COMMUNICATION FEATURES R-30iA Mate

Simple down- and upload of robot programs to server! 

• PCMCIA interface inside the controller 
• 1 serial interface connection (RS232C, RS422) 
• FANUC I/O-link (slave or master) 
• FANUC I/O unit model A (option) 
• Ethernet (100 BaseTX) 
• Fieldbus (optional) 
• ProfiBUS (Master and slave, separated) 
• DeviceNET (Master and slave, separated) 
• CCLink

I/O FEATURES FOR R-30iA MATE

Input / Output (I/O) are electrical signals through which the robot can control grippers and other external tools. It is also needed for the communication with external machines (e.g. CNC machines) which the robot may load or unload. 

• Available types of I/O 
• DI/DO (digital) 
• RI/RO at the robot arm (digital) 
• GI/GO (grouped digital I/O) 
• UI/UO (digital I/O for remote control by external PLC) 
• AI/AO (analog) 
• I/O setup can be separately backed up and restored using PCMCIA memory card

FAST START-UP

R-30iA Mate controller needs less than 1 minute to start (and even less with the basic software only)
In case of power failure:

• Robot program restarts much quicker than with any PC-based program (non-Windows operating system). 
• The resume hotstart function allows to restarting safely and continuing production after power failure : no need to re-do the whole movement. 
• Unique resume tolerance check: in case of any program interruption, the robot automatically memorises its position before failure. When the program continues, it checks wether the robot has been moved outside of a preset tolerance. This avoids unexpected movements and collisions. 
• Increased up-time (robot availability)

INTEGRATED INTELLIGENT VISION SOLUTION iRVISION2

The controller provides integrated 2D vision to speed-up the installation of vision applications, which can easily be upgraded to:

• 2D vision shift 
• 2D visual line tracking 
• 3DL vision 
• 3DL vision bin picking

(See chapter iRVision)

POWERFUL PROGRAMMING FUNCTIONS

The controller runs with FANUC operating system, which brings strong advantages:

• Virus-free (not PC based) 
• High data security in case of power loss 
• Quick start-up of basic software 
• Easy to use

The controller offers various programming possibilities:

• TPE (Teach pendant editor) which is the standard way of programming
• Advanced offline programming options such as ROBOGUIDE
• (See chapter ROBOGUIDE)
• Integrated PMC (optional) 
• Karel (optional)
  

(See chapter Software Options)

TPE is a block style interpreter language: allows fast and cost-efficient programming.

• Possibility to record up to 11 000 positions with basic memory configuration
• One key stroke on the teach pendant records one complete operation of the robot
• Standard operations (e.g. motion, arc start, arc end, logic...) can be selected and adapted to the application very easily
• TPE motion includes: 
• Joint, linear and circular motions 
• Remote TCP, coordinated motion and other functions in option

SAFETY CLASS 3

Safety Class 4 (EN 954-1) is offered with Dual Check Safety.

DCS consists of 2 I/O security channels running on 2 independent processors which mutually check each other. Dual Check Safety is the embedded safety conformed to European safety standards. Two processors monitor real position and velocity of servo motor for safety redundantly. The embedded safety provides conformance to the safety standards without any sacrifice on machine efficiency and cost.

Dual Check Safety in the robot has the following features:

• 2 channel safety inputs for FENCE, Emergency Stop, Servo Off 
• 2 channel safety output for Emergency Stop
• Same safety inputs and outputs as R-J3iB and R-J3
• Safely cuts the servo motor power using magnetic contactors
• Safety classification according to EN 954-1 risk assessment class 4 (highest level as needed for manual press loading)
  

SERVO MONITORING - OVERLOAD, OVERHEAT AND COLLISION DETECTION

Continuous monitoring of the motor current by the servo control for enhanced predictive maintenance

• Overheat monitoring: the power dissipation and capacity of each motor is continuously monitored, as well as the robot duty cycle. In case of overheat, an alarm is issued and stops the robot. 
• Collision detection (disturbance torque monitoring): the difference between real and expected motor current is monitored. Collisions and electrical / mechanical problems to the robot can be detected quickly before serious damages occur. Disturbance excess alarm warns the operator while the collision alarm stops the robot. Collision events are recorded to allow further analysis. 
• Overload monitoring (OVC): the commanded torque is monitored and overload detected when the value gets too big. 
• Position monitoring: the „following“ error of the servo control is constantly monitored. It triggers move error excess and stop error excess alarms.