SYSTEM R-J3 I/O Products
FANUC Robotics America, Inc.
offers a wide range of Input/
Output (I/O) products for the
R-J3 Controller to meet end user
application requirements. The
FANUC Robotics I/O Options
table shown on the last page
outlines the various I/O types
available for integration of the
R-J3 Controller into today's
control systems.
Each of the I/O types shown here
is available for the R-J3 and R-J3iB
Controllers. FANUC Robotics' I/O
link devices (Model A, Model B
and Process I/O) are limited to a
total of 512 inputs and 512
outputs (each analog channel
consumes 16 points of digital I/O
within this area). See last page
for FANUC I/O ordering
information.
Model A I/O
Basic Description
Model A I/O is FANUC Robotics'
rack-mounted I/O system that
consists of a five- or ten-slot I/O
rack, an interface card, and
modular I/O cards. Cards are
available for AC digital I/O, DC
digital I/O (sinking or sourcing)
and Analog I/O. The I/O racks
are daisy-chained together with
an accumulative cable length of
up to 10 meters (which can be
extended with fiber converters).
Five slot Model A I/O Rack
with I/O cards
Features and Benefits
■ Rack mounted plug-in
type I/O card
Fits inside the R-J3 and
R-J3iB controller operator
panels eliminating the need
for a separate I/O interface
cabinet.
■ Quick connect plug-in
type terminal strips
Allows for easy removal
to speed up I/O wiring.
■ Status LEDs on the I/O
Aid in diagnosing I/O
problems during
troubleshooting.
Model B I/O
Basic Description
Model B I/O is FANUC Robotics'
distributed I/O system that
consists of one to four interface
modules and up to 30 basic units
per interface module. A basic
I/O unit consists of 16 inputs,
16 outputs or a mix of eight
inputs and eight outputs. One
expansion unit can be added to
each basic unit to provide up to
32 inputs or 32 outputs per I/O
block. Any combination of up to
four Model A racks and Model B
interface modules can be added
to a robot controller.
Model B I/O Base Unit
Features and Benefits
■ Compact distributed
I/O cards
Fits inside the operator
box or inside a remote
controller's cabinet space.
■ Terminal strips for I/O
wire connection
Provide for secure and
Robotics
reliable wire connections.
■ Remote location of I/O
blocks (up to 100 meters)
Reduces the device
peripheral interface cost
compared to point-to-point
wiring.
Process I/O
Basic Description
Process I/O is supported by the
ArcTool application software. It
supports both digital and analog
signals. The process I/O board is
pre-configured to include the
following I/O types:
■ 40 inputs and 40 outputs
including 18 UOP inputs
and 20 outputs.
■ Eight weld inputs and eight
weld outputs.
■ Dedicated wire stick
detection inputs.
Process I/O PCB
Features and Benefits Features and Benefits Features and Benefits

■ Single I/O Board ■ Single I/O Interface ■ Twisted pair cabling

Minimizes the number of
components to interface with
the welding power supply and
other peripheral equipment.
■ Dedicated I/O Interface
Simplifies the I/O connection
between the robot and the
weld equipment.
■ Weld I/O and Wire
Stick Detection
Provides for cost effective
process for arc welding
applications.
FANUC I/O Link
Connection Unit
Basic Description
The I/O Link Connection Unit is
used to link a FANUC robot to
another FANUC robot or a CNC
machine with I/O Link compatible
FANUC Controller. It eliminates
the need to use physical I/O
modules to interface one FANUC
controller with another. The
schematic shown below displays
the wiring between two robot
controllers using a FANUC I/O
Link Connection Unit.
Hardware
Reduces the cost of an I/O
interface between two
FANUC controllers.
■ FANUC I/O Link Cable
Reduces the wiring cost
compared to point-to-point
wiring.
Allen-Bradley
Remote I/O
(A-B RIO)
Basic Description
The R-J3 Allen-Bradley Remote
I/O (A-B RIO) Interface allows
an R-J3 controller to look like a
slave rack to an Allen-Bradley
PLC over an A-B RIO network.
The A-B RIO Interface card is
connected to the A-B RIO
network with a twisted pair twin
axial cable (i.e. Belden 9463).
Reduces the cost to interface
a robot and PLC versus point-
to-point wiring.
■ Selectable baud rate
Provides the flexibility to optimize
communication performance
for Allen-Bradley PLCs.
■ Mini slot plug-in type PCB
Is compact and easy to install.
Genius Remote I/O
(Interface)
Basic Description
The Genius I/O Interface allows an
R-J3 Controller to look like a GE
Fanuc Genius I/O slave block. The
Genius I/O interface connects to the
GE Fanuc Genius I/O network via a
twisted pair twin axial cable (e.g.
Belden 9463).

Mini Wide slot GE-FANUC GENIUS PCB

Twisted Pair Cable Length Baud Rate

(feet) using Belden 9463 (kbps)
Twisted Pair Cable Length Baud Rate 800 153.6 (std)
2,500 ft 230.4 kbps 1,500 153.6 (ext)
I/O Link Connection Unit 5,000 ft 115.2 kbps 2,500 76.8
10,000 ft 57.6 kbps 3,500 38.4

Mini slot A-B Remote I/O PCB

Features and Benefits
■ Twisted Pair Cabling
I/O Link Connection Unit Wiring Schematic
Reduces the cost to interface a
Robot #1 24V DC 24V DC Robot #2
robot and PLC versus point-to-
JD1A1 Power Power JD1A2 point wiring.
FANUC I/O Link Cable (up to 10M) ■ Selectable Baud Rate
CP1 CP2 Provides the flexibility to optimize
FANUC I/O Link communication performance for
Connection Unit
JD1A1 JD1A2 GE Fanuc Genius PLCs.
DI DO
DO DI ■ Mini Wide Plug-in Type PCB
Is compact and easy to install.
DeviceNet
Interface
Basic Description
FANUC Robotics' DeviceNet
Interface enables the R-J3
Controller to communicate with
external equipment over a
DeviceNet network. It provides
a simple method to connect
FANUC robots to DeviceNet
compatible actuators, sensors
and external controllers. Both
master (scanner) and slave
(adapter) modes are supported in
Full and Mini Wide slot versions
of this interface.
Mini Wide slots DeviceNet PCB
Features and Benefits
■ Reduces the I/O interface
Complies with DeviceNet
Cabling Standards
Reduces the I/O interface
cost compared to point-to-
point digital I/O wiring.
■ Selectable Baud Rate
(125, 250 and 500 kbps)
Allows user to optimize
network performance.
■ Full slot version can
interface to as many as
four DeviceNet networks
Allows users to handle PLC
communication and local
devices on separate networks
to improve critical process
controllers’ performance.
ControlNet Profibus-DP
Interface Interface
Basic Description Basic Description
FANUC Robotics' ControlNet FANUC Robotics' Profibus
(CN) Interface enables the R-J3 interface allows the R-J3
Controller to communicate with Controller to look like a slave
external equipment over a CN rack of inputs and outputs to a
network. It provides a simple PLC over a Profibus-DP network.
method to connect FANUC robots
to CN compatible actuators,
sensors and external controllers.
Both master (scanner) and slave
(adapter) modes are supported
in Full and Mini Wide Slot
versions of this interface.
Mini slot Profibus PCB
Features and Benefits
■ Profibus shielded
twisted pair cabling
Reduces I/O interface cost
Mini Wide slot ControlNet PCB compared to point-to-point
digital I/O wiring.
Features and Benefits
■ Selectable baud rate
■ Coaxial Cable Connection (up to 12 Mbps)
Allows users to optimize
cost compared to point-to- network performance.
point digital I/O wiring.
■ Faster Communication
(5 Mbps)
Provides deterministic high-
speed connection to PLCs
and I/O devices over a single
network cable.
■ Easy programming via
non-isolated Network
Access Port (NAP)
Allows for laptop connections
and easy programming using
the supplied ControlNet I/O
configuration tool.
FANUC I/O Ordering Model A I/O Ordering Information:
Information: Module ID Description Part Number
I/O Type Hardware Type I/O OptionName ABU05A Model A 5-slot Rack A03B-0807-C002
(Ordering Number) ABU10A Model A 10-slot Rack A03B-0807-C001
Modular Rack Mounted I/O MODEL A AIF01A Model A Interface Module A03B-0807-C011
(256 in, 256 out (See Model A I/O Table) Model A I/O Link Cable A05B-2400-J101
per I/O Rack) AID32B1 24VDC x 32 Digital Input, Non-Isolated Dual Polarity, 2mS, Conn. A05B-2300-J401
Distributed I/O MODEL B AID16C 24VDC x 16 Digital Input, Isolated True Low, 20mS, Term., LED A05B-2300-J402
(224 in, 256 out (See Model B I/O Table) AID16D 24VDC x 16 Digital Input, Isolated True High, 20mS, Term., LED A05B-2300-J403
per Interface
AID32F1 24VDC x 32 Digital Input, Isolated Dual Polarity, 2mS, Conn. A05B-2300-J406
Module
AIA16G 100-115VAC x 16, Digital Input, Terminal Dual Polarity, A05B-2300-J408
Fixed PCB in Op Box PROCESS I/O - EA
ON 30mS/OFF 45mS, LED
(40 in, 40 out per (GBJ3-PIO-EA)
PCB) AOD32A1 5-24VDC x 32 Digital Output, Term., Non-Isolated, Sink, 2A, LED A05B-2300-J430
PCB in Op Box I/O Link Connection Unit AOD16C 12-24VDC x 16 Digital Output, Term., Isolated, Sink, 0.5A, LED A05B-2300-J433
(256 in, 256 out (GBJ3-IOCN-UNIT) AOD16D 12-24VDC x 16 Digital Output, Term., Isolated, Source,0.5A, LED A05B-2300-J434
per PCB) AOD32C1 12-24VDC x 32 Digital Output, Conn., Isolated, Sink, 0.3A A05B-2300-J435
Remote Plug-in Type Allen-Bradley RIO AOD32D1 12-24VDC x 32 Digital Output, Conn., Isolated, Source, 0.3A A05B-2300-J436
(PLC I/O) Mini PCB (GBJ3-ABRIO-MINI)
AOA05E 100-230VAC x 5 Digital Output, Terminal, 2A, LED A05B-2300-J438
(128 in, 128 out)
AOA08E 100-230VAC x 8, Digital Output, Terminal, 1A, LED A05B-2300-J439
Plug-in Type Genius I/O
Mini Wide PCB (GBJ3-GENI-WIDE) AOA12F 100-115VAC x 12, Digital Output, Terminal, 0.5A, LED A05B-2300-J440
(128 in, 128 out) AOR08G 250VAC/30VDC x 8 Digital Relay Output, 4.0A, Term., LED A05B-2300-J441
Open Plug-in Type DeviceNet AOR16G 250VAC/30VDC x 16 Digital Relay Output, 4.0A, Term., LED A05B-2300-J442
Network Mini Wide PCB (GBJ3-DNET-WIDE) AOR16H2 30VDC x 16 Digital Relay Output, 2.0A, Connector, LED A05B-2300-J443
(2 ch) AAD04A 4-Channel Analog Input, -10V - +10VDC/-20mA - +20mA, 12 Bits A05B-2300-J460
(1024 in, Full Slot PCB on DeviceNet ADA02A 2-Chan. Analog Output, -10V - +10VDC/-20mA - +20mA, 12 Bits A05B-2300-J470
1024 out) CPU Back Plane (GBJ3-DNET-FULL)
Model A I/O Connection Manual MARMGIOMA12801E
(4 ch max)
Plug-in Type Profibus DP
Mini PCB (GBJ3-PBUS-MINI)
Plug-in Type ControlNet Model B I/O Ordering Information:
Mini Wide PCB (GBJ3-CNET-WIDE)
Module ID Description Part Number
Full Slot PCB on ControlNet
CPU Back Plane (GBJ3-CNET-FULL) DIN Rail - Order one per Model B I/O unit for mounting A05B-2350-J350
Ethernet Ethernet (EGD)
Ethernet Ethernet/IP (EIP) Adapter I/O Link Cable - Select one from the following:
I/O Link Cable for A-size or Remote A-size cabinet A05B-2400-J060
I/O Link Cable for B-size Cabinet A05B-2401-J053

Ethernet Global Data (EGD) Interface Unit - Select one to four Model B Interface units per robot:
BIF04A1 Model B I/O Interface Module (for A-size, Remote A-size cabinets) A05B-2400-J005
Ethernet Global Data (EGD) allows BIF04A1 Model B I/O Interface Module (for B-size cabinet) A05B-2401-J002
exchange of I/O over Ethernet to
other devices, such as robots and Base I/O Units - Select up to 30 of the following modules per Model B I/O Interface unit:
BMD88A1 Model B Base I/O Module 8 in(7.5mA)/8 out(0.6A), 24 VDC, pos A05B-2350-J310
the GE Fanuc 90/30 PLC, which BID16A1 Model B Base Input Module 16 input, 24 VDC, 7.5 mA, pos A05B-2350-J311
support the EGD protocol. EGD BOD16A1 Model B Base Output Module 16 input, 24 VDC., 0.6 A, pos A05B-2350-J312
BOA12A1 Model B Base Output Module 12 output, 100-230 VAC, 0.3A A05B-2350-J313
uses UDP/IP and is based on a
Client-Server model. EGD can be Expansion Units - Select up to one of the following modules for each Base I/O unit:
configured to exchange up to the BMD88P1 Model B I/O Exp Mod 8 in(7.5mA)/ 8out(0.6A), 24 VDC, pos A05B-2350-J330
BID16P1 Model B Input Expansion Module 16 input, 24 VDC, 7.5 mA, pos A05B-2350-J331
full amount of I/O supported on the BOD16P1 Model B Output Expansion Module 16 output, 24 VDC., 0.6 A, pos A05B-2350-J332
robot. The robot can have up to BIA16P1 Model B Input Expansion Module 16 input, 110 VAC A05B-2350-J333
eight independent connections to Model B I/O Connection Manual MARFIOUMB04701E

other EGD devices. NOTE:

1 Logic Power for the Interface Unit and Base Unit must be supplied from the R-J3 Controller.
2 Oki Electric Cable #2x20/0.18A PEF40X-SVK or equivalent twisted pair communication cable is
Ethernet/IP recommended for connection between base I/O modules and Model B Interface modules.
The EtherNet/IP Adapter interface 3 ”pos” in table above means positive logic: for inputs, this is current “sink” type
and for outputs this is current “source” type.
supports an I/O exchange with
other EtherNet/IP enabled devices,
such as a Rockwell Contol-Logix
PLC, over an Ethernet network.
The EtherNet/IP specification is
managed by the Open DeviceNet FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada
3900 W. Hamlin Road (704) 596-5121 (905) 812-2300
Vendors Association (www.odva.org). Rochester Hills, MI 48309-3253
The robot can act as an adapter, (248) 377-7000 Chicago, IL Montréal, Canada
accepting a connection from a Fax (248) 276-4133 (847) 898-6000 (450) 492-9001
remote scanner, and can be For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico
configured to exchange up to the 1-800-47-ROBOT (513) 754-2400 52 (449) 910-8000
full amount of I/O supported on
Los Angeles, CA Sao Paulo, Brazil
the robot. (949) 595-2700 (55) (11) 3619-0599

marketing@fanucrobotics.com Toledo, OH
www.fanucrobotics.com (419) 866-0788
©2003 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-12/03