OFFSET TRANSFER THROUGH TP USING FANUC I/O LINK

TO CNC(Without Robot PMC)

1. DOCUMENT DETAILS

Document
General
Category
Document
GN-TD04401
Number

2. SUMMARY

Group Details
Supporting
R-30iB, R-30iB Plus
Controller
Software version -
Optional
-
Function
Other Software -
Remark This document provides the details on how to transfer Offset
values to CNC using Teach Pendant customized screens through
FANUC I/O Link Communication without Robot PMC.

3. SOURCE DETAILS

Manual Name -
Manual Number -
Section Number -
Manual Version -
Note No Source Available

Topic Name OFFSET TRANSFER THROUGH TP USING FANUC I/O LINK TO CNC(Without Robot PMC)
Document Version 1.0 FANUC INDIA
Document Number GN-TD04401
Document Category GENERAL Page : 1
 Step 1 – Create customized screen for Robot as shown below. The image shown
below is an example. The design of the page depends on the imagination and
creativity of the programmer/developer. Load the screen to the Robot. Refer GN-
TD04301 iPendant_Customization documentation for more information.

In the above example we have considered CNC with Parameters like “X”,
“Z”, “R” & “T”. “No.” corresponds to the Offset number of the CNC.
“Wear” enables you to select the type of Offset. If it is selected Wear
offset shall be considered. If it is not selected then Geometry offset shall
be considered. Pressing the buttons X, Z, R & T will write the offset value
and pressing the button Read will read the offset value corresponding to
the offset mentioned under the field “No.” respectively.

Topic Name OFFSET TRANSFER THROUGH TP USING FANUC I/O LINK TO CNC(Without Robot PMC)
Document Version 1.0 FANUC INDIA
Document Number GN-TD04401
Document Category GENERAL Page : 2
 Step 2 – We need to configure address for each parameter to display at TP.
 The table shown below gives you sample addressing of Output data of Robot to
CNC.
Robot Robot Robot
Sl.no Size Description
Address(DO) Address(Register) Address(GO)
1 1bit Geometry/Wear 257 - -
2 1bit X input increment 258 - -
3 1bit Z input increment 259 - -
4 1bit R input increment 260 - -
5 1bit T input 261 - -
6 1bit Read all 262 - -
7 1bit Negate sign for X 263 - -
8 1bit Negate sign for Z 264 - -
9 1bit Negate sign for R 265 - -
10 2Byte Offset number for writing 273-288 - 1
11 2Byte Increment data for X 289-304 101 2
12 2Byte Increment data for Z 305-320 102 3
13 2Byte Increment data for R 321-336 103 4
14 1Byte Data for T 337-344 - 5
15 2Byte Offset number for reading 345-360 - 6
 The table shown below gives you sample addressing of Input data of Robot from
CNC.
Robot Robot Robot
Sl.no Size Description
Address(DI) Address(Register) Address(GI)
1 1bit Negate sign for X 257 - -
2 1bit Negate sign for Z 258 - -
3 1bit Negate sign for R 259 - -
4 2Byte X data to read 265-280 104 1
5 2Byte Z data to read 281-296 105 2
6 2Byte R data to read 297-312 106 3
7 1Byte T data to read 313-320 - 4

The highlighted data (in both tables) X, Z & R requires 4 byte, due to
limitation of the system it is reduced to 2 byte data. Hence offset value
transfer shall be subjected to change based on limitation. User need to
consider the limitation before implementing the project.

Topic Name OFFSET TRANSFER THROUGH TP USING FANUC I/O LINK TO CNC(Without Robot PMC)
Document Version 1.0 FANUC INDIA
Document Number GN-TD04401
Document Category GENERAL Page : 3
 (GO1) (DO257) (R101) (DO258) (R102) (DO259) (R103) (DO260) (GO5) (DO261)

(GO6) (DO262) (R104) (R105) (R106) (GI4) Address

assigned in
this example
for displa

 The table shown below gives you the limitation based on the number of decimal
places required for offset value to be transferred from Robot to CNC.
Sl. no No of Decimal Places Maximum Value can be transferred Multiplication/Division Factor
1 3 65.535 1000
2 2 655.35 100
3 1 6553.5 10

For sending Wear offset, the limitations would not be a problem. Since the
wear offset value ranges maximum 1.999 only in general. Considering
Geometry offset and reading offset value the above mentioned table should
be taken into consideration by the user before the implementation of project.

Topic Name OFFSET TRANSFER THROUGH TP USING FANUC I/O LINK TO CNC(Without Robot PMC)
Document Version 1.0 FANUC INDIA
Document Number GN-TD04401
Document Category GENERAL Page : 4
 Step 3 – After the configuration of address in Robot mentioned in previous step.
The corresponding CNC addresses need to be configured and mapped to the
respective offset values. Logic need to be developed in CNC considering following
points
 In this example we have considered three decimal points. Hence the values
are multiplied by 1000 and sent to CNC (decimal values cannot be directly
transferred due to limitations in digital I/O Transmission protocol) from
Robot.
 After receiving the data, the values need to be divided by 1000 and used for
offset calculation by CNC. Similarly the values sent from CNC should be
multiplied by 1000. Robot will divide the values by 1000 and display in the
Teach Pendant.
 Regarding the negative value, one bit shall be separately turned on. That bit
will indicate whether the value transferred should be considered as
negative or positive value.
 In this example DO263, DO264 & DO265 corresponds to the negative sign
indication for X, Z & R write value respectively. Similarly DI257, DI258 &
DI259 corresponds to the negative sign indication for X, Z & R read value
respectively.
Step 4 – After the configuration of address and development of logic mentioned
in previous steps. The BG logic needs to be created in Robot. Refer GN-TD02601
for more information on BG Logic.

Topic Name OFFSET TRANSFER THROUGH TP USING FANUC I/O LINK TO CNC(Without Robot PMC)
Document Version 1.0 FANUC INDIA
Document Number GN-TD04401
Document Category GENERAL Page : 5
 Step 5 – Sample Logic for the above example is as given below:

Sample logic to identify

negative value and
send to CNC

Sample logic to
multiply the value with
‘1000’ and send to CNC

Topic Name OFFSET TRANSFER THROUGH TP USING FANUC I/O LINK TO CNC(Without Robot PMC)
Document Version 1.0 FANUC INDIA
Document Number GN-TD04401
Document Category GENERAL Page : 6
 Sample logic to identify
negative value
received from CNC

Sample logic to divide

the value with ‘1000’
received from CNC

Topic Name OFFSET TRANSFER THROUGH TP USING FANUC I/O LINK TO CNC(Without Robot PMC)
Document Version 1.0 FANUC INDIA
Document Number GN-TD04401
Document Category GENERAL Page : 7
 Step 6 – Now the logic is created as given in previous step in the robot. Keep it in
running condition and mode shall be selected as High in Background Logic.

Now the system is ready to transfer and receive offset data from Robot to CNC.
Both Robot and CNC shall be communicating through FANUC I/O Link
communication to use this procedure. The limitations mentioned in this
document can be overcome if the robot is having Integrated PMC function
(to communicate using I/O Link & customized Screens) or Machine Tool
Easy Setup & Connection function (to communicate using CNC Fast
Ethernet board equipped with Robot Connection Function in CNC).

Topic Name OFFSET TRANSFER THROUGH TP USING FANUC I/O LINK TO CNC(Without Robot PMC)
Document Version 1.0 FANUC INDIA
Document Number GN-TD04401
Document Category GENERAL Page : 8