This is an optional function
Version 02 : 15-Dec-1999:
Version 03 : 26-Jan-2000
Version 08 : 26-Mar-2001
Version 09 : 11-May-2001
Version 10 : 05-Jun-2001
Version 11 : 07-July-2003
Prelim Ver : 02-Feb-2006
1
No part of this manual may be reproduced in any form.
A
ll specifications and designs are subject to change without notice.
This manual is not yet released for customers ! 
(nor end-customers nor system-house). 
FANUC RRL is planning to release this manual 
by the end of January 2008. This copy is ONLY 
for INTERNAL FRXX use. You MUST follow 
this restriction !!! 

Preliminary Robot Link User’s Manual
$CONTENTS
1 INTRODUCTION..............................................................................................................................5
1.1 O VERVIEW OF R OBOT L INK :.............................................................................................................5
2 SOFTWARE LIMITATIONS...........................................................................................................6
2.1 L IMITATIONS ON OTHER SOFTWARE OPTIONS ....................................................................................6
2.2 N ETWORK .........................................................................................................................................8
2.3 N ETWORK CONFIGURATION FOR R-J3 I C CONTROLLERS :...................................................................9
3 INPORTANT SYSTEM INFORMATION (READ BEFORE USAGE).....................................10
3.1 N ETWORK CONFIGURATION ............................................................................................................10
3.2 PLC PROGRAMMING FOR ROBOT LINK SYSTEM FOR ROBOT LINK ROBOTS .......................................11
3.3 C ELL I NTERFACE FOR T EACHING S YNCHRONOUS M OTION .............................................................12
3.4 F OLLOWING IS THE PROCEDURE FOR TEACHING THE ROBOT LINK SYSTEM ......................................14
3.5 C IRCUMSTANCE ........................................................ !
3.6 A BOUT SETUP ..................................................................................................................................15
3.7 A BOUT TEACHING AND OPERATION .................................................................................................18
3.8 A DDITIONAL INFORMATION ............................................................................................................19
4 SETUP...............................................................................................................................................21
4.1 SETUP NETWORK ......................................................................................................................22
4.1.1 Set up board address..............................................................................................................22
4.1.2 Set up TCP/IP........................................................................................................................23
4.1.3 Set up and starting FTP..........................................................................................................24
4.1.4 Set up Full Duplex mode on R-J3iB Controller.....................................................................27
4.1.5 Set up Full Duplex mode on switching hub...........................................................................27
4.2 CHECKING NETWORK CONFIGURATION ............................................................................27
4.3 SETTING UP ROBOT LINK........................................................................................................28
4.3.1 Set up Link pattern (Master Robot).......................................................................................28
4.3.2 Set up master robot information (Slave Robot).....................................................................31
4.3.3 Setup Status Signal................................................................................................................32
4.3.4 Set up Calibration Data (Slave Robot) ..................................................................................33
4.3.5 Set up Communication Rate ..................................................................................................34
2
No part of this manual may be reproduced in any form.
A
ll specifications and designs are subject to change without notice.

Preliminary Robot Link User’s Manual
4.3.6 Set up acceleration time during synchronous motion............................................................34
5 CALIBRATION...............................................................................................................................36
5.1 S ETTING THE TCP FOR CALIBRATION ..........................................................................................36
5.2 R ECORDING REFERENCE POINTS ..................................................................................................37
5.3 C ALCULATION OF CALIBRATION DATA .........................................................................................37
5.4 I NDIRECT C ALIBRATION ...............................................................................................................39
5.4.1 Idea of indirect calibration..................................................................................................39
5.4.2 Method of indirect calibration............................................................................................40
5.5 T ROUBLESHOOTING ........................................................................................................................42
6 VERIFICATION OF COMMUNICATION AND SYNCHRONOUS MOTION......................43
6.1 T HE FOLLOWING IS A PROCEDURE TO VERIFY COMMUNICATION AND SYNCHRONOUS MOTION . A FTER ALL SETUP ITEMS
( EQUIPMENT , WIRING , AND CONNECTION ) ARE FINISHED , THE USER SHOULD VERIFY COMMUNICATION AND SYNCHRONOUS
MOTION BY THE FOLLOWING OPERATIONS
:..................................................................................................43
6.2 I F V ERIFICATION F AILS , S ETUP I TEM R EVIEW ................................................................................45
6.3 P ROCEDURE TO VERIFY THE LINK STATUS WHEN THE MASTER SHOWS “L INK I NCOMPLETE .“..........46
6.4 I F V ERIFICATION F AILS , C OMMUNICATION H ARDWARE R EVIEW ...................................................48
7 PROGRAMMING1 .........................................................................................................................50
7.1 P ROGRAMMING FOR M ASTER P ROGRAM .........................................................................................50
7.2 P ROGRAMMING FOR S LAVE P ROGRAM ............................................................................................52
8 RECORDING PROCEDURE AND ROBOT LINK JOG MANUAL FNCTS SCREEN .....54
8.1 RECORDING PROCEDURE.......................................................................................................54
8.2 E XAMPLE ........................................................................................................................................59
9 RECOVERY FROM THE HALT IN SYNCHRONOUS MOTION...........................................61
9.1 T O R ESTART AT THE STOPPED POINT ...............................................................................................61
9.2 R ETURN ALL ROBOTS TO THE RESPECTIVE ORIGINAL POSITION .......................................................62
9.3 M OVE THE ROBOT TO THE SAFETY POSITION WITH R OBOT L INK JOG ...............................................62
10 STATUS SCREEN.......................................................................................................................66
11 MANUAL FUNCTION SCREEN..............................................................................................68
12 TROUBLESHOOTING ..............................................................................................................70
12.1 S YNCHRONIZED MOTION DOES NOT START . T HE ROBOTS HAVE STOPPED WHILE SYNCHRONIZED MOTION . 70
3
No part of this manual may be reproduced in any form.
A
ll specifications and designs are subject to change without notice.

Preliminary Robot Link User’s Manual
12.2 T HE SLAVE ROBOT THAT SHOULD SYNCHRONIZE DOES NOT SYNCHRONIZE .....................................71
12.3 R OBOT CAN NOT BE JOGGED AFTER HOLDING DURING SYNCHRONIZATION . ....................................72
12.4 O RIGINAL PATH RESUME FEATURE DOESN ’ T WORK EVEN IF IT IS ENABLED .....................................73
13 RECOVERY METHOD WITHOUT MANUAL PROCESS ..................................................74
14 ALARM CODES..........................................................................................................................76
4
No part of this manual may be reproduced in any form.
A
ll specifications and designs are subject to change without notice.

Preliminary Robot Link User’s Manual
1 Introduction
This manual describes the setup and use of Robot Link on R-J3i Model C controllers using
V7.20P/20 or higher software. If your system uses older controller models (R-J3 or R-J3iB) tDo NOT use
this manual. You need to use an earlier version of the Robot Link User’s Manual.
• This software enables several robots to perform synchronous motion between several controllers by
Ethernet network. FANUC R-J3i ModelC robot controller has Ethernet hardware as a basic functionality.
1.1 Overview of Robot Link:
• Robot Link is an inter-controller motion control software package that uses Ethernet to send and receive
motion information BETWEEN master and slave robot controllers. When Robot Link programs execute
(one on the master and one on each slave controller) the slave motion path is executed with respect to
the moving frame associated to the master TCP. The master controller coordinates motion between
mutple robot arms so that heavy workpiece handling, beyond the limit for a single robot’s capacity, is now
available by this function.
• The master controller communicates between controllers by connecting each robot by an Ethernet
(straight cable) through a switching HUB.
The master robot continuously sends motion information to the slave robots. The slave robots follow the
master robot's motion and send ACK to master robot. The master robot, after receiving the ACK from the
slaves, moves to next point and send next motion information. So, when noise or physical damage
Ethernet
(Car Body)
Switching
HUB
5
No part of this manual may be reproduced in any form.
A
ll specifications and designs are subject to change without notice.