25.1.1
Connect physical robot
FANUC

Connect Fanuc to Wandelbots NOVA

⚠️ caution

Danger in case of insufficient qualification of users
People can be injured if unqualified user groups set up the physical robot environment.

  • Only qualified user groups designated by the operating company may set up the physical robot environment.
  • Keep unqualified user groups away from the area of risk.

Remember to read through the provided safety instructions. If you have remaining questions, contact Wandelbots GmbH Customer Support.

Supported models

The setup instructions are valid only for the following controllers and robots:

R30iBPlus controller

Industrial

  • ArcMate 100iD
  • ArcMate 120iD
  • ArcMate 120iD/35
  • M-10iD/12
  • M-20iD/25
  • M-20iD/35
  • LR Mate 200iD/4s
  • LR Mate 200iD
  • LR Mate 200iD7L

Cobots

  • CRX-10iA/L
  • CRX-10iA
  • CRX-20iA/L
  • CRX-25iA
  • CR7iA
  • CR7iA/L

Setup instructions

Check controller version

Wandelbots NOVA only supports FANUC controllers with software version 9.30P/24 or 9.40P/28 or higher.

Using the original robot control panel

  1. Turn on the robot controller adhering to the robot manufacturer's original operating instructions.
  2. Press MENU.
  3. Select HOME > HINT.
    The controller version is displayed.
  4. Ensure that the controller version is at least 9.30P/24 or 9.40P/28.

Set operating mode

  1. Set the robot controller's key switch to operating mode T1.
  2. Press RESET button to reset eventual errors on the robot controller.

Configure option packages

Using the original robot control panel

  1. Press the MENU button.
  2. Select 0/NEXT, then STATUS.
  3. Select Version ID, then >.
  4. Press the F3 button and select ORDER FI.
  5. All available packages are displayed.
  6. Ensure that the following option packages are present in the folder.
NumberFunction
1A05B-2600-J567 - DCS Pos./Speed checkSafety zones
1A05B-2600-J568 - DCS Safe I/O connectSet safe I/Os
1A05B-2600-R912 - Remote MotionRobot movement
1A05B-2600-H510 – Basic SoftwareRobot controller data transfer, e.g. movement limits

If one of the packages is missing, contact Fanuc customer support and request a Fanuc image. This process can take a couple of days.

Connect physical instance/IPC

  1. Connect an ethernet cable to the IPC's LAN-1 port. Per default, the configured IPC network port is usually enp3s0, matching LAN1, unless configured otherwise during the Wandelbots NOVA installation process.
  2. Connect the IPC to the robot controller's CD38A port.\
  3. Turn on the IPC.

Configure network settings

Using the original robot control panel

  1. Press MENU button.
  2. Select HOME > PREV >Basics > Initial Setup > 8 network settings.
  3. Select "Connect to network".
  4. Press F4 button and select NEXT STEP > "Change network settings".
  5. Press F4 button and select NEXT STEP.
  6. Select LOW.
  7. Press F4 button and select NEXT STEP.
  8. Select Port 1 (CD38A).
  9. Press F4 button and select NEXT STEP.
  10. Select MANUAL.
  11. Press F4 button and select NEXT STEP.
  12. Enter the robot's name as controller name.
  13. Enter the robot controller's IP address, e.g. 192.168.1.100, into the "IP address" field.
    This IP address has to be within the same subnet as the IPC's IP address but can otherwise be set as desired.
  14. Enter the subnet mask 255.255.255.0.
    This ensures that the robot controller and the IPC are in the same subnet.
  15. Press F4 button two times and select NEXT STEP.
  16. Press F5 button and select FINISH.

Configure variables

Using the original robot control panel

RMI

  1. Press MENU button.
  2. Select SYSTEM, then VARIABLES.
  3. Two files, RMI_CFG and RMI_EXEC are displayed. If those files are not displayed, contact Fanuc customer support to enable RMI.

UOP settings

  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select Config, then
  4. Set 7(Enable UI Signal) to false .
  5. Set 42(Remote/Local Setup) to Local/Soft OP Panel.

Error values

  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select VARIABLES, then
  4. Set EMGDI_STAT to 32 or 0.
  5. Set ERSERVERITY to 0.

Payload

  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select Motion.
  4. Press the F5 button and select SETIND.
  5. Set value to 1 and confirm with ENTER button.

Velocity (Cobot)

  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select DCS, then Collaborative robot, then
  4. Set Speed Clamping to Disabled.
  5. Set Disabling Input to --(0).
  6. Set Maximum Speed to 250 mm/s.

Cycle time

  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select VARIABLES, then SCR.
  4. Set ITP_TIME to 8 and confirm with ENTER button.

Use DCS

  1. Press MENU button.
  2. Select 0/NEXT, then SYSTEM.
  3. Select DCS, then confirm with F2 button and select APPLY.
  4. Wait 3 seconds then press F4 button and select OK.
  5. Reboot the robot controller.
  6. After the reboot is completed, press the RESET button.

The robot controller was successfully set up for Wandelbots NOVA.

Usage

FANUC robots can currently only be used with Wandelbots NOVA in automatic mode. Manual mode is not supported.

It's time to create a virtual cell on Wandelbots NOVA and add your physical robot to it!

ABBKUKA