FANUC's Standard Manual Handling Programming (Version 5.0)

Jaguar Land Rover
PAN Projects
Manual Handling Standard
for
FANUC’s R30iB Controller
Robot To Manual Handling
Programming
Issue No. Details of the Update Author

1.0 Initial Standard Release JP
2.0 Updated IO Interface JP
3.0 Added in Vacuum On/Off Program Examples and Information JP
(5.2)
4.0 Updated Examples and DCP Fault Numbering List JP
5.0 Part On Board added to Gripper Part Present routines, See JP
Appendix 7 and 8
Jaguar Land Rover : Robot to Manual Handling for FANUC’s R30iB Controller 2
Programming
Contents
1. Introduction ..................................................................................................................... 4
2. Safety ............................................................................................................................... 4
3. Robot Configuration ....................................................................................................... 5
4. IO Interface ...................................................................................................................... 6
5. Command Programs ......................................................................................................... 7
5.1 Gripper Examples........................................................................................................ 7
5.11 DCP Fault Handling ............................................................................................... 7
5.12 Eplan References................................................................................................... 8
5.13 Expanding Gripper Programs............................................................................... 11
5.2 Vacuum Example ...................................................................................................... 12
5.21 GRIPVACON_1 ................................................................................................... 12
5.22 GRIPVACOFF_1.................................................................................................. 12
Appendix 1.0 - Gripper IO Lisiting ....................................................................................... 13
Appendix 1.1 - DCP Fault Code List – Gripper 1 ................................................................. 19
Appendix 2 - Example eplan.dt ........................................................................................... 21
Appendix 3 – Gripper to Rest (GR_1_60_REST) ................................................................ 22
Appendix 4 – Gripper to Work (GR_1_60_WORK).............................................................. 24
Appendix 5 – Grip Vacuum On(GR_1_VAC1ON)................................................................ 26
Appendix 6 – Grip Vacuum Off (GR_1_VAC1OFF) ............................................................. 27
Appendix 7 – Check Part Present On (GR_1_PP50_ON) ................................................... 28
Appendix 8 – Check Part Present Off (GR_1_PP50_OFF) ................................................. 29
Programming
1. Introduction
This document only specifies the “Robot Manual Handling Programming Standard” within
FANUC’s R30iB Controller with “EtherNetIP” bus communication.
It is only relevant for JLR PAN Project installations and should be used in conjunction with
“JLR PAN Robot to PLC Standard” documentation.
The document should be read and fully understood by the end user before any
commissioning and or programming is started.
IF IN DOUBT ASK
2. Safety
The safety of people is always of primary importance in any situation. When applying safety
measures to your robotic system, consider the following:
• External devices
• Robot(s)
• Tooling
• Workpiece
Only trained personnel should operate a Robot
For more information refer to the Safety section in the:-
• FANUC Corporation SYSTEM R-30iB and R-30iB Mate HandlingTool and LR

HandlingTool Setup and Operations Manual MAROBHT8203131E REV C
The Robot E-Stop out is wired into some Allen Bradley Safe Point I/O which is then
monitored by the Line PLC. The safety of the robot is all run over Ethernet I/P safe and
utilises the Robots Safe I/O connect feature. This can make logical decision’s on Safe Inputs
on whether to issue a robot E-Stop or fence output.
Correct PPE must be worn when running the welding software in manual mode (whilst inside
the guard line), due to possible sparks or flash off caused by the weld process.
All tip dressing operations must be done from outside the guard line (safety gates must be
closed).
All safety systems must be fully functional without any manual overrides to ensure
the end user is fully protected from all hazards.
Programming
3. Robot Configuration
Along with the standard package loaded into every JLR robot, as discussed in the ‘Robot to
PLC Standard Programming’ manual, every Manual Handling Robot will have another
package loaded into it. This will contain the following:
 Manual Handling Teach Pendant (TP) Programs:- These are stored in the TPP
memory allocation on the SRAM (non-volatile) memory of the Robot. TP programs
are the routines the Robot runs when in automatic to complete a task.
 Karel Programs are loaded in to the Robot to conduct certain tasks that are unable
to be done in TP language. The code for these programs isn’t visible and the
Integrator/End User are unable to edit these without the source code. Karel
programs can be called to run from TP programs just in the same way as any other
programs. For Spot Welding all the ‘DEBUG_TEXT’ and ‘DCP_FAULTS’ are dealt
with within Karel Programs.
 PMC (Programmable Machine Controller) is ladder logic that runs in the
background of the robot and is used to the communicate with the PLC, TP
Programs and third party equipment around the cell. Fundamentally PMC is a PLC
built into the robot controller as standard. This has been written and proven by
FANUC UK Ltd and MUST not be changed by the Integrator/End User.
As all the robots are configured with FANUC’s standard software package “SpotTool+” they
are able to be configured to do:-
 Spot Welding
 Dispensing
 Handling
Any robot that is going to be used as a Spot Welding Robot has already been configured in a
Controlled Start as a Handling robot. If the robot has been configured to be a SPOT Robot
and a Handling Robot you can Toggle between the 2 Application Tools by:-
FCTN (Key) 0(Next)5(Change Appl-Tool)
Programming
4. IO Interface
The fieldbus communication is EthernetIP and the robot acts as the master for the Festo IO
blocks or Allen Bradley IO Blocks that are used on the Manual Handling Grippers
The integrator/end user must set the IP address of all the Festo/Allen Bradley IO blocks
used within the EtherNetIP settings within the robot. This should be done in accordance with
the JLR Standard and Controls Department allocation Sheet. Follow the procedure below to
set the IP address for the IO Blocks unit within Fanuc’s EtherNetIP settings:-
1. Press the Menu Key

2. Cursor down to I/O (5) and Press Enter
3. Press F1 (Type) and Select EtherNetIP
4. Cursor Down to all the Festo/Allen Bradley IO Blocks you want to setup, it will be
commented up as Handling 1/2/3 etc, then cursor across to the Enable Column
Press F5(False)
5. Cursor back onto the Description Column and Press F4(Config)
6. Press Enter on the IP Address and enter in the correct IP address using the Key pad
on the Teach Pendant followed by enter,
7. Press the previous key on the Teach Pendant, cursor back to the enable column of
the Festo IO Blocks required and press F4(True)
The interface for each Festo IO block is made up of 2 Bytes of Input Data and 5 Bytes of
Output Data. The Interface for the Allen Bradley IO Blocks are made up of 2 bytes of input
data and 2 bytes of Output Data. The Integrator/End User is responsible for select and
creating new Ethernet IP connections dependant on how many are require on the gripper for
the particular robot.
As Standard the IO for the manual handling will start at DI/DO-2001. If more IO is needed
then it will be down to the Integrator/End User to expand the IO config. Instructions for this
will be provided by FANUC.
Within the SpotTool+ software there are also some pre-defined digital IO groupings:-
 Cell Interface
 Weld Interface
 Spot Config
 Dispense
Cell interface is used as the generic signals with the cell that aren’t specific to one particular
process. These will be setup by FANUC UK and will not need modifying by the
integrator/end user.
Programming
5. Command Programs
Loaded into each of the Manual handling robots are example programs for a 1 or 2 cylinder
grippers and a vacuum gripper. The idea being is that these programs can be used as the
base for any gripper program that needs to be created by the integrator/end user. This
section will talk through what the different areas of the teach pendant programs do and how
they can be modified.
5.1 Gripper Examples

GRIP_1_CLOSE and GRIP_2_CLOSE are examples of closing sequences for 1 and 2
cylinder grippers. The program is broken down into sections, first being turning on the IO for
the first cylinder and then waiting for the corresponding IO from the read switches. Then
same again for the second cylinder and so on until all the cylinders for that gripper have
been activated. The last input to check once all cylinders have been actuated is the Part
Present sensor therefore this will always be found as the last digital input to be checked.
GRIP_1_OPEN and GRIP_2_OPEN are examples of opening sequences for 1 and 2

cylinder grippers. Then program is broken down into the same sections and format as the
Close gripper programs.
With the gripper open programs the Part Present Sensor (Proxy’s) need to be check back in
the main Manual Handling Program once the robot has move a little away from the part. See
Appendix 1.0
5.11 DCP Fault Handling

All the DCP Faults are also looked after in these programs so if the number of cylinders
increases therefore increasing the number of sensors to check the number of DCP faults
need to increase. There is a format on how the DCP Faults are looked after, the first stage is
before checking an IO signal (e.g. WAIT DI[1]=ON) a label is placed above the signal, with
label 1 being place above the first signal checked then label 2 and so on. The WAIT
statement used to check the status of the IO signal will have a TIMEOUT command on the
end and if the IO signal doesn’t switch to the expected state within the pre-defined time it will
timeout to a label. The TIMEOUT label will relate to the label number that was placed above
the “WAIT DI”.
Example:-
LBL[1:Read Switch 1]
WAIT DI[1:Read Switch 1] = OFF TIMEOUT LBL[101]
LBL[1] = TIMEOUT LBL[101]

LBL[2] = TIMEOUT LBL[102]
At the bottom of the program you will find all the code for each DCP Fault starting at
LBL[101]. There is also a set sequence for how to call the DCP Fault, see following example.
Programming
Example; DCP Fault Code
--Cylinder 1 at rest not off
CALL CLRUSER
CALL DCPFAULT_MH(6362,1)
WAIT DI[1:Read Switch 1] = OFF TIMEOUT LBL[101]
CALL DCPCLEAR
JMPLBL[1]
--Cylinder 1 at Work not On
CALL CLRUSER
CALL DCPFAULT_MH(6352,2)
WAIT DI[2:Read Switch 1] = ON TIMEOUT LBL[102]
CALL DCPCLEAR
JMPLBL[2]
A list for the DCP Fault codes can be found in Appendix 1.1.
For the Program DCPFAULT_MH there are 2 arguments that need to be passed in:-
DCPFAULT_MH(AR[1],AR[2])
AR[1] = The DCP Fault code that can be found in Appendix 1.
AR[2] = The Digital Input number that has cause the DCP Fault.
5.12 Eplan References

Each Manual Handling robot must display the Eplan reference for the sensor that has
caused the DCP fault. To do this a file has to be created and loaded into each robot. The file
will have 4 columns one which will be 4 digits long and represent the Physical Digital Input
Number within the robot, the second column will be the Eplan reference for the senor that
that Digital Input represents, the third being the page number and forth will be whether it’s a
‘Clamp’ or a ‘Pin’.
Example Row in Eplan File:- Digital Input 1
0001 +060G1.5-S616A 0001 Clamp
Example Row in Eplan File:- Digital Input 1025
1025 +060G1.5-S680A 0134 Pin
The Integrator/End user will need to generate this file and load it into the Robot as each
robot will have different Eplan references and Digital Input Numbers. The Eplan references
are to be supplied for each robot from JLR. The file that is generated must follow a set
layout (Appendix 2) and must be eplan.dt. This file can be create in Notepad or similar and
saved with the extension ‘.dt.’. The data from Appendix 2 can be copied into Notepad to give
the correct layout.
Programming
Once the file has been created it needs to be copied into the Robot controller, to this follow
the procedure below.
1. Place the eplan.dt file onto a USB stick and insert the USB stick into the USB socket
on the side of the iPendant.
2. On the iPendant navigate to ‘File’.
a. Press Menu – 7 – Enter
3. Now the robot needs to be told to look at the USB drive plugged into the teach
pendant, to do this:-
a. Press F5 [UTIL]
b. Set Device and Select UT1
4. Now press enter on Line 1 to View all files on the USB Stick and cursor down to
eplan.dt.
5. To ‘COPY’ the file on to the robot press the next key on the iPendant so that the text
above the F1-F5 keys change.
6. Press Copy and a new screen appears where the directory on the Robot where the
file is to be copied to is selected.
a. Press F4, [CHOICE], and select FR:
b. Then Press F1 DO_COPY
Programming
When a Manual Handling DCP Fault is now activated the operator should be displayed with
a message such as the following:-
Programming
5.13 Expanding Gripper Programs

To expand the gripper programs to contain more cylinders is straight forward you just copy
the logic that already exists and change the IO/label/DCP Fault numbers.
Turn On 1st
Cylinder IO
LBL[101] – Label + 100
CLRUSER
DCPFAULT_MH(????,1)
WAIT DI-1 = OFF TIMEOUT LBL[101]
DCPCLEAR
Label ‘1’ JMPLBL[1] –Original Label
Timeout Label +100

Wait DI-1 = OFF
LBL[102] – Label + 100

CLRUSER
DCPFAULT_MH(????,2)
WAIT DI-2 = ON TIMEOUT LBL[102]
DCPCLEAR
Label ‘2’ JMPLBL[2] –Original Label
Timeout Label +100

Wait DI-2 = ON
From the flow chart above you can see what is required per cylinder in the way of teach
pendant code. All the building blocks required are in the example programs loaded into all
Manual Handling Robots, the relevant areas just need to be copied and pasted and then
information changed to make it relevant to a new cylinder.
Programming
5.2 Vacuum Example

GR_1_VAC1ON and GRIPVACOFF_1 are examples of vacuum program examples.
5.21 GR_1_VAC1ON
 Used to activate the vacuum generator on and check the vacuum switches for a good
vacuum level.
 Program Name:- GR_1_VAC1ON
 TP Usage/Notation:- CALL GR_1_VAC1ON (1,1) – Argument values
o Argument 1 – No Check on vacuum Levels
o Argument 2 – Check Vacuum Input 2
The arguments in the ‘Vacuum On’ programs are used to ignore the inputs back from the
vacuum sensors and carry on through this program and with the process. A value of 1 in
argument 1 will ignore these switches a value of 0 will wait for the pre-set vacuum level to be
reached before carrying on. If the pre-set level isn’t detected after a set time the relevant
DCP fault will be displayed. The second argument is used if there are 2 vacuum inputs to
check once the vacuum has been turned on, if the argument is set to a 1 the program will
check the second input if it’s a 0 it will continue and only check input 1.
Example Appendix 5.
5.22 GR_1_VAC1OFF
 Used to turn off the vacuum generator when the part is being put down, utilising the
Auto Blow-off function of the generator
 Program Name:- GR_1_VAC1OFF
 TP usage/notation:- CALL GR_1_VAC1OFF (1,1) – Argument Values
o Argument 1 – No Check on vacuum levels
o Argument 2 – Last Vacuum Sequence
The arguments on the ‘Vacuum Off’ programs are used to ignore the inputs back from the
vacuum switches and whether or not this is the last vacuum sequence before the robot goes
Home. A value of 1 in argument 1 will ignore these switches a value of 0 will wait for the
vacuum switch to go off before carrying on. Argument 2 is used to indicate the last vacuum
sequence before the robot goes home. A value of 1 indicates that it is the last sequence
before going home and a value of 0 means more vacuum sequences to come. The reason
for a last vacuum sequence is so that the vacuum air supply is switched of before it goes
home not just disabling the vacuum.
Example Appendix 6
Programming
Appendix 1.0 - Gripper IO Lisiting
Output Comment Input Comment

DO2001 Gripper 1 Output 1 DI2001 Gripper 1 Input 1
Programming

Programming

Programming

Programming

Programming

Programming
Appendix 1.1 - DCP Fault Code List – Gripper 1

6351 Gripper 1 : Number of cylinders is out of range
6352 Gripper 1 : Cylinder 1 at work not on
6360
6361
6362 Gripper 1 : Cylinder 1 at work not off
6370
6371
6372 Gripper 1 : Cylinder 1 at rest not on
6380
6381
6382 Gripper 1 : Cylinder 1 at rest not off
6390
6391
6392
6393
Programming
6394
6395
6396
6397
6398
6399
6400 Gripper 1 : Number of PP is out of range
6401 Gripper 1 : Part Present 1 not off
6411 Gripper 1 : Part Present 1 not on
6421
6422 Gripper 1 : Vacuum 1 not off
6423 Gripper 1 : Vacuum 2 not off
6424 Gripper 1 : Vacuum 1 not on
6425 Gripper 1 : Vacuum 2 not on
6426
6427
6428
6429
6430
6431 Gripper 1 : Not all PPs off
6432 Gripper 1 : Not all PPs on
6433 Gripper 1 : Not all cylinders at rest
6434 Gripper 1 : Not all cylinders at work
Programming
Appendix 2 - Example eplan.dt

The following is the layout of the eplan.dt file. The first column represents the Digital Input
Number inside the robot controller the second column represents the eplan reference, the
third being the Page Number and the forth being whether it’s a ‘Clamp’ or ‘Pin’. Any digital
input number or page number that is less than 4 characters needs to be padded out with 0’s.
Example:- Digital Input 1 = 0001, Digital Input 125 = 0125
2001 +060G1.5-S611A 0001 Clamp

2002 +060G1.5-S612A 0002 Clamp
2003 +060G1.5-S613A 4523 Clamp
2004 +060G1.5-S614A 2345 Clamp
2005 +060G1.5-S615A 2223 Clamp
2006 +060G1.5-S616A 0099 Clamp
2007 +060G1.5-S617A 0089 Clamp
2008 +060G1.5-S618A 0564 Clamp
2009 +060G1.5-S619A 1123 Clamp
2010 +060G1.5-S620A 0001 Clamp
2011 +060G1.5-S621A 0002 Clamp
2012 +060G1.5-S622A 4523 Clamp
2013 +060G1.5-S623A 2345 Clamp
2014 +060G1.5-S624A 2223 Clamp
2015 +060G1.5-S625A 0099 Clamp
2016 +060G1.5-S626A 0089 Clamp
2017 +060G1.5-S627A 0564 Clamp
2018 +060G1.5-S628A 1123 Clamp
2019 +060G1.5-S629A 0001 Clamp
2020 +060G1.5-S630A 0002 Clamp
2021 +060G1.5-S631A 4523 Clamp
2022 +060G1.5-S632A 2345 Pin
2023 +060G1.5-S633A 2223 Pin
2024 +060G1.5-S634A 0099 Pin
2025 +060G1.5-S635A 0089 Pin
2026 +060G1.5-S636A 0564 Pin
2027 +060G1.5-S637A 1123 Pin
2028 +060G1.5-S638A 0001 Pin
2029 +060G1.5-S639A 0002 Pin
2030 +060G1.5-S640A 4523 Pin
2031 +060G1.5-S641A 2345 Pin
2032 +060G1.5-S642A 2223 Pin
2033 +060G1.5-S643A 0099 Pin
2034 +060G1.5-S644A 0089 Pin
2035 +060G1.5-S645A 0564 Pin
2036 +060G1.5-S646A 1123 Pin
2037 +060G1.5-S647A 0001 Pin
2038 +060G1.5-S648A 0002 Pin
2039 +060G1.5-S649A 4523 Pin
2040 +060G1.5-S650A 2345 Pin
Programming
Appendix 3 – Gripper to Rest (GR_1_60_REST)

1: --eg:Actuate required outputs ;
2: DO[2001:GR_Y60A_WORK]=OFF ;
3: DO[2002:GR_Y60B_REST]=ON ;
4: ;
5: --eg:Wait for reed switches ;
6: ;
7: LBL[1:Gr1ClS601AWrk] ;
8: WAIT DI[2018:CLAMP_Y601_WORK]=OFF TIMEOUT,LBL[101] ;
9: ;
12: ;
15: ;
18: ;
19: ;
20: LBL[5:Gr1ClS601BRst] ;
21: WAIT DI[2017:CLAMP_Y601_REST]=ON TIMEOUT,LBL[105] ;
22: ;
25: ;
28: ;
31: ;
32: END ;
33: ;
34: --eg:DCP Fault Handling ;
35: ;
36: --eg:2018+200G7.5-S601A ;
37: LBL[101:Seq1Cyl1WrkNtOff] ;
38: CALL DCPFAULT_MH(6362,2018) ;
39: WAIT R[56:Karel F-Key]>0 ;
41: CALL DCPCLEAR ;
42: JMP LBL[1] ;
43: ;
44: --eg:2020+200G7.5-S602A ;
49: CALL DCPCLEAR ;
50: JMP LBL[2] ;
Programming
51: ;
52: --eg:2022+200G7.5-S603A ;
57: CALL DCPCLEAR ;
58: JMP LBL[3] ;
59: ;
60: --eg:2024+200G7.5-S604A ;
65: CALL DCPCLEAR ;
66: JMP LBL[4] ;
67: ;
68: --eg:2017+200G7.5-S601B ;
69: LBL[105:Seq1Cyl1RstNtOn] ;
73: CALL DCPCLEAR ;
74: JMP LBL[5] ;
75: ;
76: --eg:2019+200G7.5-S602B ;
81: CALL DCPCLEAR ;
82: JMP LBL[6] ;
83: ;
84: --eg:2021+200G7.5-S603B ;
89: CALL DCPCLEAR ;
90: JMP LBL[7] ;
91: ;
92: --eg:2023+200G7.5-S604B ;
97: CALL DCPCLEAR ;
98: JMP LBL[8] ;
Programming
Appendix 4 – Gripper to Work (GR_1_60_WORK)

1: --eg:Actuate required outputs ;
2: DO[2002:GR_Y60B_REST]=OFF ;
3: DO[2001:GR_Y60A_WORK]=ON ;
4: ;
5: --eg:Wait for reed switches ;
6: ;
8: WAIT DI[2017:CLAMP_Y601_REST]=OFF TIMEOUT,LBL[101] ;
9: ;
12: ;
15: ;
18: ;
19: ;
21: WAIT DI[2018:CLAMP_Y601_WORK]=ON TIMEOUT,LBL[105] ;
22: ;
25: ;
28: ;
31: ;
32: END ;
33: ;
35: ;
36: --eg:2017+200G7.5-S601B ;
37: LBL[101:Seq1Cyl1RstNtOff] ;
41: CALL DCPCLEAR ;
42: JMP LBL[1] ;
43: ;
44: --eg:2019+200G7.5-S602B ;
49: CALL DCPCLEAR ;
50: JMP LBL[2] ;
Programming
51: ;
52: --eg:2021+200G7.5-S603B ;
57: CALL DCPCLEAR ;
58: JMP LBL[3] ;
59: ;
60: --eg:2023+200G7.5-S604B ;
65: CALL DCPCLEAR ;
66: JMP LBL[4] ;
67: ;
68: --eg:2018+200G7.5-S601A ;
69: LBL[105:Seq1Cyl1WrkNtOn] ;
73: CALL DCPCLEAR ;
74: JMP LBL[5] ;
75: ;
76: --eg:2020+200G7.5-S602A ;
81: CALL DCPCLEAR ;
82: JMP LBL[6] ;
83: ;
84: --eg:2022+200G7.5-S603A ;
89: CALL DCPCLEAR ;
90: JMP LBL[7] ;
91: ;
92: --eg:2024+200G7.5-S604A ;
97: CALL DCPCLEAR ;
98: JMP LBL[8] ;
Programming
Appendix 5 – Grip Vacuum On(GR_1_VAC1ON)

1: --eg:Dual Vac gripper Example with Error Recovery ;
2: ;
3: R[136:MH Version]=1 ;
4: ;
5: IF DI[12:WITHOUT PANEL]=ON,JMP LBL[999] ;
6: ;
7: R[120:No Check]=(AR[1]) ;
8: R[121:CheckVacInput2]=(AR[2]) ;
9: ;
10: $WAITTMOUT=500 ;
11: ;
12: --eg:Actuate the required Outputs ;
13: DO[2023:GR1 Vac1off Com]=OFF ;
14: DO[2024:GR1 Vac1on Com]=ON ;
15: DO[2004:GR1 DisVac1 Com]=OFF ;
16: ;
17: IF R[120:No Check]=1,JMP LBL[999] ;
18: ;
19: LBL[1:Vac Switch 1] ;
20: WAIT DI[2064:GR1 Vac1on Com]=ON TIMEOUT,LBL[101] ;
21: ;
22: --eg:Check if it is a dual Vac generator ;
23: IF R[121:CheckVacInput2]=0,JMP LBL[999] ;
24: ;
27: ;
28: LBL[999] ;
29: ;
30: END ;
31: ;
33: ;
35: --eg:Vac 1 Not Off ;
36: ;
40: CALL DCPCLEAR ;
41: ;
42: JMP LBL[1] ;
43: ;
46: ;
50: CALL DCPCLEAR ;
51: ;
52: JMP LBL[2] ;
Programming
Appendix 6 – Grip Vacuum Off (GR_1_VAC1OFF)

1: --eg:Dual Vac gripper Example with Error Recovery ;
2: --eg:Version 1.0 ;
3: ;
4: --eg:Gripper ID: Test ;
5: ;
6: R[120:No Check]=(AR[1]) ;
7: R[122:Last Vac Off Seq]=AR[2] ;
8: ;
9: $WAITTMOUT=500 ;
10: ;
11: --eg:Actuate the required Outputs ;
12: DO[2004:GR1 DisVac1 Com]=ON ;
13: ;
14: IF R[120:No Check]=1,JMP LBL[999] ;
15: ;
17: WAIT DI[2064:GR1 Vac1on Com]=OFF TIMEOUT,LBL[101] ;
18: ;
19: LBL[50] ;
20: ;
21: IF R[122:Last Vac Off Seq]=1,JMP LBL[100] ;
22: ;
23: END ;
24: ;
25: --eg:Last Vac Sequence ;
26: LBL[100] ;
27: ;
28: DO[2004:GR1 DisVac1 Com]=ON ;
29: DO[2024:GR1 Vac1on Com]=OFF ;
30: DO[2023:GR1 Vac1off Com]=ON ;
31: ;
32: END ;
33: ;
35: ;
38: ;
41: WAIT DI[2064:GR1 Vac1on Com]=OFF TIMEOUT,LBL[101] ;
42: CALL DCPCLEAR ;
43: ;
44: JMP LBL[1] ;
45: LBL[999] ;
Programming
Appendix 7 – Check Part Present On (GR_1_PP50_ON)

1: IF DI[12:WITHOUT PANEL]=ON,JMP LBL[999] ;
2: --eg:Wait for pp 50 ON ;
3: ;
4: LBL[1:Gr1PpS501] ;
5: WAIT DI[2009:MH Input 9]=ON TIMEOUT,LBL[101] ;
6: ;
7: LBL[2:Gr1PpS503] ;
9: ;
10: --eg:Turn On Part On Board to PLC ;
11: DO[128:PART OBOARD]=ON ;
12: ;
13: END ;
14: ;
16: ;
17: --eg:2009+210G7.5-S5011 ;
18: LBL[101:PartPres1NtOff] ;
22: CALL DCPCLEAR ;
23: JMP LBL[1] ;
24: ;
25: --eg:2010+210G7.5-S5031 ;
26: LBL[102:PartPres3NtOn] ;
30: CALL DCPCLEAR ;
31: JMP LBL[2] ;
32: ;
33: LBL[999] ;
Programming
Appendix 8 – Check Part Present Off (GR_1_PP50_OFF)

1: --eg:Wait for pp 50 OFF ;
2: ;
3: LBL[1:Gr1PpS501] ;
4: WAIT DI[2009:MH Input 9]=OFF TIMEOUT,LBL[101] ;
5: ;
6: LBL[2:Gr1PpS503] ;
8: ;
9: LBL[3:Gr1PpS502] ;
11: ;
12: LBL[4:Gr1PpS504] ;
14: ;
15: --eg:Turn Off Part On Board to PLC ;
16: DO[128:PART OBOARD]=OFF ;
17: ;
18: END ;
19: ;
21: ;
22: --eg:2009+210G7.5-S5011 ;
27: CALL DCPCLEAR ;
28: JMP LBL[1] ;
29: ;
30: --eg:2010+210G7.5-S5031 ;
35: CALL DCPCLEAR ;
36: JMP LBL[2] ;
37: ;
38: --eg:2011+210G7.5-S5021 ;
43: CALL DCPCLEAR ;
44: JMP LBL[3] ;
45: ;
46: --eg:2012+210G7.5-S5041 ;
51: CALL DCPCLEAR ;
52: JMP LBL[4] ;

FANUC's Standard Manual Handling Programming (Version 5.0)

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FANUC's Standard Manual Handling Programming (Version 5.0)

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Jaguar Land Rover

Issue No. Details of the Update Author

For more information refer to the Safety section in the:-

• FANUC Corporation SYSTEM R-30iB and R-30iB Mate HandlingTool and LR

FCTN (Key) 0(Next)5(Change Appl-Tool)

1. Press the Menu Key

5.1 Gripper Examples

GRIP_1_OPEN and GRIP_2_OPEN are examples of opening sequences for 1 and 2

5.11 DCP Fault Handling

LBL[1] = TIMEOUT LBL[101]

Example; DCP Fault Code

5.12 Eplan References

Example Row in Eplan File:- Digital Input 1

0001 +060G1.5-S616A 0001 Clamp

Example Row in Eplan File:- Digital Input 1025

1025 +060G1.5-S680A 0134 Pin

5.13 Expanding Gripper Programs

Timeout Label +100

LBL[102] – Label + 100

Timeout Label +100

5.2 Vacuum Example

Appendix 1.0 - Gripper IO Lisiting

Output Comment Input Comment

DO2041 Gripper 1 Output 41 DI2041 Gripper 1 Input 41

DO2085 Gripper 1 Output 85 DI2085 Gripper 1 Input 85

DO2129 Gripper 2 Output 33 DI2129 Gripper 2 Input 33

DO2173 Gripper 2 Output 77 DI2173 Gripper 2 Input 77

DO2217 Gripper 3 Output 25 DI2217 Gripper 3 Input 25

Appendix 1.1 - DCP Fault Code List – Gripper 1

Appendix 2 - Example eplan.dt

Example:- Digital Input 1 = 0001, Digital Input 125 = 0125

2001 +060G1.5-S611A 0001 Clamp

Appendix 3 – Gripper to Rest (GR_1_60_REST)

Appendix 4 – Gripper to Work (GR_1_60_WORK)

Appendix 5 – Grip Vacuum On(GR_1_VAC1ON)

Appendix 6 – Grip Vacuum Off (GR_1_VAC1OFF)

Appendix 7 – Check Part Present On (GR_1_PP50_ON)

Appendix 8 – Check Part Present Off (GR_1_PP50_OFF)

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