DiFACTO Robotics and Automation

Report on Basic setups of

FANUC Robot

Prepared By:-

Anil Pandey

Employee ID - A0221
 ROBOT MASTERING
STEP 1:- MENU-->[0] NEXT-->[6]SYSTEM-->[F1] TYPE-->[4]MASTER/CAL

STEP 2:- CHOOSE ZERO POSITION MASTERING

STEP 3:- SELECT GROUP 1 (FUNCTION-->[3] CHANGE GROUP)

STEP 4:- MOVE ROBOT’S JOINT AND MATCH EYE MARK FOR EACH JOINT

STEP 5:- ONCE ALL THE EYE MARKS GET MATCH, PRESS MASTER BUTTON.

STEP 6:- PERFORM CYCLE START (FUNCTION-->[0]NEXT-->[8]CYCLE START)

STEP 7:- NOW CREATE A PROGRAM WITH ONE MOTION LINE OF JOINT INTERPOLATION AND PUT POSITION
VALUES AS “ZERO” FOR EVERY JOINT.

STEP 8:- NOW RUN THE PROGRAM AT SLOW SPEED AND CHECK IF ALL THE VALUES COMES TO ZERO AS WELL AS
ALL EYE MARKS SHOULD MATCHING.

SERVOGUN SETUP
STEP 1:- First, we need to do controlled start. To perform controlled start we need to press PREV & NEXT BUTTON
simultaneously while controller is starting.

STEP 2:- A screen will appear then press MENU-->[9] MAINTAINENCE

STEP 3:- Move cursor to SERVOGUN then press [F4] MANUAL and type FSSB line as 1.

STEP 4:- A screen will appears where you need to choose ADD SERVOGUN AXIS.

STEP 5:- Type the hardware no. For starting axis (choose 7 for 6-axis robot and that 7th axis would be assigned as
gun’s axis no.)

STEP 6:- Select [2]COMPLETE SETUP and press enter. Keep ready Gun Data Sheet.

STEP 7:- Then you will ask to select motor from various mentioned motor, type the number for desired motor and
press enter [for eg: if your desired motor is shown as 4. ACa4/4000i 80A, then you need to type no. 4 and press
enter].

STEP 8:- Select amplifier no. as 2 and press enter.

STEP 9:- Select brake no. as 2. and press enter.

STEP 10:- Now you need to enter tip displacement ratio, it will be mentioned in gun data sheet. [for eg: 14.7 and
press enter]

STEP 11:- choose gun close direction as -ve [type 2 and press enter]

STEP 12:- Enter value for Gun Open Stroke Limit from gun data sheet [for eg. type 80mm and press enter]

STEP 13:- Enter value for Gun Close Stroke Limit from gun data sheet [for eg: type 20mm and press enter]

STEP 14:- Choose motor direction choose FALSE.

STEP 15:- choose DISABLE for servo off disable.

STEP 16:- Choose value for servo timeout from 0.00 to 30.0.

STEP 17:- Enter value for maximum gun pressure from gun data sheet [for eg: type 400kgf and press enter]. BE
CAREFUL ABOUT THE UNIT OF PRESSURE BEFORE COMPLETING this step.

STEP 18:- A screen will appear showing on top ‘GROUP 2 TOTAL SERVOGUN AXIS=1’ type [4] exit.

STEP 19:- Now perform COLD START [Function--> next--> controlled start--> COLD Start].

Note:- After Gun setup is done and cold start is finished, then a fault message will be shown as “Pulse not
established”. To rectify that fault we need to reset BZAL [Press MENU-->[6] Setup-->[F1] Type--> Gun Master-->
[F3] BZAL] then we need to do cycle start.

Gun Mastering
STEP 1:- Menu-->[6] Setup-->[F1] Type--> Gun Master.

STEP 2:- Now you’ll be in Group 2, touch the movable tip to close tip and press SHIFT+ [F4]EXECUTE

STEP 3:- Gun mastering done message would display.

STEP 4:- Now open the gun completely and check it’s position value in group 2, it should be equal to value of
maximum stroke limit which you have put during gun setup.

AUTO TUNING
STEP 1:- Menu--> [1] Utilities--> [F1]Type--> Gun Setup

STEP 2:- Now you will see a screen where status of all the options will be INCOMP.
STEP 3:- We need to proceed step by step first you will be asked to set gun close direction choose +ve and select
“gun is closed”.

STEP 4:- Now you will be asked if you know gun displacement value, gun maximum and minimum stroke value.

STEP 5:- After entering all those values move cursor to Auto-tune option and press SHIFT+EXECUTE keep shift
pressed until “Auto tune successful” message displayed.

Pressure Calibration
After gun setup followed by gun mastering and auto tuning we should do pressure calibration. So that robot apply
specific amount of torque to give output of specific amount of pressure.

Procedure of pressure calibration:-

STEP 1 :- Menu--> [6] Setup--> [F1] Type--> [7] Servogun --> General setup--> [9] Pressure calibration.

STEP 2:- Move cursor to details and press enter.

STEP 3:- A screen will appear and it will be showing pressure calibration as “COMP” change it into “INCOMP” and
then a screen will appear where a table will be shown where torque percentage, Speed and Pressure values.

STEP 4:- Vary each value of torque percentage to get the specify pressure value in pressure gauge.

STEP 5:- After achieving correct values of pressure against torque percentage then move cursor 1 st line and change
status to “COMP”.

Payload Calibration
STEP 1:- Menu--> [0] Next--> [6] System--> [8] Motion

STEP 2:- A screen will appear where we can see payload values assigned to different numbers.

STEP 3:- We need to go to payload number 1 and press enter then a different screen will appear then press next
button.

STEP 4:- A screen will appear where we need to enter Gun’s weight, J3 arm load mass, PAYLOAD CENTER X,Y and Z.

Home Position and Reference Position

STEP 1:- Press Data--> [F1] type--> [2] Position Register

STEP 2:- Move to PR[1]--> Press enter--> in there we can put values of each joints of robot as per simulation data.
After setting home position in PR[1] we need to update same value in reference position.

STEP 3:- Menu--> [6] Setup--> [F1] Type--> [0] Next--> [5] Reference position

STEP 4:- Enter on Reference position 1 and update the same value as we did for PR[1].

TCP
Menu--> [6] Setup--> [F1] Type--> [0] Next--> [3] Frame--> [F3] Other--> select tool--> Enter TCP value from the
simulation data sheet.

Turn Table Mastering

STEP 1:- First, select Group 3 and jog the turn table manually so that safety pin will go inside the hole properly.

STEP 2:- When pin is inside then press Menu--> [0] Next--> [6] System--> [F1] Type--> [4] Master/Cal

STEP 3:- Make sure you are in Group 3 then press button against Master option.

STEP 4:- Do Cycle start after turn-table mastering.