FANUC Robot series

R-30iA/R-30iA Mate/ R-30iB/R-30iB Mate CONTROLLER

Initial Setup Function

OPERATOR’S MANUAL

MAROCINSE06091E REV. C
This publication contains proprietary information
of FANUC America Corporation furnished for
customer use only. No other uses are authorized
without the express written permission of
FANUC America Corporation.

FANUC America Corporation

3900 W. Hamlin Road
Rochester Hills, Michigan 48309–3253

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B-83054EN/03 TABLE OF CONTENTS

TABLE OF CONTENTS
SAFETY PRECAUTIONS............................................................................s-1
1 PREFACE................................................................................................ 1
1.1 FUNCTIONAL OVERVIEW............................................................................ 1
1.2 SYSTEM REQUIREMENT............................................................................. 3
2 INSTALL AND UNINSTALL.................................................................... 4
2.1 INSTALLATION REQUIREMENTS ............................................................... 4
2.2 ROBOT INTEGRATION SETUP TOOL INSTALL ......................................... 4
2.2.1 Requisites .................................................................................................................4
2.2.2 Robot Integration Setup Tool ...................................................................................6
2.2.3 Uninstall ...................................................................................................................8
2.3 ROBOT INTEGRATION SETUP TOOL (V1.0.0) ........................................... 8
2.3.1 Install ........................................................................................................................8
2.3.2 Uninstall ...................................................................................................................9
2.4 SERVO GUN INTEGRATION SETUP TOOL .............................................. 11
2.4.1 Install ......................................................................................................................11
2.4.2 Uninstall .................................................................................................................13
2.5 SERVO GUN INTEGRATION SETUP TOOL (V1.0.0) ................................ 13
2.5.1 Install ......................................................................................................................13
2.5.2 Uninstall .................................................................................................................14
2.6 LICENSING ................................................................................................. 16
3 ROBOT INITIAL SETUP OPERATION ................................................. 17
3.1 OPERATION FLOW .................................................................................... 17
3.2 MAIN SCREEN............................................................................................ 17
3.2.1 Open .......................................................................................................................19
3.2.2 Overwrite................................................................................................................19
3.2.3 Save ........................................................................................................................20
3.2.4 Output.....................................................................................................................21
[Link] Output initial setting file .................................................................................... 21
[Link] Output work file................................................................................................. 22
[Link] Both output ........................................................................................................ 22
3.2.5 Input .......................................................................................................................22
[Link] Input initial setting file....................................................................................... 22
[Link] Input work file ................................................................................................... 23
3.2.6 CSV File Conversion..............................................................................................24
3.2.7 Import Standard Setting..........................................................................................24
3.2.8 Start Servo Gun Integration Setup Tool .................................................................25
3.2.9 Initial Setting File Directory...................................................................................26
3.2.10 Work File Directory ...............................................................................................27
3.2.11 Change Language ...................................................................................................27
3.2.12 Machine Type Edit .................................................................................................28
3.2.13 Version Information ...............................................................................................29
3.3 DETAIL SCREEN ........................................................................................ 30
3.3.1 In case that Machine Type is Robot Controller......................................................31
[Link] Tool frame, User frame...................................................................................... 31
[Link] Active frame ...................................................................................................... 32
[Link] Air pressure abnormal, Hand broken................................................................. 32

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[Link] Reference position ............................................................................................. 33

[Link] Jog frame ........................................................................................................... 33
[Link] Soft Float ........................................................................................................... 34
[Link] Payload .............................................................................................................. 35
[Link] System configuration ......................................................................................... 35
[Link] Register, Position register .................................................................................. 36
[Link] Macro................................................................................................................. 37
[Link] User alarm.......................................................................................................... 37
[Link] Miscellaneous .................................................................................................... 38
[Link] Connect machine setting.................................................................................... 38
[Link] Input setting ....................................................................................................... 38
[Link] Output setting .................................................................................................... 39
3.3.2 In case that Machine Type is PLC..........................................................................40
[Link] Connect machine setting.................................................................................... 40
[Link] Input setting, Output setting .............................................................................. 40
3.3.3 In case that Machine Type is Machine Tool, Jig, Hand .........................................41
[Link] Connect machine setting.................................................................................... 41
[Link] Input setting, Output setting .............................................................................. 42
3.3.4 Check Box ..............................................................................................................43
3.3.5 String Search Window............................................................................................43

4 SERVO GUN SETUP OPERATION (OPTION) ..................................... 45

4.1 OPERATION FLOW FOR SERVO GUN SETUP ........................................ 45
4.2 MAIN SCREEN............................................................................................ 45
4.3 FILE MENU ................................................................................................. 46
4.3.1 Output.....................................................................................................................46
4.3.2 Input .......................................................................................................................47
4.3.3 CSV File Conversion..............................................................................................48
4.4 SETUP MENU ............................................................................................. 49
4.4.1 Set Up File Address................................................................................................49
4.4.2 Change Language ...................................................................................................49
4.4.3 Unit for Pressure Force...........................................................................................50
4.4.4 Motor Settings ........................................................................................................51
[Link] Motor setting screen .......................................................................................... 51
[Link] Motor addition ................................................................................................... 52
[Link] Output motor setting file.................................................................................... 54
[Link] Load motor setting............................................................................................. 54
[Link] Delete motor setting........................................................................................... 55
4.4.5 Motor File Address.................................................................................................56
4.5 HELP ........................................................................................................... 57
4.6 DETAIL SETTING SCREEN........................................................................ 58
4.6.1 Preparation for Setting............................................................................................58
4.6.2 Servo Gun Function Setting Screen .......................................................................58
4.6.3 Servo Gun Schedule Setting Screen .......................................................................59
4.6.4 Servo Gun Axis Setting Screen ..............................................................................59

5 OPERATION TO LOAD SETTING DATA............................................. 61

5.1 PREPARE IN ROBOT CONTROLLER........................................................ 61
5.1.1 Load form Memory Card........................................................................................61
5.1.2 Load with FTP Connection ....................................................................................61
5.1.3 Load from USB Memory Card...............................................................................62
5.2 PROCEDURE TO LOAD INITIAL SETTING FILE ....................................... 62
5.2.1 Display Initial Setting Load Screen........................................................................62
5.2.2 Attention about Initial Setting Load Screen ...........................................................63
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5.2.3 Loading Initial Setting File.....................................................................................64

5.2.4 Store Current Setting of Robot Controller..............................................................67
5.2.5 Load Servo Gun Setting File ..................................................................................69
[Link] Loading setup file via Robot Maintenance screen............................................. 69
[Link] Load servo gun setting file in initial setting load screen ................................... 72
5.2.6 Store Current Setting of Servo Gun .......................................................................75

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1 PREFACE
Robot Initial Setup function is the function to enter some settings for robot initial setup on personal
computer (PC), and load that settings to Robot controller. Robot Initial Setup function consists the
following 2 parts.

• FANUC ROBOGUIDE Robot integration setup tool (A08B-9410-J804)

This is the software on PC to enter some settings for robot initial setup. In this manual, this function is
called “Robot Integration Setup Tool”.

• R-30iA/R-30iA Mate controller Robot Initial Setting Load function (A05B-2500-J980)

This is the function in R-30iA/R-30iA Mate controller to load the setting entered on PC.
In order to use this function, it is required that teach pendant of Robot controller is iPendant.

• R-30iB/R-30iB Mate controller Robot Initial Setup Interface function (A05B-2600-J947)

This is the function in R-30iB/R-30iB Mate controller to load the setting entered on PC.

There is the following option for FANUC ROBOGUIDE Robot Integration Setup Tool.

• FANUC ROBOGUIDE Servo gun integration setup tool (A08B-9410-J805)

This is the software on PC to enter some settings for servo gun setup in addition to robot initial setup.
In this manual, this function is called “Servo Gun Integration Setup Tool”.

In order to load settings created by Servo Gun Integration Setup Tool, it is required the following option
in R-30iA controller.

• R-30iA controller Servo gun setup package (A05B-2500-J979)

In order to load settings created by Servo Gun Integration Setup Tool, it is required the following option
in R-30iB controller.

• R-30iB controller Servo gun setup Interface package (A05B-2600-J890)

In this chapter, the functional overview of Robot Initial Setup function and the system requirement are
described.

1.1 FUNCTIONAL OVERVIEW

This software is used to enter several settings for robot initial setup. The settings entered on PC are filed
and loaded to Robot controller. In this PC tool, the following settings can be entered on PC.

<Function setting>
• Tool Frame
• User Frame
• Jog Frame
• Frame Number
• Air Pressure Abnormal Detection
• Hand Broken Detection
• Reference Position
• Soft Float
• Payload
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• System Configuration
• Register
• Register Comment
• Position Register Comment
• Macro
• User Alarm

<I/O setting>
• I/O Configuration
• I/O Comment
• I/O Polarity, Complementary

The setting data entered on PC tool is output to a file. Then, the file is transferred to Robot controller by
the memory card or the communication. Robot controller is read setting data entered on PC by Initial
Setting Load function.

NOTE
About soft Float setting, Robot Integration Setup Tool does not support High
Performance Soft Float (A05B-2500-J898).

NOTE
In R-30iA/R-30iA Mate/R-30iB/R-30iB Mate controller, soft float function is
option. In case that soft float option is not available in R-30iA/R-30iA Mate
/R-30iB/R-30iB Mate controller, the setting for soft float is not loaded.

NOTE
For detail of each setting data, please refer to operator’s manual of
R-30iA/R-30iA Mate/R-30iB/R-30iB Mate controller.

In case that Servo Gun Integration Setup Tool option is installed in PC and Servo Gun setup package is
installed in R-30iA controller or Servo Gun setup interface package installed in R-30iB controller, the
following settings for servo gun can be set by this function.

• Servo Gun function setting

• Servo Gun schedule setting
• Servo Gun axis setting

Robot Integration Setup Tool and Servo Gun Integration Setup Tool have the following features.

1. Input/Output function of setting file.

The setting items entered on PC can be output as the setting file (PRM file and DT file). You can do
setting operation easily by loading output file to Robot controller. And you can confirm and edit the
contents of the setting file that has been output from PC or Robot controller.

2. Save setting data to the file described by XML format.

In PC tool, you can save the setting data to the file described XML format. This XML file has all
data entered on PC. You can reload and edit this XML file by this PC tool. This XML file is not the
file to load to Robot controller.

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1.2 SYSTEM REQUIREMENT

Robot Integration Setup Tool and Servo Gun Integration Setup Tool can be executed on the following
operating system.
• Microsoft Windows XP®
• Microsoft Windows Vista®
• Microsoft Windows 7®
® ®
This manual does not describe the basic, common operations of Windows . If you use Windows for the
®
first time, please read the manual for Windows first to learn its basic operations.

System requirements of PC for Robot Integration Setup Tool and Servo Gun Integration Setup Tool are as
follows.

Table 1.2 System requirements

®
Windows XP with Service Pack 2 or later (Japanese, English)
Operating System Windows Vista® with Service Pack 1 or later (Japanese, English)
Windows 7® (Japanese, English)
CPU Pentium 4 (3.0GHz or over recommended)
Minimum: 256MB of system memory
Memory
Recommended: Over 1GB
Hard Disk 30 MB of free hard disk space
Display 1024 x 768 screen resolution

Note that Microsoft® Virtual PC and VMware® Workstation are not supported.

* Windows, Windows XP, Windows Vista, Windows 7 are registered trademark of Microsoft in United
States.
* VMware is trademarks or registered trademarks of VMware, Inc. in the United States and/or various
jurisdictions.
* Pentium® is registered trademark of Intel in United States.
* VS-FlexGrid Pro 8.0J Copyright (C) 2001-2007 ComponentOne LLC.

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2 INSTALL AND UNINSTALL

The procedure to install and uninstall this software is as follows.

2.1 INSTALLATION REQUIREMENTS

• Robot Integration Setup Tool V7.70 (or later) installer cannot replace its V1.0.0 installation. Please
uninstall Robot Integration Setup Tool V1.0.0 prior to V7.70 installation. (Refer to 2.3.2 Uninstall)
• Servo Gun Integration Setup Tool requires exactly the same version of Robot Integration Setup Tool
is installed on the target PC.

2.2 ROBOT INTEGRATION SETUP TOOL INSTALL

Insert the CD-ROM and the installer launched automatically. (If not, launch [Link] in the CD-ROM.)
The installer might show different screens depending on installed components. Please follow the guidance
on the screen.

2.2.1 Requisites
(1) Before you install, you must have the pre-requisite software installed. If all pre-requisites are
installed, please skip this section and follow the steps from 2.2.2.
Following screen is showed. Follow the navigation to proceed.

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(2) Pre-requisites to be installed are shown. Click "Install".

(3) This might requires reboot your PC.

(4) Click "Yes" to proceed.

(5) After power-cycle, the setup will automatically continue. If not, launch [Link] in the CD-ROM.

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2.2.2 Robot Integration Setup Tool

(1) If all pre-requisites are installed, the following screen will be displayed.

If the previous version, V1.0.0, of Robot Integration Setup Tool exists on the target PC, the
following dialog will pop up. Please uninstall this previous version first.

(2) Click "Next>" to proceed.

Select destination location if you want. If any of FANUC PC products are installed, this destination
is fixed and cannot be changed. In this case the following screen is showed instead.

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(3) Click "Next>". Confirmation screen is showed.

(4) Click "Next>" to proceed.

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(5) The following screen is showed at the end of installation.

(6) Click "Finish".

2.2.3 Uninstall
To uninstall this product, use "Add or Remove Programs" in Control Panel and select "FANUC
ROBOGUIDE Robot Integration Setup".

2.3 ROBOT INTEGRATION SETUP TOOL (V1.0.0)

2.3.1 Install
Installation of Robot Integration Setup Tool V1.0.0 will be described here.

(1) Insert the [Link] following screen is displayed. Install this software according to the
instruction on the screen. (It is possible to display the different screen by OS or the setting on PC.)

(2) Click ‘Next’ button in this screen.

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(3) Click ‘Install’ button to start the software install. After a while, software install finishes, and the
following screen is displayed.

(4) Click ‘Finish’ button to finish the software install operation.

2.3.2 Uninstall
(1) Run [Link] in CD ROM.
The following screen is displayed. Uninstall the software according to the instruction on the screen.

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(2) Click ‘Next’ button. The following screen is displayed.

(3) Check ‘Remove’ and click ‘Next’ Button in this screen.

(4) Click ‘Remove’ button to start the software uninstall.

(5) After the following screen is displayed, click ‘Finish’ button to finish the software uninstall
operation.
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2.4 SERVO GUN INTEGRATION SETUP TOOL

2.4.1 Install
Servo Gun Integration Setup Tool requires the Robot Integration Setup Tool is installed.

(1) Insert the CD-ROM and launch [Link] inside. Please follow the navigation. (Screen may be
different depending on your OS or configuration)

If the exactly same version of Robot Integration Setup Tool is not found on the target PC, the
following dialog will popup. Install the Robot Integration Setup Tool first.

(2) Click "Next>". The destination will be displayed.

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(3) Click "Next>". Confirmation screen is showed.

(4) Click "Next>" to proceed.

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(5) The following screen is showed at the end of installation.

(6) Click "Finish".

2.4.2 Uninstall
To uninstall this product, use "Add or Remove Programs" in Control Panel and select "FANUC
ROBOGUIDE Servo Gun Integration Setup".

2.5 SERVO GUN INTEGRATION SETUP TOOL (V1.0.0)

2.5.1 Install
To Install Servo Gun Integration Setup Tool, Servo Gun Integration Setup Tool option
(A08B-9410-J805) is needed, and it is required to install Robot Integration Setup Tool in advance.

(1) Run [Link] for Servo Gun Integration Setup Tool in CD ROM.
The following screen is displayed. Install this software according to the instruction on the screen.
(It is possible to display the different screen by OS or the setting on PC.)

(2) Click ‘Next’ button in this screen.

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(3) Click ‘Install’ button to start the software install. After a while, software install finishes, and the
following screen is displayed.

(4) Click ‘Finish’ button to finish the software install operation.

2.5.2 Uninstall
(1) Run [Link] for Servo Gun Integration Setup Tool in CD ROM.
The following screen is displayed. Uninstall the software according to the instruction on the screen.

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(2) Click ‘Next’ button. The following screen is displayed.

(3) Check ‘Remove’ and click ‘Next’ Button in this screen.

(4) Click ‘Remove’ button to start the software uninstall.

(5) After the following screen is displayed, click ‘Finish’ button to finish the software uninstall
operation.
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2.6 LICENSING
You need registration to use this product. Please open license manager ([Start] -> Fanuc Robotics ->
License Manager) and send displayed Part number, software code 1 and software code2 to FANUC sales.
You will get registration key REG1 and REG2, then input them in the license screen to register.

You can use this product for 30 days without registration.

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3 ROBOT INITIAL SETUP OPERATION

In this chapter, the operations for Robot Integration Setup Tool on PC are described.

3.1 OPERATION FLOW

The operation flow for robot initial setting is as follows.

1. In the main screen of Robot Integration Setup Tool, set the configuration of the robot cell.
In Robot Integration Setup Tool, set the data with respect to each robot cell. In the main screen, set
the cell name and the configuration of a robot cell. For details, refer to 3.2 MAIN SCREEN.
2. In the detail screen, set the data for each machine in the robot cell.
In the detail screen, set the data for each machine in the robot cell. In case that the machine type is
Robot controller, there are ‘Function setting’ and ‘I/O setting’ in the detail screen. In case that the
machine type is another, there is only ‘I/O setting’ in the detail screen. For details, refer to 3.3
DETAIL SCREEN.
3. Output the settings to the initial setting file on the PC tool.
Output the setting for Robot controller to the initial setting file in order to load the setting to Robot
controller. The output operation of the setting data can be executed in the main screen. For details,
refer to [Link] Output initial setting file.

3.2 MAIN SCREEN

In the main screen, set the following data of the robot cell.

Table 3.2 Setup Items in Main Screen

Items Contents
Set the robot cell name without fail, because the output file is handled by the
Robot cell name
cell name.
Robot cell comment Set the comment about the robot cell. This setting can be omitted.
Set the machines in the robot cell. And set the machine type for each machine.
Machines in the robot cell
In case that the machine type is Robot controller, set the number of group.

The operations in the main screen are as follows.

1. Add new line to the table by ‘Add’ button (6), then set the machine name (9) and select the machine
type (10).
2. In case that the machine type is Robot controller, select the number of the group (11).
3. Click the ‘Detail’ button (8) to display the detail screen (3.3 DETAIL SCREEN) for the selected
line.

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(1) (2) (3)

(4) (5)

(6) (7) (8)

(9) (10) (11)

Fig. 3.2 Main screen

Followings are the descriptions for each part in the main screen.

(1) ‘File’ menu

• New All machines in the table are deleted and new robot cell is created.
• Open Saved file is opened. Refer to 3.2.1 Open.
• OverWrite Setting data are saved. Refer to 3.2.2 Overwrite.
• Save Setting data are saved to other file. Refer to 3.2.3 Save.
• Output Setting data are output to initial setting file. Refer to 3.2.4 Output.
• Input Initial setting file is loaded. Refer to 3.2.5 Input.
• Convert CSV Cannot use.
• Import Standard Setting Registered setting are loaded. Refer to 3.2.7 Import Standard setting.
• Servo Gun Servo Gun Integration Setup Tool is started. Refer to 3.2.8 Start Servo
Gun Integration Setup Tool.
• End Robot Integration Setup Tool is finished.
(2) ‘Setup’ menu
• Initial Setting File Directory Directory to output initial setting file is designated. Refer to
3.2.9 Initial Setting File Directory.
• Work File Directory Directory to output work file is designated. Refer to 3.2.10
Work File Directory.
• Change Language The language is changed. Refer to 3.2.11 Change Language.
• Equipment Type Edit Equipment type is added and removed. Refer to 3.2.12
Machine Type Edit.
(3) ‘Help’ menu
• Version Version information is displayed. Refer to 3.2.13 Version information.
(4) ‘RobotCell Name’ input box
• Input Robot Cell Name
(5) ‘RobotCell Comment’ input box
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• Input the comment for Robot Cell

(6) ‘Add’ button
• Add new machine in Robot Cell by this button.
(7) ‘Delete’ button
• Remove the selected machine in Robot Cell.
(8) ‘Detail’ button
• Display the detail screen for the selected machine.
(9) ‘Machine Name’
• Input the machine name.
(10) ‘Machine Type’
• Select machine type from ‘Robot Controller’, ‘PLC’, ‘Machine Tool’, ‘Jig’, and ‘Hand’.
Machine type can be added in Equipment Type Edit screen in Setup menu.
(11) ‘Group’
• In case that the machine type is Robot controller, set the number of group. According to the
setting of the number of group, the detail screen is changed. In case that the machine type is
another, it is not need to set the number of group.

3.2.1 Open
1. Select ‘Open’ in File menu. (1)
2. ‘Open’ window is displayed.
3. Select XML file for Robot Integration Setup Tool. (2)
4. Click ‘Open’ button to start loading the selected file. (3)

(1)

(2)

(3)

Fig. 3.2.1 Open

3.2.2 Overwrite
1. Select ‘OverWrite’ in File menu. (1)
2. In case that the saved file exists, the dialog to confirm overwriting the existing file (2) is displayed.
In case that the saved file is not exist, the dialog to confirm creating new file (3) is displayed.
3. Save the setting data to the file.

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(1)

(2) (3)

Save to the existing file Return to main screen. Save to new file and Return to main screen.
and return to main screen. return to main screen.

Fig. 3.2.2 Overwrite

3.2.3 Save
1. Select ‘Save’ in File menu. (1)
2. ‘Save As’ window is displayed.
3. Input new file name to ‘File name’ input box. (2)
4. Click ‘Save’ button. (3)

(1)

(2) (3)

Fig. 3.2.3 Save

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3.2.4 Output
There are two types as the output file. One is the initial setting file and another is the work file.
• Initial setting file is the ASCII format file. This file is used to load the data set on PC tool to Robot
controller.
• Work file is the CSV format file. This file is used to refer the I/O setting in order to describe the
document of the work instruction or the operation manual for the system.

[Link] Output initial setting file

1. Select ‘Output’ in File menu and select ‘Initialization File Output’ in the Output menu. (1)
2. Initial setting file is output to the directory designated in 3.2.9 Initial Setting File Directory. (2)

(2)
(1)

Fig. [Link] (a) Initial setting file output

The initial setting file is handled with ‘Robot Cell Name’ set in main screen. In case that the file named
same Robot Cell Name is already exists, the initial setting file is overwritten. In this case, the following
dialog is displayed. If you want not to overwrite the file, click ‘No’ to abort output operation, and change
the Robot Cell Name in main menu.

The initial settng file is overwritten. The output operation is aborted.

Fig. [Link] (b) Initialization file output (Overwrite)

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[Link] Output work file

1. Select ‘Output’ in File menu and select ‘Work File Output’ in the Output menu. (1)
2. Work File is output to the directory designated in 3.2.10 Work File Directory. (2)

(2)

(1)

Fig. [Link] Work file output

[Link] Both output

1. Select ‘Output’ in File menu and select ‘Both Output’ in the Output menu.
2. Both [Link] Output initial setting file and [Link] Output work file are executed.

3.2.5 Input
Both the initial setting file and the work file are able to input to Robot Integration Setup Tool.

[Link] Input initial setting file

1. Select ‘Input’ in File menu and select ‘Initialization File Reading’ in Input menu. (1)
2. ‘Open’ window is displayed. (2)
3. Select Initial Setting File (.PRM) that you want to input.
4. Initial setting file is read. (3)

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(2)
(1)

(3)

Fig. [Link] Initial setting file input

[Link] Input work file

1. Select ‘Input’ in File menu and select ‘Work File Reading’ in Input menu. (1)
2. ‘Open’ window is displayed. (2)
3. Select work file that you want to input, and click ‘Open’ button.
4. ‘Confirmation of Work File’ screen is displayed. (3)
5. When you want to input another work file, click ‘Select File’ button. (4)
6. ‘Open’ window is displayed again. Select new work file to input.
7. If ‘Close’ button is clicked, ‘Confirmation of Work File’ screen is closed. (5)

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(2)

(1)

(3)

(4)

(5)

Fig. [Link] Work file reading

3.2.6 CSV File Conversion

Import from CSV file is not currently supported.

3.2.7 Import Standard Setting

The standard settings for Machine tool connection function are registered in Robot Integration Setup Tool.
The standard setting for Machine tool connection is the setting for the system that Robot and Machine
tool are connected using PMC function in Robot controller. In case that same system is set up, this
standard setting is useful. As standard setting, following settings are registered.

Table 3.2.7 Standard setting

Cell Name Cell Comment Content
Standard 1 MTOOL Connection (One CNC) I/O setting for Machine Tool Connection Function.
Robot connects with 1 CNC by FL-Net.
Standard 2 MTOOL Connection (Four CNC) I/O setting for Machine Tool Connection Function.
Robot connects with 4 CNC by FL-Net.

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1. Select ‘Import Standard Setting’ in File menu. (1)
2. ‘Select standard setting’ window is displayed. (2)
3. Select the standard setting that you want to import, and click ‘OK’ button.(3)

(2)

(1)

(3)

Fig. 3.2.7 Import Standard Setting

3.2.8 Start Servo Gun Integration Setup Tool

In case that Servo Gun Integration Setup Tool option (A08B-9410-J805) is installed in PC, you can start
Servo Gun Integration Setup Tool in this menu.

1. Select ‘Servo Gun’ in File menu. (1)

2. Servo Gun Integration Setup Tool is started. (2)
(In case that the option is not installed, ‘Servo Gun’ cannot be selected in the menu.)

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(2)

(1)

Fig. 3.2.8 Start Servo Gun Integration Setup Tool

3.2.9 Initial Setting File Directory

1. Select ‘Initial Setting File Directory’ in Setup menu. (1)
2. The dialog to input directory to save the initial setting file is displayed.
3. Input path in the input box (2) or select path in ‘Browser for Folder’ (5) displayed by ‘…’ button (3).
4. Click ‘OK’ button. (4)

(1)
(2) (3)

(4)

(5)

Fig. 3.2.9 Initial Setting file directory

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3.2.10 Work File Directory

1. Select ‘Work File Directory’ in Setup menu. (1)
2. The dialog to input directory to save the work file is displayed.
3. Input path in the input box (2) or select path in ‘Browser for Folder’ (5) displayed by ‘…’ button (3).
4. Click ‘OK’ button. (4)

(1)
(2) (3)

(4)

(5)

Fig. 3.2.10 Work file directory

3.2.11 Change Language

1. Select ‘Change Language’ in Setup menu. (1)
2. ‘Change Language’ dialog is displayed. (2)
3. Check the language and click ‘OK’ button. (3)
4. The language in the screen is changed to the selected language. (4)

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(2)
(1)

(3)

(4)

Fig. 3.2.11 Change language

3.2.12 Machine Type Edit

1. Select ‘Equipment Type Edit’ in Setup menu. (1)
2. In order to add new machine type, input the machine type in ‘Add Machine Type (Japanese)’ input
box (3) in Japanese, then input the machine type in ‘Add Machine Type (English)’ input box (4) in
English. Then, Click ‘Add’ button (5).
3. In order to delete the machine type, select the machine type in the list box (7), then click ‘Delete’
button (6).
4. The result of editing the machine type is reflected in the list box (7).
5. Click ‘OK’ button (8) to store the result of editing. If ‘Cancel’ (9) button is clicked before ‘OK’
button, the result of editing is canceled.

It is possible to add new machine type by either Japanese name or English name. If the Japanese
name is not input, the machine type is displayed as ‘****’ in Japanese screen.

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(2)

(1)
(3)
(4)
(5) (6)

(7)

(8) (9)

Fig. 3.2.12 Equipment type edit

3.2.13 Version Information

Select ‘Version’ in Help menu to display ‘Version information’ screen.

Fig. 3.2.13 Version

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3.3 DETAIL SCREEN

Detail screen varies depending on Machine type. In case that Machine type is Robot Controller, the detail
screen consists of Function setting and I/O setting. In the case of other Machine type, there is only I/O
setting. And, the setting items in I/O setting vary depending on Machine type.

The operations in detail screen are as follows.

1. Select the setting item in the Setting Item Tree (1).

2. Input data in Data Input Field (4).
3. Click ‘OK’ button (12).

(2) (3)

(4)
(6) (7) (8)

(1)
(9) (10) (11)
(5)

(12) (13)
Fig. 3.3 Detail screen

Followings are the description for each part in the detail screen.

(1) Setting Item Tree

• The tree view of the setting items is displayed.
• The setting data is displayed in Data input field (4) by selecting an item in the tree.
(2) ‘File’ menu
• Save The data are saved to the file. Refer to 3.2.2 Overwrite in main screen.
(3) ‘Edit’ menu
• Cut The data set in the selected cell is cut.
• Copy The data is copied to the selected cell.
• Paste The data in the clipboard is pasted.
• Delete The data in the selected cell is deleted.
(4) Data input Field
• The data in the setting item selected in Setting Item Tree are displayed. Input or change the data
in this field.
(5) Check Box
• The data checked in the check box are output to the initial setting file.
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• Uncheck the check box of the data that you want not to load to Robot controller.
(6) ‘Check All’ button
• All check boxes in the selected Data Input Field are checked.
(7) ‘Uncheck All’ button
• All check boxes in the selected Data Input Field are unchecked.
(8) ‘String Search’ button
• The string search is executed. Refer to 3.3.5 String Search Window.
(9) ‘Item Name’ column in Data Input Filed
• This column in the Data input Field is displayed item name. This column cannot be changed.
(10) ‘Item Name’ column in Data Input Filed
• This column in the Data input Field is displayed item name. This column cannot be changed.
(11) ‘Value’ column in the Data Input Field
• Set the data in this column.
(12) ‘OK’ button
• When ‘OK’ button is clicked, all setting data are saved and main screen is displayed.
(13) ‘Cancel’ button
• When ‘Cancel’ button is clicked, the data set and changed in the detail screen is canceled and
main screen is displayed.

3.3.1 In case that Machine Type is Robot Controller

Followings are the description for Data Input Field in case that Machine type is Robot Controller. In case
that Machine type is Robot Controller, the detail screen consists of Function setting and I/O setting.

Function Setting

[Link] Tool frame, User frame

Input the frame data X, Y, Z, and W, P, R.

Fig. [Link] (a) Tool Frame

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Fig. [Link] (b) User Frame

[Link] Active frame

Input active frame number for tool frame, user frame, and jog frame.

Fig. [Link] Active Frame

[Link] Air pressure abnormal, Hand broken

Select Enable or Disable in the pull down list.
In the item Air Pressure Abnormal, select enable if you want to enable the detection of Air Pressure
Abnormal.
In the item Hand Broken, select enable if you want to enable the detection of Hand Broken.

Fig. [Link] (a) Air pressure

Fig. [Link] (b) Hand broken

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[Link] Reference position

Set data for the reference position.

Fig. [Link] Reference position

[Link] Jog frame

Input the jog frame data X, Y, Z, and W, P, R.

Fig. [Link] Jog frame

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[Link] Soft Float

Input the data for soft float function. Setting items vary depending on the setting of “Soft float type”.
When “Soft float type” is changed, the setting items are changed automatically.

Note
• Robot Integration Setup Tool does not support High Performance Soft Float
(A05B-2500-J898).
• In R-30iA/R-30iA Mate/R-30iB/R-30iB Mate controller, soft float function is
option. In case that soft float option is not available in R-30iA/R-30iA
Mate/R-30iB/R-30iB Mate controller, the setting for soft float is not loaded.

Fig. [Link] (a) Soft Float (Cartesian)

Fig. [Link] (b) Soft Float (Joint)

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[Link] Payload
Input the data for Payload.

Fig. [Link] Payload

[Link] System configuration

Input the data about system configuration.

Fig. [Link] System configuration

Following items in the System Configuration cannot be set by this function.

• WJNT for default motion
• Reset CHAIN FAILURE detection
• UOP auto assignment

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[Link] Register, Position register

In register setting, input value and comment for register. In position register setting, input comment for
position register.

Fig. [Link] (a) Register

Fig. [Link] (b) Position register

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[Link] Macro
Set Macro Name, Program Name, Assign Signal Type, and Assign Signal Number for Macro command.

Fig. [Link] Macro

The macro that is set as the system level macro in Robot controller cannot modify by this function.

[Link] User alarm

Set the severity of user alarm and the message of user alarm.
About setting of the severity, select the severity from ‘WARN’, ‘STOP.L’, ‘ABORT.L’, ‘STOP.G’, and
‘ABORT.G’ by pull down list.
About setting of the message, input string data.

Fig. [Link] User alarm

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[Link] Miscellaneous
Set the following two items.
• Output BATALM signal when the backup battery for the pulse coder is abnormal. (Enable/Disable)
• Recover override when safety fence is closed. (Enable/Disable)

Fig. [Link] Miscellaneous Setting

I/O setting
In I/O setting, set ‘Connect Machine Setting’ at first. Then, set ‘Input Setting’ and ‘Output Setting’
according to the number of input signals and output signals set in ‘Connect Machine Setting’. In case that
the items in ‘Connect Machine Setting’ are not set, ‘Input Setting’ and ‘Output Setting’ cannot be set.

[Link] Connect machine setting

1. Select the connected machine name by pull down list in ‘Connect Machine’ (1). Only the machine
name set in main screen can be set in this item.
2. Select ‘I/O equipment’ by pull down list (2), and set ‘Input Point’ (3), ‘Output Point’ (4), ‘Input
Start Physical No.’ (5), ‘Output Start Physical No.’ (6), ‘Rack No.’ (7), ‘Slot No.’ (8), and ‘Connect
Method’ (9).
3. To set ‘Peripheral I/O’, double-click the ‘Peripheral I/O’ cell (10). In case that the ‘Peripheral I/O’ is
set, ‘*’ is marked in the cell. ‘Peripheral I/O’ can be set in only one ‘I/O module’.
4. If you want not to output I/O setting to the initial setting file, uncheck the check box ‘File Out’ (11).

(1) (2) (3) (4) (5) (6) (7) (8)

(11)

(9) (10)

Fig. [Link] Connect machine setting

[Link] Input setting

1. ‘I/O Type’ (1) and ‘I/O Number’ (2) are set automatically. But they can be changed. Select ‘I/O
Type’ (1) by pull down list, and change ‘I/O number’ if required.
2. Input the signal name in ‘I/O Name’ cell (3).
3. Input comment for the signal in ‘Comment’ cell (4).
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4. Select ‘Polarity’ (5) from ‘Normal’, ‘Inverse’ by pull down list.
In case that the signal type is UI, the polarity of the signal cannot be set.
5. When Group Input is used, set the GI number in ‘GI’ cell (6).
The same GI number is set only to the serial signals.
6. ‘Rack No.’, ‘Slot No.’, Connect Machine’, and ‘Connect Machine Signal Name’ (7) are set by
Connect Machine Setting and setting in the connected machine automatically.

(1) (2) (3) (4) (5) (6) (7)

Fig. [Link] Input setting

[Link] Output setting

1. ‘I/O Type’ (1) and ‘I/O Number’ (2) are set automatically. But they can be changed. Select ‘I/O
Type’ (1) by pull down list, and change ‘I/O number’ if required.
2. Input the signal name in ‘I/O Name’ cell (3).
3. Input comment for the signal in ‘Comment’ cell (4).
4. Select ‘Polarity’ (5) from ‘Normal’, ‘Inverse’ by pull down list.
In case that the signal type is UO, the polarity of the signal cannot be set.
5. Select ‘Complementary’ (6) from ‘FALSE’, ‘TRUE’ by pull down list.
6. When Group Output is used, set the GO number in ‘GO’ cell (7).
The same GO number is set only to the serial signals.
7. ‘Rack No.’, ‘Slot No.’, Connect Machine’, and ‘Connect Machine Signal Name’ (8) are set by
Connect Machine Setting and setting in the connected machine automatically.

(1) (2) (3) (4) (5) (6) (7) (8)

Fig. [Link] Output setting

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3.3.2 In case that Machine Type is PLC

Followings are the description for Data Input Field in case that the machine type is PLC. In case that
Machine type is PLC, there is only I/O setting in detail screen.

I/O Setting
In I/O setting, set ‘Connect Machine Setting’ at first. Then, set ‘Input Setting’ and ‘Output Setting’
according to the number of input signals and output signals set in ‘Connect Machine Setting’. In case that
‘Connect Machine Setting’ is not set, ‘Input Setting’ and ‘Output Setting’ cannot be set.

[Link] Connect machine setting

1. Select the connected machine name by pull down list in ‘Connect Machine’ (1). Only the machine
name set in main screen can be set in this item.
2. Select ‘I/O Equipment’ (2) by pull down list, and set ‘Input Point’ (3), ‘Output Point’ (4), ‘Input
Start Physical No.’ (5), ‘Output Start Physical No.’ (6), ‘Rack No.’ (7), ‘Slot No.’ (8), and ‘Connect
Method’ (9). In case that the machine type is PLC, ‘Peripheral I/O’ (10) cannot be set.

(1) (2) (3) (4) (5) (6) (7) (8)

(9) (10)

Fig. [Link] Connection machine setting

[Link] Input setting, Output setting

1. Input the signal name to ‘I/O name’ (1).
2. Input the description of this signal to ‘Contents’ (2).
3. ‘I/O Equipment’, ‘Rack No.’, ‘Slot No.’, Connect Machine’, and ‘Connect Machine Signal Name’
(3) are set by Connect Machine Setting and setting in the connected machine automatically.

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(1) (2) (3)

Fig. [Link] (a) Input setting

(1) (2) (3)

Fig. [Link] (b) Output setting

3.3.3 In case that Machine Type is Machine Tool, Jig, Hand

Followings are the description for Data Input Field in case that the machine type is Machine Tool or Jig
or Hand. In case that Machine type is Machine Tool or Jig or Hand, there is only I/O setting in detail
screen. In case that machine type is new machine type added in Machine Type Edit, the setting items are
same as Machine Tool.

I/O Setting
In I/O setting, set ‘Connect Machine Setting’ at first. Then, set ‘Input Setting’ and ‘Output Setting’
according to the number of input signals and output signals set in ‘Connect Machine Setting’. In case that
‘Connect Machine Setting’ is not set, ‘Input Setting’ and ‘Output Setting’ cannot be set.

[Link] Connect machine setting

1. Select the connected machine name by pull down list in ‘Connect Machine’ (1). Only the machine
name set in main screen can be set in this item.
2. Select ‘I/O Equipment’ (2) by pull down list, and set ‘Input Point’ (3), ‘Output Point’ (4), ‘Input
Start Physical No.’ (5), ‘Output Start Physical No.’ (6) ‘Rack No.’ (7), ‘Slot No.’ (8), and ‘Connect
Method’ (9). In case that the machine type is Machine Tool or Jig or Hand, ‘Peripheral I/O’ (10)
cannot be set.

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(1) (2) (3) (4) (5) (6) (7) (8)

(9) (10)

Fig. [Link] Connection machine setting

[Link] Input setting, Output setting

1. Input the signal address to ‘Address’ (1).
2. Input the signal name to ‘I/O Name’ (2).
3. ‘Connect Machine’, and ‘Connect Machine Signal Name’ (3) are set by Connect Machine Setting
and setting in the connected machine automatically.

(1) (2) (3)

Fig. [Link] (a) Input setting

(1) (2) (3)

Fig. [Link] (b) Output setting

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3.3.4 Check Box

In Function setting of detail screen, all setting items have check box (1). When the initial setting file
output operation is done, the items checked in its check box are output to the initial setting file.

When the each setting screen is displayed first, all check boxes in the screen are checked. In order to
uncheck all check boxes in the screen, click ‘Uncheck All’ button (2). In order to check all check boxes in
the screen, click ‘Check All’ button (3).

(3) (2)

(1)

Fig. 3.3.4 (a) Check box

In I/O setting of detail screen, there is only one check box in Connection Machine Setting screen. When
this check box (1) is unchecked, all I/O settings are not output to the initial setting file

(1)

Fig. 3.3.4 (b) Check box (I/O setting)

3.3.5 String Search Window

When ‘String Search’ button is clicked, the String Search window is displayed.

1. Click ‘String Search’ button (1). String Search window is displayed.

2. Input the search string to the input box (2) in String Search window.
3. Click ‘OK’ button (3).
4. As the result of string search, the cell that includes the search string is colored yellow. (4)

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(1)

(2)
(4)
(3)

Search String end

Fig. 3.3.5 String Search

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4 SERVO GUN SETUP OPERATION

(OPTION)
This chapter explains about operation of Servo Gun Integration Setup Tool.

4.1 OPERATION FLOW FOR SERVO GUN SETUP

Servo gun setup is performed by the following procedure.

1. Set up servo gun on main screen.

This software can set up per a kind of servo gun. Hardware parameter and function setting of servo
gun are specified on main screen. Refer to 4.2 MAIN SCREEN for more detail.
2. Specify detail parameter on per detail setting screen.
Refer to 4.6 DETAIL SETTING SCREEN for more detail.
3. Output servo gun data to setup file to load into R-30iA controller.
Output operation is performed on main screen. Refer to 4.3.1 Output for more detail.

4.2 MAIN SCREEN

When Servo Gun Integration Setup Tool is started up via Robot integration setting tool, then the
following screen appears.

(1) (2) (3)

(4) (5)

(7)

(6)

Fig. 4.2 Main screen

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The followings are items on this screen.

(1) “File” menu

• “New” It creates new servo gun setup data.
• “Open” It opens XML file that saves servo gun setup data.
• “Save” It saves servo gun setup data into new XML file.
• “OverWrite” It saves servo gun setup data into XML file that is opened with overwriting.
• “Output” It outputs servo gun setup data on the tool into setup file.
• “Input” It loads setup file that is created in R-30iA controller to input automatically.
• “Convert CSV” Cannot use.
• “End” It ends Servo Gun Integration Setup Tool.
(2) “SetUp” menu
• “Set Up File Address” It specifies address to output setup file.
• “Change Language” It changes language of Servo Gun Integration Setup Tool.
• “Unit” It changes unit of pressure force.
• “Motor” It sets up to add a kind of motor.
• “Motor File address” It specifies address of motor file that includes new motor.
(3) “Help” menu
• “Version” It shows software version.
(4) “Servo Gun Name” edit box
• Write servo gun name to set up.
(5) “Comment” edit box
• Write comment about servo gun name to set up.
(6) “Servo gun setting” category list
• “Servo Gun Function Setting” It performs setting of servo gun function.
• “Servo Gun Schedule Setting” It performs setting of per servo gun schedule.
• “Gun axis Setting” It performs setting of per servo gun axis.
(7) Detail setting screen
• “Servo Gun Setting” It displays setting items of selected setting category.

4.3 FILE MENU

Via File menu, it can perform file operation of Servo Gun Integration Setup Tool.
The following basic operation is same as Robot Integration Setup Tool.
• “New”
• “Open”
• “Save”
• “OverWrite”
• “End”
In this section, it explains about own file operation of Servo Gun Integration Setup Tool.

4.3.1 Output
Via Output menu, setup file is output to load into R-30iA controller.
1. Select “File”-“Set Up File Output”(1).
2. Setup files are output into SVGNPRMS folder on path that is specified by Set Up File Address.
SVGNPRMS folder is created automatically, if it is not existed.
3. Setup files are created for per named servo gun. If a existed named servo gun has been output, a
massage whether the setup data is overwritten or not is prompted (2).

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WARNING
In SVGNPRMS folder, setup files [Link], [Link] are created.(xxxx
is a number of creating order.)
Also, [Link] indicates name of servo gun that is saved in [Link].
Do not edit these files.

NOTE
When it loads setup file to R-30iA/R-30iB controller, copy SVGNPRMS folder that
includes setup file to root on memory card.

(1)

If a data of same named servo gun have If there is not SVGNPRMS

been output in SVGNPRMS folder. folder on setup file address

(2)

Setup file is overwritten. Outputting is canceled. SVGNPRMS folder is created,

then set up files are output.

Fig. 4.3.1 Output

4.3.2 Input
Via Input menu, setup file [Link] that is created in R-30iA/R-30iB controller can be load.
About how to create [Link], refer to 5.2.6 Store Current Setting of Servo Gun.
1. Select ”File”-“Input”-“Set Up File Input”(1)
2. ”File Open” dialog(2) appears.
3. Select setup file ([Link]).
4. Load setup file(3).
5. Setup data that is included in load setup file is applied to Servo Gun Integration Setup Tool.

NOTE
The servo gun is named as “SVGN000”. Change the default name.
Also servo gun axis setting cannot be loaded.

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(1) (2)

(3)

Fig. 4.3.2 Input

4.3.3 CSV File Conversion

The data input from CSV file cannot be used.

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4.4 SETUP MENU

4.4.1 Set Up File Address

1. Select “SetUp”-“Set Up File Address” (1).
2. ”Output initialize file path” dialog (2) appears.
3. Enter a path in box (2). Or click button (3), then open “Browse for folder” dialog (5) and select a
path that you want to output.
4. Click “OK” button (4).

(1)
(2)

(3)

(4)
(5)

Fig. 4.4.1 Setup file folder

4.4.2 Change Language

1. Select “SetUp”-“Change Language” (1).
2. ”Change Language” dialog (2) appears.
3. Select language via Radio button (3), then click “OK” button.
4. Language on screen is changed (4).

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(1)

(2)

(3)

(4)

Fig. 4.4.2 Change language

4.4.3 Unit for Pressure Force

1. Click pressure unit that you want to use via “SetUp”-“Unit”(1) menu.
2. Pressure unit of max pressure of gun axis setting and pressure data of pressure schedule is changed.
(2)

(1)

(2)

Fig. 4.4.2 Unit for pressure force

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4.4.4 Motor Settings

You can select only general servomotor for servo gun via “Motor type” of servo gun axis setting.
About special servomotor expect pre-provided servomotor on “Motor type” pull down menu, you have to
add it in beforehand. Adding special servomotor* allows for you to select it via “Motor type” pull down
menu.

* This product can add servomotor that is supported by R-30iA/R-30iB Servo gun axes option.

Start up motor setting screen by the following procedure.

1. Select “SetUp”-“Motor”(1)
2. “Motor Setting screen” (2) appears.

(2)
(1)

Fig. 4.4.4 Motor Setting

[Link] Motor setting screen

The following shows motor setting screen.

(1)
(2)

(3)

(5) (6) (4) (7)

(8)

Fig. [Link] Motor Setting screen

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(1) Motor list : It lists up motors that user add.

(2) Motor information : It displays and edits about motor data.
(3) Register button : This button resists Motor data on motor information. If the motor name is
existed, the data is overwritten. If not, the data is added.
(4) Delete button : This button deletes selected motor data on motor list.
(5) Output button : This button outputs selected motor data on motor list to XML file. A number
of motor can be output to one XML file.
(6) Read button : This button loads XML file that include motor data. Also it can load XML
file that created by other PC that Servo Gun Integration Setup Tool is
installed.
(7) OK button : This button saves setting on motor setting screen, and then returns to main
screen.
(8) Cancel button : This button does not save setting on motor setting screen, and then returns to
main screen.

[Link] Motor addition

Motor data is added by the following procedure.
1. Enter motor name on motor information menu. (1)
2. Enter motor parameter 1-3 * on motor information menu. (2)

* Motor parameters are basically same parameter as number that is entered to identify Motor size,
Motor type (rpm), and Motor current via servo gun axes setting of robot maintenance on
R-30iA/R-30iB controller. The following sample shows setting of αiS8 4000/80A.

Enter 62 to Parameter 1.

Enter 11 to Parameter 2.

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Enter 7 to Parameter 3.

Do not enter parameter that R-30iA/R-30iB servo gun axes option is not supported.
Please call FANUC, if you have unknown motor parameters.
3. Click Register button (3).
4. The named motor is added into motor list (4).
5. If the named motor exists in motor list, massage whether motor data is overwritten or not (5) is
prompted.

(4)
(1)

(2)

(3)

(5)

Motor data is overwritten. Resisting is canceled.

Fig. [Link] Motor addition

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[Link] Output motor setting file

It can output added motor setting to XML file.

1. Select motor that you want to output in motor list (1). If a number of motor are in the list, any
number of motor that you want to output can be selected, then output to one XML file.
2. Click Write button (2).
3. File save dialog (3) appears.
4. Enter file name, then click Save button (4). If named XML file exists, it can be overwritten.

(1)

(2)

(3)

(4)

Fig. [Link] Motor setting file output

[Link] Load motor setting

It can load motor setting that was created in beforehand, and then can edit.

1. Click Read button (1) on motor setting screen.

2. File Open dialog appears.
3. Select motor setting file, then click Open button (3).
4. Motors that are included in the selected motor setting file are added to motor list (4).

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(1)

(2)

(3)

(4)

Fig. [Link] Motor setting load

[Link] Delete motor setting

It can delete needless motor setting.

1. Select needless motor on motor list. (1)

2. Click Delete button (2).
3. Confirmation prompt appears. (3) If select yes to the prompt, and then the motor is deleted.

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(1)

(2)

(3)

Delete resisted data. Deleting is canceled.

Fig. [Link] Motor setting delete

4.4.5 Motor File Address

To select via Motor type pull down menu in Gun axis Setting, specify path of created motor setting file.

1. Select “SetUp”-“Motor File Address”(1).

2. ”Motor File address” screen (2) appears.
3. Specify path of motor setting file that includes motor data to select via Motor type pull down menu.
4. Click file select button (3) to appear file select dialog (4).
5. Click OK button (5) when setting is complete.
6. Added motor can be selected via Motor type pull down menu in Gun axis Setting (6).

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(2)

(1) (3)

(5)

(4)

(6)

Fig. 4.4.5 Motor file address setting

4.5 HELP
It shows Software version.

1. Select “Help”-“Version”(1).
2. “Version Information” screen (2) appears.

(2)
(1)

Fig. 4.5 Version

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4.6 DETAIL SETTING SCREEN

4.6.1 Preparation for Setting

Enter servo gun name in edit box of servo gun information area within 20 characters.

Fig. 4.6.1 Servo Gun name and comment input

Setup file cannot be created with existed same servo gun name.
If using existed same servo gun name, massages whether setup data is updated or not is prompted.

Enter servo gun comment in edit box of servo gun information area within 10 characters if you need it.
If you do not enter servo gun comment, servo gun name is applied to servo gun comment.
If servo gun name is over 11 characters and servo gun comment is nothing, 10 characters of servo gun
name is applied to servo gun comment.

4.6.2 Servo Gun Function Setting Screen

Select “Servo Gun Function setting” on servo gun setting category list, then display the setting items on
detail setting screen. These items set up general function of servo gun.

(4)

(3)
(1) (2)
Fig. 4.6.2 Servo Gun function setting screen
(1) It displays setting items.
(2) It specifies setup parameter.
(3) It decides whether data is output or not with check box. Only item that checked is output to setup file.
(4) It searches text on screen.

NOTE
“Close direction (Robot): Frame number” and “Close direction (robot): Direction” have
to be specified for both of robot gun system that robot carries gun and stationary gun
system that robot handles work panel.
When a setup file is loaded, select which system is. Setting of the selected system is
applied.
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4.6.3 Servo Gun Schedule Setting Screen

Select “Weld Schedule” or “Distance Schedule” or “Manual Backup Schedule” via “Servo Gun Schedule
Setting” on servo gun setting category list, then display the setting items on detail setting screen. These
items set up schedules of servo gun.

The following example is weld schedule screen.

(5)
(1)

(4) (2) (3)

Fig. 4.6.3 Servo Gun schedule setting screen

(1) It adds or deletes schedule setting line.

(2) This is a line to set schedule number.
(3) It specifies setting parameter.
(4) It decides whether data is output or not with check box. Only item that checked is output to setup file.
(5) It searches text on screen.

Operate weld schedule setting screen with the following.

• Firstly, enter schedule number that you want to set into schedule number cell.
Note that pressure schedule number and distance schedule number are limited within 99 and manual
backup schedule number is limited within 30.
• Then specifies setting parameter into setting cell.
• If you want to add new schedule, click “Add Row”. Then new schedule line is added.
• If you want to delete needless schedule, select needless schedule number cell, and then click “Delete
Row”. Then the selected schedule line is deleted.
• About operation in other schedule setting screen, the above is common.

4.6.4 Servo Gun Axis Setting Screen

Select “Gun axis Setting” on servo gun setting category list, then display the setting items on detail
setting screen.
These items set up servo gun hardware settings.

(4)

(3)
(1) (2)
Fig. 4.6.4 (a) Servo Gun axis setting screen

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(1): It displays setting items.

(2): It specifies setup parameter.
(3): It decides whether data is output or not with check box. Only item that checked is output to setup file.
Servo gun axis setting cannot output individual item.
(4): It searches text on screen.

About setting motor type, select motor name via pull down menu. If there is no special motor that you
want to select, need to add special motor. Refer to 4.4.4 Motor Settings. When special motor is added, it
can be selected via pull down menu.

Fig. 4.6.4 (b) Motor type selection

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5 OPERATION TO LOAD SETTING DATA

In this chapter, the operation to load robot initial setting and servo gun setting input on PC to Robot
controller is described.

In Robot controller, the initial setting file is loaded by ‘Initial Setting Load function’ software option
(A05B-2500-J980) or ‘Initial Setup Interface function’ software option (A05B-2600-J947). Initial Setting
Load function/Initial Setup Interface function, the current setting in Robot controller can be output to the
file with same format as the initial setting file.

In order to execute the Initial Setting Load function in R-30iA/R-30iA Mate

controller, teach pendant of Robot controller must be iPendant.

In case that the software option ‘Servo gun setup package’ (A05B-2500-J979) or ‘Servo gun setup
interface package’ (A05B-2600-J890) is installed in Robot controller, it is possible to load the setup file
created by Servo Gun Integration Setup Tool.

5.1 PREPARE IN ROBOT CONTROLLER

The setting file output by Robot Integration Setup Tool is loaded in Initial Setting Load screen in Robot
controller. You can load the initial setting files output by PC into Robot controller with one of following
methods.

• Memory Card Load the initial setting file from the memory card stored the initial setting file.
• FTP Load the initial setting file by the FTP communication with PC.
• USB Memory Load the initial setting file from the USB memory stored the initial setting file.

The setting file output by Servo Gun Integration Setup Tool is loaded in Robot Setting screen in
controlled start menu. In Robot Setting screen, the setting file is loaded from memory card.

It is possible to load the setting file output by Servo Gun Integration Setup Tool in Initial Setting Load
screen. In Initial Setting Load screen, the setting file for servo gun can be loaded by one of above three
methods like the robot initial setting file. However, the servo gun axis setting in the servo gun setting can
be loaded only in the Robot Setting screen in controlled start menu.

5.1.1 Load form Memory Card

In order to load the initial setting file output by Robot Integration Setup Tool, copy all subfolders and
files in the output folder of Robot Integration Setup Tool on PC into a memory card. And, insert that
memory card into Robot controller.

In order to load the setting file output by Servo Gun Integration Setup Tool, copy all subfolders and files
in SVGNPRMS folder in the output folder of Servo Gun Integration Setup Tool on PC into a memory
card. And, insert that memory card into Robot controller.

5.1.2 Load with FTP Connection

Set up Robot controller as an FTP client that is connected to the FTP server on the PC (‘Robot Integration
Setup Tool’ runs on).

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1. Set up PC as an FTP server beforehand.

2. Set the IP address of Robot controller at ‘SETUP Host Communication’ screen.
3. Set the IP address of the PC at the same screen.
4. Set up parameters to connect the FTP Server on the PC at the ‘SETUP Clients screen’.

With the FTP connection established, loading operation with FTP can be available.

5.1.3 Load from USB Memory Card

In order to load the initial setting file output by Robot Integration Setup Tool, copy all subfolders and
files in the output folder of Robot Integration Setup Tool on PC into a USB memory. And, insert that
USB memory into Robot controller.

In order to load the setting file output by Servo Gun Integration Setup Tool, copy all subfolders and files
in SVGNPRMS folder in the output folder of Servo Gun Integration Setup Tool on PC into a USB
memory. And, insert that USB memory into Robot controller.

5.2 PROCEDURE TO LOAD INITIAL SETTING FILE

5.2.1 Display Initial Setting Load Screen

Display ‘Initial Setting Load ‘ screen by the following operations.

1. Press MENU key, and select ‘Browser’.

Fig. 5.2.1 (a) Browser screen

2. Press F1 [TYPE] key to display screen change menu.

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Fig. 5.2.1 (b) Browser screen menu

3. Select ‘[Link]’ in the menu to display ‘Initial Setting Load’ screen.

Fig. 5.2.1 (c) Initial setting load screen (1)

In case that the software option ‘Servo gun setup package’ (A05B-2500-J979) or ‘Servo gun setup
interface package’ (A05B-2600-J890) is installed in Robot controller, the screen to load the initial
setting file and Servo gun setup file is displayed as follows.

Fig. 5.2.1 (d) Initial setting load screen (2)

5.2.2 Attention about Initial Setting Load Screen

About display of Initial Setting Load screen, there are some attentions as follows.

1. In case that the software series and version of Robot controller matches one of the followings.

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• Software series 7DA4 all aversion

• Software series 7DA5 version 09 or before
• Software series 7DA7 version 01

If the item ‘Init. setup’ does not appear in the F1[TYPE] menu, set the following system variables by
manual.

(In case that Servo gun setup package/Servo gun setup interface package is not ordered.)
System variable Data

$TX_SCREEN[i].$DESTINASTION ../../frh/ncrobot/[Link]
$TX_SCREEN[i].$SCREEN_NAME Init. setup
(i: Find the number which is not used in the array of $TX_SCREEN, and set data.)
(In case that Servo gun setup package/Servo gun setup interface package is ordered.)
System variable Data

$TX_SCREEN[i].$DESTINASTION ../../frh/ncrobot/[Link]

$TX_SCREEN[i].$SCREEN_NAME Init. setup

(i: Find the number which is not used in the array of $TX_SCREEN, and set data.)

To confirm whether Servo gun setup package/Servo gun setup interface package is ordered, check
whether the item ‘Servo gun setup package J979’ or ‘Servo gun setup interface J890’ exists in the
software configuration screen. The software configuration screen can be displayed by the operation
[MENU] - [STATUS] - [Version ID] - [Config].

2. In the case of other software series and version.

If the item ‘Init. setup’ appears twice in the menu, please clear above system variables.

5.2.3 Loading Initial Setting File

Load the initial setting files as follows.

1. Select ‘Memory card’ or ‘USB disk’ or ‘FTP client’ as an input device.

Device Selection

Fig. 5.2.3 (a) Device selection

Memory card , USB memory and FTP client tags are shown on the device selection list. To select
‘FTP Client’, FTP client settings are required before.

2. Press ‘Load’ button inside ‘General Setting’ section.

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Load Button

Fig. 5.2.3 (b) Load button

3. Following screen is displayed. Select the initial setting files. The initial setting files are designated
by the Cell Name which the Robot belongs, and the Robot Name.

Cell List Button

Robot List Button

Fig. 5.2.3 (c) Cell list button, Robot list button

Input the Cell Name and Robot Name directly, or select one from cell list and robot list stored in the
device.

To select the cell name and the robot name, select the cell name first, and select robot name from the
robot list. With no cell is selected, the robot list is not shown. Press ‘Cell List’ button.

Fig. 5.2.3 (d) Cell list

Select a target cell and press ‘Robot List’ button. Robot name list in the cell is displayed.

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Fig. 5.2.3 (e) Robot list

Select a target robot and press ‘Set’ button. Both the cell name and robot name are set.

Fig. 5.2.3 (f) Cell name and Robot name input

4. Press ‘Load’ button. Robot controller starts to load the initial setting file.

Fig. 5.2.3 (g) File reading

5. When Robot controller successfully loads the files, the following screen is displayed.

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Fig. 5.2.3 (h) File read end

Reboot Robot controller definitely to apply the change.

5.2.4 Store Current Setting of Robot Controller

Store the current setting of Robot controller by the following operations.

1. Select ‘Memory card’ or ‘USB disk’ or ‘FTP Client’ as a target device.

Device Selection

Fig. 5.2.4 (a) Device selection

Memory card , USB memory and FTP Client tags are shown on the device selection list. To select
‘FTP Client’, FTP client settings are required.

2. Press ‘Create’ button inside ‘General Setting’ section.

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Create Button

Fig. 5.2.4 (b) Create button

3. The following screen is displayed. To store the setting, select ‘Yes’.

Fig. 5.2.4 (c) Initial setting file create

4. When Robot controller successfully stores the setting, Initial Setting Load screen is displayed.

Fig. 5.2.4 (d) Initial Setting Load screen

A subfolder ‘ROBOCEL00’ is created on the target device. This folder contains the following files.

• [Link] (an administrative file)

• [Link] (Initial setting files format)

You can load this ‘[Link]’ into Robot Integration Setup Tool with the menu,
‘Initialization File Reading’. In this case, the Robot Name becomes ‘Robot’.
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Only the setting for Function setting is described in the file created by this
operation. The setting for I/O setting is not described.

5.2.5 Load Servo Gun Setting File

If “Servo gun setup package” (A05B-2500-J979) option software or “Servo gun setup interface package”
(A05B-2600-J890) option software is installed, load servo gun setup files with the following operation.

[Link] Loading setup file via Robot Maintenance screen

Setup files can be loaded via robot maintenance screen in controlled start with the following procedure.

1. Start up Controlled Start.

Power up with pressing Prev key and Next key , then select Controlled start on configuration menu.
2. Display robot maintenance screen.
Press Menu key, select “9. MAINTENACE ”.
3. Insert memory card that has SVGNPRMS folder includes setup files on root to slot on controller.

NOTE
Do not edit setup files that are created by Servo Gun Integration Setup Tool.
If setup files are edited, setting process cannot be executed correctly.

4. Move cursor “Servo Gun Axes”(1), then press F5 GunSet (2).

Note that F5 GunSet key appears only when Servo gun setup package option is installed.

(1)

(2)

Fig. [Link] (a) Robot Maintenance screen

5. The following screen is displayed. Enter servo gun name that you want to set up with in 20
characters. If you want to escape from this screen, enter 0 as name.

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Fig. [Link] (b) Servo Gun name input

Error massage is prompted in the following cases.

• Memory card is not inserted correctly.
• Servo gun name is not correct.
• There is not setup file of entered servo gun name.
• There is no correct setup file.

6. Confirmation screen that shows hardware configuration and servo gun name is displayed.

Identified servo gun name by user’s entering

Identified servo gun setup file ID

Hardware configuration for identified servo gun

Fig. [Link] (c) Servo Gun setting

If hardware configuration and servo gun name are correct on the screen, enter 1 to response yes. Then
servo gun axis setting is loaded.
If you want to cancel setup, enter 0 to response no. Then it returns to robot maintenance screen.
If you want to change hardware configuration, enter 9. Then select item number of configuration that
you want to change, and change configuration as follows.

NOTE
In this screen, amplifier number and brake number can be changed.
If you want to change FSSB line number or hardware start axis number, change
the data in manual setup screen via F4 Manual key.
Note that FSSB line number or hardware start axis number can be change when
there is no axis that the setup is complete.

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Procedure to change hardware configuration (Ex. Changing brake number)
1. Enter 9 to select “Change hard config” on confirmation screen (1).
2. Enter 2 to select brake number setting on changing hardware screen (2).
3. Enter brake number on changing brake number screen (3).
4. Enter 0 to return to confirmation screen (4).
5. Changed configuration is applied on confirmation screen (5).

(1) (2)

(3) (4)

(5)

Fig. [Link] (d) Hardware configuration change

7. When servo gun axis setting is complete, next other servo gun settings is started.

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Fig. [Link] (e) Servo Gun setting

Enter 1 for stationary gun system that robot handles work panel.
If not, enter 2 for robot gun system that robot carries gun.
If you want to setup other servo gun settings now, enter 0 to return robot maintenance screen.

8. When all settings is over, it returns to robot maintenance screen automatically.

Procedure to delete servo gun axis

Perform usual operation to delete axis if you want to delete axis setting via manual setting screen with F4
MANUAL.

[Link] Load servo gun setting file in initial setting load screen
It is possible to load the servo gun setting in Initial Setting Load screen that is displayed after cold start.
However, the servo gun axis setting in servo gun setting can be loaded only in the Robot Setting screen in
controlled start menu.

Table [Link] Load the servo gun setting

Setting Robot Setting screen Initial Setting Load screen

Servo gun function setting Loadable Loadable

Servo gun schedule setting Loadable Loadable
Servo gun axis setting Loadable Not loadable

1. Select ‘Memory card’ or ‘USB disk’ or ‘FTP client’ as an input device.

Device Selection

Fig. [Link] (a) Device selection

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Memory card, USB memory and FTP client tags are shown on the device selection list. To select
‘FTP Client’, FTP client settings are required.

2. Press ‘Load’ button inside ‘Servo Gun’ section.

Load Button

Fig. [Link] (b) Load button

3. Following screen is displayed. Select the servo gun setting file. Designate which servo gun setting
file is loaded by the gun name.

Fig. [Link] (c) Setting file load screen

Input the Gun Name directly, or select one from the gun list stored in the target device.
To see the list of the stored servo gun setting files, press ‘Gun List’.

Fig. [Link] (d) Gun list screen

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Select the target gun by its name and press ‘Set’. The gun name is set.

Fig. [Link] (e) Gun name input

In addition, set the following parameters about configuration of the servo gun.

Gun Number: In order to use multiple servo guns with one controller, set the identification number
of the target gun. When you use only one servo gun with Robot controller, input ‘1’
definitely.

Pedestal gun: If the target servo gun is a pedestal gun, press ‘Pedestal Gun’ and make the green lamp
turned on. To cancel the pedestal gun setting, press the button again and make the
lamp turned off.

4. Press ‘Load’. Robot controller starts to load the servo gun setting file.

Fig. [Link] (f) Setting file reading

5. When Robot controller successfully loads the files, Initial Setting Load screen is displayed.

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Fig. [Link] (g) Initial Setting Load screen

6. When Robot controller fails in loading the files, the error message ‘Reading some system variable
failed’ is displayed. Refer to ¥Device(MC, etc)¥SVGNPRMS¥[Link] when this message
is displayed. The system variables that cannot be read are recorded in [Link]. The
system variables not recorded in [Link] are loaded successfully.

5.2.6 Store Current Setting of Servo Gun

Store the current setting of the servo gun by the follow operations.

1. Select ‘Memory card’ or ‘USB Disk’ or ‘FTP Client’ as a target device.

Device Selection

Fig. 5.2.6 (a) Device selection

Memory card, USB memory and FTP client tags are shown on the device selection list. To select
‘FTP Client’, FTP client settings are required before.

2. Press ‘Create’ button inside ‘Servo Gun’ section.

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Create Button

Fig. 5.2.6 (b) Create button

3. The following screen is displayed. To store the setting, designate the gun number and select ‘Exec.’.

Fig. 5.2.6 (c) Setting file create

4. When Robot controller successfully stores the setting, Initial Setting Load screen is displayed.

Fig. 5.2.6 (d) Initial Setting Load screen

The following file is created in the subfolder ‘SVGNPRMS’ on the target device.

[Link] (Servo gun setting file format)

You can load this ‘[Link]’ into Servo Gun Integration Setup Tool with the menu ‘Setup
File Input’. In this case, the servo gun name becomes ‘SVGN0000’.

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INDEX
Loading setup file via Robot Maintenance screen .........69
<A>
Active frame...................................................................32 <M>
Air pressure abnormal, Hand broken..............................32 Machine Type Edit.........................................................28
Attention about Initial Setting Load Screen ...................63 Macro .............................................................................37
MAIN SCREEN........................................................17,45
<B> Miscellaneous ................................................................38
Both output.....................................................................22 Motor addition ...............................................................52
Motor File Address ........................................................56
<C> Motor setting screen.......................................................51
Change Language......................................................27,49 Motor Settings................................................................51
Check Box......................................................................43
Connect machine setting ......................................38,40,41 <O>
CSV File Conversion ................................................24,48 Open...............................................................................19
OPERATION FLOW.....................................................17
<D> OPERATION FLOW FOR SERVO GUN SETUP........45
Delete motor setting .......................................................55 OPERATION TO LOAD SETTING DATA .................61
DETAIL SCREEN .........................................................30 Output .......................................................................21,46
DETAIL SETTING SCREEN........................................58 Output initial setting file ................................................21
Display Initial Setting Load Screen ...............................62 Output motor setting file ................................................54
Output setting.................................................................39
<F> Output work file .............................................................22
FILE MENU ..................................................................46 Overwrite .......................................................................19
FUNCTIONAL OVERVIEW ..........................................1
<P>
<H> Payload ..........................................................................35
HELP..............................................................................57 PREFACE ........................................................................1
Preparation for Setting ...................................................58
<I> PREPARE IN ROBOT CONTROLLER .......................61
Import Standard Setting .................................................24
PROCEDURE TO LOAD INITIAL SETTING FILE ...62
In case that Machine Type is Machine Tool, Jig, Hand .41
In case that Machine Type is PLC .................................40 <R>
In case that Machine Type is Robot Controller..............31 Reference position .........................................................33
Initial Setting File Directory ..........................................26 Register, Position register ..............................................36
Input ..........................................................................22,47 Requisites.........................................................................4
Input initial setting file ...................................................22 ROBOT INITIAL SETUP OPERATION ......................17
Input setting....................................................................38 Robot Integration Setup Tool...........................................6
Input setting, Output setting ......................................40,42 ROBOT INTEGRATION SETUP TOOL (V1.0.0) .........8
Input work file................................................................23 ROBOT INTEGRATION SETUP TOOL INSTALL ......4
Install......................................................................8,11,13
INSTALL AND UNINSTALL ........................................4 <S>
INSTALLATION REQUIREMENTS .............................4 SAFETY PRECAUTIONS ........................................... s-1
Save................................................................................20
<J> Servo Gun Axis Setting Screen......................................59
Jog frame........................................................................33 Servo Gun Function Setting Screen ...............................58
SERVO GUN INTEGRATION SETUP TOOL.............11
<L> SERVO GUN INTEGRATION SETUP TOOL (V1.0.0)
LICENSING...................................................................16
....................................................................................13
Load form Memory Card ...............................................61
Servo Gun Schedule Setting Screen...............................59
Load from USB Memory Card.......................................62
SERVO GUN SETUP OPERATION (OPTION) ..........45
Load motor setting .........................................................54
Set Up File Address .......................................................49
Load Servo Gun Setting File ..........................................69
SETUP MENU...............................................................49
Load servo gun setting file in initial setting load screen 72
Soft Float........................................................................34
Load with FTP Connection ............................................61
Start Servo Gun Integration Setup Tool .........................25
Loading Initial Setting File ............................................64
Store Current Setting of Robot Controller .....................67
i-1
INDEX B-83054EN/03

Store Current Setting of Servo Gun ...............................75

String Search Window ...................................................43
System configuration .....................................................35
SYSTEM REQUIREMENT.............................................3

<T>
Tool frame, User frame ..................................................31

<U>
Uninstall ..............................................................8,9,13,14
Unit for Pressure Force ..................................................50
User alarm ......................................................................37

<V>
Version Information .......................................................29

<W>
Work File Directory .......................................................27

i-2
B-83054EN/03 REVISION RECORD

REVISION RECORD
Edition Date Contents
03 Apr., 2014 • Revised as the manual for R-30iB/R-30iB Mate controller.
• Setting for Soft float is added in Initial Setting Tool
02 Apr., 2010 • Setting for Payload is added in Initial Setting Tool
• Setting of Register Value is added in Initial Setting Tool
01 Apr., 2009

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