FANUC

FANUC Robotics Integration - Fast/Easy Integration using CIP & EDA

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Rockwell Automation TechED 2016 @ROKTechED #ROKTechED 1

 CNC | ROBOT | ROBODRILL

Source for Intelligent Automation Solutions

 Core Technology
> 350,000 robots
installed worldwide

> 14.0 million servo

motors installed
worldwide

> Leading supplier of small machining

> 3 million CNCs installed worldwide centers, electric injection molding machines
and wire EDMs
World Wide Support With Over 230 Offices in 45 Countries

We Support your FANUC product for its Entire Production Life

 Aerospace
Diverse Markets
Agriculture Energy
Construction

Furniture

Automotiv
e Wood
Cosmetics Glass
Beverage

Jewelry Food

Paper
Textile
Die Casting
Metal
Fabric

Electronics Medical & Phamaceutical Plastics

 Voice of the Customer
Increasing machine integration complexity …
• More safety functions (area scanners, light curtains, gate switches …)
• Auxiliary motion for Material Handling/Transfer, weld and dispense gun
apps
• Visual inspection systems (Cameras, surface scanning …)

New safety & security requirements being added …

• SIL3, PLd safety networks
• Heightened security and access functionality

Information Technology connection is more important . . .

• Information is being driven throughout the organization
• Traceability is now a standard requirement
• Ethernet being driven to many devices Seamless integration of multiple vendors products to meet
these requirements is a value to our customers!
6
Integrated Cell Architecture
EtherNet/IP
Integrated
Machining Cell
Architecture Provides:

 Simplified Architecture

 Improved Productivity

 Manufacturing Intelligence

 Safety-Integrated Network
 FANUC Robotics and
Rockwell Automation Connectivity
FANUC / Rockwell Automation Integration
FANUC has provided premier integration technologies for Rockwell
Automation products for over 30 years based on common customer and
market requirements.

FANUC’s partnership with Rockwell Automation includes an extensive

collection of technologies and products from low level device I/O
communication to advanced data and display integration that simplify and
enhance the user experience.
FANUC / Rockwell Automation Integration History
FANUC introduced an Allen-Bradley Remote I/O adapter interface back in the
mid 1980s that integrated Allen Bradley hardware directly into the Robot
backplane for tight I/O integration.

FANUC has continued to expand the number of products that tightly integrate
FANUC robots and Rockwell Automation PLCs / HMIs over the past 30 years.

Ethernet/IP Safety
Ethernet/IP Scanner Enhanced Data Access
Allen-Bradley DeviceNet Master Ethernet/IP Adapter PC Remote iPendant
Remote I/O Adapter DeviceNet Slave DeviceNet Safety Remote iPendant

1980 1990 2000 2010 2020

FANUC / Rockwell Automation Integration Timeline

FANUC / Rockwell Automation Integration
FANUC is focused on providing integrated products in 3 major technology areas

Tight HMI Integration

• Provides the same Robot HMI screens on both
the robot teach pendant and the system HMI

Structured Data Collection/Access

• Enables enriched custom HMI screens by
providing most robot data types in a
structured format

Open Standards I/O and Safety Integration

• Provides quick and easy to setup device I/O
connections for both standard and safety
rated I/O between the PLC and Robot
FANUC / Rockwell Automation Integration

HMI
Integration
PC Remote iPendant (RTL-R850)
Remote iPendant (RTL-R843)

Structured Data
Collection/Access
Ethernet/IP Enhanced Data Access
(RTL-R822)

Standard and Safety I/O Communication

Ethernet/IP Adapter Ethernet/IP Scanner Ethernet/IP Safety
(RTL-R784) (RTL-R785) (RTL-R713)

Premiere Integration Based on Customer Demands

 EtherNet/IP Adapter
EtherNet/IP Scanner
CIP Safety
Enhanced Data Access
Internet Connectivity
Remote iPendant
PanelView Plus
Rockwell Automation AOP for
FANUC Robot

Logix Controllers
Standard and Safety I/O Communication
 EtherNet/IP Options
• EtherNet/IP Adapter
– Adapter functionality for communication to PLC or other robots
• EtherNet/IP Scanner
– Scanner functionality for communications to robot controlled devices
• EtherNet/IP Safety (CIP Safety)
– Safety adapter functionality for safety interlocks with PLC without need to
hardwire cell safeties
• Can be used to compliment, or in-lieu of hardwired interlocks
• EDA (Enhanced Data Access)
– Provides an easy way to share variables, registers and other data between the PLC
and robot with an easy setup that is done from the robot Teach Pendant

Full Suite of EtherNet/IP options to fit the

application
 Ethernet/IP Adapter
FANUC’s EtherNet/IP Adapter option allows the robot to
communicate with an Ethernet/IP Scanner – typically a PLC or
another FANUC robot quickly and easily
• Up to 32 connections are supported, allowing multiple scanners (PLC’s) to
communicate simultaneously
• Supports API’s as fast as 8ms
• (2) Ethernet ports on the robot support EtherNet/IP, allowing independent
and isolated networks

Control Logix with Ethernet/IP Scanner

Robot with E/IP Adapter Robot with E/IP Adapter Ethernet/IP IO Block Robot with E/IP Adapter
 Ethernet/IP Scanner
FANUC’s EtherNet/IP Scanner option allows the robot to communicate with
an Ethernet/IP adapters– typically I/O blocks, Valve Packs, Process
Equipment or other FANUC robot quickly and easily
• Up to 32 connections are supported, allowing connection to up to 32 devices
• Supports API’s as fast as 8ms
• Supports Quick Connect for tool changes or other disconnectable devices
• Includes the EtherNet/IP Adapter option
• (2) Ethernet ports on the robot support EtherNet/IP, allowing independent and
isolated networks

Robot with
E/IP Scanner
Robot with E/IP Adapter Ethernet/IP IO Block Ethernet/IP IO Block Robot with E/IP Adapter

With 2 available Ethernet ports, It is possible to

use one port for EtherNet/IP to the PLC, and
the second port for robot controlled devices
 Ethernet/IP Safety
FANUC’s EtherNet/IP Safety option allows the robot to communicate
with an Ethernet/IP Safety Scanner such as Rockwell Automation
GuardLogix
• A single Safety Connection is supported
• Up to 8 bytes of Safety Rated Inputs and Outputs are available
• Supports Category 4 PLe
• Either Ethernet port in the robot can be used
• No additional hardware is required in the robot to support CIP Safety

PLC with Ethernet/IP Safety

Robot with E/IP Safety Robot with E/IP Safety Robot with E/IP Safety Robot with E/IP Safety
 DCS (Dual Check Safety) Architecture
FANUC’s Robots provide for Software Safety in much the same way
GuardLogix from Rockwell Automation, through the use of multiple
CPU’s to provide Cat 4, PLe SIL3 performance for CIP safety inputs as
well as Hardwired signals
• Provides for increased functionality over traditional Safety Interface
Main board

CPU 1
CPU 1 CPU2
CPU 2

Hardwired Signals E-Stop Unit

E-Stop
Fence I/O circuit #1 6 Axes Amplifier
Servo Off
+ I/O circuit #2
SPI’s Robot Mainboard
MCC MCC
Servo Power #1 #2
 CIP Safety
CIP Safety
• Supported on DeviceNet and
EtherNet/IP interfaces Bypass mode is
• Category 4, PL e, SIL 3 safety rating used to disable CIP
Safety during initial
for I/O setup

• Up to 4 words of safety I/O

available, allowing up to Safety I/O Size

64in/64out of Safety I/O Safety PLC is configured to include a

– Exceeds what is possible without Configuration Signature check as part of
connection establishment
network safety
– Capable of complex safety logic and
interlocking that is either not possible,
or cost effective with hardwired
solutions
 Integrated CIP Safety

Non-Integrated Network Safety Interface Integrated Network Safety Interface

Required a 3rd Party Safety I/O Block
• Additional wiring to hardwire robot safety signals
• Limited I/O Size (typically1 or 2 bytes)
• Limited Signal Access
• Could handle only basic safety requirements
• Added Cost and complexity
No need for a 3rd Party I/O Block or Additional Wiring
• Uses the same connection as Non-Safe I/O
• Up to 8 bytes of available I/O
• Extended signal access
• Easily handle advanced safety requirements

Seamless Integration, Improved Flexibility,

Enhanced Performance, Lower Cost
 Safe I/O Connect
The Safe I/O Connect feature provides a means to tie the
CIP-Safety I/O to a particular safety signal in the controller
• Category 4, PL e, SIL 3 Interconnection of CIP Safe
I/O to specific Safety signals in the robot
– i.e. CSO[1] = SSI[6] Robot E-Stop Push Button Pressed
– CIP Safety Output (1) is associated to the robot E-
Stop’s
• Supports up to 64 I/O connect settings
• Supports logical operations such as AND, OR, NOT
• Up to 2 Inputs allowed per Output
– To include 3 or more inputs, use safe internal relay
(SIR)
• 2ms Scan time for Safe I/O Connect
• Can be used in conjunction with hardwired safety circuits
if desired
– Hardwired safety circuits
Why the on E-Stop
need boards
for are
so always
muchactive
available Safety I/O
on a Robot?
 DCS Position/Speed Check
DCS Position and Speed Check allows for increased flexibility and function for both Application
and Design
• DCS monitors the position and/or speed of the robot and shut down motor power when the defined
safety parameters are exceeded
– Cartesian & Joint Position Monitoring
– Cartesian & Joint Speed Monitoring
• Meets Safety Category 3 PLd and the requirements of ANSI/RIA/ISO/EN 10218-1 for safety performance
• Dynamically enable/disable checking based on Safety Inputs

It is the ability to use CIP Safety Inputs to

enable or disable these zones safely that has
improved not only functionality, but also safety

DCS Speed Check DCS Position Check

 CIP Safety Muting
DCS Cartesian Zone used to
protect Operator loading to
robot shared Space. CIP Safety
I/O used to safely Mute zone
• When CSI[11] = OFF
• Robot DCS Zone active
• When CSI[11] = ON
• Robot DCS Zone Muted
Easily handle even the most complex interfaces
with ease by expanding Safety I/O to meet
required functionality
 Safety Signature Aggregation
Many FANUC/Rockwell Automation
Customers require that the individual
safety signatures of ‘Safe’ devices be
tracked and verified within the
manufacturing system to ensure safety
1. EDA
– Using EDA, the robot can send the Safety
signature(s) to the PLC, as either part of an
Implicit or Explicit Connection
2. Traditional Explicit Message
– Signature value can be passed based on a
standard Explicit Message request
3. Standard I/O
– Group Output from the robot to represent
the construct of the current signature
Structured Data Collection/Access

EDA
Enhanced Data Access
 Ethernet/IP Enhanced Data Access
FANUC’s Ethernet/IP Enhanced Data Access option allows users to quickly and easily
communicate non-I/O data between a FANUC robot and a Rockwell Automation
PLC/HMI
The robot creates the necessary UDT data structures and
ladder logic in the PLC to send and receive data based on a
user defined data structure.

Supported data types include:

• Data, Position and String Registers*
• System variables (read access only)
Use Data
• KAREL Variables from Robot
• Current Position in custom
HMI display
PLC Logic and PLC Logic and
Data Structures Data Structures
Exported from Imported into User
Robot Project

* Available with
Explicit Messaging
 Robot-PLC Interface - Overview
FANUC R-30iB Controller Studio 5000
PC w/ Industrial Monitor or
2. Import data file Panel View Plus
into Studio 5000
Software

1. Setup &
Standard setup w/
generate data Factory Talk View

file on the
EtherNet/IP
Robot
Logix

Ladder function
blocks created
automatically

Standard I/O, safe

I/O & data are
setup from same
interface
 Ethernet/IP Enhanced Data Access
Data Configuration Process
• Data setup is done either with the
robot teach pendant, or a text-
based XML file to communicate
data to the PLC (.L5X file)
• Both Implicit and Explicit
Connections are available
• Implicit Connection limited based
on amount of traditional I/O
Assigned
• Explicit Messaging
• Data Structures (including
Comments) are then imported
directly into Studio 5000
 Import into Studio 5000
Import file into Studio 5000
1. Import program generated on Rungs for Implicit
Connection
Robot (.L5X extension)
2. Upon import, data structures Data Structures
and Rungs created automatically Created

Rungs for Explicit

Connection
 Enhanced Data Access (Capabilities)
Useful Information
– Requires RSLogix5000 V20 and higher
– Implicit connection maximum data size:
• 490 bytes of Robot Input data per connection
• 490 bytes of Robot Output data per connection
– Explicit connection maximum data size:
• 464 bytes of Robot Input data per connection
• 496 bytes of Robot Output data per connection
– Number of simultaneous connections per Robot
• 1 Implicit Connection from each PLC Scanner Module (General Profile)
• 4 Implicit Connection from each PLC Scanner Module (FANUC Robot AOP)
• Up to 6 Explicit connections including other manually created Explicit Message
Blocks
 EDA Settings to set correct .L5X file format
• 8.30/P21 and older • 8.30/P22
– .L5X works for generic profile, but needs – User Selects desired configuration so no
editing of .L5X is necessary for Rockwell
to be manually updated support new AOP Automation Import
from Rockwell Automation • Ethernet Module = Generic Interface
• FANUC Robot = New AOP
HMI Integration
 Remote iPendant
FANUC’s Remote iPendant option allows
Remote read/write access to most
iPendant screens from non-PC HMIs
• PanelView Plus 6 Enhanced
• PanelView Plus 7 Performance, Apple
iPad, Android Tablet)* iPendant for HMIs

Provides support to remotely jog the View on iPad / Android

robot from the HMI Tablet

Some iPendant screens are excluded

based on lack of ActiveX controls
• 4D Graphics, Panel Wizard, iRVision
Emulated iPendant Keypad

setup * Requires Brower

support
 PC Remote iPendant
The PC Remote iPendant option allows you to connect a HMI / PC as the
iPendant and jog the robot remotely. The connection is only allowed when the
robot is in Auto Mode. The teach pendant, if disabled, is logically disconnected
from the robot.
Allows remote pendant operations with no limitations:
• View all menus and change settings
• Foreground editing a program
• Change I/O status
• Change register, position registers, string register
• Jogging the Robot
• Running a robot using the FWD/BWD keys
• Changing COORD
• Changing Speed Override
• Clearing DCS alarm
• Applying DCS parameter * Requires Windows
and IE Browser
Flexibility in Implementation
 Scalable Architecture
FANUC products are designed to work
together at the machine level without the
need of PLC
• Many Customers for small installations prefer
not to add the initial complexity of a PLC, and
simply use the FANUC interfaces
– As additional systems are added, and higher level
monitoring is required, they then look to add a PLC
• With EtherNet/IP it is easy to add a PLC to the
system without having to re-engineer the
original system
– Easily add Control
– Easily add or enhance Safety
– Easily add system monitoring
 Automation Fair - 2015
For the Automation
Fair 2015 FANUC
highlighted not only
our proprietary
interfaces, but also
how easy it was to tie
everything together
for additional control,
enhanced safety, and
enterprise level
monitoring
 Automation Fair - 2015
CR-35
PMI EtherNet/IP

FL-NET
ETHERNET/IP ETHERNET/IP
CIP Safety CIP Safety
EDA
SYSTEM HMI

ETHERNET/IP Rockwell Automation

ETHERNET/IP
CIP Safety PLC System
CIP Safety
EDA
EDA

FL-NET WITH SAFETY FL-NET WITH SAFETY

 Integrated Multiple CNC’s & Robots
IT ENET
Network Router

To other Stations

PanelView
Plus

RFID

Model A Dual Model A Dual Model A Dual

I/O Check I/O Check I/O Check
Safety Safety Safety
I/O I/O I/O

IP67 I/O IP20 I/O IP67 I/O IP20 I/O IP67 I/O IP20 I/O
ArmorBlock Flex I/O ArmorBlock Flex I/O ArmorBlock Flex I/O
IP67 I/O
ArmorPoi Safety Safety Safety
nt Component Component Component
s s s

GuardLogix

 One Network for IT, Interlocking,

Safety Guarding,
Distributed I/O, and Safety
Gantry Control,  Ethernet/IP Media is common
Conveyors, Coolant
& Chip System, etc
industrial standard cabling and
connectors
One EtherNet/IP Network Connects Everything … including Safety!
What’s New?
 FANUC Robot Add-On Profile
A FANUC Robot AOP is available that will make
the Fanuc Robot available in the module selection
dialog
 Add on Profile Benefits
The New AOP provides the
following enhancements over
the original generic module
• Support for up to 4 Implicit
connections
• Support for both Safe and Non-
Safe I/O on the same device
– No more requirement for 2
connections and the ramifications
• Up to 8 Logix controllers can be
connected to a robot

• Previous ‘Generic’ Profile required
separate connections for Safe and
non-Safe I/O
– 2 Connections in RS Logix
• Either (2) IP addresses (2 Cards) or
one IP Address and one DNS
Single Connection Benefits
• New AOP for FANUC Robots
requires only 1 connection in
Logix for both safe and non-Safe
I/O

IP:205.55.45.13
IP:205.55.45.13

IP:205.55.45.14

IP:205.55.45.13
DNS: ROBOT
Recent Trends
 Offline Validation
• Users are looking to connect their Rockwell Automation PLC to
their Virtual Robot in ROBOGUIDE to perform some controls
debug before the system is built
• This is possible by enabling Logix

EtherNet/IP within the virtual, and EIP

then connecting the PC to the PLC
network
– Support for
• EIP Adapter Power Users:
• Enhanced Data Access TESLA
– Not Supported Metalsa
• CIP Safety
 EtherNet/IP in ROBOGUIDE
Configuring your Virtual Robot to talk to an Rockwell Automation PLC will
be easy and straight forward
1. Create your Workcell with EIP
2. Setup PC IP Address
3. Enable EIP in virtual robot (Virtual Robot will get IP address from PC)
4. Connect PLC and connect using standard Rockwell Automation Tools Supports EDA, not
just I/O
The Future is NOW
• Integrated Architecture
• Interoperability
• Future Proofed with Open
Standards
• Proven Performance from
Industry Leaders
 Value = Reduce Total Life Cycle Costs
• Highly scalable solution (I/O capacity, Logix capability, communications
options, FANUC controller platforms…)
– Purchase only what you need from our standard product offerings
• Reduce Engineering, Start-up and IT integrations costs
• Reduce Maintenance Costs
• Access to control architecture from anywhere via seamless routing between
networks
• High degree of familiarity, capabilities, quality, etc.
• Global Support & Local Supply
• Reutilization of legacy products – backwards compatible with current FANUC
installed base controls

World Class Companies Working Together

FANUC & Rockwell Automation
We care what YOU think!
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mobile app to tell us how we’re doing.
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Thank you!
Rockwell Automation TechED 2016 @ROKTechED #ROKTechED 52