FANUC Robot Tablet UI Operator's Manual

0BFA N U C Robot
series
TABLET UI
OPERATOR’S MANUAL
1B
A-97606-06956EN/31
R-30
i
B Plus/R-30
i
B Mate Plus/R-30
iB Mini Plus CONTROLLER

•
Original Instructions
Thank you very much for purchasing FANUC Robot.
Before using the Robot, be sure to read the "FANUC Robot series SAFETY HANDBOOK
(B-80687EN)" and understand the content.
• No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.
The products in this manual are controlled based on Japan’s “
Foreign Exchange and
Foreign Trade Law”
. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-
export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.
In this manual, we endeavor to include all pertinent matters.
There are, however, a very
large number of operations that must not or cannot be performed, a
nd if the manual
contained them all, it would be enormous in volume. It is, therefore, requested to assume
that any operations that are not explicitly described as
being possible are "not possible".

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TABLE OF CONTENTS
SAFETY PRECAUTIONS ........................................................................... s-1
1 OVERVIEW ·············································································· 1
1.1 PRECAUTIONS FOR TABLET TP USE ················································ 1
1.1.1 Configurations Supported by Tablet TP ·················································· 1
1.1.2 Options not Available for Tablet TP ······················································ 1
2 CONNECTION ·········································································· 3
2.1 SETUP ··························································································· 3
2.2 TABLET TP APP ·············································································· 3
2.3 CONNECT TO THE CONTROLLER ····················································· 4
2.4 CHECK THE DATE AND TIME ··························································· 6
2.5 WHEN THE SCREEN OF TABLET TP IS NOT DISPLAYED PROPERLY ··· 8
2.6 WHEN THE TABLET TP CANNOT CONNECT TO THE CONTROLLER ··· 11
2.7 EMERGENCY STOP ······································································· 14
2.8 ENABLING DEVICE (DEADMAN SWITCH) ········································· 14
3 TABLET UI ············································································· 15
3.1 STATUS BAR ················································································ 16
3.1.1 Status Bar ·················································································· 16
3.1.2 Menu ························································································ 18
3.1.2.1 Limitation ················································································· 20
3.1.3 Panel ························································································ 20
3.2 PAYLOAD CONFIRMATION OPERATION AFTER POWER ON ············· 21
3.3 MANUAL ROBOT OPERATION ························································ 23
3.3.1 Jog Operation on a Tablet ································································ 23
3.3.2 Manual Handle ············································································ 27
3.3.2.1 Operation ················································································· 30
3.3.2.2 Notice ····················································································· 30
3.3.3 Manual Guided Teach ···································································· 31
3.3.3.1 Operation ················································································· 32
3.3.3.2 Notice ····················································································· 34
3.3.4 Align ························································································ 34
3.3.4.1 Operation ················································································· 35
3.3.5 Recovering from Certain Alarms ························································ 37
3.4 KEY SHEET ·················································································· 38
3.4.1 Jog Operation and Program Execution ················································· 39
3.4.1.1 Jog operation ············································································· 39
3.4.1.2 Program execution ······································································· 40
4 TEACHING ············································································· 41
4.1 CREATE PROGRAM ······································································ 41
4.2 EDIT PROGRAM ············································································ 43
4.3 ICON INSTRUCTIONS ···································································· 54
4.3.1 Linear Motion ············································································· 55
4.3.1.1 Additional Motion Instructions ························································ 56
4.3.2 Joint Motion ··············································································· 57

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4.3.3 Circular ····················································································· 57
4.3.4 Circle Arc ·················································································· 58
4.3.5 Spline ······················································································· 59
4.3.6 Macro ······················································································· 60
4.3.7 Call ·························································································· 61
4.3.8 Wait ························································································· 62
4.3.9 IF ···························································································· 63
4.3.10 FOR ························································································· 64
4.3.11 Jump ························································································ 65
4.3.12 Label ························································································ 65
4.3.13 Output······················································································· 66
4.3.14 Registers ···················································································· 67
4.3.15 Payload ····················································································· 67
4.3.16 Frame ······················································································· 68
4.3.17 Comment ··················································································· 69
4.3.18 Text Code ·················································································· 69
4.3.19 Touch Skip (CRX series only) ··························································· 70
4.3.20 Basic Pick/Place ··········································································· 72
4.3.21 Align ························································································ 73
4.3.22 Palletize····················································································· 76
4.3.23 Extended Palletize ········································································· 77
4.3.24 Open Hand ················································································· 82
4.3.25 Close Hand ················································································· 83
4.3.26 Path Teach ················································································· 84
4.3.27 Basic Arc ··················································································· 86
4.3.28 Basic Weave ··············································································· 87
4.3.29 Weld Point(Linear)········································································ 89
4.3.30 Weld Point(Circle) ········································································ 89
4.3.31 HandleTeach ··············································································· 91
4.3.32 Weld Start(Linear) ········································································ 92
4.3.33 Weld Start(Circle Arc) ··································································· 92
4.3.34 Weld Start(Standalone) ··································································· 93
4.3.35 Weld End(Linear) ········································································· 94
4.3.36 Weld End(Circle Arc) ···································································· 95
4.3.37 Weld End(Standalone) ···································································· 95
4.3.38 Multi-pass Welding ······································································· 97
4.3.39 Simple Search ·············································································· 98
4.3.40 Variable Payload Compensation ························································ 99
4.3.41 Switch to Low Sensitivity (CRX series only) ········································ 100
4.3.42 Pause Contact Stop ······································································· 101
4.3.43 Payload Compensation ·································································· 101
4.4 ROBOT GRAPHICS ······································································ 104
4.4.1 Robot Graphics Menu ··································································· 104
4.4.2 Position Data Node Map ································································ 113
4.5 PROGRAM FILTER FUNCTION ······················································ 114
4.5.1 Register Program Name ································································· 114
4.5.2 Filter Program Name ····································································· 115
4.6 FAVORITES REGISTRATION FUNCTION ········································ 118
4.6.1 Register to Favorites ····································································· 118
4.6.2 Delete and Edit Favorites ······························································· 120
4.6.3 History of Favorites ······································································ 120
4.6.4 Default Favorite Icons ··································································· 121
4.6.5 Update the Favorite Registration Function ············································ 121

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4.7 LIMITATIONS OF TABLET UI EDITOR ············································ 122
5 EXECUTING A PROGRAM·······················································123
5.1 EXECUTING A PROGRAM ···························································· 123
5.2 PRODUCTION SCREEN ······························································· 127
5.2.1 Preparation ················································································ 127
5.2.2 Operation ·················································································· 131
5.2.3 Voice Recognition Test Mode ·························································· 134
6 PLUGIN FUNCTION ································································135
6.1 OVERVIEW OF PLUGIN FUNCTION ··············································· 135
6.2 INSTALL SCREEN OF PLUGIN ······················································ 136
6.3 PLUGIN LIST SCREEN ································································· 138
6.4 LIMITATIONS OF PLUGIN FUNCTION ············································ 140
7 VISION FUNCTION ·································································141
7.1 “FIND” ICON ················································································ 141
7.1.1 Setup Flow ················································································ 142
7.1.2 Adding the “Find” Icon ·································································· 142
7.1.3 Camera Initial Setup ····································································· 144
7.1.4 Detection Setup ··········································································· 151
7.1.5 Snap Position Setup ······································································ 162
7.2 “3-MARKER RUNTIME OFFSET” ICON ············································ 163
7.2.1 Setup Flow ················································································ 164
7.2.2 Selecting and Placing Markers ························································· 164
7.2.3 Adding the “3-Marker Runtime Offset” Icon ········································· 166
7.2.4 “Find Marker” Icon Setup and Teaching ·············································· 168
7.2.4.1 Camera Initial Setup ··································································· 168
7.2.4.2 Detection Setup ········································································ 169
7.2.4.3 Creating the Detection Program ····················································· 170
7.2.4.4 Snap Position Setup ··································································· 171
7.2.5 Output Setup ·············································································· 174
7.2.6 Teaching the Offset Motion ····························································· 175
7.2.7 Troubleshooting ·········································································· 176
7.2.7.1 Insufficient Offset Accuracy ························································· 176
7.2.7.2 When “CVIS-814 The distance between two gaze lines exceeds limit.” is displayed,
it is unclear how much the value of [Distance between gaze lines] should be · 177
7.3 “1-MARKER RUNTIME OFFSET” ICON ············································ 177
7.3.1 Setup Flow ················································································ 178
7.3.2 Placing the Marker ······································································· 179
7.3.3 Adding the “1-Marker Runtime Offset” Icon ········································· 180
7.3.4 Camera Initial Setup ····································································· 181
7.3.5 Detection Setup ··········································································· 181
7.3.6 Snap Position Setup ······································································ 183
7.3.7 Teaching the Offset Motion ····························································· 186
7.3.8 When the Offset Error Is Large ························································· 187
7.4 “SET UFRAME (VISION)” ICON ······················································ 188
7.4.1 Add and set the “Set UFrame (Vision)” Icon ········································· 189
7.5 MOTION COMMAND ICONS WITH VISION OFFSET ························· 190
7.5.1 Linear (Vision) ··········································································· 190
7.5.2 Joint (Vision) ············································································· 193
7.5.3 Pick/Place (Vision)······································································· 196
7.6 EXAMPLES OF TEACHING VISION OFFSET MOTION ······················ 197