User manual FANUC R-30IA MATE DATASHEET

[. . . ] FANUC Robotics Europe S. A. R-30iA MATE CONTROLLER 90 rev_07 FANUC Robotics Europe S. A. FA N U C R O B OT I C S ' SY S T E M R -30i A M AT E C O N T R O L L E R O F F E R S A V E R Y S M A L L S I Z E FO R T H E L R M AT E 20 0i C R O B OT. T H E C O N T R O L L E R P R OV I D E S A N I N T E G R AT E D 2 D V I S I O N SY S T E M TO S P E E D - U P T H E I N S TA L L AT I O N O F V I S I O N A P P L I CAT I O N S , T H I S CA N B E E A S I LY U P G R A D E D TO P R OV I D E A 3 D V I S I O N SY S T E M . FEATURES AND BENEFITS COMMUNICATION FEATURES R-30iA Mate Simple down- and upload of robot programs to server!· PCMCIA interface inside the controller · 1 serial interface connection (RS232C, RS422) · FANUC I/O-link (slave or master) · FANUC I/O unit model A (option) · Ethernet (100 BaseTX) · Fieldbus (optional) · PROFIBUS (Master and slave, separated) · DEVICENET (Master and slave, separated) · CCLINK I/O FEATURES FOR R-30iA MATE Input / Output (I/O) are electrical signals through which the robot can control grippers and other external tools. [. . . ] (See chapter iRVision) 91 rev_07 FANUC Robotics Europe S. A. FEATURES AND BENEFITS 92 MINIMAL MAINTENANCE REQUIREMENTS · Controller size allows quick access to all components · Minimal number of components · No air-filters · Emergency stop and I/O connections facilitate fast component change · Special quick-change design for the 6-axes servo amplifier · All cables attached have connectors, thus allowing an easy change · Quick exchange frame for the amplifier fixed with only 2 bolts · All components can be changed without special tools · Low MTTR (Mean Time To Repair) · Remote diagnostics features SAFETY CLASS 4 Safety Class 4 (EN 954-1) is offered with Dual Check Safety. DCS consists of 2 I/O security channels running on 2 independent processors which mutually check each other. Dual Check Safety is the embedded safety conformed to European safety standards. Two processors monitor real position and velocity of servo motor for safety redundantly. The embedded safety provides conformance to the safety standards without any sacrifice on machine efficiency and cost. Dual Check Safety in the robot has the following features: · 2 channel safety inputs for FENCE, emergency stop, servo off · 2 channel safety output for emergency stop · Same safety inputs and outputs as R-J3iB and R-J3 · Safely cuts the servo motor power using magnetic contactors · Safety classification according to EN 954-1 risk assessment class 4 (highest level as needed for manual press loading) iPENDANT AS STANDARD The FANUC iPendant is an intelligent teach pendant and is available as standard (except for PaintTool). · Access via Ethernet to web sites · Pendant view status of peripheral equipment and other robots` html web server pages (when available) · Coloured, multi-windows display · Customizable screen Easier work with the robot, enhanced productivity. INDUSTRIAL PC-SIZE R-30iA MATE OPEN AIR CONTROLLER Ideally suited for small and compact robot cell the FANUC robots LR Mate 200iC and M-1iA are available with the space saving R-30iA Mate Open Air Controller. The "Open Air" Controller has smallest dimensions and is cooled by outside air blown through the controller, while offering the full functionality available with R-30iA Mate controller. The "Open Air" Controller needs to be installed in a clean and dry environment. The controller dimensions are ideal for mounting inside an industrial control cabinet (which can e. g. · · · · Dimensions: only H = 200 mm x W = 370 mm x D = 450 mm Weight: ca. 20kg Energy saving: only 1. 2KVA input power capacity requirement Requires clean and dry environment: Installation category II, pollution degree 2, IEC60664-1 · ON/OFF switch, mode selection switch, emergency stop an start button provided on the front panel · PCMCIA slot for data storage on PCMCIA FROM card provided · New lightweight iPendant with USB-stick slot can be connected. POWERFUL PROGRAMMING FUNCTIONS The controller runs with FANUC operating system, which brings strong advantages: · Virus-free (not PC based) · High data security in case of power loss · Quick start-up of basic software · Easy to use The controller offers various programming possibilities: · TPE (Teach pendant editor) which is the standard way of programming · Advanced offline programming options such as ROBOGUIDE · Integrated PMC (optional) · KAREL (optional) TPE is a block style interpreter language: allows fast and cost-efficient programming. · Possibility to record up to 11 000 positions with basic memory configuration · One key stroke on the teach pendant records one complete operation of the robot · Standard operations (e. g. motion, arc start, arc end, logic. . . ) can be selected and adapted to the application very easily · TPE motion includes: · Joint, linear and circular motions · Remote TCP, coordinated motion and other functions in option SERVO MONITORING - OVERLOAD, OVERHEAT AND COLLISION DETECTION Continuous monitoring of the motor current by the servo control for enhanced predictive maintenance · Overheat monitoring: the power dissipation and capacity of each motor is continuously monitored, as well as the robot duty cycle. [. . . ] It triggers move error excess and stop error excess alarms. rev_07 FANUC Robotics Europe S. A. FEATURES AND BENEFITS R-30iA Mate Controller Weight approx. 55 Kg 93 R-30iA Mate Open Air Controller Weight approx. 20 Kg Isometric Isometric Top view Top view 40 65 275 255 370 25 375 400 139 85 450 20. 5 512 20. 5 45 ATTENTION 208 10 12 446 470 12 118 55 190 320 75 Front Side rev_07 255 200 Front ST EE S ET RE R Side Back E S RET [. . . ]