Servidor para profesores

Table 1–1. Main CPU Modules. . . 1–12 Table 1–2. Sub CPU Modules . . . 1–14 Table 1–3. Servo Amplifiers . . . 1–25 Table 1–4. Dip Switch Settings. . . 1–26 Table 1–5. Multi-Tap Transformer Part Numbers . . . 1–27 Table 1–6. Selecting Transformer Taps . . . 1–28 Table 1–7. Digital Input Module Specifications . . . 1–31 Table 1–8. Digital Output Module Specifications. . . 1–31 Table 1–9. I/O Module Part Numbers . . . 1–32 Table 1–10. FANUC R-J2 Ethernet Remote Style Printed Circuit Board Part Numbers . . . 1–34 Table 1–11. Purge Intrinsically Safety Barriers and Signal Repeaters . . . 1–45 Table 1–12. Troubleshooting . . . 1–51 Table 2–1. Safety Signals . . . 2–3 Table 2–2. Version Identification Status Items . . . 2–5 Table 2–3. Memory Status . . . 2–8 Table 2–4. Axis Status Pulse Screen Items . . . 2–12 Table 3–1. Teach Pendant Status Indicators . . . 3–2 Table 3–2. Standard Operator Panel Status Indicators . . . 3–3 Table 3–3. Servo Amp On Description . . . 3–4 Table 3–4. Troubleshooting Main CPU Board Diagnostic LEDs . . . 3–9 Table 3–5. Troubleshooting Sub CPU Board STATUS LEDs (Green) . . . 3–11 Table 3–6. Troubleshooting Sub CPU Board ALARM LEDs (Red) . . . 3–12 Table 3–7. Troubleshooting Sub CPU Board ALARM LEDs (Red) . . . 3–12 Table 3–8. Modular I/O LEDs. . . 3–13 Table 3–9. Servo Amplifier LED Functions . . . 3–15 Table 3–10. Emergency Stop Control Printed Circuit Board LED Functions . . . 3–17 Table 3–11. Modular I/O LEDs. . . 3–18 Table 3–12. Modular I/O LEDs. . . 3–19 Table 3–13. ER-1 Alarm LEDs . . . 3–22 Table 3–14. ER-2 Alarm LEDs . . . 3–22 Table 4–1. Troubleshooting Procedure 1

(Initial Purge Troubleshooting Procedure) . . . 4–6

TABLE OF CONTENTS MARO2P10203703E

xxii

Table 4–2. Troubleshooting Procedure 2 (IBRC Troubleshooting Procedure) . . . 4–9 Table 4–3. Troubleshooting Procedure 3 (Non-Specific Purge Problems) . . . 4–10 Table 4–4. Troubleshooting Procedure 4

(General Power Supply Troubleshooting) . . . 4–13 Table 4–5. Troubleshooting Procedure 5 (Transformer) . . . 4–15 Table 4–6. Troubleshooting Procedure 6 (Power Supply Alarms) . . . 4–17 Table 4–7. Troubleshooting Procedure 7 (Power Supply Output) . . . 4–19 Table 4–8. Class 2 Faults Troubleshooting Procedure . . . 4–21 Table 4–9. SRVO-001 Troubleshooting Procedure. . . 4–24 Table 4–10. SRVO-002 Troubleshooting Procedure . . . 4–25 Table 4–11. SRVO-003 Troubleshooting Procedure . . . 4–26 Table 4–12. SRVO-004 Troubleshooting Procedure . . . 4–27 Table 4–13. SRVO-005 Troubleshooting Procedure . . . 4–28 Table 4–14. SRVO-006 Troubleshooting Procedure . . . 4–31 Table 4–15. SRVO-006 Troubleshooting Procedure . . . 4–32 Table 4–16. SRVO-014 Troubleshooting Procedure . . . 4–34 Table 4–17. SRVO-015 Troubleshooting Procedure . . . 4–35 Table 4–18. SRVO-019 Troubleshooting Procedure . . . 4–36 Table 4–19. SRVO-020 Troubleshooting Procedure . . . 4–36 Table 4–20. SRVO-021 Troubleshooting Procedure . . . 4–37 Table 4–21. SRVO-022 Troubleshooting Procedure . . . 4–40 Table 4–22. SRVO-023 Troubleshooting Procedure . . . 4–40 Table 4–23. SRVO-038 Alarm Reset Procedure . . . 4–42 Table 4–24. SRVO-042 Troubleshooting Procedure . . . 4–43 Table 4–25. SRVO-043 Troubleshooting Procedure . . . 4–44 Table 4–26. SRVO-044 Troubleshooting Procedure . . . 4–46 Table 4–27. SRVO-045 Troubleshooting Procedure . . . 4–47 Table 4–28. SRVO-047 Troubleshooting Procedure . . . 4–48 Table 4–29. SRVO-049 Troubleshooting Procedure . . . 4–49 Table 4–30. SRVO-050 Troubleshooting Procedure . . . 4–49 Table 4–31. SRVO-051 Troubleshooting Procedure . . . 4–50 Table 4–32. SRVO-061 Troubleshooting Procedure . . . 4–50 Table 4–33. SRVO-062 Troubleshooting Procedure . . . 4–51 Table 4–34. SRVO-063 Troubleshooting Procedure . . . 4–52 Table 4–35. SRVO-064 Troubleshooting Procedure . . . 4–52 Table 4–36. SRVO-065 Troubleshooting Procedure . . . 4–52 Table 4–37. SRVO-066 Troubleshooting Procedure . . . 4–53 Table 4–38. SRVO-067 Troubleshooting Procedure . . . 4–53 Table 4–39. SRVO-068 Troubleshooting Procedure . . . 4–55 Table 4–40. SRVO-071 Troubleshooting Procedure . . . 4–56 Table 4–41. SRVO-072 Troubleshooting Procedure . . . 4–57 Table 4–42. SRVO-071 Troubleshooting Procedure . . . 4–57

TABLE OF CONTENTS

MARO2P10203703E xxiii

Table 4–43. SRVO-071 Troubleshooting Procedure . . . 4–57 Table 4–44. SRVO-071 Troubleshooting Procedure . . . 4–58 Table 4–45. SRVO-081 Troubleshooting Procedure . . . 4–58 Table 4–46. SRVO-082 Troubleshooting Procedure . . . 4–59 Table 5–1. Fused Flange-Mounted Disconnect Switch, C-Size Cabinet . . . 5–3 Table 5–2. Multi-Tap Transformer Fuses . . . 5–4 Table 5–3. PSU Fuse Ratings . . . 5–5 Table 5–4. Servo Fuse Ratings . . . 5–6 Table 5–5. Emergency Stop Control Printed Circuit Board Fuses . . . 5–7 Table 5–6. Emergency Stop Control PCB Fuses . . . 5–8 Table 5–7. Emergency Stop Control PCB Fuses . . . 5–9 Table 5–8. Emergency Stop Control PCB Fuses . . . 5–12 Table 7–1. Standard Operator Panel Input Signals . . . 7–5 Table 7–2. Standard Operator Panel Output Signals . . . 7–5 Table 9–1. EMG Printed Circuit Board Relay Identification . . . 9–6 Table 9–2. EMG Printed Circuit Board Relay Identification . . . 9–7 Table 9–3. EMG Printed Circuit Board Relay Identification . . . 9–8 Table 9–4. Teach Pendant Part Numbers. . . 9–24 Table 10–1. I/P Transducer/Regulator Performance Check . . . 10–3 Table 11–1. Output Module AOD32A, Non-isolated . . . 11–2 Table 11–2. Output Modules AOD08C and AOD08D . . . 11–3 Table 11–3. Output Modules AOD16C and AOD16D . . . 11–4 Table 11–4. Output Module AOD32C . . . 11–5 Table 11–5. Output Module AOD32D . . . 11–6 Table 11–6. Output Modules AOA05E and AOA08E . . . 11–7 Table 11–7. Output Module AOA12F. . . 11–8 Table 11–8. Output Modules AOR08G and AOR16G . . . 11–9 Table 11–9. Output Module ADA02A . . . 11–10 Table 11–10. Input Module AID32B, Non-isolated . . . 11–12 Table 11–11. Input Modules AID16C and AID16D . . . 11–13 Table 11–12. Analog Input Module AAD04A . . . 11–14 Table A–1. Physical Characteristics . . . A–6

Page 2

SAFETY

Safety

MARO2P10203703E xxv

FANUC Robotics is not and does not represent itself as an expert in safety systems, safety equipment, or the specific safety aspects of your company and/or its work force. It is the responsibility of the owner, employer, or user to take all necessary steps to guarantee the safety of all personnel in the workplace.

The appropriate level of safety for your application and installation can best be determined by safety system professionals. FANUC Robotics therefore, recommends that each customer consult with such professionals in order to provide a workplace that allows for the safe application, use, and operation of FANUC Robotic systems.

According to the industry standard ANSI/RIA R15–06, the owner or user is advised to consult the standards to ensure compliance with its requests for Robotics System design, usability, operation, maintenance, and service.

Additionally, as the owner, employer, or user of a robotic system, it is your responsibility to arrange for the training of the operator of a robot system to recognize and respond to known hazards associated with your robotic system and to be aware of the recommended operating procedures for your particular application and robot installation.

FANUC Robotics therefore, recommends that all personnel who intend to operate, program, repair, or otherwise use the robotics system be trained in an approved FANUC Robotics training course and become familiar with the proper operation of the system. Persons responsible for programming the system-including the design, implementation, and debugging of application programs-must be familiar with the recommended programming procedures for your application and robot installation.

The following guidelines are provided to emphasize the importance of safety in the workplace.

SAFETY MARO2P10203703E

xxvi

Safety is essential whenever robots are used. Keep in mind the following factors with regard to safety:

The safety of people and equipment

Use of safety enhancing devices

Techniques for safe teaching and manual operation of the robot(s)

Techniques for safe automatic operation of the robot(s)

Regular scheduled inspection of the robot and workcell

Proper maintenance of the robot

The safety of people is always of primary importance in any situation. However, equipment must be kept safe, too. When prioritizing how to apply safety to your robotic system, consider the following:

Always give appropriate attention to the work area that surrounds the