Integration Guide For The Fanuc (S-CUBE) Base Handling Application V4.00 Rev C

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Integration Guide for the Fanuc (S-CUBE) Base Handling Application V4.00 rev C.doc rev C
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CONTENTS
I. INTEGRATION PROCESS......................................................................................................................................... 4
II. CONFIGURATION ...................................................................................................................................................... 5
II.1. WIRING DIAGRAM (API HANDLING) ....................................................................................................................... 5
II.2. CHECKING OF ROBOT + CONTROLLER CALIBRATION............................................................................................... 6
II.2.a. Robot & controller identification: .................................................................................................................... 6
II.2.b. Calibration check: ............................................................................................................................................ 6
II.3. APPLICATION CHECK .............................................................................................................................................. 7
II.3.a. Identification of the application version: .......................................................................................................... 7
II.3.b. Check for the right software configuration:...................................................................................................... 7
II.4. SETTING THE OPERATING LANGUAGE ..................................................................................................................... 7
II.5. HANDLING AND ENVIRONMENT SETUP ................................................................................................................... 8
II.6. IP NETWORK SETUP AND ROBOT IDENTIFICATION ................................................................................................... 8
II.6.a. OSCAR setup..................................................................................................................................................... 8
II.6.b. Robot identification......................................................................................................................................... 12
III. MANUAL DRIVE AND OPERATIONAL ASSISTANCE SCREEN .................................................................... 13
III.1. BASE HANDLING SCREEN ...................................................................................................................................... 13
III.2. VISUALIZATION OF ORDERS – EVENTS .................................................................................................................. 13
III.3. VISUALIZATION – DRIVING THE SEQUENCES ......................................................................................................... 14
IV. TEACH PROGRAMMING ....................................................................................................................................... 16
IV.1. MOVEMENT PROGRAM (AUTO_SEC.TP) ............................................................................................................ 16
IV.1.a. Example...................................................................................................................................................... 16
IV.1.b. Switching .................................................................................................................................................... 18
IV.2. THE PARK AND LAUNCH TRAJECTORIES: ............................................................................................................... 19
IV.2.a. T_REPLI.TP:.............................................................................................................................................. 19
IV.2.b. T_LANCE.TP trajectory ............................................................................................................................. 20
IV.3. WORK TRAJECTORIES ........................................................................................................................................... 20
IV.4. GROUP MASK SETUP ............................................................................................................................................. 21
IV.5. WORK FRAMES ..................................................................................................................................................... 21
IV.6. PAYLOAD IDENTIFICATION PROCEDURE................................................................................................................ 21
IV.6.a. Prerequisites .............................................................................................................................................. 21
IV.6.b. Payload selection and comment ................................................................................................................. 21
IV.6.c. Setup ........................................................................................................................................................... 22
IV.6.d. Accessibility ............................................................................................................................................... 23
IV.6.e. Calculation of the payload ......................................................................................................................... 23
IV.6.f. Recording the values ....................................................................................................................................... 24
IV.7. PROGRAMMING BASIC "ROUTINE" ACTIONS .......................................................................................................... 25
IV.7.a. Programming principal for a "routine" action: ......................................................................................... 25
IV.7.b. API orders and events’ “Routines”............................................................................................................ 26
IV.7.c. "Routine" action TOOL orders and events................................................................................................. 27
IV.7.d. "Routine" for dynamical control of API and TOOL events ........................................................................ 28
IV.7.e. Integrator messages ................................................................................................................................... 28
IV.8. OPTIONAL FUNCTION "ADJUSTMENT VECTOR" ..................................................................................................... 29
IV.8.a. The "adjustment vector" function ............................................................................................................... 29
IV.8.b. Visualization and parameter screens ......................................................................................................... 29
IV.8.c. Programming of dedicated routines ........................................................................................................... 31
IV.8.d. Inputs/outputs dedicated to the adjustment function .................................................................................. 33
V. OPERATING PROCEDURES .................................................................................................................................. 34
V.1. MOVE TO PARK POSITION ..................................................................................................................................... 34
V.2. PRODUCTION LAUNCH .......................................................................................................................................... 35
V.3. RESUMPTION OF AN OFF-TRAJECTORY ROBOT CYCLE ........................................................................................... 35
V.4. CYCLING BACK A PROGRAM ................................................................................................................................. 36
V.5. MAINTENANCE ..................................................................................................................................................... 37
V.5.a. Names/list of trajectories ................................................................................................................................ 37
V.5.b. Maintenance screen ........................................................................................................................................ 37
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V.5.c. Target trajectories .......................................................................................................................................... 38

V.5.d. "AXES" maintenance screen ........................................................................................................................... 40
V.5.e. "ENTRETIEN" maintenance screen................................................................................................................ 41
V.6. BACKUP – RESTORATION ...................................................................................................................................... 43
V.6.a. Type of backup:............................................................................................................................................... 43
V.6.b. Definition of backup device ............................................................................................................................ 43
V.6.c. Carrying out the "All of above" backup .......................................................................................................... 44
V.6.d. Restoration of the "All of above" backup ........................................................................................................ 46
V.6.e. Carrying out the "Image" backup ................................................................................................................... 48
V.6.f. Restoration of the "Image" backup ................................................................................................................. 49
V.6.g. Local backup OSCAR: .................................................................................................................................... 50
V.6.h. Restoration via OSCAR................................................................................................................................... 52
I. APPENDIX 1 – MENU ACCESS .............................................................................................................................. 54
II. APPENDIX 2 – MAPPING OF INPUTS/OUTPUTS .............................................................................................. 55
II.1. MAPPING OF THE I/O OF THE API/ROBOT NETWORK (16 WORDS) ......................................................................... 55
II.1.a. Description of the inputs ................................................................................................................................. 55
II.1.b. Description of the outputs ............................................................................................................................... 58
II.2. MAPPING OF INPUTS/OUTPUTS OF DIGITAL CARDS ................................................................................................ 61
III. APPENDIX 3 – LIST OF RESERVED REGISTERS FOR APPLICATION V3.00. ........................................... 62
III.1. DESCRIPTION OF THE APPLICATION'S REGISTERS .................................................................................................. 62
III.2. DESCRIPTION OF THE POSITION REGISTERS ........................................................................................................... 63
IV. APPENDIX 4 – INTEGRATOR MESSAGES DISPLAY ROUTINES ................................................................. 64
V. APPENDIX 5 – COLLISION DETECTION SETTING ......................................................................................... 65
VI. APPENDIX 6 – AREA CONFIGURATION PROCEDURE (SERVO AXES) ..................................................... 67
VI.1. AREA CALIBRATION ............................................................................................................................................ 67
VI.2. MANIPULATION OF THE AREA SERVO GUN .......................................................................................................... 69
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I. Integration process
A FANUC robot is integrated by following the steps described below:
Setup Application verification: II.2 Checking of robot +
- version controller calibration
- … Robot & controller
identification:
Language OK II.4 Setting the operating
language
Handling and environment Documentation: "Utility

setup notice PC Appli Rj3i"
IP network setup and robot II.6 IP network setup and

identification robot identification
Manual drive and Base HANDLING screen III.1 Base handling screen
operational assistance
screens Visualization of III.2 Visualization of orders
orders/events – events
Visualization – driving
the sequences
access
Teach programming Movement program
IV.1 Movement program
(AUTO_SEC.TP)
IV.4 21 Group mask setup

Group mask
IV.6 Payload identification

Identification of the payload
procedure
IV.7 Programming basic

Programming
"routine" actions
actions/instructions
Operating Put into park V.1 Move to park

procedures
Production launch 0
has arrived in
V.3 Resumption of an off-
Resumption of the cycle trajectory robot cycle
V.4 Cycling back a program

Cycling back
Backup/restoration V.6 Backup – restoration

ASCI backup
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II. Configuration
II.1. Wiring diagram (API handling)

Extra “dedicated
applicative controller”
XPNOUTIL
X24VOUTIL
R2000iC serie
AIR XPNMAN M900iB serie
FANUC XMAN
R30iB XPNAPI OUT
XPNAPI IN
API
Air
To the next robot
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II.2. Checking of robot + controller calibration
II.2.a. Robot & controller identification:

Each FANUC robot is identified by its own distinctive number: the E#Number.
Check the "E number" of the robot and the R30iB controller to which it is connected.
Example:
The numbers must be identical!
II.2.b. Calibration check:
Perform the Zm_Vern trajectory, then check if each of the robot's axes is well positioned on its label:
STICKER LABEL OR MECHANICAL LABEL
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II.3. Application check
In its basic version, the robot is delivered with the application version ordered. In order to ensure
consistency of the robot's setup with the order, check the application version and its setup:
II.3.a. Identification of the application version:
Select the Renault base screen, the information appears in the top blue band.
II.3.b. Check for the right software configuration:

Select: MENU 1. Utilities F1 [TYPE] Hints
The Renault standard must be installed on a v8.20P17 base.
II.4. Setting the operating language
The robot's operating language is set in the Language Menu of the General Configuration Menu: press
MACRO 7 (Application Menu, see "Appendix 1 – Menu access") F2: AUTRES. select: 1
CONFIG select: "- Configurer la langue".
By pressing F4 [CHOIX], you will be able to choose the language you want from a list.
Your choice will only be considered after you press F1: VALIDER.
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II.5. Handling and environment setup
This setup is carried out via the PC utility software. See document " Utilitaire Appli R30iB Renault”
(R30iB software for Renault’s applicative). This allows you to set up:
- the handling mode;
- the sequences;
- the names of the “CPPs” (Parts availability in the gripper);
- Comments for orders/events.
Once you have completed setup, load the files onto the robot via the following menu:
press MACRO 7 (Application Menu, see "Appendix 1 – Menu accessMenus access") F2: AUTRES
select: 1 CONFIG move the cursor over line 5 "- Utilitaires PC", then confirm by pressing
ENTER.
II.6. IP network setup and robot identification
II.6.a. OSCAR setup

TCP/IP protocol setup
- Click on MENU, SETUP then press F1 [TPYE], then "0 NEXT" as long as the "HOST
COMM" line does not appear in the menu (or move around with the arrows).
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- Once the "HOST COMM" line has appeared, select it using the up/down arrows then press
ENTER. The following screen should appear.
- Press "ENTER" on the "TCP/IP" line.
- Fill in the fields:

(Warning! The names and IP addresses in the screen shot are examples only.)
Robot name : Name of the robot on the network.
Port#1 IP addr : IP address of the robot on the network.
Subnet Mask : Subnet mask to be initialized with 255.255.255.0 (for example).
Host Name : Enter the name of the Oscar PC and the name of the Vision PC if there is one.
Internet Address : Enter the IP addresses that correspond to the name of the Oscar PC and the
Vision PC if there is one.
FTP client setup
- Return to the protocols setup screen by pressing "PREV".

- Press "F4: SHOW".
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- Select "CLIENTS".
- Attention Important: Clear the input field by following the following method:
On the window which gives the LOGIN or PASSWORD fields, at the top of the screen, there
are 4 choices:
- 1 High box
- 2 Low box
- 3 Punctuation
- 4 Options
Choose the Options menu.
Three choices present themselves in the place of letters: OVRSTRK – INSERT – CLEAR.
Select CLEAR, the field is cleared and the cursor moves to the left.
- Select Client 1 (C1).

- Press "F3: DETAIL".
- Clear the fields with the CLEAR control (Options menu).
- On the following screens, fill in the corresponding fields.
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Comment : Field for comments so you know what the FTP client corresponds to.
Protocol : Press "F4: CHOICE" and select "FTP".
Startup State : Press "F4: CHOICE" and select "DEFINE".
Server IP/Hostname : Enter the name of the "PC Oscar" already stated in the TCP/IP menu of
the robot (Host name (local)).
Comment: "PC Oscar": Robot's backup PC software name

Password setup
- Return to the protocols setup screen by pressing "PREV".

- Press "F4: SHOW" and select "PROTOCOLS".
- Select "8: FTP" using the arrows and confirm with "ENTER":
- Using the arrows, select the line that corresponds to the client number used for the "PC Oscar".
- Document the USERNAME column and the PASSWORD.
USERNAME : Name of the robot in the "PC Oscar". Max. 16 characters.

PASSWORD : Password of the robot in the "PC Oscar". Max. 12 characters.
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VERY IMPORTANT:
Attention
Initialize the fields with the "CLEAR" control (the cursor must be at the end of the line).
Comment: "PC Oscar": Software name of the backup PC that manages the robot.
II.6.b. Robot identification

Identification of the robot must be carried out in the Robot Information Menu of the General
Configuration Menu: press MACRO 7 (Application Menu, see "Appendix 1 – Menu accessMenus
access") F2: AUTRES select: 1 CONFIG select: "- Information robot" ENTER.
Warning! The name of the robot given here must be absolutely the same as that given in the
OSCAR setup.
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III. Manual drive and operational assistance screen
III.1. Base handling screen
Access to the application's main screen is reached by pressing the MACRO 7 key (Application Menu,
see "Appendix 1 – Menu accessMenus access") of the TP.
This screen describes exchanges with the API: the current code cycle, the current trajectory in
operation (Routine:) and any errors or messages. It also enables you to make a park request.
III.2. Visualization of orders – events
Press F1 [ECRANS], then move the cursor over the item, then confirm by pressing ENTER:
3 ORDRES : Visualize API orders (32 orders available)
4 EVENEMENTS : Visualize API events (32 events available)
5 ORDRES OUTIL : Visualize tool orders (16 orders available)
6 EVENMT OUTIL : Visualize tool events (16 events available)
Examples with orders screen:
MACRO 7 (Application Menu, see "Appendix 1 – Menu accessMenus access") F1 [ECRANS]
select 3 ORDRES ENTER
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The display of event statuses responds to the following rule:

• ">" indicates that the event is expected and not present.
• "1" indicates that the event is expected and present.
• "0" indicates that the event is not expected (the physical status of the input is neutral).
F2: 17-32 enables access to 16 additional pieces of information (only available for API orders/events).
III.3. Visualization – driving the sequences
MACRO 7 (Application Menu, see "Appendix 1 – Menu accessMenus access") F1 [ECRANS]

select 2 SEQUENCES ENTER
This screen enables manual sequences to be driven and statuses to be visualized.

Move the cursor over the line of the sequence to be driven.
Drive the sequences with Deadman + SHIFT + F4: MVT_REPO (or + F5: MVT_TRAV)
The REPOS (NOT driven) and TRAVAIL (driven) columns indicate the status of the sequence
controls. If no control is defined, it is the driving status which is visualized.
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N.B.:
- In case of handling’s management mode made by the robot, if a sequence is declared to be
without control, it is the status of the actuators which is displayed.
- In case of handling’s management mode made by the API, it is always the status of the
controls.
F3: SUITE enables the following 8 sequences to be displayed.
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IV. Teach programming
IV.1. Movement program (AUTO_SEC.TP)
IV.1.a. Example
A program example is given with the application. This construction is carried out following the model
described below.
N.B.: The movement programs are selected by the "CODE PROGRAMME". This is encoded on 8
bits, that is 255 programs.
- Code 255 is reserved for parking.
- Codes 254/253/252/251/250 are reserved for the service programs. These programs are
already named in the "CODE SERVICE" area of AUTO_SEC. Only the trajectories are to
be programmed.
Example with two movement programs:

Code 21: Take item to entry post, then put down.
Code 31: Take item to entry post, glue item, then put down.
/PROG AUTO_SEC
/MN
1: !******************************* ;
2: !AUTO_SEC ;
3: !saut au label correspondant ;
4: !au code API ;
5: !******************************* ;
6: !******************************* ;
7: !CODE SERVICE ;
8: !Ne pas modifier ;
9: !******************************* ;
10: SELECT R[1:CODE API ]=R[2:CODE CYC T_REPLI],JMP LBL[255] ;
11: =R[23:CODE CYC T_SERV1],JMP LBL[254] ;
16: !******************************** ;
17: !CODE TRAVAIL ;
18: !Ajouter vos codes travail ici ;
19: !Exemples : ;
20: !******************************* ;
21: =21,JMP LBL[21] ;
22: =31,JMP LBL[31] ;
23: !******************************* ;
24: !Si code inexistant ;
25: !******************************* ;
26: ELSE,JMP LBL[9998] ;
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27: ;
28: !******CODE AUTOMATE 21***** ;
29: LBL[21:Code 21] ;
30: !Trajectoire de prise pièce M1 ;
31: CALL T_PR_M1 ;
32: !Trajectoire de dépose pièce M1 ;
33: CALL T_DP_M1 ;
34: JMP LBL[9999] ;
35: ;
36: !******CODE AUTOMATE 31***** ;
37: LBL[31:Code 31] ;
38: !Trajectoire de prise pièce M2 ;
39: CALL T_PR_M2 ;
40: !Trajectoire de dépose colle M2 ;
41: CALL T_COLLE ;
42: !Trajectoire de dépose pièce M2 ;
43: CALL T_DP_M2 ;
44: JMP LBL[9999] ;
45: ;
46: ;
47: !****************************** ;
48: !NE PAS MODIFIER CI DESSOUS ;
49: !****************************** ;
50: !******CODE SERVICE 5****** ;
51: LBL[250:Code service 5] ;
52: CALL T_SERV5 ;
53: JMP LBL[9999] ;
54: ;
55: !******CODE SERVICE 4****** ;
57: CALL T_SERV4 ;
58: JMP LBL[9999] ;
59: ;
60: !******CODE SERVICE 3****** ;
62: CALL T_SERV3 ;
63: JMP LBL[9999] ;
64: ;
65: !******CODE SERVICE 2****** ;
67: CALL T_SERV2 ;
68: JMP LBL[9999] ;
69: ;
70: !******CODE SERVICE 1****** ;
72: CALL T_SERV1 ;
73: JMP LBL[9999] ;
74: ;
75: !****CODE AUTOMATE REPLI*** ;
76: LBL[255:Code Repli] ;
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77: !Registre robot Pendant Repli ;

78: CALL INITPROD(2) ;
79: !Programme de repli ;
80: CALL T_REPLI ;
81: !Registre robot au Repli ;
82: CALL INITPROD(3) ;
83: ABORT ;
84: JMP LBL[9999] ;
85: ;
86: !****************************** ;
87: !CODE INCONNU ;
88: !****************************** ;
89: LBL[9998] ;
90: !Defaut code recu non ;
91: !Traite par le robot ;
92: CALL DEF_CODE ;
93: !****************************** ;
94: !FIN DE CYCLE ;
95: !****************************** ;
96: LBL[9999] ;
/POS
/END
IV.1.b. Switching
The switching instruction enables, in a movement program, different trajectories to be selected based
on the statuses of several events.
Switching takes place in the AUTO_SEC program via the EVT_AIG instruction (see IV.7.a
Programming principal for a “routine” action).
Switching example:
...
27: LBL[1:Code 1] ;
28: ;
29: CALL EVT_AIG('0101000000000000') ;
30: IF (R[20:AIGUILLAGE EVT ]=2),CALL T_TRAJ_1 ;
31: IF (R[20:AIGUILLAGE EVT ]=4),CALL T_TRAJ_2 ;
32: ;
33: JMP LBL[9999] ;
...
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IV.2. The park and launch trajectories:
IV.2.a. T_REPLI.TP:
The T_REPLI trajectory starts at the feedback point (PT_REB) to return to the parking point
(PT_REPLI).
1: !****************************** ;
2: !* Trajectoire de repli * ;
3: !* T_REPLI * ;
4: !* Exemple : * ;
5: !****************************** ;
6: ;
7: !Base robot ;
8: UFRAME_NUM=0 ;
9: UTOOL_NUM=0 ;
10: !Charge outil ;
11: PAYLOAD[1] ;
12: ;
13: !Position de Rebouclage ;
14:J PR[2:PT_REB] 100% FINE ;
15: ;
16: !Insérer points intermédiaires ;
17: !si nécessaire ... ;
18: ;
19: !Position de REPLI ;
20:J PR[1:PT_REPLI] 100% FINE ;
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IV.2.b. T_LANCE.TP trajectory

The T_LANCE trajectory moves the robot from the park position (PT_REPLI) to the feedback point
(PT_REB).
At the end of this trajectory, the robot is ready to consider a cycle code.
1: !****************************** ;
2: !* Trajectoire de lancement * ;
3: !* T_LANCE * ;
4: !* Exemple : * ;
5: !****************************** ;
6: ;
7: !Base robot ;
8: UFRAME_NUM=0 ;
9: UTOOL_NUM=0 ;
10: !Charge outil ;
11: PAYLOAD[1] ;
12: ;
13: !Position de REPLI ;
14:J PR[1:PT_REPLI] 100% FINE ;
5: ;
16: !Insérer points intermédiaires ;
17: !si nécessaire ... ;
18: ;
19: !Position de rebouclage ;
20:J PR[2:PT_REB] 100% FINE ;
IV.3. Work trajectories
The names of work trajectories begin with "T_" and have eight characters maximum.
Example: T_DEPOX4, or T_PRISN6
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IV.4. Group mask setup
For each trajectory, program the "Group Mask" before programming the points.
Select the desired trajectory in the SELECT menu, then choose NEXT, F2: DETAIL.
In general, the Group Mask of a handling trajectory is limited to a group: [1,*,*,*,*]
IV.5. Work frames
Each point on a trajectory is recorded in a tool frame and a user frame.

Each path must contain the following indications:
UFRAME_NUM= "X" User frame
UTOOL_NUM= "X" Tool frame
These declarations enable the activation of user frame and tool frame.
IV.6. Payload identification procedure
In order to calculate its movements and optimize the cycle time, the robot needs to know the moments
of inertia connected to the wrist.
IV.6.a. Prerequisites
Know the tool's mass (with and without working part).
Do not attach the equipment onto the robot.
Put the robot on its labels with the maintenance trajectory ZM_VERN.TP (see V.5.e
“ENTRETIEN” Maintenance screen).
IV.6.b. Payload selection and comment

Select the MOTION menu with: MENU 0 [NEXT] 6 [SYSTEM] F1 [TYPE] Motion.
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Place the cursor over the index number of the PAYLOAD to be defined.
Program its comment (example: "Préhenseur VIDE" (empty gripper), 16 characters maximum), by
pressing F3: DETAIL, then pressing ENTER on the first line and typing the comment, then ENTER.
To exit this screen, press PREV.

IV.6.c. Setup
Press NEXT>, then F2: IDENT.
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Move the cursor over the "MASS IS KNOWN" line, then press F4: [YES], move the cursor using the
right arrow and program the mass measured beforehand (example 150 kg).
Check that "CALIBRATION MODE" is OFF.
Check that "CALIBRATION STATUS" is DONE, if this is not the case, get in contact with
FANUC ROBOTICS.
IV.6.d. Accessibility
In order to test the accessibility of the positions (Pos.1 and Pos.2) for the identification of the payload,
move the cursor over the "PAYLOAD ESTIMATION" line and press NEXT, F4: DETAIL.
For the first position (Pos.1), you need to leave -90 degrees on axes J5 and J6. Press SHIFT + F4:
MOVE TO at very low speed in order to check that there is no interference in order to go to position
Pos.1.
For the second position (Pos.2) select F2: POS.2. You need to leave 90 degrees on axes J5 and J6.
Press SHIFT + F4: MOVE TO at very low speed in order to check that there is no interference in order
to go to position Pos.2.
Press PREV in order to exit this screen.
If it is not possible to reach these two positions (Pos.1 and Pos.2), turn to axis 1. If that does not
work, get in contact with FANUC ROBOTICS.
IV.6.e. Calculation of the payload
• Put the switch on AUTO, the TP on OFF and the speed at 5%.
• Press F4: EXEC and reply YES when you are ready.
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• The speed will automatically go to 100% as soon as position POS.1 is reached.

• Firstly, the robot will carry out its trajectory at a very reduced speed, then it will carry it out
again at full speed.
• Then ensure that the values calculated by the robot do not exceed the values in brackets on the
MOTION PAYLOAD ID screen. If that is the case, repeat the procedure, ensuring that all the
conditions are well met. If the values are above the maximum values again, get in contact
with FANUC ROBOTICS.
IV.6.f. Recording the values
• Once the calculation is finished, press F5: APPLY and reply YES to keep the values.
• Exit this screen by pressing PREV.
• In the MOTION PERFORMANCE screen, press F3: DETAIL to check that the values have
been properly recorded.
• Exit this screen by pressing PREV.
This completes the payload identification procedure.
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IV.7. Programming basic "routine" actions
The trajectories are composed of a chain of movements and routines specific to the application.
IV.7.a. Programming principal for a "routine" action:

Choose the trajectory in the SELECT menu.
After inserting a line, choose F1: [INST], then CALL CALL program.
Select F3: KAREL, and choose the desired routine (use the UP/DOWN arrows to scroll through the
list of routines).
Program the parameters of the routine using F4: [CHOICE].
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IV.7.b. API orders and events’ “Routines”
EVT_API (Ev1à16, Ev17à32)

Routine enabling management of the 32 API events. This routine won’t end until the expected
statuses are obtained.
Parameters:
E1à16/E17à32: You need to program a string of 16 characters in the following way:
'1010000000000000' for example.
The 16 characters read from left to right display the expected status
for the events from 1 to 16 or from 17 to 32 according to the 2
permissible values '0' or '1'.
0: Uncontrolled event (the status of the input is neutral)
1: Event expected at 1 (input must be at ON)
Example of call in TPE
J P[12] 100% FINE / CNT100
CALL EVT_API('1010000000000000', '1000010111000000')
…
Routine can be programmed on FINE point and CNT point:
On FINE point: the events are expected at the point.
On CNT point: the events are expected from arrival in the crossing sphere. In the absence of
events, movement will continue up until the point.
Use of DISTANCE BEFORE or TIME BEFORE instructions is forbidden.
ORD_API (ordre1à16, ordre17à32)

Routine enabling management of the 32 orders to be sent to API.
Parameters:
O1à16/O17à32: You need to program a string of 16 characters in the following way:
'1010000000000000' for example.
The 16 characters read from left to right display the status to be sent
for the orders from 1 to 16 or from 17 to 32 according to the 2
permissible values '0' or '1'.
0: The order is set to 0 (the output goes to OFF)
1: The order is set to 1 (the output goes to ON)
J P[12] 100% FINE / CNT100 DB 10.0mm, CALL ORD_API('0101000000000000',
'1000010111000000')
CALL ORD_API('0101000000000000', '1000010111000000')
…
On FINE point: the orders are sent at the point.
On CNT point: the orders are sent from arrival into the sphere defined. An adjustment of the input
position of the orders is possible via the Distance Before parameter.
N.B.: During the aborting of a program (FCTN ABORT ALL), cycling back or backward operation,
all the orders are set to 0. On a trajectory shift, the orders will be resent during return to the exit point
of the trajectory.
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IV.7.c. "Routine" action TOOL orders and events
EVT_OUT (Ev1à16)
Routine enabling management of the 16 events coming from the TOOL. This routine won’t end
until the expected statuses are obtained.
Parameters:
E1à16: You need to program a string of 16 characters in the following way:
'1010000000000000' for example.
The 16 characters read from left to right display the expected status for
the events from 1 to 16 according to the 2 permissible values '0' or '1'.
0: Uncontrolled event (the status of the input is neutral)
1: Event expected at 1 (input must be at ON)
J P[12] 100% FINE / CNT100 DB 10.0mm, CALL EVT_OUT('0101000000000000')
CALL EVT_OUT('0101000000000000')
…
On FINE point: the events are expected at the point.
On CNT point: the events are expected from arrival in the crossing sphere. In the absence of
events, movement will continue up until the point.
Use of DISTANCE BEFORE or TIME BEFORE instructions is forbidden.
ORD_OUT (ordre1à16)
Routine enabling management of the 16 orders to be sent to the TOOL.
Parameters:
Order1to16 : You need to program a string of 16 characters in the following way:
'1010000000000000' for example.
The 16 characters read from left to right display the status to be sent
for the orders from 1 to 16 according to the 2 permissible values '0' or
'1'.
0: The order is set to 0 (the output goes to OFF)
1: The order is set to 1 (the output goes to ON)
J P[12] 100% FINE / CNT100 DB 10.0mm, CALL ORD_OUT('0101000000000000')
CALL ORD_OUT('0101000000000000')
…
On FINE: the orders are sent at the point.
On CNT point: the orders are sent from arrival into the sphere defined. An adjustment of the input
position of the orders is possible via the Distance Before parameter.
N.B.: During the aborting of a program (FCTN ABORT ALL), cycling back or backward operation,
all the orders are set to 0.
On a trajectory shift, the orders will be resent during return to the exit point of the trajectory.
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IV.7.d. "Routine" for dynamical control of API and TOOL events
CTRL_DYN (CtrlDynEvt, CtrlDynEvout)

Enable/disable the dynamic controls on the events.
CtrlDynEvt: Enable/disable (1/0) the dynamic controls of the API EVENTS.
CtrlDynEvout Enable/disable (1/0) the dynamic controls of the TOOL EVENTS.

J P[1] 100% FINE
CALL CTRL_DYN(1,1)
N.B.: During abortion of a program (FCTN ABORT ALL), all dynamic controls are disabled. This is
the same during cycling back or backward operation.
On a trajectory shift, the dynamic controls stay active and disable return to path while an event is
missing (safety movement).
IV.7.e. Integrator messages

It is possible to program the display of messages specific to the integrator defined with the "PC Utility
Appli R30iB" (see document "Utility user notice Appli R30iB"). The instructions that enable this
display are described in Appendix 4 – Integrator messages display routines
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IV.8. Optional function "adjustment vector"
IV.8.a. The "adjustment vector" function

Adjustment of the trajectory on the item to be worked is obtained by shifting the work "User Frame" (or
framework) associated with the item.
Trajectory to be carried out = trajectory programmed + shift vector

Trajectory teached
with the workpiece
reference
Trajectory executed with

the new workpiece
User Frame
Workpiece reference
Distance between the workpiece

reference and the new workpiece New workpiece
= adjustment vector
The vector sent by the adjustment system will therefore always be expressed in the "UFrame"
identification of the trajectory.
IV.8.b. Visualization and parameter screens

You will find the appropriate screens from the base screen by selecting F2: AUTRE, Config, Vecteur
de recalage.
3 screens are available from this menu.

The VECTEUR (vector) screen enables visualization of the last vector received.
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You can also control whether adjustment is active for an identification or not.
"Le recalage est actif sur le repère 2" adjustment active for UFrame 2.
"Le recalage est actif sur le repère *" adjustment inactive.
The BORNES (boundaries) screen enables configuration of the lower/upper limits for each coordinate
of the vector. The min/max limits are configured by default, as below.
The ORD/EVT screen enables configuration of the reserved "OUTIL" orders/events for exchanges
of the adjustment vector between the API and the robot.
Above the default "OUTIL" orders/events.

Warning! These "OUTIL" orders/events should not be used for other exchanges.
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IV.8.c. Programming of dedicated routines

4 routines are reserved for the adjustment function:
ECH_VECT
Exchange routine with the API. Recovers the values of the adjustment vector.
If an error occurs during exchanges with the API, the coordinates of the vector will be invalid.
If the values of the vector exceed the limits (see "BORNES" (boundaries) screen), the coordinates of
the vector will be invalid. In "error correction" mode, the coordinates of the vector will be invalid.
Example of call in TPE: J P[1] 100% FINE

CALL INITVECT
CALL ECH_VECT
The management of the exchange of a vector responds to the following logical sequence:
Following the configuration carried out in the orders/events assignment screen connected to the
adjustment option (see § IV.8.b), it is the integrator's responsibility to carry out the switching of
suitable trajectories in order that, following a vector exchange error, the robot operates safely during
the process.
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INITVECT
Reset to zero the adjustment vector value taken into account during the adjustment activation and
deactivation instructions (see below). The programming of this instruction at the beginning of the
cycle enables better visibility of the realization of the code exchange for the operator.

J P[1] 100% FINE
CALL INITVECT
SETRECAL (NumFrame)
Activate adjustment on the "User Frame" specified.
NumFrame: program the number of the "User Frame" to be brought forward.
The original coordinates of the "User Frame" will be memorized then changed according to the
adjustment vector values.

J P[1] 100% FINE
CALL SETRECAL(1)
WARNING! Programming the two "SETRECAL" instructions without the intermediary

programming of a "RSTRECAL" adjustment deactivation instruction (see below)
constitutes a programming error and leads to an error that needs to be cleared on the Teach
Pendant of the robot during its performance.
RSTRECAL
Deactivate adjustment.
The original coordinates of the "User Frame" memorized during the SETRECAL will be
reinserted.

J P[1] 100% FINE
CALL RSTRECAL
N.B.: During the abortion of a program (FCTN ABORT ALL), the original coordinates of the "User
Frame" are reinserted, the adjustment is deactivated
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IV.8.d. Inputs/outputs dedicated to the adjustment function
The inputs/outputs reserved for the adjustment function are already configured by the Renault
application.
The input groups dedicated to receiving the coordinates of the adjustment vector appear below:
Warning! The negative values read in this screen are always coded in "one’s complement".
These groups are configured on the Profinet network.
The orders/events tool is used to confirm receipt of new coordinates (or a new vector).
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V. Operating procedures
V.1. Move to park position
- Switch the TP selector to ON and the AUTO/T1/T2 key to T1.

- Move the robot arm out of the production line using the movement keys.
- Abort the program with FCTN: , ABORT ALL and confirm with ENTER.
- When the robot is sufficiently moved to reach the park position, press the luminous park
button on the application's main screen. The following screen is then selected on the TP.
- Press SHIFT +F3: EXEC to carry out a direct park.
WARNING! The robot moves directly to park.
Once it has arrived in the park position, the luminous park button turns yellow.
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V.2. Production launch
Ensure the robot is parked, the park light should be illuminated. If this is not the case, perform the
parking procedure (V.1Move to park position).
Switch the TP selector to OFF, move the AUTO/T1/T2 key to AUTO.
Cancel any errors by pressing RESET:
Execute a start cycle in the PLC which will send a DCY (start cycle) to the robot.
The cycle start button or the SHIFT + FWD keys of the TP (local cycle start) also enables
operation PRODUIRE.TP to be launched.
In all cases, refer to the base screen which will inform you of the robot' status and any missing
information.
V.3. Resumption of an off-trajectory robot cycle
During a cycle interruption, it is possible that the robot might leave its trajectory. In this case, during
resumption of the cycle, the robot automatically returns to its trajectory (returns to the position where
the robot was put into PAUSE) slowly (200 mm/s), then continues its cycle.
If the robot has been moved manually (movement in T1 + TP ON + manual movement)

significantly, confirmation will be requested in order to resume the cycle.
Confirm F5: SUR_TRAJ “on trajectory” (on the application's main screen) then relaunch production
with a cycle start. The robot slowly (200 mm/s) returns to its trajectory, then continues its cycle where
it had stopped.
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V.4. Cycling back a program
During a stop in production or during a specific problem to the job, it can be necessary to cycle back a
program.
Cycling back enables the performance of a program to be started again from a different line than the
line on which the program was put into "STOP".
Example:
Program stops in line 14 upon instruction "await event".

We are going to cycle back to the previous line "sending an order".
Move the TP selector to ON.
Move the cursor to line 13, then confirm the cycling back by pressing "SHIFT + FWD".
A confirmation window appears, reply YES.
Once confirmed, the program is ready to restart from line 13.

After cycling back, all the orders are reset to zero and events are no longer expected.
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V.5. Maintenance
V.5.a. Names/list of trajectories

The maintenance trajectories below are predefined in the application, you need to program them in
order to be able to use them:
ZM_CIBRO.TP : Trajectory "CIBLE ROBOT" (Robot target)

ZM_CIBO1.TP : Trajectory "CIBLE OUTIL 1" (Tool 1 target)
ZM_VIDAN.TP : Access trajectory for "VIDANGE" (Draining)

ZM_GRAIS.TP : Access trajectory for "GRAISSAGE" (Lubrication)
ZM_NET.TP : Access trajectory for "NETTOYAGE" (Cleaning)
ZM_VERN.TP : Trajectory for control of the "VERNIERS" (Labels)
ZM_EQUI.TP : Access trajectory for disassembly "EQUILIBREUR"
ZM_DOUT1.TP : Trajectory "DEPOSE OUTIL 1" (Drop down tool 1)
ZM_DOUT2.TP : Trajectory "DEPOSE OUTIL 2" (Drop down tool 2)
ZM_FAISC.TP : Access trajectory "FAISCEAUX" (Cable harness)
ZM_CALIB.TP : Trajectory "CALIBRATION"
ZM_MGVA1.TP : Trajectory GRANDE VITESSE AXE 1 (High speed axis 1)

ZM_EXT.TP : Endurance trajectory axis "EXTERNE" (External axis)
ZM_ENDU.TP : Trajectory of "ENDURANCE" (all axes)
V.5.b. Maintenance screen
MACRO 7 (Application Menu, see "Appendix 1 – Menu accessMenus access") F1: [ECRANS]
select 7 MAINTENANCE ENTER
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Function keys F2: AXES, F3: CIBLES and F4: ENTRETI. enable you to choose the maintenance sub-
menu desired.
V.5.c. Target trajectories
Teach programming
The target trajectories call the RCAL_OUT instruction enabling adjustment of the tool identifications.
Structure example for program ZM_CIBOx.TP:
The construction of the RCAL_OUT instruction responds to the following syntactic instruction:
RCAL_OUT (action number, group number)
Parameters:
Action number: 0 to 1.
0: Control mode, enables you to ask the operator question "Correction of
the tool frame ?"
1: Teach programming mode, Indicates to the system the referencing of
the tool to be corrected later in the control phase.
Group number: 1 to X (X = number of the last axis group defined – max. 5 groups).
Type in the number of the axis group concerned.
(1 if a single robot on the controller.)
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Use
All the trajectories can be accessed from the "CIBLES" screen (MACRO 7 (Application Menu, see
"Appendix 1 – Menu access") F1: [ECRANS] select 7 MAINTENANCE ENTER F3:
CIBLE).
Pressing a function key enables access to one of the trajectories below:

F1: Robot → ZM_CIBRO.TP: Trajectory "CIBLE ROBOT" (Robot target)
F2: Cible1 → ZM_CIBO1.TP: Trajectory "CIBLE OUTIL 1" (Tool 1 target)
N.B.:
The robot must be in MANU + TP ON mode.
Access to the trajectories of the "CIBLES" menu is forbidden if a robot program is in progress.
In this case, the message "Accessible uniquement hors contexte !" is displayed upon pressing a
function key.
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V.5.d. "AXES" maintenance screen
All the trajectories accessible from the "AXES" screen (MACRO 7 (Application Menu, see "Appendix
1 – Menu accessMenus access") F1: [ECRANS] select 7 MAINTENANCE ENTER F2:
AXES) are "GRANDE VITESSE" trajectories
You need to select the "GRANDE VITESSE" (high speed) maintenance trajectories via this
screen in order to be able to perform them in "AUTO Local" mode.

F1: Axis1 → ZM_MGVA1.TP: Trajectory GRANDE VITESSE AXE 1 (High speed axis 1)
F2: Axis 2 → ZM_MGVA2.TP: Trajectory GRANDE VITESSE AXE 2 (High speed axis 2)
F3: Axis 3 → ZM_MGVA3.TP: Trajectory GRANDE VITESSE AXE 3 (High speed axis 3)
F4: External → ZM_EXT.TP: Endurance trajectory axis "EXTERNE" (External axis)
NEXT + F1: Axis 4 → ZM_MGVA4.TP: Trajectory GRANDE VITESSE AXE 4 (High speed axis 4)
NEXT + F4: All → ZM_ENDU.TP: Trajectory of "ENDURANCE" (all axes)
F5: ArretCy → to request stopping at the end of the cycle when one of the maintenance trajectories
above is in operation in CONTINUOUS mode.
When you select a maintenance trajectory in the AXES menu, the question "Cycle/cycle ou continu?"
is asked.
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• In "1 CYCLE" mode, the maintenance program will be performed once only.
• In "CONTINU" mode, the cycle loops until a stop cycle is requested.
The maintenance program is then selected.
To execute it, position the TP to OFF, then press the BP Cycle Start or press SHIFT + FWD.
If you are in continuous mode, the cycle loops.
To return to park, return to the menu MAINTENANCE → AXES → then F5: ArretCy.
Reply F4: YES → the robot finishes the cycle in progress then returns to looping and then to park.
A new cycle start launches the robot into production.
N.B.:
Access to the trajectories of the "AXES" menu is forbidden if a robot program is in progress.
function key.
V.5.e. "ENTRETIEN" maintenance screen

All the trajectories can be accessed from the "ENTRETIEN" screen (MACRO 7 (Application Menu,
see "Appendix 1 – Menu access") F1: [ECRANS] select 7 MAINTENANCE ENTER F4:
ENTRETI.).
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F1: Drainage → ZM_VIDAN.TP: Access trajectory for "VIDANGE" (Draining)
F2: Lubricating → ZM_GRAIS.TP: Access trajectory for "GRAISSAGE" (Lubrication)
F3: Cleaning → ZM_NET.TP: Access trajectory for "NETTOYAGE" (Cleaning)
F4: Vernier → ZM_VERN.TP: Trajectory for control of the "VERNIERS" (Labels)
NEXT + F1: Equalization → ZM_EQUI.TP: Access trajectory for disassembly "EQUILIBREUR"
NEXT + F2: DepOut1 → ZM_DOUT1.TP: Trajectory "DEPOSE OUTIL 1" (Drop down tool 1)
NEXT + F3: DepOut2 → ZM_DOUT2.TP: Trajectory "DEPOSE OUTIL 2" (Drop down tool 2)
NEXT + F4: Group → ZM_FAISC.TP: Access trajectory "FAISCEAUX" (Cable harness)
NEXT + F5: Calibr. → ZM_CALIB.TP: Trajectory "CALIBRATION"
N.B.:
The robot must be in MANU + TP ON mode.
Access to the trajectories of the "ENTRETIEN" menu is forbidden if a robot program is in progress.
function key.
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V.6. Backup – restoration
Recommendations for the backups:

Attention FANUC recommends making an IMAGE backup and an ALL OF ABOVE
backup as soon as you receive the robot (Backup 0 day) (Keep it preciously !) to
avoid problems that can occurs for the lifetime of the workcell (Software
mistakes, electrical mistakes that can generate electronical problems,…).
FANUC recommends that, during each modification on the robot (modification

of trajectories, change of calibration data, etc.), you carry out at least an All of
above backup BEFORE and AFTER making any changes, which enables the
backing up of information about the operation context and quickly reboots the
robot with its latest developments. Making an IMAGE backup with those ALL
OF ABOVE backups is a good idea, it can be useful if you need to reload a full
system (don’t need to restore you IMAGE “day 0” and your ALL OF ABOVE
up to date…)
V.6.a. Type of backup:
There are 2 types of backup on the FANUC robots:

- The "All of above" backup
This is a backup of all the robot's programs and user configurations and lists of errors. On top of this
backup, you will need to systematically carry out an ASCII backup to recover the trajectories in a
readable form on a PC (text format).
- The "Image" backup
This is a total backup of the robot. During its restoration, we will have a perfect image of the
controller's status at the time of backup.
V.6.b. Definition of backup device
Before carrying out a backup, you need to define its devices:

4 backup devices are available:
1. The CompactFlash card on a PCMCIA device, FANUC's recommendations concerning the
PCMCIA cards are as follows:
a. We recommend the "SANDISK" (1 GB max.) PCMCIA cards
b. It is imperative that the card is formatted on a robot bay and not a PC.
2. The USB stick on the front of the Controller or the Teach.
3. The Flash ROM, zone A for a local backup.
The backup device is chosen in MENU, FILE.
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Select F5: [UTIL], 1 Set Device, then choose the backup device:
"FRA Disk (FRA:)" for a local backup in Flash ROM of the robot
"Mem Card (MC:)" for a backup onto the PCMCIA port
"USB Disk (UD1:)" for a backup onto USB on the front.
"USB Disk (UT1:)" for a backup onto USB on the Teach.
V.6.c. Carrying out the "All of above" backup
• Insert the backup device (MC: or UD1: or UT1:) into the reader.
• Select MENU, FILE, F4: [BACKUP]; 8 All of above.
Confirm with ENTER.
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To delete the content of the backup file, confirm with F4: YES.
Confirm the backup with F4: YES.
Once the All of above backup has been carried out, run the ASCII backup:
With the standard menu of the soft system
Or by going via the application's dedicated menu:
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Press MACRO 7 (Application Menu, see "Appendix 1 – Menu access") F2: AUTRES select: 1
CONFIG move the cursor onto line 3, confirm with the ENTER key.
Wait for the appearance of the "Sauvegarde ASCII Terminée" message.
V.6.d. Restoration of the "All of above" backup
The restoration takes place in two stages:

Restoration of the system settings (calibration, servo gun settings, payload, identifications,
etc.)
Restoration of the application settings (*.VR)
"All of above" restoration
• Insert the backup device (MC:, UT1: or UD1:) containing the "All of above" backup into
the reader situated in the controller (on the CPU rack for the MC: on the front for the UD1:
or on the Teach for the UT1:).
• Reboot the controller by pressing FCTN, 0 –NEXT--, 8 Cycle Power, then confirm with
YES.
• As soon as the controller switches off, hold down PREV + NEXT until the
CONFIGURATION menu appears.
• Choose "3. Controlled start". ---------- CONFIGURATION MENU ----------
1. Hot start
2. Cold start
3. Controlled start
4. Maintenance
Select >3
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Under "Controlled start menu", select MENU, FILE.
Choose F4: [RESTORE], All of above.
Confirm by pressing ENTER, then confirm with F4: YES.

The system restores the "All of above" backup.
EACH TIME THIS MESSAGE APPEARS "Could not load file MC:\...", continue by pressing
F4: SKIP.
N.B.: The unloaded programs have already been copied during the installation of the application.
Restoration of files "*.VR" and the configuration of the Renault application

Then choose F4: [RESTORE], Applic.-TP, then confirm with F4: YES.
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EACH TIME THIS MESSAGE APPEARS "Could not load file MC:\***.VA.", continue by
pressing F4: SKIP.
When the loading is completed, restart with FCTN 1. START (COLD).
V.6.e. Carrying out the "Image" backup
• Insert device in the robot.

• Move the TP selector to ON.
• Select MENU, FILE, F4: [BACKUP]; Image Backup.
• Choose your device.

• For the question "Execute Power Cycle?", reply F4: YES.
• The controller passes to BMON mode then runs the Image Backup (about 4 minutes).
• At the end of the backup, the controller restarts.
N.B.: The backup device contains 65 files, each 1 MB in size.

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V.6.f. Restoration of the "Image" backup
• Insert the device containing the Image Backup into the reader located in the controller..
• Reboot the controller by pressing FCTN, 0 –NEXT--, 8 Cycle Power then confirm with
YES.
• As soon as the controller switches off, hold down [F1] + [F5] until the BMON menu
appears.
*** BOOT MONITOR for R-30iA *** *** BOOT MONITOR for R-30iA ***
Base version V7.30P/17 [Release 2] Base version V7.30P/17 [Release 2]
Initializing file devices………… 8. All software installation(USB)
******* BMON MENU *******
1. Configuration menu
Select : 4
2. All software installation(MC:)
3. INIT start ******* BACKUP/RESTORE MENU *******
4. Controller backup/restore 0. Return to MAIN menu
5. Hardware diagnosis 1. Emergency Backup
6. Maintenance 2. Backup Controller as Images
7. All software installation(Ethernet) 3. Restore Controller Images
8. All software installation(USB) 4. Bootstrap to CFG MENU
Select : 4 Select : 3
• Choose "4. Controller backup/restore" then "3. Restore Controller Images".

• Choose your backup device .
• The question "Are you ready? [Y=1/N=else]" appears, tap 1, then press ENTER.
• Wait for the message "DONE!!" to appear, then press ENTER.
• Upon return to the BMON menu choose "1. Configuration menu".
• Choose "2. Cold Start".
Following the Restore Controller Images:

If the message SRVO-038 Pulse mismatch (Gr : ; A : ) appears during rebooting:
- Select MENU / 0 [NEXT] / 6 [SYSTEM] / F1 [TYPE] / 3 [Master Cal].
- Press F3 [RES-PCA], then confirm with YES.
If the error MOTN-049 Attempt to move W/O calibrated appears:

- Select MENU / 0 [NEXT] / 6 [SYSTEM] / F1 [TYPE] / 2 [variables].
- Search for the variable $DMR_GRP[].
- Select the group in which the error appeared, then press ENTER (2 times).
- Move the variable $Master_done to TRUE.
- Restart the bay (OFF then ON).
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V.6.g. Local backup OSCAR:
- Click on "MENU" "7 FILES".
- Click on F5 [UTIL] then select "Set Device" and press ENTER.
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- Using the up/down arrows select the FTP client which corresponds to the Oscar PC and press
ENTER.
Warning! If you have declared several FTP clients, the C1 client will not necessarily be the one you
should use (C1, C2, C3, etc. depending on your application).
Attention
- The following screen indicates that you are ready to do your backup onto the FTP.
- Press F4 [BACKUP].
- Select the type of backup that you want to carry out: "All of above".
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- Press "F4: YES", the backup starts.
After these steps are carried out, the backup is made available for recuperation via the OSCAR
software, refer to the documentation about this to carry out the following steps.
V.6.h. Restoration via OSCAR

Restoration level 1 – control desk backup
The first operation involves loading the backup onto the suitable directory via the OSCAR
software.
For this step, see the OSCAR documentation.
Restoration via FTP from the robot
Reboot the bay
o By the disconnector or "FCTN" key -> then Next -> Cycle Power: reply Yes
Hold down PREV and NEXT during the reboot

"Configuration Menu" screen
Choose: "3. Controlled Start", then wait until the end of the controlled start.
Press the MENU key
Choose "FILE"
Press F5 [UTIL], "Set Device", then confirm with ENTER
Choose "FTP (C1)", then press ENTER
Press F4 [RESTOR] -> choose "All of above", then press ENTER"
On the banner at the bottom confirm with "Yes"
Loading of the "All of above" memory
You must then relaunch the robot press "FCTN", "START (Cold)"PENDICES
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I. Appendix 1 – Menu access

Access to the application's menus is carried out by pressing the TP (Teach Pendant) Macro7 or Macro
6 keys.
Function keys used to access menus
Key Macro 6 (Tool menu )
Key Macro 7 (Applicative menu)
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II. Appendix 2 – Mapping of inputs/outputs
II.1. Mapping of the I/O of the API/robot network (16 words)
II.1.a. Description of the inputs

Inputs Designation
1 AEVRB Robot moving authorization (controlled at 1)
2 DMSP Request for placing under power (taken into account on rising edge 0 to 1)
3 STOP Request for the robot to stop immediately (taken into account if at 1) requires a DDCY to restart
4 DDCY Request for distant cycle start (taken into account on rising edge 0 to 1)
5 DEV Test mode without workpiece (set at 1 to activate the error correction mode)
6 CVC_0 Validation check code at 0 (set at 1 + C1 to C32 at 0 to indicate the impact of the code)
7 CVC_1 Validation check code at 1 (set at 1 during the availability of the code)
WORD 1
8 CPC_0 Code cycle parity check

9 C1
10 C2
11 C4
12 C8
Cycle code coding (0 to 255)
13 C16
14 C32
15 C64
16 C128
17 EV1
18 EV2
19 EV3
20 EV4
21 EV5
22 EV6
23 EV7
WORD 2
24 EV8
API events
25 EV9
26 EV10
27 EV11
28 EV12
29 EV13
30 EV14
31 EV15
32 EV16
33 ENPRO In production
34 RFZ Closure zone (soft security)
35
36
37
38
39
WORD 3
40
41
42
43
44
45
46
47
48
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49 CGS1 Sequence group code bit load 1

53 ES1 RE Sequence status 1 rest bit
54 ES1 TR Sequence status 1 work bit
55 ES2 RE Sequence status 2 rest bit
WORD 4
56 ES2 TR Sequence status 2 work bit

57 DmdDevr Unlocking request
58 DmdVer Locking request
59
60
61
62
63
64
65 EVOUT1
66 EVOUT2
67 EVOUT3
68 EVOUT4
69 EVOUT5
70 EVOUT6
71 EVOUT7
WORD 5
72 EVOUT8
Tool events
73 EVOUT9
74 EVOUT10
75 EVOUT11
76 EVOUT12
77 EVOUT13
78 EVOUT14
79 EVOUT15
80 EVOUT16
81
82
83
84
85
86
87
WORD 6
88
89
90
91
92
93
94
95
96
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97
98
99
100
101
102
103
WORD 7
104
105
106
107
108
109
110
111
112
113 EV17
114 EV18
115 EV19
116 EV20
117 EV21
118 EV22
119 EV23
WORD 8
120 EV24
API events
121 EV25
122 EV26
123 EV27
124 EV28
125 EV29
126 EV30
127 EV31
128 EV32
129
130
131
132
133
134
WORD 9…
135
136
137
138
139
140
141
142
143
144
The words 6 to 7 as well as 9 to 16 are reserved for the jobs.
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II.1.b. Description of the outputs

Inputs Designation
1 RCREADY Robot in automatic mode and ready to receive distant orders
2 MOTOR ON Robot under control(Servo ON)
3 AUTO Robot in automatic mode (selector AUTO/T1/T2 on AUTO, TP switch in OFF position)
4 MANU Robot in manual mode (TP switch in ON position)
5 REPLI Robot in physical position of the parking point
6
7
8
9 HPR Information not taken into account by the robot software
WORD 1
10 ALR The robot process signals an alarm (example: manual change of electrode alarm)
The robot signals a problem which does not make it have to stop (example: item presence error,
11 DER servo gun error, wait for tool events error)
The robot signals to the PLC that it is starting a work cycle. It sets this information at status 1 for 1
12 TC second.
The robot is stopped, because it lacks software information from the PLC (examples: waiting for
13 AIA the cycle code, waiting for the automaton's event).
The robot is stopped following an operator request (examples: local STOP, robot in park or in the
14 APE process of getting into the parked position, launch of adjustment procedure, etc.)
The robot is busy, but does something other than production (example: service program in
15 APF progress).
16 APP Stop for fault (indicates to the PLC that an error is to be cleared in local on the robot)
17 OR1
18 OR2
19 OR3
20 OR4
21 OR5
22 OR6
23 OR7
WORD 2
24 OR8
API orders
25 OR9
26 OR10
27 OR11
28 OR12
29 OR13
30 OR14
31 OR15
32 OR16
33 Ctl dever Unlocking control
34 Ctr verrou Locking control
35 pret verr Ready to be locked
36 CPADV Unlocking air pressure control
37 CPAV Locking air pressure control
38 CPAS Safety EV air pressure control
39 COHSUP Tool check out of device
WORD 3
40 CRS1 Safety relay control 1 (RMS)

41 CRS2 Safety relay control 2 (RFZ)
42 CPAIR “Air available”
43 DM1 Movement request load 1
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49 MC1
50 MC2
51 MC3
52 MC4
53 MC5
54 MC6
55 MC7
WORD 4
56 MC8
Comment for multiprocessor system. Default value 0
57 MC9
58 MC10
59 MC11
60 MC12
61 MC13
62 MC14
63 MC15
64 MC16
65 OROUT1
66 OROUT2
67 OROUT3
68 OROUT4
69 OROUT5
70 OROUT6
71 OROUT7
WORD 5
72 OROUT8
Tool orders
73 OROUT9
74 OROUT10
75 OROUT11
76 OROUT12
77 OROUT13
78 OROUT14
79 OROUT15
80 OROUT16
81
82
83
84
85
86
87
WORD 6
88
89
90
91
92
93
94
95
96
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97
98
99
100
101
102
103
WORD 7
104
105
106
107
108
109
110
111
112
113 OR17
114 OR18
115 OR19
116 OR20
117 OR21
118 OR22
119 OR23
WORD 8
120 OR24
API orders
121 OR25
122 OR26
123 OR27
124 OR28
125 OR29
126 OR30
127 OR31
128 OR32
129
130
131
132
133
134
WORD 9…
135
136
137
138
139
140
141
142
143
144
The words 6 to 7 as well as 9 to 16 are reserved for the jobs.
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II.2. Mapping of inputs/outputs of digital cards
Rack 0 slot 1 Rack 0 slot 1

Led DIN Input card Led DOUT Output card
A0 273 CPAIR A0 273 CDECH
A1 274 A1 274
A2 275 A2 275
A3 276 A3 276
A4 277 A4 277
A5 278 CRKRMS A5 278
A6 279 A6 279
A7 280 CRKRFZ A7 280
B0 281 B0 281
B1 282 CCHDE B1 282
B2 283 B2 283
B3 284 CCHVE B3 284
B4 285 B4 285
B5 286 CPO B5 286
B6 287 B6 287
B7 288 CPADV B7 288
B0 289
B1 290 CPAV
B2 291
B3 292 CPAS
B4 293
B5 294 COHSUP
B6 295
B7 296
FANUC FANUC
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III. Appendix 3 – List of reserved registers for application v3.00.

Registers R[1] to R[100] are reserved for the application.
Registers R[101] to R[200] are left to the users' discretion.
III.1. Description of the application's registers
REGISTER Description
1 PLC code
2 Cycle code T_Repli
3 ****reserve*****
4 ****reserve*****
5 ****reserve*****
6 Internal code
7 Disables locking of I/O simulations in AUTO
8 MAINTENANCE reserve (accesses job setting screens)
9 ****reserve*****
10 ****reserve*****
11 ****reserve*****
12 ****reserve*****
13 ****reserve*****
14 ****reserve*****
15 Instantaneous monitoring time USER2
16 Max monitoring time USER2
17 Instantaneous monitoring time Ar_plan
18 Average monitoring time Ar_plan
19 Max monitoring time Ar_plan
20 Response to EVT_AIG
21 Response to TEST_PP
22 Response to AFF_MES if the message is a question
23 Code cycle T_Serv1
… ****reserve*****
… ****reserve*****
96 ****reserve*****
97 ****reserve*****
98 ****reserve*****
99 ****reserve*****
100 ****reserve*****
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III.2. Description of the position registers
Registers PR[1] to PR[50] are reserved for the application.

Registers from position PR[51] to PR[100] are left to the users' discretion.
POSITION
Description
REGISTER
1 Reserved for park position
2 Reserved for feedback position
3 ****reserve*****
… ****reserve*****
50 ****reserve*****
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IV. Appendix 4 – Integrator messages display routines

N.B.: The integrator messages must be defined using the Utility Appli R30iB PC software.
AFF_DEF (integrator message number, default bit number, comment number)

Routine enabling the robot to be put in fault mode (fault indicator light On) with the display
of a message specified by the integrator. This message will be displayed until the cause that
made this message appeared is reset.
Parameters:
Integrated message number: expected value: 1 to 50.
Default bit number: expected value: 1 to 6.
1= APP (Stop for breakdown)
2= APF (Clean stop)
3= APE (Stop for operation)
4= AI (Inducted stop)
5= DE (Difference compared to the work’s reference)
6= AOP (Operator call)
Comment number: expected value: 6000 to 6999.
You need to clear the error to make the error disappear.
AFF_MSG (integrator message number, default bit number, comment number)

Routine enabling display of a message or a question specified by the integrator.
Parameters:
Default bit number: expected value: 1 to 6.
1= APP (Stop for breakdown)
2= APF (Clean stop)
3= APE (Stop for operation)
4= AI (Inducted stop)
5= DE (Difference compared to the work’s reference)
6= AOP (Operator call)
Comment number: expected value: 6000 to 6999.
N.B.: In case of a question, this routine puts the operator's reply in register R[22].
RAZ_MSG (integrator message number)

Routine enabling a message specified by the integrator to be deleted (following AFF_MSG).
Parameters:
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V. Appendix 5 – Collision detection setting

A dedicated screen enables the sensitivity of the collision detection of the robot(s) connected to the
controller to be set.
press MACRO 7 (Application Menu, see "Appendix 1 – Menu accessMenus access") F2: AUTRES
select: 1 CONFIG move the cursor over line 2 "Collision Detection Setting", then confirm by
pressing ENTER.
"Detection collision": possible value: ACTIVE/INACTIVE (the choice appears in F4/F5 when you are
on line 1).
IMPORTANT! COLLISION DETECTION IS ALWAYS ACTIVATED.

Changing this parameter to INACTIVE makes the robot less sensitive than the default value (standard
value = 100, inactive detection value = 75), BUT does not disable collision detection.
"Sensibilité GPx": sensitivity value of the robot in trajectory. Value between 1 and 200.
1 = the least sensitive (highest working torque)
100 = standard value
200 = the most sensitive (lowest working torque)
"> Réglage sur point de départ":
• "Sensibilité": this second sensitivity value only intervenes when the robot leaves a stopping
point. It remains active throughout the duration specified above, then it is the value
programmed in line 2 which takes over.
• "Temps Actif (ms)": duration during which the sensitivity at the start point remains active.
F1: *VALIDE*: enables you to confirm your settings.
F2: RAZ: enables you to return to the default settings.
F3: GROUPE: enables you to select the group to be set (only groups containing a robot). The group
being set is displayed in the top left of this screen.
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• FANUC RECOMMENDS INCREASING (>100) THE SENSITIVITY! A VALUE LESS

THAN 100 WILL REDUCE THE PERFORMANCE OF THE COLLISION DETECTION.
• THE STANDARD VALUES ALREADY ENABLE CORRECT OPERATION OF THE
COLLISION DETECTION.
• A MODIFICATION ENABLES OPTIMIZATION IN CASE OF PROBLEMS OR FOR
VERY SPECIFIC PROCESSES.
• PRESSING THE F1 KEY IS NECESSARY FOR CONFIRMING YOUR SETTINGS.
• FOR GOOD OPERATION THINK ABOUT PROGRAMMING YOUR *PAYLOAD*!
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VI. Appendix 6 – AREA configuration procedure (servo axes)

The Servo Electric Robotized Axes (AREA) are delivered with configurations corresponding to a
motor with no load.
Some configurations must be adjusted depending on the loads mounted on the motor.
The following configurations must be known:
1. The maximum speed admissible by your mechanic in mm/s (Joint Max Speed)
2. The moment of inertia (Jc) of the load on the end of the motor shaft in kg.m2
3. The moment of inertia (Jm) of the motor in kg.m2 (in the technical sheet specific to the FANUC
motor, take "Rotor Inertia (with Brake)")
Calculate the "LOAD RATIO" with these two values = (Jc+Jm)/Jm
4. The number of millimeters traveled by the axis for 1 motor turn in mm (Gear Ratio)
Position a label (position 0) on each axis for its calibration.
5. From this position, define the axis limits:
a. positive in mm (Upper Limit)
b. negative in mm (Lower Limit)
VI.1. AREA calibration
To access the parameters, start in "Controlled Start" mode: OFF then ON holding down PREV +
NEXT, when the configuration menu appears, choose "3. Controlled start", then press ENTER.
---------- CONFIGURATION MENU ----------
1. Hot start
2. Cold start
3. Controlled start
4. Maintenance
Select >3
Once under Controlled start, choose MENU, 9. MAINTENANCE.
Move the cursor over 3 Independent Axes and press F4: MANUAL.
Choose 1. Display/Modify Axes.

Select the number of the axis to be configured.
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You can then run through the parameters (0 then ENTER to go to the following parameters).
The minimum parameters to be checked and

(or) changed are:
2. Gear Ratio
4. Joint Max Speed
6. Upper Limit
7. Lower Limit
11. Load Ratio
• Example: 11 then ENTER to select the Load Ratio.
Once all your axes have been configured, exit via 0: EXIT then 4. EXIT.
Press FONCTION then 1. START (COLD) to reboot.
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VI.2. Manipulation of the AREA servo gun
The AREA servo gun is defined on a specific group. For equipment safety reasons, during the
selection of this group, the first movement attempt displays a message to be confirmed.
A reply of "YES" authorizes manual movements.
The manual movements will be locked again and a new confirmation will be necessary in the
following cases:
• Loss of power + 10 seconds
• Change to AUTO
• Change to TP OFF
• FCTN-3 group change
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Integration Guide For The Fanuc (S-CUBE) Base Handling Application V4.00 Rev C

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V.5.c. Target trajectories .......................................................................................................................................... 38

Handling and environment Documentation: "Utility

IP network setup and robot II.6 IP network setup and

IV.4 21 Group mask setup

IV.6 Payload identification

IV.7 Programming basic

Operating Put into park V.1 Move to park

V.4 Cycling back a program

Backup/restoration V.6 Backup – restoration

II.1. Wiring diagram (API handling)

To the next robot

II.2. Checking of robot + controller calibration

II.2.a. Robot & controller identification:

The numbers must be identical!

II.2.b. Calibration check:

STICKER LABEL OR MECHANICAL LABEL

II.3. Application check

II.3.b. Check for the right software configuration:

The Renault standard must be installed on a v8.20P17 base.

II.4. Setting the operating language

II.5. Handling and environment setup

II.6. IP network setup and robot identification

II.6.a. OSCAR setup

- Press "ENTER" on the "TCP/IP" line.

- Fill in the fields:

- Return to the protocols setup screen by pressing "PREV".

- Select Client 1 (C1).

Comment: "PC Oscar": Robot's backup PC software name

- Return to the protocols setup screen by pressing "PREV".

USERNAME : Name of the robot in the "PC Oscar". Max. 16 characters.

II.6.b. Robot identification

III. Manual drive and operational assistance screen

III.1. Base handling screen

III.2. Visualization of orders – events

The display of event statuses responds to the following rule:

III.3. Visualization – driving the sequences

MACRO 7 (Application Menu, see "Appendix 1 – Menu accessMenus access") F1 [ECRANS]

This screen enables manual sequences to be driven and statuses to be visualized.

F3: SUITE enables the following 8 sequences to be displayed.

IV. Teach programming

IV.1. Movement program (AUTO_SEC.TP)

Example with two movement programs:

77: !Registre robot Pendant Repli ;

IV.2. The park and launch trajectories:

IV.2.b. T_LANCE.TP trajectory

IV.3. Work trajectories

IV.4. Group mask setup

In general, the Group Mask of a handling trajectory is limited to a group: [1,*,*,*,*]

IV.5. Work frames

Each point on a trajectory is recorded in a tool frame and a user frame.

IV.6. Payload identification procedure

IV.6.b. Payload selection and comment

To exit this screen, press PREV.

IV.6.e. Calculation of the payload

• The speed will automatically go to 100% as soon as position POS.1 is reached.

IV.7. Programming basic "routine" actions

IV.7.a. Programming principal for a "routine" action:

Program the parameters of the routine using F4: [CHOICE].

IV.7.b. API orders and events’ “Routines”

EVT_API (Ev1à16, Ev17à32)

ORD_API (ordre1à16, ordre17à32)

IV.7.c. "Routine" action TOOL orders and events

In general, the Group Mask of a handling trajectory is limited to a group: [1,,,,]