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A N UC ROBOT I CS S Y S T EM R 30 A C O NT R OL L E R US ES A D
VA N CED T ECHN OL OG Y P A CKA G ED I N A P ROVEN , REL I A BL
E
A N D EFFI CI EN T D ES I G N . P ROCES S CA P A BI L I T Y A N
D OP EN A RCHI T ECT URE FEA T URES P ROVI D E I N T EL L I G EN
CE
T O I M P ROVE A P P L I CA T I ON A N D M OT I ON P ERFORM A N
CE WHI L E S I M P L I FY I N G S Y S T EM I N T EG RA T I ON . T
HE R 3 0 A
CON T ROL L ER I N CORP ORA T ES FA NUC ROBOT I CS UN I Q UE P L
UG I N OP T I ON S CON CEP T , WHI CH G I V ES FL EXI B I L I T Y
FOR
A P P L I CA T I ON S P ECI F I C CON FI G URA T I ON S WHI L E
M A I N T A I N I N G A COM M ON A L I T Y FOR A L L US ERS OF T HE
S Y S T EM .
F E A T U R E S A N D B E N E F I T S
DVANCED COMMUNICATION R-3
Simple down- and upload of robot programs to server Built-in
Ethernet 100 BaseTX) FANUC I/O-link Master) E-mail function as an
option Fieldbus option)
PROFIBU DEVICENET CCLINK
ADVANCED I O FEATURES
Input / Output (I/O) are electrical signals through which the
robot cancontrol grippers an other external tools. It is also nee e
or thecommunication with external machines (e.g. CNC machines)
which therobot may load or unload. Available types of I/O DI/DO
digital)
RI/RO at the robot arm digital) GI/GO (grouped digital I/O)
UI/UO (digital I/O for remote control by external PLC) AI/AO
(analog I/O) WI/WO (arc welding I/O)
SI/SO (standard operation panel interface) I/O setup can be
separately backed up and restored using PCMCIA
memory card or USB 1)
FFICIENT COOLING SYSTEM WITH SEPARATED AIR CIRCUIT
Cooling by external air for maximum efficiency ear to rear air
ow, saving oor space an possibility to have many
controllers si e by si e All components are IP 54 sealed, hence
no filters necessary reduced
maintenance and cost reduction). Fully sealed internal air
circuit No external air coming into the component side No ust can
enter the controller an cause short circuits ans on the controller
oor an in the controller rack ensure optimum
cooling o all components
HE R 0 A CONTROLLER OFFERS ENHANCED VIBRATION CONTROL. THIS
GREATLY REDUCES THE ROBOTS ACCELERATION AND DECELERATION TIMES
LEADING TO
EDUCED CYCLE TIMES. THE CONTROLLER PROVIDES AN INTEGRATED 2D
VISION SYSTEM TO SPEEDUP THE INSTALLATION OF VISION APPLICATIONS,
THIS CAN BE
ASILY UPGRADED TO PROVIDE A D VISION SYSTEM.
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82F E A T U R E S A N D B E N E F I T S
XTENDED AXES CONTROL R3 i
The controller can manage up to 4 axes 1 that are using FANU
motors(divided in up to 5 groups; one group can control up to 9
axes), such as: 4 robot arms + 4 auxiliary axes groups arc welding
positioners, robot rails, servo hands,
grippers... )
HERE ARE THREE TYPES OF MOTION CONTROL AVAILABLE:
Extended auxiliary axes: for robot rails and simple tools
grippers Nobot: or servo riven tools an other intelligent
peripherals ositioner: or arc wel ing positioners, with coor inate
motion between
robot an positioner.
L L W IN PTI N AR E AVAIL AB LE A
XTEN I N F THI FEAT RE:
Aux Axis servo off: for safety design of manual in out-feed
stations orque limit: in or er to control the gripping orce o servo
grippers Servo hand change function: This allows the changing and
disconnecting
o servo han s an tools ontinuous turn: for tools and positioners
needing endless rotation Multi-motion or multiple groups
Multi-robot control (dual / multiple arm) for more than one
robot
A T TART P
- i controller needs less than 1 minute to start and even less
with thebasic software only).In case o power ailure: Robot program
restarts much quicker than with any PC-based program
(non-Windows operating system) he resume hotstart unction allows
restarting sa ely an continuing
pro uction a ter power ailure: no nee to re- o the whole
movement. Unique resume tolerance check: in case of any program
interruption,
the robot automatically memorises its position before failure.
When theprogram continues, it checks whether the robot has been
moved outsideo a preset tolerance. his avoi s unexpecte movements
an collisions.
Increased up-time (robot availability)
INTEGRATED INTELLIGENT VISION SOLUTION i RVISION
The controller provides integrated D vision to speed-up the
installation ofvision applications, which can easily be upgra e to:
2D VISION SHIFT D VI UAL LINE TRA KIN DL VISION 3DL VISION BIN
PICKINGSee chapter RVision)
MINIMAL MAINTENANCE REQUIREMENTS
ontroller size allows quick access to all components Minimal
number of components No air-filters Emergency stop and I/O
connections facilitate fast component change
Special quick-change design for the 6-axes servo amplifier All
cables attached have connectors, thus allowing an easy change
Quick exchange frame for the amplifier fixed with only 2 bolts
ll components can be change without special tools
Low MTTR (Mean Time To Repair) emote iagnostics eatures
P WERF L PR RAMMIN F N TI N
he controller runs with FANU operating system, which brings
strongdvantages:
Virus-free not PC based) High ata security in case o power loss
Quick start-up of basic software asy to use
he controller o ers various programming possibilities: TPE
(Teach pendant editor) which is the standard way of programming
Advanced offline programming options such as R B UIDE
See chapter ROBOGUIDE) Integrated PMC optional) L optional)See
chapter Software Options)
is a block style interpreter language: allows ast an cost-e
cientprogramming. Possibility to record up to 11 positions with
basic memory
configuration ne key stroke on the teach pendant records one
complete operation of
the robot Standard operations e.g. motion, arc start, arc end,
logic...) can be
selecte an a apte to the application very easily motion inclu
es:
Joint, linear an circular motions Remote T P, coordinated motion
and other functions in option
SAFETY CLASS 4
Safety Class 4 (EN 954-1) is offered with Dual Check Safety.
DCS consists of 2 I/O security channels running on 2
independentprocessors which mutually check each other. Dual heck
afety is the
embedded safety conformed to European safety standards. Two
processorsmonitor real position and velocity of servo motor for
safety redundantly. Theembe e sa ety provi es conormance to the
saety stan ar s without anyacri ce on machine e ciency an cost.
ual heck afety in the robot has the following features: channel
safety inputs for FEN E, Emergency top, ervo ff channel safety
output for Emergency top Same safety inputs and outputs as R-J B
and R-J afely cuts the servo motor power using magnetic contactors
Safety classification according to EN 954-1 risk assessment class
4
highest level as needed for manual press loading)
SERVO MONITORING OVERLOAD, OVERHEAT
ND LLI I N DETE TI N
ontinuous monitoring of the motor current by the servo control
forenhance pre ictive maintenance verheat monitoring: the power
dissipation and capacity of each motor
is continuously monitored, as well as the robot duty cycle. In
case ofoverheat, an alarm is issued and stops the robot.
Collision detection disturbance torque monitoring): the
differencebetween real and expected motor current is monitored.
Collisions andelectrical mechanical problems to the robot can be
detected quicklybe ore serious amages occur. isturbance excess
alarm warns theoperator while the collision alarm stops the robot.
ollision events arerecor e to allow urther analysis.
Overload monitoring OVC): the commanded torque is monitored
andoverload detected when the value gets too big.
Position monitoring: the following error of the servo control
isconstantly monitore . It triggers move error excess an stop error
excessalarms.
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(10)
5
00
1257612
100
50
360
60
(37)
470
(31)100
110
62
600
740
1100
550
200
83F E A T U R E S A N D B E N E F I T S
VIBRATION CONTROL
Thanks to enhanced hardware and software capacities, the
R-controller offers much better robot vibration control. This
greatly reducesthe robots acceleration and deceleration times,
leading to reduced cycletimes.
WIDE RANGE OF CONNECTIONS (USB ), PCMCIA INTERFACE...)
The R- i controller has an U B interface in the front panel and
aPCMCIA interface inside of the control cabinet
2 serial interface connections (RS232C, RS422) available Printer
onnect
Data Transfer option) Sensor interface option) CRT keyboard
option)
User speci c ata trans er using L optionhis allows ast an
economical back-ups an restore o ata an
.
he FANUCi en ant is an intelligent teach pen ant an is available
astandard (except for PaintTool). Touch screen is available as
option.
Access via Ethernet to web sites Pendant view status of
peripheral equipment and other robots html web
server pages when available)
Coloured, multi-windows display Customizable screen
asier work with the robot, enhance pro uctivity.
B (normal) and A (small) cabinets available
External dimensions (A-cabinet)
all models approx. 120 kg, except M-410 iB approx. 140 kg
External dimensions (B-cabinet)
all models approx. 180 kg, except M-900iA, M410iB, R-2000iB/200T
approx. 200 kg
R-30iA Controller R-30iA Controller
