Fanuc Usage¶
Note
This section assumes that setting up of the R-30iB controller for drag&bot has successfully been accomplished.
Furthermore it is assumed, that you know how to use the Fanuc teach pendant as described in the chapter Setup.
Running a Fanuc robot with drag&bot¶
Info
If the drag&bot controller program DNB was configured to start automatically at controller startup, as described here, all tasks will start automatically. Otherwise follow the steps below on each startup.
- Starting the drag&bot controller program needs always to be done in Automatic mode. Further its recommended to start the drag&bot controller program always before the drag&bot application on the Industrial PC.
- Start the R-30iB controller.
- Ensure that no controller program is already running by checking the running tasks. Press the
soft button and press the MONITOR button at the bottom bar. Before starting the drag&bot controller program the list should refuse to appear as no task is running. After drag&bot has been started four tasks should be listed and should all have the status RUNNING. - Abort eventually running tasks, also drag&bot tasks from an earlier session. Press the
soft button and choose the Abort (All) option by selecting it and pressing the 
soft button. - Start the drag&bot controller program. Press the soft button and select the DNB program. Press to choose the program.
- Press the Green Start Button at the controller (at the robot cabinet, not in the teach pendant) to start the controller program.
- You can watch at the teach pendant outprints of the controller programs by switching to the user view. Press the
soft button and select the USER menu for this. - Start the drag&bot application on the Industrial IPC.
- The successful connection of the drag&bot driver to the controller is printed in the teach pendants outprints.
- Its possible to change the controller to manual mode (T2) to observe the robots current position. Then its not possible to move the robot from drag&bot, but its possible to move the robot from the Fanuc Teach Pendant.
Running a Fanuc robot without drag&bot¶
Info
This section assumes that you are familiar with the Fanuc Controller outside of drag&bot.
In case you have a controller configured for drag&bot, which you want to use like a regular Fanuc controller without drag&bot, it is necessary to deactivate the startup of the drag&bot controller program. This reduces the processor load and frees usually used User Tasks.
Please note that this does not free the used registers, position registers and flags described in the setup section. These should still not be used by other tasks to avoid compromising the drag&bot setup. In case these registers or flags are still used by other programs, the setup process has to be repeated before the robot can again be used with drag&bot.
To deactivate or reactivate the drag&bot controller program, change to the flags overview in the I/O menu. Configure the flag 111 "Start DNB" respectively. If the flag is set, the drag&bot controller program (with background communication and motion state machine) will start automatically. If the flag is unset, the drag&bot controller program will directly shutdown at startup and not start the other tasks.
After the changes restart the controller.
Digital Inputs and Outputs¶
In drag&bot Digital I/Os are identified in the same way as the respective Digital I/Os on the robot controller.
| Group | Fanuc I/O numbers | drag&bot I/Os | Notes |
|---|---|---|---|
| Digital Inputs (DI) | 1-1024 | DI[1]-DI[1024] | Supported numbers. Finally available I/O numbers depend on the configured I/Os in the drag&bot Fanuc R-30iB robot controller component. |
| Digital Outputs (DO) | 1-1024 | DO[1]-DO[1024] | Supported numbers. Finally available I/O numbers depend on the configured I/Os in the drag&bot Fanuc R-30iB robot controller component. |
| Robot Inputs (RI) | 1-8 | RI[1]-RI[8] | - |
| Robot Inputs (RO) | 1-8 | RO[1]-RO[8] | - |
To interact with the Digital I/Os using this numbering in your programs use the function blocks
- Digital I/O Device - Get
- Digital I/O Device - Set
- Digital I/O Device - Wait For
as described in the Function Block Library overview.
Error Handling¶
- If an error occurs you can reset it with the
soft button. Eventually stopped tasks should be restarted automatically.