Manual Plc

Department of Electronics and Telecommunication Engineering University of Moratuwa
B.Sc. (Eng) Level 4 EN 407 Robotics Lab FANUC1 – Getting Hands on FANUC M 6iB Robot Manipulator (Conducted at theOpen University of Sri Lanka)
Copyright©Sudath R. Munasinghe

Getting ready to operate the robot Before you start operating the robot 1. Read the safety precautions given to you. 2. Identify thesystem

FANUC M 6iB robot manipulator
• joint configuration • ± motion directions of joints FANUC R-J3i Model B robot controller • on/off switch • three-mode switch • emergency stop switch Teachpendant • safety stop switch • teach pendant ON/OFF switch

Fig 1. FANUC M6iB robot, R-J3i Model B controller, and teach pendent (Courtesy of the Open University, Sri Lanka) System initialization 1.Power “on” the R-J3i model B controller. 2. Make sure that three-mode switch is in Auto or T1 position. 3. If the emergence stop button has been depressed, turn clockwise to release it.

Fig 2.Controller switches; ON/OFF, three-mode switch, and emergency stop switch

The Exercise
Part A – Joint jog motion 1. Hold the teach pendent in your hand. Not necessary to depress deadman switch.

Fig 3.Holding teach pendent and operating deadman switch 2. Switch ON teach pendant

Fig 4. Teach pendent ON/OFF switch 3. Press “COORD” key repeatedly until JOINT jog type is selected (“joint” willappear on the upper menu bar of the teach pendant screen. Press jog speed keys and set 20% (jog speed appears on the top right corner on the teach pendant screen)

Fig 5. Jog type and jog speedadjustment

4. Hold the deadman switch depressed and do the followings: • press RESET key to release fault protection state (which is naturally ON every time you turn ON the teach pendent to avoid robotbeing accidental operated)

Fig. 6 Press RESET key while holding deadman switch down to clear fault protection (default) • Hold SHIFT key depressed Exercise depressing keys -j1, +j1, -j2, +j2, -j3,...