ADDITIONAL INFORMATION

Addition for FANUC Robot series R-30iA/R-30iA Mate CONTROLLER

Robot Link OPERATOR’S MANUAL

1.Type of applied technical documents

FANUC Robot series R-30iA/R-30iA Mate CONTROLLER

Name
Robot Link OPERATOR’S MANUAL

Spec.No./Ed. B-82924EN/01

2.Summary of Change

New, Add,
Applicable
Group Name/Outline Correct,
Date
Delete

Basic

Description of Set up for Synchronizing Controlled Stop

Optional
Motion is added. Add Immediately
Function
Description of Limitations on Software is added.

Unit

Maintenance
Parts

Notice

Correction

Another

Title Addition for FANUC Robot series R-30iA/R-30iA Mate CONTROLLER

Robot Link OPERATOR’S MANUAL

Draw B-82924EN/01-1
No.
01 12.08.28 Sugio Initial Release
Ed. Date Design Description Sheet 1/2
Date 12.08.28 Desig. Sugio Check Apprv.
 Please add the following after “4.3.6 Set up acceleration time during synchronous motion”

4.3.7 Set Up for Synchronizing Controlled Stop Motion

Please set system variables by the following procedure in order to synchronize Controlled Stop motion.

(1) Please check the maximum value of $SCR.$HW_C1_TIME on controllers

(2) Please set the checked maximum value to $SCR.$HW_C1_TIME on each controller.
(3) Please check the maximum value of $SCR.$HW_C2_TIME on controllers
(4) Please set the checked maximum value to $SCR.$HW_C2_TIME on each controller.
(5) Please power off/on after system variables is set.

NOTE
When $SCR.$HW_C1_TIME,$SCR.$HW_C2_TIME is changed to larger value,
the coast distance by controlled stop is extended regardless of the motion.

Please add the following before “2.1 LIMITATIONS ON OTHER SOFTWARE OPTIONS”

2.1 LIMITATIONS ON SOFTWARE

When you use this software, software series and version of all controllers must be the same.

Title Addition for FANUC Robot series R-30iA/R-30iA Mate CONTROLLER

Robot Link OPERATOR’S MANUAL

Draw B-82924EN/01-1
No.
01 12.08.28 Sugio Initial Release
Ed. Date Design Description Sheet 2/2
Date 12.08.28 Desig. Sugio Check Apprv.