FANUC Robotics SYSTEM R-J3 Controller HandlingTool Setup and Operations Manual MARO3HA5208901E REV.A Version 5.20 ‘This publication contains proprictary information of FANUC Robotics North America, Inc. furnished for customer use only. No other uses are authorized without the express written permission of FANUC Robotics ‘North America, Inc, FANUC Robotics North America, Inc. 3900 W. Hamlin Adams Road Rochester Hills, Michigan 48309-3253,‘The description and specifications contained in this manual were in effect at the time this manual was approved for printing. FANUC Robotics North America, Inc, hereinafter referred to as FANUC Robotics, reserves the right to discontinue models at any time or to change specifications or design without notice and without incurring obligations. FANUC Robotics manuals present descriptions, specifications, drawings, schematics, bills of material, parts, connections and/or procedures for installing, disassembling, connecting, operating and programming FANUC Robotics” products and/or systems. Such systems consist of robots, extended axes, robot controllers, application software, the KAREL® programming language, INSIGHT® vision equipment, and special tools. FANUC Robotics recommends that only persons who have been trained in one or more approved FANUC Robotics Training Course(s) be permitted to install, operate, use, perform procedures on, repair, and/or maintain FANUC Robotics’ products and/or systems and their respective ‘components. Approved training necessitates that the courses selected be relevant to the type of system installed and application performed at the ‘customer site, A warning This equipment generates, uses, and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual, may cause Interference to radio communications. As temporarily permitted by regulation, it has not been tested for ‘compliance with the limits for Clase A computing devices pursuant to subpart J of Part 15 of FCC Rules, which are designed to provide reasonable protection against such interference. Operation of the equipment in a residential area Is likely to cause interference, in which case the user, at his own expense, will be required to take whatever measure may be required to correct the Interference. FANUC Robotics conducts courses on its systems and products on a regularly scheduled basis at its headquarters in Rochester Hills, Michigan. For additional information contact, FANUC Robotics North America, Inc. ‘Training and Documentation Department 3900 W Hamlin Road Rochester Hills, Michigan 48309-3253 Tel: (248) 377-7234 FAX: (248)377-7367 or (248) 377-7362Copyright ©1999 by FANUC Robotics North America, Inc. AML Rights Reserved ‘The information illustrated or contained herein is not to be reproduced, copied, translated into another language, or transmitted in whole or in part in any way without the prior written consent of FANUC Robotics North America, Inc. AccuStat®, ArcTool®, DispenseTool®, FANUC LASER DRILL®, KAREL®, INSIGHTS, INSIGHT I1®, _PainfTool®, PAINTWorks®, PallefTool®, Sockets®, Soft Parts® SpotTool®, TorchMate®, and YAGTool® | are Registered ‘Trademarks of FANUC Robotics. FANUC Robotics reserves all proprictary rights, including but not limited to trademark and trade name rights, in the following names: AccuFlow®> ‘Are Mate® ‘Arc Mate S.® IntelliTrak® LaserTool® ‘MotionParts® Paint Works 1 PalletMate® ‘SureWeld™ ‘TurboMove®‘One or more of the following U.S. patents might be related to the FANUC Robotics products described in this 4,348,623, 4,359,815 4,366,423, 4374349 4,396,973 4,396,975 4,396,987 4,406,576 4,415,965 4,416,577 4,430,923 4,431,366 4,458,188 4,462,748 4,465,424 4,466,769 4,475,160 4,479,673 4,479,754 4,481,568 4,482,289 4,482,968, 4,484,855 4,488,242 4,488,746 4,489,821 4,492,301 4,495,453, 4,502,830 4,504,771 4,530,062 4,530,636 4,538,639 4,540,212 4,542,471 4,543,639 4,544,971 “ANUC Robotics 4,549,276 4,549,846 4,552,506, 4,554,497 4,556,361 4,557,660 4,562,551 4,575,666 4,576,537 4,591,944 4,603,286 4,626,756 4,628,778 4,630,567 4,637,773 4,638,143, 4,639,878 4,647,753 4,647,827 4,650,952 4,652,203 4,653,975 4,659,279 4,659,280 4,663,730 4,672,287 4,679,297 4,680,518 4,697,979 4,698,777 4,700,118 4,700,314 4,701,686 4,702,665 4,706,000 4,706,001 4,706,003 4,707,647 4,708,175, 4,708,580 4,712,972 4,723,207 4,727,303 4,728,247 4,728,872 4,732,526 4,742,207 4,742,611 4,750,858 4,753,128 4,754,392 4,771,222 4,773,523 4,773,813 4,774,674 4,775,787 4,776,247 4,777,783 4,780,045 4,780,703 4,782,713 4,785,155 4,796,005 4,805,477 4,807,486 4,812,836 4,813,844 4,815,011 4,815,190 4,816,728 4,816,733 4,816,734 4,827,203 4,827,782 4,828,094 4,829,454 4,829,840 4,831,235 4,835,362 4,836,048 4,837,487 4,842,474 4,851,754 4,852,024 4,852,114 4,855,657 4,857,700 4,859,139 4,859,845 4,866,238 4,873,476 4,871,973 4,892,457 4,892,992 4,894,594, 4,894,596 4,894,908 4,899,095 4,902,362 4,903,539 4,904,911 4,904,915 4,906,121 4,906,814 4,907,467 4,908,559 4,908,734 4,908,738 4,916,375. 4,916,636 4,920,248 4,922,436 4,931,617 4,931,711 4,934,504 4,942,539 4,943,759 4,953,992 4,956,594 4,956,765 4,965,500 4,967,125 4,969,109 4,969,722 Issued United States Patents 4,969,795 4,970,370 4,970,448 4,972,080 4,972,735 4,973,895 4,974,229 4,975,920 4,979,127 4,979,128 4,984,175 4,984,745 4,988,934 4,990,729 5,004,968 5,006,035 5,008,832 5,008,834 $012,173, 5,013,988 5,034,618 5,051,676 5,055,754 5,057,756 5,057,995 5,060,533 5,063,281, 5,063,295 5,065,337 5,066,847 5,066,902 5,075,534 5,085,619 5,093,552 5,094,311 5,099,707 5,105,136 5,107,716 5,111,019 5,111,709 5,115,690ee “SDLLOGOU INN OL MOVE bectece teste) SLYVd ANY ONIddIHS JHOIFE «SLUVd, WOU (.VH,) NOLLVZIBOHLAY NUNLIY VW NIVLEO 3SV3 1d *3LON» (Payer: ‘suopio eoyes eoueueyurew fo nop. souls fami mans Os A ‘5909 su Aus) sede 10) uoseoe © casi esoeesur ue Ay (erqeoudde ») sherds ‘sesseuppe Bumiq 9 Burddiys qwewhed 10 POYIP S ——gyepuo axemyos pure ‘sjogo! 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Manual you want to Refer to Find information about a specific topic ‘Table of Contents, Glossary, or index Review a brief Ist of steps for using HandlingToo! HandlingToo! Setup and Operations Quick Reference Refer to a teach pendant key ‘Teach Pendant Keys. Find an Rem on a menu Menu Maps. Review the characteristics of the HandlingTool system ‘Chapter 1, Overview ‘Tum on, tum off, and Jog the robot ‘Chapter 2, Turning On and Jogging the Robot ‘Set up other information required to use the HandingToo! system ‘Chapter 3, General Setup Chapter 5, System Configuration Setup ‘Set up inputs and outputs (Chapter 4, InpulOutput (VO) Setup Plan, create, and modify an application program ‘Chapter 6, Planning and Creating a Program ‘Look up detalled information about a spectic program instuction | ‘Chapter 7, Program Elements ‘Test a program, pause and restart a program, run a program, run ‘Production, and make adjustments during program operation ‘Chapter 8, Testing a Program and Running Production ‘View status information on teach pendant screens and using other indicators ‘Chapter 9, Status Displays and indioators Copy, rename, delete, load, and transfer fies ‘Chapter 10, Program and File Manipulation (Use program base shit, and other advanced programming functions. (Chapter 11, Advanced Functions: ‘Use the Auto TGP function ‘Chapter 12, Automatic Tool Center Point ‘Use the AcouGal function ‘Chapter 13, AccuCal ‘Uso the Material Handling Shell option ‘Chapter 14, Material Handling Shell (option) ‘Use the FANUG Sensor Intertace ‘Chapter 15, FANUC Sensor Interface Use the Lead Thru Teach function ‘Chapter 16, Load Thru Teach Use error messages and recovery procedures to solve problems “Appendix A, Eror Codes and Recovery Use the optional CRT/KB “Appendix B, CAT/KB Setup and Operation Use diagnostic and controller ntaltzation utities Appendix C, Startup Methods, BMON, and ‘Configuration Menu OperationsPREFACE MAROSHASDOS9O1E ttyou want to Reterto Review example programs “Appendix D, Program Examples Use mastering procedures to master robot ‘Appendix E, Mastering Conventions Used in ‘this Manual ‘This manual includes information essential to the safety of personnel, equipment, software, and data. This information is indicated by headings and boxes in the text. A warnine Information appearing under WARNING concerns the protection of personnel. It is boxed and in bold type to set it apart from other text. Acauion Information appearing under GAUTION concems the protection of equipment, software, and data. It is boxed to set apart from other text. NOTE Information appearing next to NOTE concems related information or useful hints.