Maintenance course

Electric controller
Fanuc R30iA Robot
 Introduction

Student presentation.
Presentation of the activities.
•Schedules within the course.
Lunchtime.
Use of the phone inside the classroom.
 Safety considerations

Stay safe during the operation.

Stay safe during the operation
automatic.
Safety during maintenance
controller.
Controller and device security
peripherals.
Controller configuration

The appearance or configuration of the controller

it can vary slightly, depending on
the application and the acquired options.
Type A cabin.
Cabin with integrated operator panel.
Type B cabin.
Type A cabin
Operator panel cabin
integrated
Type B cabin
Controller components
type A cabin
Type A cabin with panel of
integrated operator
Type B cabin components
(front)
Type B cabin components
Operator panel
Connection to controller blocks
R30iA cabinet A
 Connection to blocks of the
R30iA controller cabin B
 Function of the components
The main board contains a microprocessor and
its peripheral circuits, memory, and the control of the circuits of
operator panel. The CPU controls the position of the
servomechanisms.
I/O. Communication cards with peripheral devices for the
robot cell control.
E-Stop Unit and MCC Unit. These cards control the system of the 2
magnetic contactors and the preloading of the servo amplifier.
Power Supply Unit. This card is the
in charge of converting the input alternating current to various
direct current levels.
•Servo amplifier. This card controls the servomotors, signals
of the encoders, brake control, overtravel, and HandBrake
 Continuation.
Backplane. All cards are installed or mounted on these
printed circuit boards.
Teach Pendant. All tasks including programming of the robot.
are carried out in this unit.
Operator Panel. Buttons and LEDs on the operator panel are
used to indicate the status or functioning of the robot
Transformer. The supply voltage is converted to a
AC voltage required by the controller.
Regenerative Resistance. To discharge the electromotive force
what do servomotors generate in the servo amplifier.
 Main Board
The main board contains a microprocessor and
its peripheral circuits, memory and control of
the circuits of the operator panel. The CPU
control the position of the servomechanisms.
 Internal components of the main
CPU
CPU card.
•Module FROM/SRAM.
Axis control card.
 I/O Inputs and Outputs
Digital signals (DI/DO) are signals sent to
and from the controller. These can have 1 of 2 possible states
ON/OFF.
•Analog (AI/AO) These signals use an input voltage or
output that has a value within the range of the I/O card or the
used module. Analog input devices convert the
external analog signals into digital signals for use by
the controller. The typical analog values of the signals of
input and output are from -10 volts to 0 volts or from 0 volts to +10
volts.
Group. Group signals or (GI/GO) are created from a sequence
of digital signals (DI/DO), These are represented as a group
of 16-bit signals.
User Operator Panel (UOP) I/O. The user operator panel
provide 18 inputs and 20-24 outputs that can be connected to
a remote device or a remote user panel to control
the robot.
E-Stop Unit (Control card of
paros
Power Supply Unit
Nutrition
Servo amplifier
 Servoamplifier
Main function.
The servo amplifier controls the current of the servomotor, the
pulse encoder, brake control, travel limits of
the axes, and the protection sensor of HAND BROKEN.
Communication via fiber optic with the MAIN for the
position information.
Divided into 2 sections, power card and control card
of axes.
 Problem solving
The alarms in the Fanuc controller occur due to the following
problems:
Hardware Problems: A broken cable or tool.
Software Problem: incorrect program or data.
External problem: an open security door or stop
external emergency.
Depending on the severity of the problem, you have to take
certain steps to solve them.
Some errors require minimal corrective actions. Others
more procedures are required. The first step to
in the fault resolution process is to determine the type of
alarm and how severe it is.
After determining what type of failure, appropriate information
can be used to solve it.
 Error codes.
An error code consists of:
The name of the failure and the error code number.
The severity of the error.
–El mensaje de texto del error.
The error code will look like the following
description.
– FACILITY_NAME - ERROR_CODE_NUMBER Error message text
Recommendation to recover a robot failure.
Determine the cause of the error.
Fix the problem that causes the error.
Restart the robot and the program.
 Alarm Screens
•Alarm Status
This screen allows you to monitor the list of active alarms.
(Press F3 (HIST) to view the alarm history).
Application Alarm Status
This screen allows you to monitor the alarm list of the
application.
-The app alarms include any alarm that this
related to the application that the robot is supporting
Comm Log Status
This screen allows you to monitor any alarm.
communication when a communication application is
instalada en el controlador.
 Alarm screens cont'
•Fault Recovery Status
This screen allows you to monitor any status of
Recovery.
•Motion Alarm Status
This screen allows you to monitor any alarms.
movement such as, SRVO alarms or any other alarm
related to the movement.
System Alarm Status.
This screen allows you to monitor any alarm message.
like those from SYST Alarm
Power Supply Unit
Nutrition
 Name and alarm code
The name and code of the alarm identify the type of error that
It happened. Alarm information is displayed at the beginning of the
error code.

• PROG-048 PAUSE Shift released while running

In the example, the name of the alarm corresponds to the code of
alarm 3. The error code number is 048.
Review the alarm code list in the manual.
 I/O Inputs and Outputs
Digital signals (DI/DO) are signals sent to
and from the controller. These can have 1 of 2 possible states
ON/OFF.
•Analog (AI/AO) These signals use an input voltage or
output that has a value within the range of the I/O card or the
used module. Analog input devices convert the
external analog signals into digital signals for use by
the controller. The typical analog values of the signals of
input and output are from -10 volts to 0 volts or from 0 volts to +10
volts.
Group. Group signals or (GI/GO) are created from a sequence
of digital signals (DI/DO), These are represented as a group
of 16-bit signals.
User Operator Panel (UOP) I/O. The user operator panel
provide 18 inputs and 20-24 outputs that can be connected to
a remote device or a remote user panel to control
the robot.
 Description of alarm severity (cont.)
SERVO
The SRVO type alarms stop the current sent to the
servo motors and pause the movement system or the execution of programs
ABORT
ABORT errors cause programs to be aborted and stopped.
every execution of movement. ABORT errors indicate that the program
there is a problem that is very severe for the continuation of the execution of
movement.
SYSTEM
System errors indicate that there is a problem in the system that is so
severe that prevents the robot from any operation. The problem may be
Hardware or Software.
After you have fixed the error, you will need to reset the system for
turn it off and wait a few seconds before turning it back on
NONE
These errors usually refer to a problem with the KAREL system or the
KAREL routines. These errors do not affect the robot or its operation.
system.
Effects of alarm severity
 Percentage Notation
A percentage sign followed by the letter s (% s) indicates that a
string that represents a program name, filename, or
the name of the variable actually appears in the message of
error when the error occurs
A percentage sign followed by the letter d (% d) indicates that a
integer number, which represents a program line number u
another numerical value, actually appears in the error message
when the error occurs
•INTP-327 ABORT (%^s, %d^5) Open file failed
When this error occurs, the real name of the file that does not
could open will appear on the error line of the teach pendant in
place of % s. The current line number program in which you
that error will appear on the Teach pendant line instead
of the d.
 Entries and Exits.
The following types of I/O are available. The quantities and types vary.
depending on the type of I/O hardware you use:
Analog
Digital
Group
User Operator Panel (UOP)
PLC
Standard Operator Panel (SOP)
Robot

Analog
An analog I/O signal (AI or AO) is an input or output voltage that
it has a value within the range of the I/O card or of the modular I/O
used.
Analog input devices convert analog signals
external in numerical signals to be used by the controller. The
analog output devices allow sending analog signals to
external devices. The typical values of analog inputs and outputs
they range from -10 volts to 0 volts, or from 0 volts to +10 volts. These values depend on the
particular device used in its controller.
 Entries and Exits.
Digital
A digital I/O signal (DI or DO) is a control signal sent or received.
of the controller. The
Digital signals can only have two possible states: ON or OFF.
Digital signals
they provide access to the data in a simple input or output signal line
simple.
Group
Group I/O signals (GI or GO) are made from a sequence of signals.
digital input/output. They are interpreted as a binary number. A signal of
group is a group of up to 16 ones (1) and zeros (0), indicated as ON or OFF.
Each bit is a group input or output like a digital input or output.
Simple. The bits that are not used are assigned a '0.'
If you group the digital I/O signals, you can control or monitor the
input/output signal sequence within your program defining or reading a
simple group using group I/O instructions.
 Entries and Exits.
I/O of the User Operator Panel (UOP)

The User Operator Panel (UOP) provides 18 input signals and 20 to 24.
exit signals (four are optional), which can be connected to a
remote device or a remote operator panel, to control the robot. The
most of the I/O signals of the UOP (UI or UO) are active when the
the robot is in remote condition. The signals that affect safety are
always active.
E/S of the Standard Operator Panel (SOP)
The I/O SOP signals (SI or SO) correspond to inputs and outputs.
digital of the internal software panel of the controller that controls the panel
controller operator. Cannot change the I/O assignment of SOP, but
you might find it useful to deploy them during fault localization.
Robot I/O.
Robot I/O signals (RI or RO) consist of input signals and
output between the controller and the robot. These signals are sent from the
EE (End Effector) connector located on the robot. The number of RI and RO signals.
they can vary depending on the number of axes in their system.
 Entries and Exits.
Rack
The rack is the physical location where the inputs and outputs are mounted.
the process I/O cards or modular I/O. Your system may contain
multiple racks.
Slot
The slot is the space in the rack where the modular I/O module is connected.
The meaning of the slot depends on the type of I/O being used.

Starting Point (for Digital I/O, Group, and UOP only)

The starting point is the port number within the sequence of ports in the
card or module.
For the modular I/O, the starting point number refers to the number of the
terminal.
In a basic distributed I/O unit that has both inputs and outputs
Digital, both inputs and outputs start with 1.
For I/O expansion units, a mix of inputs and outputs is allowed.
If the base and the extension are the same (both digital inputs or outputs
digital), the ports of the extension module start at (n+1), where n is the
number of ports in the base module.
If the base and the extension are different, the ports of each one start at 1.