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< ROBODRILL @-D+BADV series

Robot Interface 2 Function

OPERATOR'S MANUAL

WARNING
To use the products explained herein safely, read carefully and understand
completely all the descriptions about safety at the beginning of this manual and
those about the functions you are going to use. Failing to follow any safety
precaution or any direction described herein may lead to death or injury.
Always keep this manual near your product, so you can reference it whenever
necessary.

B-85444EN-4/02
 WARNING
Before starting to install, operate, or maintain the product, carefully read and understand
the "SAFETY PRECAUTIONS." Failing to follow any of these safety precautions and
other cautions stated herein may lead to death or injury.

Target models
The following table shows the models covered by this manual along with their abbreviations.

Model Name Abbreviation

Standard models

FANUC ROBODRILL α-D14MiB5, α-D14(L, S)iB5

FANUC ROBODRILL α-D21MiB5, α-D21(L, S)iB5
Control unit : A04B-0103-B201#STA,
A04B-0103-B301, B303, B305, B307
FANUC Series 31i-B5
Mechanical unit : A04B-0099-B101, B103, B111, B113 α-DiB5 series

A04B-0102-B101, B102, B103, B104, B105, B106,

B111, B112, B113, B114, B115, B116
A04B-0102-B121, B122, B123, B124, B125, B126,
B131, B132, B133, B134, B135, B136
α-DiB5/α-DiB series
FANUC ROBODRILL α-D14MiB, α-D14(L, S)iB
FANUC ROBODRILL α-D21MiB, α-D21(L, S)iB
Control unit : A04B-0103-B201#STB,
A04B-0103-B302, B304, B306, B308
FANUC Series 31i-B
Mechanical unit : A04B-0099-B101, B103, B111, B113 α-DiB series

A04B-0102-B101, B102, B103, B104, B105, B106,

B111, B112, B113, B114, B115, B116
A04B-0102-B121, B122, B123, B124, B125, B126,
B131, B132, B133, B134, B135, B136

High-performance models

FANUC ROBODRILL α-D14MiB5ADV, α-D14(L, S)iB5ADV

FANUC ROBODRILL α-D21MiB5ADV, α-D21(L, S)iB5ADV
Control unit : A04B-0104-B201#STA,
α-DiB5ADV series
A04B-0103-B301, B303, B305, B307
FANUC Series 31i-B5
Mechanical unit : A04B-0104-B001, B002, B003 α-DiB5ADV/α-DiBADV
FANUC ROBODRILL α-D14MiBADV, α-D14(L, S)iBADV series
FANUC ROBODRILL α-D21MiBADV, α-D21(L, S)iBADV
Control unit : A04B-0104-B201#STB,
α-DiBADV series
A04B-0103-B302, B304, B306, B308
FANUC Series 31i-B
Mechanical unit : A04B-0104-B001, B002, B003
Danger levels
The following table shows the notations used in this manual to indicate the severity of risks and levels
of dangers.

To help prevent accidents that may occur due to incorrect handling, this operator's manual indicates cautions with
marks. The meaning of each mark is explained below. Before starting to read the text of the cautions, be sure to
understand the meaning of the corresponding marks.
Indicates that incorrect handling will invite an imminent danger of death or serious
DANGER:
injury.

WARNING: Indicates that incorrect handling may lead to death or serious injury.

CAUTION: Indicates that incorrect handling may lead to light or moderate injury.

NOTE: Describes precautions for protecting the product of interest from damage or
information for effective and efficient use of the product of interest.

Symbols
The following symbols are used in this manual.
(For symbols used on the warning labels posted onto the machine, see "Section 1.7, Warning Labels"
in "Safety Precautions".)

This symbol indicates mandatory

This symbol indicates prohibited actions.
actions.

This symbol indicates the possibility of a This symbol indicates the possibility of
risk to a person or damage to property if an injury from getting caught in rotating
the instruction is ignored. portions if the instruction is ignored.
This symbol indicates the possibility of an This symbol indicates the possibility of
injury from getting caught in the machine an explosion or fire if the instruction is
if the instruction is ignored. ignored.

This symbol indicates the possibility of This symbol indicates the possibility of
chips, coolant, or damaged tool flying receiving an electrical shock if the
out/scattering if the instruction is ignored. instruction is ignored.

- No part of this manual may be reproduced in any form.

- The design and specifications of this product are subject to change without notice.

The products in this manual are controlled based on Japan's "Foreign Exchange and
Foreign Trade Law". The export of FANUC ROBODRILL α-D14MiB5/D14LiB5/D14SiB5,
α-D21MiB5/D21LiB5/D21SiB5, α-D14MiB/D14LiB/D14SiB, α-D21MiB/D21LiB/D21SiB,
α-D14MiB5ADV/D14LiB5ADV/D14SiB5ADV, α-D21MiB5ADV/D21LiB5ADV/D21SiB5ADV,
α-D14MiBADV/D14LiBADV/D14SiBADV, α-D21MiBADV/D21LiBADV/D21SiBADV from Japan is
subject to an export license by the government of Japan. Other models in this manual
may also be subject to export controls. Further, re-export to another country may be
subject to the license of the government of the country from where the product is re-
exported. Furthermore, the product may also be controlled by re-export regulations of
the United States government. Should you wish to export or re-export these products,
please contact FANUC for advice.
In this manual, we have tried to describe as many matters as possible.
However, we cannot describe all the matters which must not be done or which cannot
be done, because there are so many possibilities. Therefore, matters which are not
especially described as possible in this manual should be regarded as "impossible." If
you wonder whether a specific matter is possible, ask FANUC.

The original language of this manual is English. The other language manuals are a
translation from the English one.
B-85444EN-4/02 SAFETY PRECAUTIONS

SAFETY PRECAUTIONS
Before you start to use the machine, be sure to carefully read this section about safety precautions and the
descriptions about the functions you are going to use and fully understand them. Otherwise, an accident
may occur.
Use the machine only after you understand them fully.
When using the machine, follow all national and local regulations applicable to safety, health, and
environment hygiene.

1.1 SAFETY FUNCTIONS OF THE MACHINE

The ROBODRILL α-DiB5/α-DiB series, α-DiB5ADV/α-DiBADV series adopt a door interlock system that
stops the machine when the door is open. This is to protect the operator from dangerous situations. The
door interlock system consists of an electromagnetic lock switch, control circuit, and software.
An internal light that lights the machining area is installed inside the splash guard.
The following provides an outline of the machine and its safety devices.
Cable carrier
Electromagnetic lock switch
Internal light

Fixed cover Signal tower

Operator's
panel

Emergency stop
button

Fixed cover

Window

Front door (splash guard)

Fixed cover
α-D14/21M/LiB5, α-D14/21M/LiB, α-D14/21M/LiB5ADV, α-D14/21M/LiBADV

Cable carrier Fixed cover

Internal light
Electromagnetic
Signal tower
lock switch

Operator's
panel

Window Emergency stop

button

Fixed cover

Front door (splash guard) Fixed cover

α-D14/21SiB5, α-D14/21SiB, α-D14/21SiB5ADV, α-D14/21SiBADV

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SAFETY PRECAUTIONS B-85444EN-4/02

(A) Electromagnetic lock switch

The electromagnetic lock switch is located in the upper section on the front door.
Opening the front door causes the spindle, X-, Y-, and Z-axes to stop operating. Once they have
stopped, the electromagnetic lock switch releases the door lock, making it possible to open the front
door.

(B) Mode select lock function

The machines designed for use in Europe and China have a software-controlled mode select lock
function.

(C) Fixed cover

A fixed cover is located around each movable part of the machine.

(D) [Emergency Stop] button

The [Emergency Stop] button is located in the lowest section on the operator's panel. For details, see
"Chapter 3. EMERGENCY STOP" of "Part III, DAILY OPERATION" in the OPERATOR'S
MANUAL (Detailed Version).
Pressing the [Emergency Stop] button is the first thing you should do once a failure occurs. Make is
possible to press the [Emergency Stop] button whenever necessary. Do not hang anything on the
button nor cover it with anything.

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B-85444EN-4/02 SAFETY PRECAUTIONS

1.2 PRECAUTIONS FOR USE

Before you start to install, operate, or maintain the machine, read the safety
precautions described in this section carefully. Failing to follow any of these safety
precautions herein or other cautions provided in the OPERATOR'S MANUAL may
lead to death or injury.

DANGER

You could get caught in the machine, possibly leading to injury. Do

not put your body, hand, or foot close to any movable parts.

1 When running the machine with the front door kept open, be careful to prevent
any portion of your body from touching the movable parts, such as the table.
Otherwise, you may get caught, possibly leading to injury.
2 Do not put your whole body into the machine. If you do so, it is difficult for others
to notice that you are working on the machine. Therefore, they may fail to
recognize you working inside the machine and may start the machine.
3 Do not adjust the coolant nozzle during operation. Doing so may cause injury.
4 The operator is not allowed to open the front door even if the power is OFF.
Opening the front door disables safety devices, possibly leading to injury.
5 If you are an operator and need to open the front door while the power is OFF,
ask a maintenance engineer. Opening the front door with no sufficient
knowledge may lead to injury because of an unexpected behavior of the
machine.
6 Before you open the front door, make sure that the Z-axis (spindle head) will not
move down. In rare cases, the Z-axis brake gets out of order, thus letting the
Z-axis move down. Even after you have opened the front door, be aware that the
Z-axis may move down. If you have to work underneath the Z-axis, pop it up by
inserting a piece of wood between the Z-axis and table beforehand to prevent it
from moving down in case the brake should get out of order.
7 Pay attention not to get your head or hand caught in the automatic door
(optional). If the machine has the optional automatic door mechanism, the front
door can be automatically opened and closed in step with programs. Be careful
not to get caught in the door during work.
8 When removing the Z-axis motor, be careful not to let the Z-axis (spindle head)
move down. Since the Z-axis brake is in the motor, removing the motor allows
the Z-axis to move down, you may get caught, possibly leading to injury. When
removing the motor, fix the table and Z-axis with packing materials.
9 Do not perform automatic operation with the coupling bolts for the Z-axis loose.
Otherwise, the ball screw may break, which may cause the spindle head to go
down in the worst case.

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SAFETY PRECAUTIONS B-85444EN-4/02

DANGER

You could get caught in rotating portions, possibly leading to

injury. Do not put your body, hand, or foot close to any rotating
portions.

1 When the power is ON, do not use a cross-slot screwdriver to open the front
door. Doing so enables you to enter the machining area even when the tool is
rotating, possibly leading to injury. When the power is ON, use the [Door
Open/Close] button to open or close the front door.
2 For ROBODRILL α-DiB5 series and α-DiB5ADV series, one or two servo motors
can be controlled as the fourth and/or fifth axes (additional axes).
For ROBODRILL α-DiB series and α-DiBADV series, one servo motor can be
controlled as the fourth axis (additional axes). The additional axis must be
installed on the table. Otherwise, it is impossible for the fixed cover or front door
to protect the operator from the motion of the additional axis, possibly leading to
injury.
3 To avoid accidents, such as getting caught in the machine, always wear safe
clothing as stated below when working.
• Wear a cap. Long hair should be tucked into the cap as it can get caught in
the machine or hinder vision.
• Wear safety shoes.
• Wear protective glasses.
• Button up the sleeves of outer clothes.
• Do not wear necklaces, bracelets, or the like.
• Do not wear scarves, mufflers, or the like.
4 Before opening the front door with the power switched OFF, make sure that the
spindle is not rotating. When the spindle is rotating, switching OFF the power
prevents the spindle from stopping in a controlled manner, thus letting the
spindle keep rotating under its own inertia; chips may fly out or you might
accidentally touch the rotating spindle leading to injury.

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B-85444EN-4/02 SAFETY PRECAUTIONS

DANGER

An explosion or fire could occur. Watch for explosions and fires when
machining a workpiece made of combustible metal.

1 When machining a combustible metal, use a coolant appropriate for machining

combustible metals.
If fire breaks out during machining of a combustible metal, in particular, using a
water-soluble coolant, the water reacts with the combustible metal, possibly
leading to explosive combustion due to hydrogen gas or vapor explosion.
2 Do not machine any combustible metal such as magnesium with a machine
equipped with an automatic fire-extinguisher for general fires. If the automatic
fire-extinguisher operates, the agent in the extinguisher reacts with the
combustible metal, possibly leading to explosive combustion due to hydrogen
gas or vapor explosion.
3 A ROBODRILL equipped with an automatic fire-extinguisher can only be used to
machine fire-extinguishable materials with the extinguisher. If the ROBODRILL is
used to machine other materials, the extinguisher cannot be expected to
extinguish fire, possibly leading to fire or explosion due to chemical reactions.
The fire-extinguishable materials of each type of automatic fire-extinguisher are
listed below.
[Materials allowed on a machine with an automatic fire-extinguisher for general
fires]
• Resins • Formed plastics • Wood • Fibers • Water-soluble coolants
(cutting fluids) • Water-insoluble combustible liquids (hazardous materials
almost insoluble in water such as kerosene, class 3 petroleum (with an
inflammation point of 70 to 200 °C), class 4 petroleum (with an inflammation
point of 200 to 250 °C), fire-resistant coolants (cutting fluids) (with an
inflammation point of 250 °C or higher), machine oils, and lubricants)
[Materials allowed on a machine with an automatic fire-extinguisher for
combustible metal fires]
• Hazardous substances belonging to the second category (flammable solids)
and third category (spontaneously flammable substances and substances which
emit flammable gases when contacting with water) in the hazardous substance
categories of the Fire Defense Law
(for all combustible metals including magnesium, aluminum, and titanium, use an
automatic fire-extinguisher for combustible metal fires).
• Resins • Formed plastics • Wood • Fibers • Water-soluble coolants
(cutting fluids) • Water-insoluble combustible liquids (hazardous materials
almost insoluble in water such as kerosene, class 3 petroleum (with an
inflammation point of 70 to 200 °C), class 4 petroleum (with an inflammation
point of 200 to 250 °C), fire-resistant coolants (cutting fluids) (with an
inflammation point of 250 °C or higher), machine oils, and lubricants) ・
Water-soluble combustible liquids (such as alcohol)
4 When using a mist collector or dust chamber together with a machine tool that
machines combustible metals, the mist collector or dust chamber must be
specific to combustible metals. Otherwise, a fire or explosion may occur within
the mist collector or dust chamber.

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SAFETY PRECAUTIONS B-85444EN-4/02

DANGER

An explosion or fire could occur. Watch for explosions and fires when
machining a workpiece made of combustible metal.

5 Do not use any ROBODRILL equipped with an automatic fire-extinguisher if the

fire-extinguishing agent container is in rust, has flaw or is damaged, or the
container cap is loose. The fire-extinguisher may burst.
6 Do not install any automatic fire-extinguisher at any location subject to high
temperatures and high humidity.
7 On automatic fire-extinguishers, do not use any fire-extinguishing agent
containers that were produced five or more years ago. Do not improperly discard
or leave any fire-extinguishing agent containers or pressurized containers
unattained. It is likely that they may burst.
8 When the ROBODRILL is used to machine carbon- or graphite-made
workpieces, it is likely that, if fine carbon or graphite powder resulting from
machining gets dry, it may lead to dust explosion or rapid combustion. Be very
careful when processing or handling such powder.
9 Use specified batteries and replace them in the correct way. If a battery is
installed in a wrong way, it can explode, leading to injury.
10 After operation of the automatic fire-extinguisher for combustible metal fires, do
not apply water or cutting liquid onto the chips or the ejected fire-extinguishing
agent. Applying water or cutting liquid onto chips or the ejected fire-extinguishing
agent to cool it down or wash it away may cause a reaction with the combustible
metal leading to an explosion.

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B-85444EN-4/02 SAFETY PRECAUTIONS

WARNING

Chips, coolant, and broken tools may fly out. Be careful not to get
hit by any flying objects on your body or eyes.

1 Before you start to switch ON the air blower with the front door kept open, wear
protective glasses. Otherwise, chips may get into your eyes, possibly leading to
loss of vision.
2 If the polycarbonate of the front or side window is damaged, immediately replace
the polycarbonate or door. When a lattice type window is installed, if the ABS
sheet, which protects the polycarbonate, is damaged, immediately replace the
door. Otherwise, objects flying from the inside of the machine can crash through
the window, possibly leading to injury.
3 A high-speed spindle mounted on the ROBODRILL must meet the following
requirements. Otherwise, safety devices, such as the interlock, may fail to
operate, possibly leading to injury.
• Register the number of the tool to be mounted in the parameter and confirm
that the parameter setting matches the location where the high-speed spindle
holder is mounted. If the parameter setting differs from the mounted location,
safety measures during operation or work by the ROBODRILL become
insufficient, possibly leading to injury.
• To operate the machine with the front door (safety door) of the ROBODRILL
kept open, make sure that the high-speed spindle motor does not rotate. If
the front door is opened with the high-speed spindle motor rotating, injury
may occur. Be sure to use the high-speed spindle control amplifier from
YUKIWA SEIKO INC. (for the FANUC ROBODRILL). Otherwise, safety is not
ensured.
• Prepare a circuit that shuts down the power between the motor and control
unit when the door of the machine is opened.
• Use a high-speed spindle having a speed detector.
4 The operator is not allowed to remove any fixed cover. Some portions inside the
fixed covers are rotating or moving at high-speed. Removing any fixed cover has
the following risks.
• You may accidentally touch portions rotating or moving at high-speed.
• A broken tool or workpiece chips may fly out.
• Chips may fly out.
• Coolant may splatter from the machine.
• Noise may leak out.
5 Before switching on the power and operating the machine during or after
maintenance work, make sure that no tool or the like is left in the machine.
Otherwise, when the machine runs, any tool or the like may get caught in the
machine or the machine may strike the tool or the like toward people around the
machine.

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SAFETY PRECAUTIONS B-85444EN-4/02

WARNING

Chips, coolant, and broken tools may fly out. Be careful not to get
hit by any flying objects on your body or eyes.

6 When replacing the filter regulator and oil mist filter mantle (element)
a) Before starting auto drain maintenance, turn OFF the main circuit breaker.
Otherwise, you may get injured due to an unpredictable motion.
b) Before removing the bowl, stop the supply of compressed air to remove any
residual pressure and make sure that there is no pressure inside the bowl. If
there remains compressed air, the bowl can be blown off, resulting in human
injury or death.
c) Do not remove the bowl guard. If the bowl is damaged, broken pieces can
scatter, resulting in human injury or death.

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B-85444EN-4/02 SAFETY PRECAUTIONS

WARNING
There is a risk of an electrical shock. Do not touch any portion
through which current flows or splash liquid onto that portion.

1 When installing the machine, keep the main circuit breaker (outside the control
unit cabinet) in its off position.
2 When making electrical adjustments with a cover removed, use a tool with
sufficient electrical protection (for example, a screwdriver made of plastic).
Otherwise, you may receive an electrical shock.
3 If a power or connection cable gets damaged, immediately stop using the
machine. Otherwise, you may receive an electrical shock, or fire may occur. Do
not start using the machine until a maintenance engineer replaces the damaged
cable.
4 Do not switch ON the power for the machine with any cable detached.
Otherwise, you may receive an electrical shock.
5 Before opening the control unit cabinet door, for example, to replace fuses or
batteries, be sure to switch OFF the power with the main circuit breaker.
Otherwise, you may receive an electrical shock.
6 Before connecting the power cable, turn OFF the switchboard breaker.
Otherwise, you may receive an electrical shock.
7 Keep in mind that setting the control unit cabinet door circuit breaker to its OFF
position does not remove the power from its primary side. Also keep in mind that,
even if the circuit breaker is in its OFF position, there is a risk of an electrical
shock on any component connected to the primary side of the circuit breaker,
including the following:
• External power transformer connected to the primary side of the circuit
breaker
• Nonstandard peripheral equipment connected to the primary side of the
circuit breaker
• Automatic fire-extinguisher connected to the primary side of the circuit
breaker
8 There may remain a voltage on some portions in the control unit cabinet even
after the main circuit breaker is set to its OFF position, possibly leading to an
electrical shock. Do not touch any portion in the control unit cabinet unless you
have sufficient knowledge about electricity.
There may remain a voltage also on each motor and their power lines. Before
starting maintenance work on these parts, wait for at least 20 minutes after the
power has been shut OFF.
9 Do not touch the inside of the control unit cabinet with a wet hand. Otherwise,
you may receive an electrical shock.
10 Do not splash liquid onto the operator's panel or control unit cabinet. Otherwise,
you may receive an electrical shock.
11 Avoid using any coolant or lubricant (such as grease or oil) that can unmake
polycarbonate, nitrile rubber (NBR), hydrogenated nitrile rubber (HNBR),
fluorocarbon rubber, nylon, acrylate resin, and ABS resins. Dilution water rich
with residual chlorine can unmake these substances. As the machine uses these
substances as sealant, such sealant properties may be lost, possibly leading to
an electrical shock due to fault current or a burn due to lack of grease resulting
from a spill.
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SAFETY PRECAUTIONS B-85444EN-4/02

WARNING
There is a risk of an electrical shock. Do not touch any portion
through which current flows or splash liquid onto that portion.

12 The operator is not allowed to open the control unit cabinet door. Some portions
in the cabinet have high voltage, having a risk of an electrical shock. If the
operator has to switch ON the power, use the main circuit breaker (outside the
control unit cabinet) or the power switch (on the operator's panel).
13 Before removing the cover of the automatic fire-extinguisher control box, be sure
to turn OFF the circuit breaker of the automatic fire-extinguisher. If you remove
the cover with the power to the automatic fire-extinguisher kept ON, you may
receive an electrical shock. Keep in mind that turning OFF the circuit breaker of
the ROBODRILL does not remove the power from the automatic
fire-extinguisher.
14 Do not touch the controller terminals inside the automatic fire-extinguisher panel.
It is likely that the fire-extinguisher power may be ON even if the ROBODRILL
circuit breaker is in its OFF position. Before touching the controller terminals,
make sure that the automatic fire-extinguisher power is OFF. Otherwise, you
may receive an electrical shock.
15 When replacing maintenance parts (except the battery for Absolute Pulsecoder
explained in "Subsection 2.6.1.1 Absolute Pulsecoder battery replacement" in
"Part V, MAINTENANCE" in the OPERATOR'S MANUAL (Detailed Version) or
"Subsection 4.6.1.1 Absolute Pulsecoder battery replacement" in the
MAINTENANCE MANUAL (Basic Version)), be sure to keep the control unit
cabinet door circuit breaker set to its OFF position. Otherwise, the replaced parts
may be damaged, or you may receive an electrical shock.
16 Provide sufficient space around the cable carrier. If sufficient space is not
allowed between the cable carrier and the ceiling, walls, beams, or other
installations (for example, a non-FANUC material prepared by the customer,
such as a ceiling cover) of a building in which the machine is installed, a broken
power cable in the cable carrier has a higher risk of a fire or electrical shock.
17 When assembling the Z-axis motor to the machine, keep the power for the
machine main body switched OFF. Otherwise, you may be injured or receive an
electrical shock unexpectedly.
18 After maintenance work, make sure that all components, including screws, that
were removed for maintenance purposes are back in place. Otherwise, safety
devices may fail to function, or you may get injured due to a malfunction or an
electrical shock.
19 The person in charge of routine maintenance and preventive maintenance shall
not be engaged in replacement of the CNC memory backup battery. Only the
maintenance engineer is allowed to replace such batteries. Work by any person
with no sufficient knowledge may disable safety devices from working, possibly
resulting in an unexpected behavior of the machine that may cause injury or an
electrical shock.

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B-85444EN-4/02 SAFETY PRECAUTIONS

WARNING
Other Dangers
1 Do not get close to the machine if you are using a pacemaker. Otherwise, the
pacemaker may be adversely affected.
2 Do not touch the following portions of the machine during operation and for a
while after operation because they may be very hot. The temperature of these
portions may become very high with a risk of burn injury. Use protective
equipment, such as heat-resistant gloves, if you cannot avoid touching them.
• X-, Y-, Z-, turret( only for α-DiB5ADV/α-DiBADV series), and additional axis
servo motors
• Spindle motor
• Coolant motor
3 Do not touch the following portions of the machine when the power is ON and for
a while after the power is switched OFF because they may be very hot. The
temperature of these portions may become very high with a risk of burn injury.
Use protective equipment, such as heat-resistant gloves, if you cannot avoid
touching them.
• Power line
• Heat generating/releasing portions (such as transformers and heat sink fins)
in the control unit cabinet
4 Coolants and lubricants (such as grease and oil) are harmful. Take the following
precautions. For additional precautions and measures to be taken if they have
come in contact with the human body or been inhaled, follow the instructions
stated on the package of the products or those from the respective
manufacturers, such as SDS.
• Do not inhale vapor or mist of any of these substances.
• Do not expose the skin (especially, cuts) directly to any of these substances
more than necessary.
• Wear protective glasses to protect the eyes from these substances.
• Do not drink any of these substances.
5 Do not use any rotten coolant or lubricant (such as grease or oil) as it is quite
harmful. As for how you can tell that a coolant or lubricant is rotten, contact its
manufacturer. Store or dispose of such coolant or lubricant according to the
instructions from the manufacturer.
6 Do not detach the coolant hose during operation. The toxic coolant may spout
out and splash onto the human body. Before detaching the coolant hose, switch
OFF the power and make sure that the pump is at rest.
7 To use the built-in Ethernet function for the first time, set up an IP address and
other data carefully and perform communication tests sufficiently after consulting
with your network administrator. Be very careful because specifying the IP
address and other data incorrectly can have an adverse effect, such as a
communication failure, to the entire network and can also cause other machines
to malfunction.
8 Before starting to use the machine, be sure to perform grounding to prevent
radio disturbance and electrical leakage. For grounding conditions, see "Chapter
1, INSTALLATION REQUIREMENTS" in the "Part II, INSTALLATION" in the
OPERATOR'S MANUAL (Detailed Version).

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SAFETY PRECAUTIONS B-85444EN-4/02

WARNING
Other Dangers
9 Do not change any parameter unless you have sufficient knowledge. Changing a
parameter may disable the interlock, leading to a higher risk of injury. After
changing any parameter, make sure that the interlock functions properly.
10 To lift the machine, use a crane and rope or cable with a load capacity not less
than the mass of the ROBODRILL main body to be lifted. Listed below are the
mass of the main body of each ROBODRILL model. The value enclosed in
parentheses is the total mass including all options.
• α-D14/21MiB5, α-D14/21MiB 2000kg (2300kg)
• α-D14/21LiB5, α-D14/21LiB 2100kg (2400kg)
• α -D14/21SiB5, α -D14/21SiB 1950kg (2200kg)
• α-D14/21MiB5ADV, α-D14/21MiBADV 2200kg (2500kg)
• α-D14/21LiB5ADV, α-D14/21LiBADV 2300kg (2600kg)
• α -D14/21SiB5 ADV , α-D14/21SiB ADV 2150kg (2400kg)
When lifting the machine, make sure that it stays in balance.
11 Do not use any coolant with a low inflammation point (such as class 2 petroleum,
with an inflammation point of below 70 °C). Otherwise, a fire may occur. Class 3
petroleum (with an inflammation point of 70 to 200 °C), class 4 petroleum (with
an inflammation point of 200 to 250 °C), and burn-resistant coolants (with an
inflammation point of 250 °C or higher) can also catch fire. When using these
liquids, exercise care on the way and method of using them, for example, by
suppressing generation of oily smoke.
12 Do not get burnable or flammable material (such as thinner, gasoline, paper,
wood chip, cloth, fiber, or spray) close to the machine (including the power and
connection cables) or leave it near the machine. Otherwise, heat or sparks
generated in cutting may let it catch fire.
13 During machining using a coolant, be careful to supply a sufficient amount of
coolant properly. If a coolant is not supplied properly, sparks, frictional heat, and
others may be generated depending on the cutting condition, possibly letting
chips of a combustible workpiece or the coolant catch fire. Clean the chip tray
and filter in the coolant tank so that a sufficient amount of coolant is supplied
properly and remove any clogging in the filter. If the amount of the coolant in the
coolant tank is insufficient, replenish the coolant in the tank immediately.
Periodically check that the coolant pump runs normally.
14 Always maintain a sufficient amount of coolant for machining. If there is no
sufficient coolant, a resultant temperature rise may cause a fire or damage to the
tool and workpiece.
15 When using a mist collector or dust chamber together with the ROBODRILL with
an automatic fire-extinguisher, be sure to attach a fire prevention dumper to the
duct section. Otherwise, fire spark may enter such parts, causing fire to spread
in case of a fire.
16 Watch for fires when handling flammable workpieces.
17 Watch for fires when using a water-insoluble coolant.

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B-85444EN-4/02 SAFETY PRECAUTIONS

WARNING
Other Dangers
18 Use the machine with appropriate tools and under appropriate cutting conditions.
Cutting under an unreasonable cutting condition or with a worn tool may lead to
fire because of heat generated during cutting. It can also break the tool and
cause sparks, which may let chips and the water-insoluble coolant catch fire.
Use appropriate tools and appropriate cutting conditions while referencing
materials supplied by tool manufacturers.
19 If a tool breaks, stop cutting immediately. Otherwise, any tool chip left in the
workpiece may grind against the rest of the tool on the Z-axis (spindle head),
causing sparks, which may let chips and the water-insoluble coolant catch fire.
20 Do not use the machine under any cutting condition that may cause sparks.
Otherwise, a fire may break out. Sufficiently check the program and settings
beforehand and make sure that the tool will not be overloaded or interfere with
jigs.
21 Sweep away chips. A pileup of chips in the machine can increase the risk of a
fire. Periodically sweep inside the machine to avoid a pileup of chips.
22 Keep mist of oil or dust from stirring up around the machine. Otherwise, sparks
may let it catch fire.
23 When machining a combustible workpiece or using a water-insoluble coolant,
always monitor the machine status. The automatic fire-extinguisher is designed
for temporary use for the initial stage of fire. Always monitor the machine status
so that an appropriate action can be taken immediately in case fire should break
out.
24 Machining a combustible metal without using any coolant may generate sparks,
frictional heat, and others depending on the cutting condition or due to a worn
tool, having a high risk of letting chips catch fire.
25 Rig a fire-extinguisher near the machine in case of fires. It is also recommended
to equip the machine with an automatic fire-extinguisher.
26 Periodically clean the piping and wiring (sensors and nozzle in particular) in the
automatic fire-extinguisher. In particular, chips and cutting fluid adhered to the
sensors and nozzle can prevent detection of a fire and emission of
fire-extinguishing agent.
27 We recommend you to install a ceiling cover. In case fire should break out, the
ceiling cover may be able to prevent or retard the spread of fire to the building, to
let the fire die down because of a reduction in the amount of oxygen within the
splash guard, and to enhance the effect of the automatic fire-extinguisher.
28 Perform inspections and maintenance periodically. Be sure to perform inspection
of items described in the OPERATOR’S MANUAL (Detailed Version) or
MAINTENANCE MANUAL (Basic Version). Otherwise, any defect in the machine
may lead to death, injury, or damage to the machine.
29 When exchanging maintenance parts, follow the applicable descriptions in this
manual. Using noncompliant parts or the wrong replacement method may cause
a defect in the machine, possibly leading to injury.
30 Before you remove a cover for maintenance purposes, be sure to set the control
unit cabinet door circuit breaker for the machine to its OFF position.
31 Before installation or maintenance of each option, turn OFF the circuit breaker of
the control unit cabinet door and the circuit breaker of each option.

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SAFETY PRECAUTIONS B-85444EN-4/02

WARNING
Other Dangers
32 When turning ON the power with the cover removed for maintenance, check that
there is no other person near the machine.
33 Before starting maintenance work, post a notice near the control unit cabinet
door circuit breaker to indicate that no one except the authorized maintenance
personnel is allowed to switch ON the power.
34 When working in a high place, use a ladder and secure a footing to reduce the
risk of a fall. Do not climb the machine or any other thing (such as a chair or
desk) that is not intended for use as a step ladder. Otherwise, you may lose
balance, possibly leading to an accident.
35 Before inspecting the X/Y/Z-axis telescopic covers, be sure to turn OFF the
power. Otherwise, you may get injured due to an unpredictable motion.
36 When transporting or lifting the machine, keep it in the transportation status
shown here. Otherwise, the machine may fall down, possibly leading to injury.
37 Before you start to install the ROBODRILL, make sure that the circuit breaker in
the ROBODRILL control unit cabinet is in its OFF position to shut OFF power for
safety purposes. In addition, stop supplying air to the machine.
38 Read "Precautions for Installation" carefully and follow the steps stated in it.
Failing to follow these steps may lead to injury or death.
39 Before you start to mount the tool length switch, make sure that the main circuit
breaker (outside the control unit cabinet) is in its OFF position for safety
purposes. In addition, stop supplying air to the machine.
40 Clean chips from the splash guard to prevent large amounts of chips from
accumulating. If fire occurs when large amounts of chips are accumulated, it may
become impossible to distinguish the fire completely with the automatic
fire-extinguisher.
41 After operation of the automatic fire-extinguisher, leave the machine untouched
without removing ejected fire-extinguishing agent until chips and the machine
have completely cooled down. You may get burned if you touch hot burned
chips. Remove the burned chips and fire-extinguishing agent once they have
completely cooled down (you do not feel heat when you place your hands over
the fire-extinguishing agent).

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B-85444EN-4/02 SAFETY PRECAUTIONS

WARNING
Other Dangers
42 When doing cleanup work after operation of the automatic fire-extinguisher, be
sure to wear protective equipment such as protective gloves, goggles, and a
mask. Otherwise, during the cleanup work after fire extinction, there is a risk that
you may burn yourself if you carelessly touch hot chips or parts, and there is
also a risk for you to be injured if fire-extinguishing agent or chips enter your
eyes or mouth.
[First-aid actions against fire-extinguishing agent]
Take the actions listed below, immediately contact a doctor, and follow the
doctor's directions.
When fire-extinguishing agent was inhaled
• Lie quietly in an environment where air is clean.
• Wash the nasal cavity with lukewarm water and gargle the throat.
When fire-extinguishing agent contacted the skin
• Wash away the agent with water or soap-and-water solution.
When fire-extinguishing agent entered the eye
• If the fire-extinguishing agent contacted the eye, wash it down with a large
quantity of water and submit to medical treatment.
When fire-extinguishing agent was swallowed
• If the victim is conscious, have his or her mouth rinsed out with water.
• Make them throw up the agent and submit to medical treatment quickly.
Protecting personnel providing first aid
• The deliverer shall wear appropriate protective equipment so that he or
she will not touch the fire-extinguishing agent.
* For explanations about how to handle other types of fire-extinguishing
agents, refer to the "Material Safety Data Sheet" attached to the automatic
fire-extinguisher in use.
43 Before performing work at closing time, be sure to turn OFF the power.
Otherwise, you may get injured due to an unpredictable motion.
44 When greasing, turn OFF the power. Otherwise, you may get injured due to an
unpredictable motion.
45 Before switching any setting terminal on the HDI I/F unit for the high-speed skip
function, wait for several minutes after turning OFF the power to the machine.
Otherwise, there is a risk of an electrical shock or burn injury.
46 When you hear noise from the spindle, the bearing of the spindle may be
damaged. If you continue to use the machine with a damaged bearing, the
temperature of the spindle may become abnormally high, possibly leading to fire
caused by overheated parts. Especially when the alarm SP9002 "EX
DEVIATION SPEED" occurs along with the noise, immediately stop using the
machine.

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SAFETY PRECAUTIONS B-85444EN-4/02

CAUTION
1 Before you use coolant or lubricant (such as grease or oil), obtain the latest
MSDS provided by the manufacturer and make sure to thoroughly read and
understand the product properties and precautions. Handling coolant or lubricant
without following such precautions or disposal information may lead to
circumstances that will adversely affect the human body or environment.
2 If a coolant or lubricant (such as grease or oil) contacts your hand, wipe it off
immediately. Otherwise, it makes the hand very slippery, making it difficult to
handle workpieces or operate the equipment; possibly leading to injury and
damage to the workpieces.
3 The table can hold up to the following weight including jigs and workpieces. Be
careful not to exceed this maximum loading weight . If it is exceeded, the table
may get damaged, possibly leading to injury and damage to the workpiece and jig.
• α-D14/21M/LiB5, α-D14/21M/LiB 300kg
• α-D14/21SiB5, α-D14/21SiB 200kg
• α-D14/21M/LiB5ADV, α-D14/21M/LiBADV 400kg
• α-D14/21SiB5ADV, α-D14/21SiBADV 200kg
4 Be careful when handling workpieces, no matter whether they are yet to be
machined or have already been machined, because they have sharp edges and
burrs. Otherwise, you may get injured. Wear protective equipment such as
gloves.
5 When using or exchanging tools, be careful not to get injured with their sharp
edge. When handling tools, wear protective equipment such as gloves.
6 When handling chips, be careful not to get injured. Wear protective equipment
such as gloves.
7 When disposing of tools, follow all regulations applicable to handling of
dangerous articles. Unconsidered disposal may lead to injury to others who
touch the wastes.
8 If you want to use an coolant or lubricant (such as grease or oil) that is not
recommended by FANUC, check the instructions from its manufacturer and use
it by exercising care sufficiently on its use conditions and method according to
the instructions. Otherwise, unrecommended coolants and lubricants can
adversely affect human bodies, the machine, and environment. Some types of
coolant or lubricant and some of their combinations lead to poor lubrication or
sludge development on the LM guide or ball screw, causing possible endurance
degradation. Before you start to use a coolant, check it carefully with its
manufacturer.
9 If a coolant or lubricant (such as grease or oil) spills on the floor, wipe it off
immediately. Otherwise, the floor becomes very slippery, possibly leading to the
risk of fall and injury.
10 Periodically clean the machine so that chips will not block the coolant outlet or
chip tray. Coolant leakage can make the floor slippery, possibly leading to the
risk of fall and injury.
11 As for storage of coolants and lubricants (such as grease and oil), follow the
instructions from their manufacturers. When disposing of them, follow all
regulations applicable to industrial wastes.
12 Use a crane to mount or dismount an object that apparently weighs 20 kg or
more, that cannot be lifted with your hands, or that you feel heavy when you try
to lift it. Lifting heavy objects may place great stress on your back or let it fall
from your hands, possibly leading to injury.
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B-85444EN-4/02 SAFETY PRECAUTIONS

CAUTION
13 Sufficiently illuminate the shop floor where the machine is installed so that you
can see the machine and parts clearly. Working in a dark place can lead to
incorrect operation, possibly causing an accident. The shop floor must be
illuminated with at least 500 lx. An optional internal light is available.
14 Do not directly look into the internal light. Be very careful to protect your eyes by
turning the light OFF when lighting is not necessary, etc.
15 Do not work in an unnatural posture, reaching out to mount or dismount
workpieces on the table when it is far away from you. Doing so may place great
stress on your back or let workpieces fall, possibly leading to injury
unexpectedly. When working with workpieces on the table, bring the table
sufficiently toward you beforehand.
16 Pressing the Emergency Stop button is the first thing you should do once a
failure occurs. Make is possible to press the Emergency Stop button whenever
necessary. Do not hang anything on the button nor cover it with anything.
17 Before you reset the Emergency Stop button, remove the cause of the
abnormality. Otherwise, a dangerous condition may recur, possibly leading to
injury.
18 Connect any related external equipment to the emergency stop function
securely. If an accident occurs, a poor connection may disable the emergency
stop device from operating normally, possibly leading to injury or damage to
tools.
19 Do not handle the operator's panel or display unit with gloved hands. Doing so
may lead to pressing the wrong key or more than one key at a time, possibly
leading to malfunction of the machine, injury, or damage to workpieces or even
the machine.
20 Install the machine on a flat, sufficiently strong floor. Otherwise, the machine
may jolt during operation, possibly leading to injury. The floor on which the
machine is installed must satisfy all of the following conditions:
2 2
• The floor must have a load resistance of 3 tf/m (29.4 kN/m ) or more.
• The floor is completely flat, with no protuberance or indent.
• The floor must not deteriorate with age and in regular use.
For recommended floor conditions, see "Chapter 1, INSTALLATION
REQUIREMENTS" in the "Part II, INSTALLATION" in the OPERATOR'S
MANUAL (Detailed Version).
21 Connect piping securely to prevent coolant from leaking out. If coolant leaks, the
floor becomes very slippery, thereby causing injury due to falling.
22 When an inner coolant control unit is used, if the shower gun is pointed towards
the outside of the splash guard, spilled coolant makes the floor slippery, which
can cause injury due to falling.
23 If operating the automatic door with the cover removed for inevitable inspection
reasons, be careful not to jam your fingers in the door.
24 When you operate the robot using the CNC of the ROBODRILL with the robot
interface 2 (optional), you cannot perform an operation that requires a high
response because of the characteristic of control. Therefore, be very careful
when operating the robot.

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SAFETY PRECAUTIONS B-85444EN-4/02

CAUTION
25 Before you start machining, securely attach the workpiece to the jig. Also keep
the jig stationary on the table. If you fail to fix the workpiece securely, it may
come off the jig and fly out during work, possibly leading to damage to the
workpiece and machine.
26 Before starting work, make sure that the tool is securely attached to the tooling.
Otherwise, the tool may come off, possibly leading to damage to the workpiece
and machine.
27 Before starting work, make sure that the tool is not worn out or broken.
Otherwise, chips of the tool may fly out, possibly leading to damage to the
machine.
28 Before starting work, make sure that the tooling is securely attached to the turret
grip as directed (see "Chapter 6, MOUNTING TOOLS" in the "Part III, ROUTINE
OPERATIONS" in the OPERATOR'S MANUAL (Detailed Version)). Otherwise,
the tooling may come off and fly out, possibly damaging the workpiece and
machine.
29 The weight of a tooling to be mounted on the turret is 2 kg or less and the total
weight of 14/21 tools is 15 kg/23 kg or less. To mount a tool with a weight of 2 kg
or more (up to 3 kg), set the tool weight to 3 kg. To mount a tool with a weight of
3 kg or more (up to 4 kg), set the tool weight to 4 kg (The tool weight can be set
to 4 kg in α-DiB5ADV/α-DiBADV series only. For the α-DiB5/α-DiB series, tools
that weigh more than 3 kg cannot be used.) (see "Chapter 5, TOOLS" in the
"Part I, OUTLINE" in the OPERATOR'S MANUAL (Detailed Version)). The
factory-adjusted tool weight is 3 kg for safety. If the setting is inappropriate, the
tooling may come off and fly out, possibly damaging the workpiece and machine.
30 Before starting automatic operation, make sure that:
• The jig is securely fixed on the table.
• The workpiece is securely attached to the jig.
In particular, if the jig is of an air cylinder type, the specified air pressure is
supplied. If machining is performed without fixing the workpiece and jig securely,
they may come off and fly out, possibly damaging the workpiece and machine.

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B-85444EN-4/02 SAFETY PRECAUTIONS

NOTE
1 When using a ceiling cover as a full cover for the entire machine, be sure to use
a mist collector. Otherwise, mist of coolant can fill the inside of the machine,
possibly causing the machine to be out of order. In addition, hot air from the
spindle motor can also fill the inside of the machine, possibly causing the
machine to be out of order.
2 Make sure that proper greasing and oiling are applied to the ball screws and LM
guides along each axis. Otherwise, the ball screw or LM guide may be damaged.
The lubrication pump device hose between the table and saddle is a
consumable item. If the hose is damaged, replace it immediately.
3 After making sure that the lock is completely released, open the front door.
An attempt to open the door when the lock is not released makes an excessive
impact on the electromagnetic lock switch, possibly leading to damage to the
switch.
4 When opening or closing the front door, do so slowly (at or below 300 mm/s).
Opening or closing the front door rapidly may damage the machine.
5 If a cushion rubber on the front door is damaged or missing, replace it with, or
install, a new one promptly. Using the machine with the cushion rubber damaged
or missing may damage the machine.
6 When installing a jig on the table, make sure that the load is applied uniformly
over the table surface. Nonuniform load on the table may lead to damage to a
ball screw or LM guide. It may also affect the precision.
7 Be careful not to generate rust in the machine. Rust may be generated on a part
on which painting is not applied such as the table surface or telescopic cover
depending on the environment. Rust generated in the machine may interfere
with the movement of a movable part, resulting in damage to the machine. For
dry cutting, in particular, periodically apply a rust inhibitor so as not to generate
rust.
8 Using the machine to grind workpieces or to cut ceramic-, carbon-, or
graphite-made workpieces may result in sealing materials being adversely
affected by fine polishing or cutting powder, possibly damaging the spindle, ball
screw, LM guide, or other parts earlier than their service life. If you want to use it
for such purposes after understanding these cautions, please contract for
fare-paying periodic maintenance.
9 Manage the coolant according to the directions from its manufacturer properly as
for its pH, the way its undiluted solution is mixed with dilution water, the salinity
concentration of the dilution water, and the frequency at which the coolant is
replaced. Otherwise, the machine may get rust or corroded, leading to machine
failure.
10 Even when using a recommended coolant or lubricant (such as grease or oil),
observe the instructions from its manufacturer. It may adversely affect the
machine parts and painting depending on the way it is used.

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SAFETY PRECAUTIONS B-85444EN-4/02

NOTE
11 Do not use any type of coolant listed below since it can adversely affect the
machine, possibly leading to machine failure:
• Coolants containing highly active sulfur: Some coolants may contain highly
active sulfur. If this type of coolant enters inside the machine, it can corrode
copper, silver, and other metals, possibly causing damage to parts.
• Highly penetrative synthetic coolants: Some coolants containing polyalkylene
glycol have a high permeability and may cause insulation degradation, poor
lubrication, or component failure when it enters inside the machine.
• High-alkali, water-soluble coolants: Some coolants to which alkanolamines
and other agents are added to increase the pH value may be strongly
alkaline, which have a pH of 10 or more even with the working solution. This
type of coolant can cause damage to resin and other materials if adhered to
them for a long time.
• Coolants containing chlorine: Some coolants containing chlorine (for
example, chloride components, such as chlorinated paraffin) affect materials
such as resin and rubber badly, leading to possible defective parts.
12 Sweep off chips from the inside of the machine frequently. Check the inside of
each axis cover and casting for any chips semiannually. If chips are found inside
any axis cover or casting, remove them. Even when using a recommended
coolant or lubricant (such as grease or oil), observe the instructions from its
manufacturer. It may adversely affect the machine parts and painting depending
on the way it is used.
13 To prevent coolant and other liquids, and chips from entering the inside of the
control unit, be sure to close and lock the control unit cabinet door. For the same
purpose, be sure to close the covers of the operator's panel and cable duct and
tighten the cover mounting screws securely. Keep the operator's panel and cable
duct cover from any cutting fluid splash.
14 When installing the machine, provide a service access clearance. See the floor
plan shown in "Section 3.1 INSTALLING LEVELING BOLTS AND BLOCKS" in
the "Part II, INSTALLATION" in the OPERATOR'S MANUAL (Detailed Version)
for explanations about the service access clearance.
15 Do not apply any load to the splash guard by, for example, putting your hand on
it during machining. Otherwise, the machining accuracy will be adversely
affected.
16 Do not aim the inner coolant control unit nozzle at the gap of the cover around
each movable part, LM guide, ball screw, motor, or other parts. The lubricant is
flushed and coolant enters the inside of the machine, probably causing machine
failure.
17 When you perform machining on a certain portion for a long time, in which the
travel distance of the Z-axis is very small, the oil film may break down locally at
certain locations such as the Z-axis bearing, LM guide, ball screw, etc. causing
machine failure. In such cases, we recommend that you add a movement in
which the Z-axis periodically moves approximately 150 mm to the program.
18 The tooling pull stud shall be tightened with a torque recommended by the
tooling manufacturer. If the tightening torque is too high/low, it may cause
deformation or loosening of the tooling, possibly leading to machine damage or
poor accuracy.

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B-85444EN-4/02 SAFETY PRECAUTIONS

NOTE
19 The spindle air purge pressure is factory-set to a recommended value. When
performing periodical inspection, check that the spindle air purge regulator (at
the rear of the machine) is set within the recommended pressure range to avoid
any cutting fluid to enter inside the spindle. Otherwise, this may cause spindle
failure. Additionally, if the spindle air purge pressure is outside the
recommended pressure range, turn the knob of the spindle air purge regulator to
adjust the pressure to the recommended setting value (0.08 MPa).

The following lubricants are recommended:

Component to be
Brand Manufacturer Timing of application
lubricated
GUIDE RAIL
CAM FOLLOWER
TURRET GEAR At the time of
SHOWA SHELL (α-DiB5/α-DiB series only) maintenance
ALVANIA GREASE S2
SEKIYU K. K. SPINDLE GEAR
(α-DiB5/α-DiB series only)
SPINDLE TOOL CLAMP When exchanging Tool
SPRINGS clamp springs
At the time of
MULTEMP LRL3 KYODO YUSHI BALL SCREW (X, Y, Z)
maintenance
TURRET MECHANISM When overhauling Turret
MOLYSPEED GREASE NO. 1 SUMICO
INSIDE mechanism
ANTIRUST P- 2800 GUIDE RAIL (X, Y, Z)
At the time of packing,
JX Nippon Oil & TAPERED PORTION OF
transportation, and
ANTIRUST P- 3600 Energy Corporation THE SPINDLE
storage.
TABLE SURFACE
Mobil Vactra Oil No.2(SLC) Mobil Oil corp.
JX Nippon Oil & Replenish when the
UNIWAY EV68 GUIDE RAIL (X, Y, Z)
Energy Corporation leavings in the pump
BALL SCREW (X, Y, Z)
SHOWA SHELL becomes scarce.
Shell Tonna S3M 68
SEKIYU K.K.
FANUC specification:
A90L-0001-0534#LHLX1007
(LUBE specification: LHLX100-7,
When the grease level
volume 700cm3=700 mL) GUIDE RAIL (X, Y, Z)
LUBE low alarm is issued for
FANUC specification: BALL SCREW (X, Y, Z)
the greasing unit
A90L-0001-0534#LHLX1004
(LUBE specification: LHLX100-4,
volume 400cm3=400mL)

The following coolants are recommended:

Property Manufacturer Product name
Soluble Yushiro Chemical Industry Yushiroken FGE350 (*)
Castrol Alusol B
JX Nippon Oil & Energy Corporation Unisoluble EM-B
Blaser Swisslube Blasocut 2000 CF
* Yushiro Chemical Industry Yushiroken FGE350 falls under the control of the Pollutant Release and
Transfer Register (PRTR) law.
FGE350PR, which does not fall under the control of this law, is recommended for use in Japan.

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SAFETY PRECAUTIONS B-85444EN-4/02

1.3 PRECAUTIONS FOR INSTALLATION

WARNING
Read "Precautions for Installation" and " Part II, INSTALLATION" in the
OPERATOR'S MANUAL (Detailed Version) carefully and follow those steps.
Failing to follow these steps may lead to injury or death.

No person other than the "maintenance engineer" of the ROBODRILL shall move or install it.
Moving or installing the ROBODRILL requires understanding of it in details.
The term "maintenance engineer" refers to those people who have working knowledge about machinery
and electricity for maintenance and have finished the maintenance course provided by the FA department
or ROBOMACHINE department at the FANUC Training Center or who have equivalent knowledge and
have been certified by the company they work for.
Fork lift or crane operators in charge of moving the ROBODRILL shall have the relevant license.

WARNING
1 When removing the Z-axis motor, be careful not to let the Z-axis (spindle head)
move down. Since the Z-axis brake is in the motor, removing the motor allows
the Z-axis to move down, causing a risk that you may be caught and lead to
injury. When removing the motor, fix the table and Z-axis with packing materials.
2 To lift the machine, use a crane and rope or cable with a load capacity not less
than the mass of the ROBODRILL main body to be lifted. Listed below are the
mass of the main body of each ROBODRILL model. The value enclosed in
parentheses is the total mass including all options.
• α-D14/21MiB5, α-D14/21MiB 2000kg (2300kg)
• α-D14/21LiB5, α-D14/21LiB 2100kg (2400kg)
• α-D14/21SiB5, α-D14/21SiB 1950kg (2200kg)
• α-D14/21MiB5ADV, α-D14/21MiBADV 2200kg (2500kg)
• α-D14/21LiB5ADV, α-D14/21LiBADV 2300kg (2600kg)
• α-D14/21SiB5ADV, α-D14/21SiBADV 2150kg (2400kg)
When lifting the machine, make sure that it stays in balance.
3 Before starting to use the machine, be sure to perform grounding to prevent
radio disturbance and electrical leakage. For grounding conditions, see "Chapter
1, INSTALLATION REQUIREMENTS" in the "Part II, INSTALLATION" in the
OPERATOR'S MANUAL (Detailed Version).

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B-85444EN-4/02 SAFETY PRECAUTIONS

CAUTION
1 Install the machine on a flat, sufficiently strong floor. Otherwise, the machine
may jolt during operation, possibly leading to injury. The floor on which the
machine is installed must satisfy all of the following conditions:
2 2
• The floor must have a load resistance of 3 tf/m (29.4 kN/m ) or more.
• The floor is completely flat, with no protuberance or indent.
• The floor must not deteriorate with age and in regular use.
For recommended floor conditions, see "Chapter 1, INSTALLATION
REQUIREMENTS" in the "Part II, INSTALLATION" in the OPERATOR'S
MANUAL (Detailed Version).
2 Sufficiently illuminate the shop floor where the machine is installed so that you
can see the machine and parts clearly. Working in a dark place can lead to
incorrect operation, possibly causing an accident. The shop floor must be
illuminated with at least 300 lx. An optional internal light is available.

NOTE
1 Pay attention to how the machine is transported and packed.
• Fix the Z-axis (spindle head) and table with packing materials.
• Apply a rust inhibitor to the specified portions of the machine (see "Section
2.2 LUBRICATION NAME SPECIFICATION LIST" in "Part V,
MAINTENANCE" in the OPERATOR'S MANUAL (Detailed Version), or
"Section 4.2 SPECIFIED BRANDS OF LUBRICANT" in the MAINTENANCE
MANUAL (Basic Version)).
• Fix the turret mechanism with nylon ties.
2 Allow a service access clearance (see the floor plan shown in "Section 3.1
INSTALLING LEVELING BOLTS AND BLOCKS" in the "Part II, INSTALLATION"
in the OPERATOR'S MANUAL (Detailed Version)) in the area where the
machine is installed.

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SAFETY PRECAUTIONS B-85444EN-4/02

1.4 PRECAUTIONS DURING MAINTENANCE

WARNING
1 Before you remove a cover for maintenance purposes, be sure to set the control
unit cabinet door circuit breaker for the machine to its OFF position. Otherwise,
you may be injured or receive an electrical shock from unexpected machine
motion.
2 When turning ON the power with the cover removed for maintenance, check that
there is no other person near the machine. Otherwise, you may be injured or
receive an electrical shock from unexpected machine motion.
3 Before starting maintenance work, post a notice near the control unit cabinet
door circuit breaker to indicate that no one except the authorized maintenance
personnel is allowed to switch ON the power.
4 Before switching on the power and operating the machine during or after
maintenance work, make sure that no tool or the like is left in the machine.
Otherwise, when the machine runs, it may strike the tool or the like toward
people around the machine.
5 When making electrical adjustments with a cover removed, use a tool with
sufficient electrical protection (for example, a screwdriver made of plastic).
Otherwise, you may receive an electrical shock.
6 After maintenance work, make sure that all components, including screws, that
were removed for maintenance purposes are back in place. Otherwise, safety
devices may fail to function, or you may get injured due to a malfunction or an
electrical shock.
7 When replacing maintenance parts (except the battery for the absolute pulse
coder), be sure to keep the control unit cabinet door circuit breaker set to its OFF
position. Otherwise, the replaced parts may be damaged, or you may receive an
electrical shock.
8 The person in charge of routine maintenance and preventive maintenance shall
not be engaged in replacement of the CNC memory backup battery. Only the
maintenance engineer is allowed to replace such batteries. Work by any person
with no sufficient knowledge may disable safety devices from working, possibly
resulting in an unexpected behavior of the machine that may cause injury or an
electrical shock.
9 To prevent coolant and other liquids, and chips from entering the inside of the
control unit, be sure to close and lock the control unit cabinet door after
maintenance work is completed. For the same purpose, be sure to close the
covers of the operator's panel and cable duct and tighten the cover mounting
screws securely.

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B-85444EN-4/02 SAFETY PRECAUTIONS

Lock Out and Tag Out

"Lock out" is performed to avoid any dangerous circumstance caused by unexpected start of the machine
or release of stored energy while workers perform maintenance and inspection on the machine.
"Tag out" is performed to strictly prevent other workers from accidentally turning the operation handle
ON by placing plates on the locked out circuit breaker to indicate and warn others not to operate the
machine.
The main circuit breaker on the control unit cabinet of the ROBODRILL can be locked out and tagged
out.
The padlocks and tags used for lock out and tag out shall be prepared beforehand by the customer.

Perform the following steps:

(1) Turn OFF the main circuit breaker while the door of the control unit cabinet is closed.
(2) Pull out the lock plate and lock a padlock.
Use a padlock with a diameter of 4.0 to 8.0 mm.

Breaker handle

(1) Lock plate

Padlock
(2)
(3)
(3) Place a tag onto the lock plate or padlock.

Tag (example)

(4) To release the lock out or tag out, make sure to notify all workers about the release and evacuate all
workers from potentially high-risk areas when machine is powered ON.

You will not be able to turn the machine ON during a lockout. You will not be able to open the control
unit cabinet door as well.

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SAFETY PRECAUTIONS B-85444EN-4/02

1.5 WORKING AREA

When you use this machine, the area permitted to access will be restricted according to the level of the
worker (operator, person in charge of routine maintenance and preventive maintenance, or maintenance
engineer).
Note that the shaded area in each figure below indicates those areas where access is prohibited for
operators.

Recommended 4150

2650

Recommended
109

140

1000
600
R501 R470

1180 528

Recommended 3250
810 268

2850
1190

250 Recomm
Recommen ended
ded 1000 1000
365

420
330

840 655 250

225
R360
350

20

α-D14/21LiB5, α-D14/21LiB

Recommended 2980
Recommended 3600

2100
1480
109

140

Recommend

Recommend
39

70
ed 1000

ed 1100
600

R501 R470
530

R501 R470 Recommended 3520

825 250
250 250
Recommended 3520

535 268
268
2850

250
2950

Recommen
1190

Recommen
Recomm ded 1000 ded 1000
1190

250 ended
Recommen 1000
ded 1000
365

420
365

420
330

365

70
840 380 250 840 250

225
R360 225
350

R324
350
20

47

α-D14/21MiB5, α-D14/21MiB α-D14/21SiB5, α-D14/21SiB

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B-85444EN-4/02 SAFETY PRECAUTIONS
Recommended
4150

2650

120

Recommended
89

980
580
R501 R470

528

Recommended 3250
1155

800 268

2850
1190
250

Recommended Recommended

365
420 1000
1000

330
840 655 250

225
R360

350

20
α-D14/21LiB5ADV, α-D14/21LiBADV
Recommended 3600 Recommended 2980

2100
1480
Recommended 980

Recommended
120
89

19

50

1080
580

510
R501 R470
R501 R470

875 250
250 250
Recommended 3250

Recommended 3520
535 268
268
2850

250

2950
1190

Recommended Recommended
1190

1000 1000
250 Recommended
Recommended 1000
1000
365

420
365

420
330

365

70
840 380 250 840 250

225
R360 225
350

R324
350
20

47

α-D14/21MiB5ADV, α-D14/21MiBADV α-D14/21SiB5ADV, α-D14/21SiBADV

Fig. 1.5 Working Area

1.6 NOISE
FANUC has internally conducted measurement tests to confirm that the level of noise emitted from this
machine during normal operation is 70 dB or lower.

The EU Directive 2003/10/EC stipulates the limit value for daily (8 hours) noise exposure levels at the
workplace at 87 dB (A) Leq. However, it also requires that protective equipment (hearing protectors
including ear plugs and ear muffs) shall be prepared when the noise level exceeds 80 dB, and such
protective equipment shall be worn by workers when the level exceeds 85 dB.
Therefore, hearing protectors are not mandatory for normal operation performed within our assumed
range; however, you must provide and wear hearing protectors such as ear plugs and ear muffs when the
noise level during operation exceeds 85 dB depending on your operational environment, etc.

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SAFETY PRECAUTIONS B-85444EN-4/02

1.7 WARNING LABELS

Warning labels are posted to prompt the items to which attention must be paid during daily work.
The machine bears warning labels at the locations stated below. See the subsequent pages for details of
each warning label.
Keep all warning labels visible and readable. Do not stain, scratch, or remove warning labels.
If any warning label is missing or illegible, contact a FANUC service representative or a dealer nearby.
Warning label B

Warning label A

α-D14/21iB5、α-D14/21iB
Warning label B

Warning label A

α-D14/21iB5ADV、α-D14/21iBADV
Fig. 1.7 (a) Warning Label Location inside the Machine

Warning label C
Warning label D

Fig. 1.7 (b) Warning Label Location on the Control Unit Cabinet (Behind the Machine)

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B-85444EN-4/02 SAFETY PRECAUTIONS

Warning Warning
label E label E

Warning Warning
label F label F

Warning Warning
label G label G

Left: α-D14/21M/LiB5, α-D14/21M/LiB (front view) Right: α-D14/21SiB5, α-D14/21SiB (side view)
Left: α-D14/21M/LiB5ADV, α-D14/21M/LiBADV (front view) Right: α-D14/21SiB5ADV, α-D14/21SiBADV (side view)

Fig. 1.7 (c) Warning Label Locations on the Front Surface of the Machine

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SAFETY PRECAUTIONS B-85444EN-4/02

Warning label A
[Location] This warning label is posted on the turret cover.

A rotating turret or falling Z-axis may cause injury.

Pay attention to the tool that is rotating or moving down.

To work with workpieces on the table, bring the table sufficiently
toward you beforehand.
When exchanging workpieces, do not get close to the turret.

Warning label B
[Location] This warning label is posted on the side of a spindle
motor or a servo motor (X-axis, Y-axis, Z-axis, and turret axis).

There may be a risk of burn injury from touching hot parts.

Keep hands away from high temperature parts.

Use a protector, such as heat-resistant gloves, if you cannot avoid
touching them.

Warning label C
[Location] This warning label is posted on the control unit cabinet
door or other sections of the machine.

There are electrical shock hazards that may cause death or serious
injury.

Pay attention to high voltage.

Do not use the machine unless you have sufficient knowledge.

Warning label D
[Location] This warning label is posted on the control unit cabinet door.
Warning in Japanese Warning in English Warning in Chinese

1 Be careful of high voltage.

2 Before you perform maintenance, turn OFF the main power and shut OFF all external power
sources. Only engineers who completed the ROBODRILL maintenance course provided by the
FANUC Training Center are allowed to perform maintenance while power is ON.
3 Before you open the control unit cabinet, turn OFF the main breaker and wait 20 minutes.
Residual voltages will be present during this period.
4 Before you turn ON the power, be sure to connect the earth of the machine.
5 Before you perform maintenance of the high voltage area, be sure to check remaining voltage.

If these safety instructions are not followed, you may receive an electrical shock or may be seriously injured.

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B-85444EN-4/02 SAFETY PRECAUTIONS
Warning label E* Only for machines with an automatic door
(optional)
[Location] This warning label is posted on the front surface of the
machine.

The automatic door may behave unexpectedly, causing a risk that

your arm or body may get caught.

Be careful to avoid getting caught in the automatic door.

Warning label F
[Location] This warning label is posted on the front surface of the machine.
Warning in Japanese Warning in English Warning in Chinese

1 Before you start to install, operate, or maintain the machine, read and fully understand the
precautions described in the OPERATOR'S MANUAL.
2 You could get caught in the machine, possibly leading to injury. Do not put your body, hand, or foot
close to any movable parts.
3 You could get caught in rotating portions, possibly leading to injury. Do not put your body, hand, or
foot close to any rotating portions.
4 An explosion or fire could occur. Watch for explosions and fires when machining a workpiece made
of combustible metal.
5 Chips, coolant, and broken tools may fly out. Be careful not to get hit by any flying objects on your
body or eyes.
6 There is a risk of an electrical shock. Do not touch any portion through which current flows or
splash liquid onto that portion.
7 Other danger is described in the OPERATOR'S MANUAL. For details, see the OPERATOR'S
MANUAL.
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SAFETY PRECAUTIONS B-85444EN-4/02

Warning label G
[Location] This warning label is posted on the front surface of the machine.
Machine with an automatic fire-extinguisher for Machine with an automatic fire-extinguisher for
combustible metal (optional) or no automatic general fires (optional):
fire-extinguisher:
Warning in Warning in Warning in Warning in Warning in Warning in
Japanese English Chinese Japanese English Chinese

When handling flammable workpieces, keep a fire-extinguisher appropriate for materials to be machined
available. Failing to follow this may lead to death or serious injury.
The use especially of a fire-extinguisher which cannot extinguish combustible metal fires to extinguish a fire
caused by a combustible metal such as magnesium may cause an explosion hazard.

When handling flammable workpieces or using a water-insoluble coolant, observe the following precautions
so as to avoid a risk of a fire:

1 Use appropriate tools and under appropriate cutting conditions.

2 Ensure safety by making sure that the tool is not subjected to strong force or does not interfere with
jigs.
3 Sweep off chips periodically. Remove all chips after work.
4 Keep a fire-extinguisher available during work. Always watch the status of the machine operation.
5 Be careful to supply a sufficient amount of coolant properly.

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B-85444EN-4/02 PREFACE

PREFACE
1.1 INTENDED USE OF THE PRODUCT
The ROBODRILL α-DiB5/α-DiB series, α-DiB5ADV/α-DiBADV series are machine tools that operate
under control of a Computer Numerical Control (CNC) unit. It can be used for drilling, tapping, light
milling, milling, and boring.
It should not be used for any other purposes.

1.2 DEFINITION OF USERS

1.2.1 Operator
In this manual, the term "operator" refers to a person who operates the machine.
The operator must read this manual to understand the contents of the manual. If the operator uses the
machine without understanding the contents of the manual, the operator or people around the operator
may be in serious danger.
The operator can perform whatever is described in "Chapter 1, DAILY MAINTENANCE" in the "Part V,
MAINTENANCE" in the OPERATOR'S MANUAL (Detailed Version) or "Chapter 3, DAILY
MAINTENANCE" in the MAINTENANCE MANUAL (Basic Version). The operator is not allowed to
carry out any maintenance work that involves:
(1) Any work that becomes possible only after any cover that requires a tool for removal (i.e., fixed
cover) is removed.
(2) Installing the machine or moving it from one place to another.
(3) Repairing the machine.
(4) Anything described in "Chapter 2, PERIODICAL MAINTENANCE" in the "Part V,
MAINTENANCE" in the OPERATOR'S MANUAL (Detailed Version) or "Chapter 4,
PERIODICAL MAINTENANCE" in the MAINTENANCE MANUAL (Basic Version).

1.2.2 Person in Charge of Routine Maintenance and Preventive

Maintenance
This person should have completed the FANUC ROBODRILL course provided by the FANUC Training
Center or have the equivalent knowledge and have been certified by the company they work for.
The person in charge of routine maintenance and preventive maintenance is allowed to carry out:
(1) Any work that becomes possible only after any cover that requires a tool for removal (i.e., fixed
cover) is removed.
(2) Work other than those described in Subsections 2.6.1.1 and 2.6.1.2 in "Chapter 2, INTERVAL
MAINTENANCE" in "Part V MAINTENANCE" in the OPERATOR'S MANUAL (Detailed
Version) or Subsections 4.6.1.1 and 4.6.1.2 in "Chapter 4, INTERVAL MAINTENANCE" in the
MAINTENANCE MANUAL (Basic Version).

The person in charge of routine maintenance and preventive maintenance must read this manual to
understand the contents of the manual. If he/she operates the machine without understanding the contents
of the manual, it is likely that serious danger may arise to him/her and those around him/her.
The person in charge of routine maintenance and preventive maintenance is not allowed to carry out any
maintenance that involves:
(1) Installing the machine or moving it from one place to another.
(2) Repairing the machine.
(3) Work described in Subsections 2.6.1.1 and 2.6.1.2 in "Chapter 2, INTERVAL MAINTENANCE" in
"Part V, MAINTENANCE" in the OPERATOR'S MANUAL (Detailed Version) or Subsections
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PREFACE B-85444EN-4/02

4.6.1.1 and 4.6.1.2 in "Chapter 4, INTERVAL MAINTENANCE" in the MAINTENANCE

MANUAL (Basic Version).
The person in charge of routine maintenance and preventive maintenance must observe the cautions
described in "Section 1.4, PRECAUTIONS DURING MAINTENANCE" in the "SAFETY
PRECAUTIONS".

1.2.3 Maintenance Engineer

This person should have sufficient knowledge about machinery and electricity for maintenance and have
finished the maintenance course provided by the FA department or ROBOMACHINE department at the
FANUC Training Center or who have equivalent knowledge and have been certified by the company they
work for.
Maintenance engineer are allowed to be engaged in:
(1) Installing the machine or moving it from one place to another.
(2) Repairing the machine.
(3) Work described in Subsections 2.6.1.1 and 2.6.1.2 in "Chapter 2, INTERVAL MAINTENANCE" in
"Part V, MAINTENANCE" in the OPERATOR'S MANUAL (Detailed Version) or Subsections
4.6.1.1 and 4.6.1.2 in "Chapter 4, INTERVAL MAINTENANCE" in the MAINTENANCE
MANUAL (Basic Version).

The maintenance engineer must read this manual to understand the contents of the manual. If the
maintenance engineer uses the machine without understanding the contents of the manual, the
maintenance engineer or people around the maintenance engineer may be in serious danger.
Be sure to observe the cautions described in "Section 1.4, PRECAUTIONS DURING MAINTENANCE"
in the "SAFETY PRECAUTIONS". Experienced maintenance engineers in particular shall be aware that
they may get involved in accidents that can occur due to inattention or overconfidence.

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B-85444EN-4/02 PREFACE

1.3 MODEL NAME

The following table shows the models covered by this manual along with their abbreviations.

■ Standard version
- ROBODRILL α-DiB5 series
Model Name Abbreviation
FANUC ROBODRILL α-D14MiB5 α-D14MiB5
α-D14 (L,S) iB5 α-D14(L, S)iB5
α-DiB5 series
FANUC ROBODRILL α-D21M iB5 α-D21MiB5
α-D21 (L,S) iB5 α-D21(L, S)iB5

Name FANUC Series 31i -B5

Control unit
Spec. No. A04B-0103-B201#STA, A04B-0103-B301, B303, B305, B307
A04B-0099-B101, B103, B111, B113
A04B-0102-B101, B102, B103, B104, B105, B106, B111, B112, B113, B114,
Mechanical
Spec. No. B115, B116
unit
A04B-0102-B121, B122, B123, B124, B125, B126, B131, B132, B133, B134,
B135, B136

- ROBODRILL α-DiB series

Model Name Abbreviation
FANUC ROBODRILL α-D14MiB α-D14MiB
α-D14 (L,S) iB α-D14(L, S)iB
α-DiB series
FANUC ROBODRILL α-D21M iBADV α-D21MiBADV
α-D21 (L,S) iB α-D21(L, S)iB
Name FANUC Series 31i -B
Control unit
Spec. No. A04B-0103-B201#STB, A04B-0103-B302, B304, B306, B308
A04B-0099-B101, B103, B111, B113
A04B-0102-B101, B102, B103, B104, B105, B106, B111, B112, B113, B114,
Mechanical
Spec. No. B115, B116
unit
A04B-0102-B121, B122, B123, B124, B125, B126, B131, B132, B133, B134,
B135, B136

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PREFACE B-85444EN-4/02

■ Advanced version
- ROBODRILL α-DiB5ADV series
Model Name Abbreviation
FANUC ROBODRILL α-D14MiB5ADV α-D14MiB5ADV
α-D14 (L,S) iB5ADV α-D14(L, S)iB5ADV
α-DiB5ADV series
FANUC ROBODRILL α-D21M iB5ADV α-D21MiB5ADV
α-D21 (L,S) iB5ADV α-D21(L, S)iB5ADV

Name FANUC Series 31i -B5

Control unit
Spec. No. A04B-0104-B201#STA, A04B-0103-B301, B303, B305, B307
Mechanical A04B-0104-B001, B002, B003
Spec. No.
unit

- ROBODRILL α-DiBADV series

Model Name Abbreviation
FANUC ROBODRILL α-D14MiBADV α-D14MiBADV
α-D14 (L,S) iBADV α-D14(L, S)iBADV
α-DiBADV series
FANUC ROBODRILL α-D21M iBADV α-D21MiBADV
α-D21 (L,S) iBADV α-D21(L, S)iBADV

Name FANUC Series 31i -B

Control unit
Spec. No. A04B-0104-B201#STB, A04B-0103-B302, B304, B306, B308
Mechanical A04B-0104-B001, B002, B003
Spec. No.
unit

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B-85444EN-4/02 PREFACE

1.4 RELATED MANUALS

The related manuals of ROBODRILL α-DiB5/α-DiB series, α-DiB5ADV/α-DiBADV series are as listed
below.
Manual for the machine main unit
Standard version (α-DiB5/α-DiB series)
Specification drawing No.
No. Manual type α-DiB5 Description
α-DiB series
series
(1) OPERATOR'S MANUAL B-85444EN B-85454EN Describes the basics of how to use and
(Basic Version) maintain the machine.
(2) MAINTENANCE MANUAL B-85445EN B-85455EN Describes the basics of how to maintain
(Basic Version) the machine
(3) OPERATOR'S MANUAL B-85444EN-1 B-85454EN-1 Describes how to use and maintain the
(Detailed Version) machine.
(4) MAINTENANCE MANUAL B-85445EN-1 B-85455EN-1 Describes alarms, how to perform
(Detailed Version) troubleshooting, and how to replace parts.
Advanced version (α-DiB5ADV/α-DiBADV series)
Specification drawing No.
No. Manual type α-DiB5ADV α-DiBADV Description
series series
(1) OPERATOR'S MANUAL B-85474EN B-85484EN Describes the basics of how to use and
(Basic Version) maintain the machine.
(2) MAINTENANCE MANUAL B-85475EN B-85485EN Describes the basics of how to maintain
(Basic Version) the machine
(3) OPERATOR'S MANUAL B-85474EN-1 B-85484EN-1 Describes how to use and maintain the
(Detailed Version) machine.
(4) MAINTENANCE MANUAL B-85475EN-1 B-85485EN-1 Describes alarms, how to perform
(Detailed Version) troubleshooting, and how to replace parts.
Common for standard/advanced version
No. Manual type Specification drawing No. Description
(5) CUSTOM PMC FUNCTION B-85444EN-3 Describes how to operate the custom PMC
OPERATOR'S MANUAL function, as well as programming.
(6) Robot Interface 2 B-85444EN-4 Describes the setup and operation
OPERATOR'S MANUAL methods when building a system by
combining ROBODRILL and the Robot
using the Robot Interface 2 function.
Manual for the CNC installed in the machines
No. Manual type Specification drawing No. Description
(7) FANUC Series 31i –MODEL B-64484EN Describes how to operate the numerical
B OPERATOR'S MANUAL control unit (CNC) and how to create
programs
(8) FANUC Series 31i –MODEL B-64485EN Describes troubleshooting or adjustment
B MAINTENANCE MANUAL procedures for the Computer Numerical
Control (CNC) unit
Manual for iHMI
No. Manual type Specification drawing No. Description
(9) iHMI Home Screen B-64644EN Describes how to operate the Home
OPERATOR'S MANUAL Screen of iHMI used in the CNC.
(10) iHMI CNC Operation Screen B-64644EN-1 Describes how to operate the CNC
OPERATOR'S MANUAL Operation Screen of iHMI used in the
CNC.

Before using this machine, read the necessary parts of manual (1).
For daily handling and for reference, use manuals (1), (2), (3), and (5).
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PREFACE B-85444EN-4/02

Use manuals (4) and (8) for troubleshooting, replacement of parts, and adjustment of machine sections.
The NC used in this machine is a control unit designed specifically for the machine. For details about the
classification of the basic specifications and optional specifications that can be used, refer to a copy of the
order specifications.
Descriptions in manuals (1), (2), (3), and (4) have priority over those in manuals (7) and (8). If you find
any contradiction, assume that the description in manuals (1), (2), (3), and (4) applies.
This manual contains minimum requirements for using the custom PMC function.
If you require more detailed explanation, see the following manual:

FANUC Series 31i –MODEL B PMC PROGRAMMING MANUAL (B-64513EN)

1.5 DECLARATION OF CONFORMITY

The CE mark specifications of this product have been certified by designing and inspecting the product
according to the following directives.

■ Conformity to EC Directives
Self-certified as compliant with the following EC directives.

<Machinery Directive>
Machinery Directive: 2006/42/EC
EN ISO 12100:2010 (Safety of machinery - General principles for design - Risk
assessment and risk reduction)
EN 12417:2001 (Machine tools - Safety - Machining centers)
EN 60204-1:2006+A1:2009 (Safety of machinery - Electrical equipment of machines -
Part 1: General requirements)

<EMC Directive>
EMC Directive: 2014/30/EU
EN 50370-1:2005 (Electromagnetic compatibility (EMC) - Product family standard for
machine tools - Part 1: Emission)
EN 55011:2016 (Industrial, scientific and medical equipment - Radio-frequency
disturbance characteristics - Limits and methods of measurement) (Group 1, Class A)
EN 50370-2:2003 (Electromagnetic compatibility (EMC) - Product family standard for
machine tools - Part 2: Immunity)

* Conformity to these directives becomes invalid if technical or operational modifications are

introduced without the consent of the manufacturer or used in combination with non-standard
devices/components.

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B-85444EN-4/02 PREFACE

■ Standard version

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PREFACE B-85444EN-4/02

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B-85444EN-4/02 PREFACE

■ Advanced version

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PREFACE B-85444EN-4/02

1.6 CONTACT
Company name : FANUC Corporation
Address : 3580 Shibokusa, Oshino-mura, Minamitsurugun, Yamanashi, 401-0597, Japan
Telephone : +81-555-84-5555

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B-85444EN-4/02 TABLE OF CONTENTS

TABLE OF CONTENTS
SAFETY PRECAUTIONS............................................................................s-1
PREFACE ....................................................................................................p-1
1 OVERVIEW AND NOTES ....................................................................... 1
1.1 OVERVIEW ................................................................................................... 1
1.2 CAUTIONS .................................................................................................... 2
1.3 RESTRICTIONS ON OPERATION................................................................ 3
1.3.1 ROBODRILL and Robot Operating States/Modes ..................................................3
1.3.2 List of States and Operation Conditions...................................................................4

2 CONNECTION......................................................................................... 5
2.1 FL-net (ETHERNET) CONNECTION............................................................. 5
2.2 WHEN FRONT AUTO-DOOR IS DRIVEN BY SERVO MOTOR ................... 8
2.2.1 Safety Fence Cable Connection................................................................................8
2.2.2 Circuit Diagrams ......................................................................................................9
2.2.3 Connection Inside the Controller Cabinet ..............................................................10
2.2.4 Circuit Diagrams ....................................................................................................12
2.3 WHEN SIDE AUTO-DOOR IS DRIVEN BY AIR CYLINDER ....................... 13
2.3.1 Safety Fence Cable Connection..............................................................................13
2.3.2 Circuit Diagrams ....................................................................................................15
2.3.3 Connection Inside the Controller Cabinet ..............................................................16
2.3.4 Circuit Diagrams ....................................................................................................19
2.4 WHEN SIDE AUTO-DOOR IS DRIVEN BY SERVO MOTOR ..................... 22
2.4.1 Safety Fence Cable Connection..............................................................................22
2.4.2 Circuit Diagrams ....................................................................................................24
2.4.3 Connection Inside the Controller Cabinet ..............................................................25
2.4.4 Circuit Diagrams ....................................................................................................28

3 SCREEN CONFIGURATION OF ROBOT INTERFACE 2 .................... 31

3.1 QUICK SCREEN ......................................................................................... 31
3.1.1 SYSTEM START/MONITOR Screen ...................................................................32
3.1.2 MANUAL OPERATE Screen................................................................................34
3.1.3 PRODUCTION COUNTER Screen.......................................................................39
3.1.4 MAINTENANCE-1 (PROG.) Screen ....................................................................43
3.1.5 MAINTENANCE-2 (SIGNAL) Screen .................................................................44
3.1.6 MAINTENANCE-3 (SET.) Screen........................................................................44
3.1.6.1 List of the items to be set ................................................................................... 45
3.1.6.2 Data input and output ........................................................................................ 47
3.2 iHMI SCREEN ............................................................................................. 48
3.2.1 SYSTEM START/MONITOR Screen ...................................................................50
3.2.2 ROBOT MANUAL OPERATE Screen .................................................................52
3.2.3 PROG. Screen ........................................................................................................56
3.2.4 SIGNAL Screen .....................................................................................................57
3.2.5 SET. Screen ............................................................................................................57
3.2.5.1 List of the items to be set ................................................................................... 58
3.2.5.2 Data input and output ........................................................................................ 60
3.2.6 About the Production Counter................................................................................61

4 USED SIGNALS.................................................................................... 62
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4.1 INTERFACE SIGNALS BETWEEN THE ROBODRILL AND ROBOT ......... 62

4.1.1 How to Use Signals ................................................................................................62
4.1.1.1 Signals output from the robot controller to all ROBODRILLs ......................... 62
4.1.1.2 Signals output from the robot controller to each ROBODRILL........................ 65
4.1.1.3 Signals output from each ROBODRILL to the robot controller........................ 67
4.1.1.4 I/O signals internally used in the robot controller ............................................. 72
4.1.2 Signal Functions .....................................................................................................74
4.1.2.1 Robot I/O assignment ........................................................................................ 74
4.1.2.2 Robot flag signal table ....................................................................................... 74
4.1.2.3 DI to DO connection.......................................................................................... 75
4.1.2.4 GI/GO signal comment...................................................................................... 75
4.1.2.5 DI/DO signal comments .................................................................................... 76
4.2 PERIPHERAL EQUIPMENT CONTROL SIGNALS (ROBODRILL
CUSTOM PMC FUNCTION)........................................................................ 84
4.2.1 [System Ladder → Custom Ladder].......................................................................84
4.2.2 [Custom Ladder → System Ladder].......................................................................85
4.2.3 Addresses Available for the Custom PMC.............................................................86

5 SETTING OF THE ROBODRILL........................................................... 87

5.1 CNC PARAMETERS ................................................................................... 87
5.2 PMC PARAMETERS ................................................................................... 91
5.3 SETTING OF FL-net.................................................................................... 93
5.4 SETTING OF ETHERNET ........................................................................... 97
6 SYSTEM CONTROL ............................................................................. 98
6.1 TIMING CHART........................................................................................... 98
6.1.1 Robot/ROBODRILL Operation Upon Completion of Machining .........................98
6.1.2 Robot/ROBODRILL Operation at Cycle Stop.......................................................98
6.1.3 Robot/ROBODRILL Operation at System Stop ....................................................99
6.2 DETAILS OF SYSTEM CONTROL............................................................ 100
6.2.1 Control during Normal Operation ........................................................................100
6.2.2 Work-Piece Installation (Install Operation Only) ................................................100
6.2.3 Work-Piece Removal (Cycle Stop) ......................................................................100
6.2.4 System Stop..........................................................................................................101
6.2.5 Machining Completion Notice .............................................................................101
6.3 M CODES.................................................................................................. 102
6.4 SYSTEM/STAND-ALONE AND SYSTEM START..................................... 103
6.5 SYSTEM STOP AND CYCLE STOP ......................................................... 105
7 ALARMS AND MESSAGES ............................................................... 106
7.1 MACHINE ALARMS (EX ALARMS)........................................................... 106
7.2 OPERATOR MESSAGES ......................................................................... 107
8 FUNCTIONS OF THE ROBOT CONTROLLER .................................. 108
8.1 ROBODRILL AND ROBOT SYSTEM OPERATION (MACHINE
INTERLOCK OPERATION) ....................................................................... 108
8.2 MASTER ROBODRILL CHANGE AND ROBODRILL SEPARATION
(DEGRADATION OPERATION) DURING MACHINE SYSTEM
OPERATION.............................................................................................. 109
8.3 MANUAL ROBOT OPERATION FROM THE ROBODRILL (MANUAL
ROBOT OPERATION)............................................................................... 109

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8.4 ROBODRILL STATUS DISPLAY ON THE ROBOT TEACH PENDANT

................................................................................................................... 110
8.5 DISPLAY AND CHANGE OF ROBODRILL TOOL LENGTH
COMPENSATION ON THE ROBOT TEACH PENDANT .......................... 110
8.6 ROBODRILL JOG FEED ON THE ROBOT TEACH PENDANT................ 111
8.7 INPUT OF THE SETTINGS REQUIRED FOR CONNECTION WITH
THE ROBODRILL AT A TIME ................................................................... 111
8.8 SENDING OF THE I/O COMMENTS OF THE ROBOT CONTROLLER
TO THE ROBODRILL SCREEN ................................................................ 111
8.9 DISPLAY OF ROBOT CONTROLLER ALARMS ON THE
ROBODRILL SCREEN .............................................................................. 111
9 SETTING OF THE ROBOT ................................................................. 112
9.1 SETTING ON THE ROBOT CONTROLLER.............................................. 112
9.1.1 Loading the Settings Determined According to the Number of ROBODRILLs
at a Time...............................................................................................................112
9.1.2 Selecting and Executing Background Logic Programs ........................................114
9.1.3 Setting Reference Positions..................................................................................115
9.1.4 Setting Robot Jog Feed Operation........................................................................117
9.1.5 Setting Jog Coordinate Systems ...........................................................................118
9.1.6 Transferring I/O Comments of the Robot Controller ...........................................120
9.1.7 Setting the Tool Offset Screen .............................................................................120
9.1.8 Setting the Machine Tool Operation Screen ........................................................121
9.2 ADVANCED SETTINGS OF THE ROBOT CONTROLLER....................... 122
9.2.1 TCP/IP Parameter Setting.....................................................................................122
9.2.2 FL-net Setting.......................................................................................................123
9.2.3 Setting of the Safety Function by FL-net .............................................................123
9.2.4 Setting of Safe I/O Connect..................................................................................124
9.2.5 Client Tag Setting.................................................................................................125
9.2.6 Alarm Message Transfer Setting ..........................................................................126
9.2.7 Override Step Change ..........................................................................................128
9.2.8 Connection Retry of MTCOM Communication...................................................128
9.3 SYSTEM SETTING ................................................................................... 130
9.3.1 Macros ..................................................................................................................130
9.3.2 System Variables ..................................................................................................131
9.3.3 Host Communication Setting ...............................................................................132
9.4 FL-net ........................................................................................................ 133
9.4.1 Restrictions on the Robot Controller....................................................................133
9.4.2 Assignment of the FL-net Common Memory Area..............................................133
9.4.3 Safety Function by FL-net....................................................................................135
9.5 SETTING RELATED TO FL-net ................................................................ 135
9.5.1 FL-net Settings on the Robot Controller ..............................................................135
9.5.2 Safety Function by FL-net....................................................................................136
9.5.3 Safety Signals Output from the Robot Controller ................................................137

10 ROBOT PROGRAMS.......................................................................... 138

10.1 BACKGROUND LOGIC PROGRAMS ....................................................... 138
10.1.1 Background Logic ................................................................................................138
10.1.1.1 Mechanism of selecting a master ROBODRILL using Background Logic..... 138
10.1.1.2 Operation of Background Logic programs ...................................................... 139
10.1.2 Details of Background Logic Programs ...............................................................141
10.1.2.1 Requirements for Background Logic programs............................................... 141
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10.1.2.2 Relationships between ROBODRILL statuses and robot operations .............. 141
10.1.2.3 Details of Background Logic programs........................................................... 142
10.1.2.4 Signals used with Background Logic programs .............................................. 146
10.2 MACRO PROGRAMS ............................................................................... 147
10.2.1 Robot Programs for Program for Robot Remote Operation.................................147
10.2.1.1 Program for Robot Home Position Return ...................................................... 147
10.2.1.2 Macro programs for Hand Operation .............................................................. 148
10.2.1.3 Macro programs for manual operations........................................................... 148
10.3 PNS PROGRAMS ..................................................................................... 149
10.3.1 Robot PNS Program for System Operation..........................................................149
10.3.1.1 Program name.................................................................................................. 149
10.3.1.2 Program configuration ..................................................................................... 149
10.3.1.3 Operation modes.............................................................................................. 150
10.3.1.4 Stop mode ........................................................................................................ 150
10.3.1.5 Control flow..................................................................................................... 151
10.3.1.6 Program D1REQ (, D2REQ, D3REQ, D4REQ) ............................................. 154
10.3.1.7 Program D1RET (, D2RET, D3RET, D4RET) ............................................... 155
10.3.1.8 Program for exchanging a work-piece in a ROBODRILL .............................. 157
10.3.1.9 Other programs ................................................................................................ 157
10.3.1.10 Resources used ................................................................................................ 158

11 ROBOT OPERATIONS FROM ROBODRILLS ................................... 159

11.1 RELATIONSHIPS BETWEEN ROBODRILL STATUSES AND ROBOT
OPERATIONS ........................................................................................... 159
12 ROBODRILL SCREEN OPERATIONS FROM THE ROBOT ............. 160
12.1 CNC STATUS DISPLAY SCREEN............................................................ 160
12.1.1 Display Items on the CNC Status Display Screen................................................161
12.1.2 CNC Actual Position Screen ................................................................................163
12.1.3 CNC Alarm Screen...............................................................................................164
12.1.4 CNC Message Screen ...........................................................................................165
12.1.5 CNC Running Program Screen ............................................................................166
12.1.6 I/O Screen.............................................................................................................167
12.2 CNC OPERATION SCREEN ..................................................................... 168
12.2.1 Machine Tool Operation Screen...........................................................................169
12.2.2 Tool Offset Screen................................................................................................173

13 IN THE CASE OF A SERVO MOTOR DRIVEN SIDE DOOR ............. 175

13.1 OVERVIEW ............................................................................................... 175
13.2 NOTES ...................................................................................................... 175
13.3 PARAMETERS (ROBODRILL) .................................................................. 176
13.4 INTERFACE BETWEEN ROBODRILL AND ROBOT................................ 176
13.4.1 Signal Setting .......................................................................................................176
13.4.2 System Control Time Chart..................................................................................177
13.4.2.1 Robot/ROBODRILL operation upon completion of machining...................... 177
13.4.2.2 Robot/ROBODRILL operation during work-piece setting.............................. 178
13.4.2.3 Robot/ROBODRILL operation at cycle stop................................................... 179
13.4.2.4 Robot/ROBODRILL operation at system stop ................................................ 180
13.4.2.5 Robot-ROBODRILL at the advance notice of completion of machining........ 180
13.4.3 Details of System Control ....................................................................................182
13.4.3.1 Control during normal operation ..................................................................... 182
13.4.3.2 Work-piece installation (install operation only) .............................................. 182
13.4.3.3 Work-piece removal (cycle stop)..................................................................... 183
13.4.3.4 System stop...................................................................................................... 183
13.4.3.5 Machining completion notice .......................................................................... 183
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13.4.4 M Codes for System Control................................................................................184
13.5 ALARMS AND MESSAGES ...................................................................... 185
13.5.1 Machine Alarms (EX Alarms)..............................................................................185
13.5.2 Operator Messages ...............................................................................................185

APPENDIX
A IF NOT USING THE ROBOT INTERFACE 2 FUNCTION................... 189
A.1 OVERVIEW ............................................................................................... 189
A.2 NOTES ...................................................................................................... 189
A.3 CONNECTION........................................................................................... 190
A.3.1 WHEN FRONT DOOR IS DRIVEN BY SERVO MOTOR ...............................190
A.3.1.1 Safety fence cable connection.......................................................................... 190
A.3.1.2 Circuit diagrams............................................................................................... 192
A.3.1.3 Connection inside the controller cabinet ......................................................... 193
A.3.1.4 Circuit diagrams............................................................................................... 195
A.3.2 WHEN SIDE DOOR IS DRIVEN BY AIR CYLINDER....................................196
A.3.2.1 Safety fence cable connection.......................................................................... 196
A.3.2.2 Circuit diagrams............................................................................................... 198
A.3.2.3 Connection inside the controller cabinet ......................................................... 199
A.3.2.4 Circuit diagrams............................................................................................... 202
A.3.3 WHEN SIDE DOOR IS DRIVEN BY SERVO MOTOR ...................................205
A.3.3.1 Safety Fence Cable Connection....................................................................... 205
A.3.3.2 Circuit diagrams............................................................................................... 207
A.3.3.3 Connection inside the controller cabinet ......................................................... 208
A.3.3.4 Circuit diagrams............................................................................................... 211
A.4 SETTING PMC PARAMETERS................................................................. 214
A.5 I/O SIGNALS ............................................................................................. 214
A.6 OPENING/CLOSING THE SIDE DOOR.................................................... 215
A.6.1 If Using M Codes .................................................................................................215
A.6.2 If Using Input Signals from the Outside...............................................................215
A.7 PERIPHERALS CONTROL SIGNALS (ROBODRILL CUSTOM PMC
FUNCTION) ............................................................................................... 216
A.7.1 Common (to Air Cylinder Driven and Servo Motor Driven Side Doors) ............216
A.7.1.1 [System ladder → Custom ladder]................................................................... 216
A.7.1.2 [Custom ladder → System ladder]................................................................... 216
A.7.2 For Servo Motor Driven Side Doors ....................................................................217
A.7.2.1 [System ladder → Custom ladder]................................................................... 217
A.7.2.2 [Custom ladder → System ladder]................................................................... 217
A.8 ALARMS AND MESSAGES ...................................................................... 218
A.8.1 Machine Alarms (EX Alarms)..............................................................................218
A.8.2 Operator Messages ...............................................................................................218

B ORDERING INFORMATION ............................................................... 219

B.1 ROBOT INTERFACE 2 COMBINATIONS ................................................. 219
B.2 ROBOT INTERFACE 2 OPTIONS............................................................. 219
B.2.1 Software Options..................................................................................................219
B.2.2 Electrical Unit Options .........................................................................................220
B.2.3 Mechanical Unit Options......................................................................................221
B.2.3.1 FANUC ROBODRILL α-D14/21MiB5 and α-D14/21MiB (side
auto-door) ........................................................................................................ 221
B.2.3.2 FANUC ROBODRILL α-D14/21LiB5 and α-D14/21MiB (side
auto-door) ........................................................................................................ 222

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B.2.3.3 FANUC ROBODRILL α-D14/21SiB5 and α-D14/21MiB (side

auto-door) ........................................................................................................ 223
B.2.3.4 FANUC ROBODRILL α-D14/21MiB5 and α-D14/21MiB (front
auto-door) ........................................................................................................ 223
B.2.3.5 FANUC ROBODRILL α-D14/21LiB5 and α-D14/21MiB (front
auto-door) ........................................................................................................ 223
B.2.3.6 FANUC ROBODRILL α-D14/21MiB5ADV and α-D14/21MiBADV
(side auto-door)................................................................................................ 224
B.2.3.7 FANUC ROBODRILL α-D14/21LiB5ADV and α-D14/21LiBADV (side
auto-door) ........................................................................................................ 225
B.2.3.8 FANUC ROBODRILL α-D14/21SiB5ADV and α-D14/21SiBADV (side
auto-door) ........................................................................................................ 226
B.2.3.9 FANUC ROBODRILL α-D14/21MiB5ADV and α-D14/21MiBADV
(front auto-door) .............................................................................................. 226
B.2.3.10 FANUC ROBODRILL α-D14/21LiB5ADV and α-D14/21LiBADV (front
auto-door) ........................................................................................................ 226
B.2.4 FANUC Robot Controller Software Options .......................................................227

C WIRING METHOD............................................................................... 228

D APPEARANCE DIAGRAMS OF ROBODRILLS WITH SIDE
AUTO-DOORS ATTACHED................................................................ 231
D.1 α-D14/21MiB/B5 AND α-D14/21MiB/B5ADV, RIGHT SIDE
AUTO-DOOR ATTACHED......................................................................... 231
D.2 α-D14/21MiB/B5 AND α-D14/21MiB/B5ADV, LEFT SIDE
AUTO-DOOR ATTACHED......................................................................... 232
D.3 α-D14/21LiB/B5 AND α-D14/21LiB/B5ADV, RIGHT SIDE
AUTO-DOOR ATTACHED......................................................................... 232
D.4 α-D14/21LiB/B5 AND α-D14/21LiB/B5ADV, LEFT SIDE AUTO-DOOR
ATTACHED ............................................................................................... 233
D.5 α-D14/21SiB/B5 AND α-D14/21SiB/B5ADV, RIGHT SIDE
AUTO-DOOR ATTACHED......................................................................... 233
D.6 α-D14/21SiB/B5 AND α-D14/21SiB/B5ADV, LEFT SIDE
AUTO-DOOR ATTACHED......................................................................... 234
E GREASING SIDE AUTO-DOORS....................................................... 235
F SETUP................................................................................................. 237
F.1 IF USING THE ROBOT INTERFACE 2 FUNCTION.................................. 237
F.1.1 Setup Procedure....................................................................................................237
F.1.2 Available Signals..................................................................................................239
F.2 IF NOT USING THE ROBOT INTERFACE 2 FUNCTION ......................... 240
F.2.1 Setup Procedure....................................................................................................240
F.2.2 Available Signals..................................................................................................240

G MOUNTING THE SERVO MOTOR (SERVO MOTOR DRIVEN SIDE

AUTO-DOOR) ..................................................................................... 241
G.1 NECESSARY PARTS................................................................................ 241
G.2 WORK PROCEDURE................................................................................ 241
H IF USING THE DATA SERVER FUNCTION SIMULTANEOUSLY..... 246
H.1 CONNECTION........................................................................................... 246
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H.2 PARAMETERS .......................................................................................... 247

H.3 IP ADDRESSES ........................................................................................ 248

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1 OVERVIEW AND NOTES

1.1 OVERVIEW
This function is a package used to build a system by combining one or more FANUC ROBODRILLs and
a FANUC robot. A compact machining system capable of work-piece loading/unloading, deburring,
and other processes can be realized at low cost without using a central control panel. Also, an
FL-net-based safety function is used to ensure the safety of the entire system, including safety fences.

(1) Up to four FANUC ROBODRILLs can be connected per robot.

(2) It is possible to stop the system, view the status, operate the robot, open and close the side door, etc.
from the ROBODRILL screen.
(3) To ensure the safety of the operator, the operations of the machine and robot are restricted
depending on the states of the ROBODRILL door and safety fence.
(4) Since the machine and the robot are connected via the FL-net, the ROBODRILL can be
disconnected and connected freely.
If one ROBODRILL needs to be isolated for maintenance or some other purpose, production can be
continued with the remaining ROBODRILLs alone. (* See NOTE below.)
(5) The ROBODRILL has a production management screen.

This package consists of the components mentioned below, although this configuration may vary
depending on the number of ROBODRILLs.
(a) ROBODRILL
(b) Side or front door
(c) Robot
(d) FL-net function (one board per ROBODRILL)
(e) Hub (with as many ports as the number of ROBODRILLs + one or more ports)
The hub provided by default as the master robot interface unit has five ports with one power supply
port.
(f) Ethernet cable
This cable is used to connect the robot and the ROBODRILL.
When more than one ROBODRILL is used, as many Ethernet cables as the number of
ROBODRILLs and one straight cable are necessary for the connection to the hub.
(g) Relay terminal block for the safety fence (only for a ROBODRILL with a side door)
(h) Safety fence cable (only for a ROBODRILL with a side door)
When more than one ROBODRILL is used, it is necessary to connect the ROBODRILLs.
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1. OVERVIEW AND NOTES B-85444EN-4/02

(i) Hub power cable

Power for the hub (24 VDC/0.2 A) should be supplied from the robot controller.

NOTE
The ROBODRILL used to start the system needs to be set as the master unit.
When the system needs to be started with a ROBODRILL other than the master
ROBODRILL for maintenance or some other purpose, make the master
ROBODRILL a slave unit and then set the ROBODRILL to be used to start the
system as the master unit. The switch between the master and slave units can
be done easily from the screen. (See Section 3.1.6, "MAINTENANCE-3 (SET.)
Screen" and 3.2.5, "SET. Screen.")

1.2 CAUTIONS
This function uses a robot. Unlike general automatic machines, a robot has a wide operating area and can
move freely within the space in the entire operating area. For this reason, thorough system safety
measures must be taken into consideration to ensure the safety of the operator. Refer to the items
regarding safety in the "FANUC Robot Series R-30iB/ R-30iB Mate Operator's Manual" and the "Safety
Manual (B-80687)" to implement thorough safety measures.
It is very dangerous to enter the inside of the machine or the safety fence while the power is supplied to
the ROBODRILL and the robot. When entering the inside for inevitable reasons such as maintenance,
be sure to turn off the power to all the units.

If the front and side doors of the ROBODRILL simultaneously open, it is regarded as the safety fence of
the robot being open, in which case the operation of the robot needs to be restricted. Therefore, be sure
to connect the safety fence signal to the relay terminal block for the safety fence that is provided with the
ROBODRILL. The circuit of this relay terminal block is configured so that its contact opens when the
front and side doors of the ROBODRILL simultaneously open.

The power (24 VDC/0.2 A) for the hub that is used for the FL-net connection should be supplied from the
robot controller.

In addition to the conventional air cylinder-driven door, a servo motor-driven door can be used as the side
door. Also, it is possible to control the side door without using this function. These differ in some
respects in terms of the setup procedure and usage method. For information, see Chapter 13, "IN THE
CASE OF A SERVO MOTOR DRIVEN SIDE DOOR," Appendix A, "WHEN THE ROBOT
INTERFACE 2 FUNCTION IS NOT USED," and Appendix F, "SETUP."

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1.3 RESTRICTIONS ON OPERATION

When a ROBODRILL with a side door is used, the ROBODRILL itself serves as a safety fence. This is
because the robot enters the inside of the ROBODRILL from the side door to replace the work-piece or
for some other purpose. Even in such a case, the safety of the operator is secured because the front door
is closed.
Also, when the side door of the ROBODRILL is open, the safety fence for the robot serves as the safety
cover for the ROBODRILL. Even in this condition, therefore, a level of safety equivalent to that offered
when the ROBODRILL is used alone is secured. Note, however, that the following restrictions are
imposed on the operation.
* When the system has multiple ROBODRILLs connected, the same restrictions apply to all the
ROBODRILLs.

・ In principle, the front door and side door are prohibited from opening simultaneously (when one
door is open, a request to open the other is invalid). However, when the robot is placed in teach
mode (T1), it is allowed to open the front door and side door simultaneously.
・ When the power of the robot is off, it is not possible to check the safety fence status, including the
open/closed states of the front and side doors of other ROBODRILLs. For this reason, the
ROBODRILL considers that the safety fence is open.
・ Regardless of whether the teach pendant of the robot is enabled or disabled and whether the robot is
in teach mode (T1) or not, the fence of the robot is placed in an open state if the front and side doors
of the ROBODRILL open simultaneously.
・ M codes (M60 to M65) cannot be sued for the auto-door open/close function. M60 to M65 are the
M codes dedicated to the robot interface.
・ The robot interface uses an extended work-piece number search function. Therefore, the
work-piece number search function and program number search function are unavailable.

1.3.1 ROBODRILL and Robot Operating States/Modes

(1) ROBODRILL
• Safety mode:
The ROBODRILL is placed in safety mode when its front door is open or when the side door
and safety fence are open at the same time. In this state, the ROBODRILL cannot be operated
with a program. While it is possible to rotate the spindle manually and move the tool along an
axis, the speed is restricted.
• Emergency stop:
The ROBODRILL is placed in the emergency stop state when its emergency stop button is
pressed. In this state, it is not possible to rotate the spindle or move the tool along an axis.
• Stand-alone mode:
The ROBODRILL is placed in stand-alone mode when the system/stand-alone switch is in the
stand-alone position or is not connected. In this state, it is not possible to open or close the
side door by using an M code or inputting a signal from the robot. Note, however, that when
bit 5 of PMC parameter K24 (keep relay) is set to 0, it is possible to open and close the side
door by using M codes M52 and M53.
• System mode:
The ROBODRILL is placed in system mode when the system/stand-alone switch is in the
system position. In this state, it is possible to open or close the side door and start the system
by using an M code or inputting a signal from the robot.
• Teach mode:
The ROBODRILL is placed in teach mode when the mode switch of the robot controller is set
to T1 mode. If the ROBODRILL is placed in system mode when it is in teach mode, it is
possible to open the front and side doors simultaneously.

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1. OVERVIEW AND NOTES B-85444EN-4/02

(2) Robot
• Fence open:
The robot generates a "fence open" alarm if its safety fence opens of if the front and side doors
of the ROBODRILL open simultaneously. Program operation cannot be performed. Manual
operation cannot be performed, either. Placing the robot in teach mode with the safety fence
open makes it possible to teach the robot.
• Teach mode:
The robot is placed in teach mode when the mode switch of the robot controller is set to T1
mode.
Then, hold the deadman switch on the teach pendant and set the enable/disable switch on the
teach pendant to the enable position. In teach mode, it is possible to teach the robot with the
safety fence opened, the side door of the ROBODRILL opened, or the front door of the
ROBODRILL opened.

1.3.2 List of States and Operation Conditions

ROBODRILL ROBODRILL Robot
operation
open/close
Front door

operation
open/close
Side door
Safety
Automatic

Automatic
operation

operation
Front Side Manual Manual
fence Machine Machine
door door opera- opera-
state state state
state state tion tion
NOTE 1)

Closed Closed Closed Normal { { { { Normal { {

Fence
Closed Closed Open Normal { { { { × {
open
×
Closed Open Closed Normal { { { Normal { {
NOTE 2)
Safety × × Fence
Closed Open Open × { × {
mode NOTE 2) NOTE 2) open
Safety ×
Open Closed Closed × { { Normal { {
mode NOTE 2)
Safety × Fence
Open Closed Open × { { × {
mode NOTE 2) open
Safety × Fence
Open Open Closed × { { × {
mode NOTE 2) open
Safety × Fence
Open Open Open × { { × {
mode NOTE 2) open
○: Allowed
×: Not allowed

NOTE
1 The safety fence states include one in which the safety fence is opened because
the front and side doors of another ROBODRILL open simultaneously.
2 The open/close operation is allowed when the mode switch of the robot
controller is set to T1 mode.

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2.1
B-85444EN-4/02

1st ROBODRILL

CNC unit Controller rack

A04B-0103-B3□□

Fast Ethernet board HUB

X5 CD38□
A20B-8101-0770 CD38R
CONNECTION

CD38R X1
X2 X3 X4 ROBOT controller

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2nd ROBODRILL 3rd ROBODRILL 4th ROBODRILL

CNC unit CNC unit CNC unit

A04B-0103-B3□□ Controller A04B-0103-B3□□ Controller A04B-0103-B3□□ Controller
FL-net (ETHERNET) CONNECTION

rack rack rack

Fast Ethernet board Fast Ethernet board Fast Ethernet board
A20B-8101-0770 A20B-8101-0770 A20B-8101-0770
CD38 R CD38R CD38R CD38R CD38R CD38R
Connect the ROBODRILL and the robot controller as shown in the figure below.
• When a built-in Ethernet CNC (A04B-0103-B301, B302, B303, or B304) is used
2. CONNECTION
 2. CONNECTION

1st ROBODRILL

CNC unit Controller rack

A04B-0103-B3□□

HUB
X5 CD38 □
CD38R
CD38B X1
X2 X3 X4 ROBOT controller

-6-
2nd ROBODRILL 3rd ROBODRILL 4th ROBODRILL

CNC unit CNC unit CNC unit

A04B-0103-B3□□ Controller A04B-0103-B3□□ Controller A04B-0103-B3□□ Controller
rack rack rack

CD38B CD38R CD38B CD38R CD38B CD38R

• When a multi-function Ethernet CNC (A04B-0103-B305, B306, B307, or B308) is used
B-85444EN-4/02
B-85444EN-4/02 2. CONNECTION
Table 2.1-1 List of FL-net connection destinations and cables used
No. Connection destination Cable specification Cable Remark on the
number length cable
1 1st ROBODRILL HUB X2 to A660-2042-T408#L15R03A2 15 m Accessory of the
2nd ROBODRILL 2nd ROBODRILL
2 1st ROBODRILL HUB X3 to A660-2042-T408#L15R03A2 15 m Accessory of the
3rd ROBODRILL 3rd ROBODRILL
3 1st ROBODRILL HUB X4 to A660-2042-T408#L15R03A2 15 m Accessory of the
4th ROBODRILL 4th ROBODRILL
4 1st ROBODRILL HUB X5 to A660-2042-T408#L15R03B1 15 m Accessory of the
robot controller 1st ROBODRILL

NOTE
When a built-in Ethernet CNC is used
When the FL-net board (shared for fast Ethernet and FL-net) is mounted,
disconnect the Ethernet cable from the CNC main board [CD38A] and connect it
to the FL-net board [CD38R].

<When the number of LAN ports of the robot is 2>

Robot port 1 Connection to the LAN or some other network
Robot port 2 Connection to the ROBODRILL and robot using the FL-net
Make sure that the network number of the LAN to which port 1 belongs is different from that of the LAN
to which port 2 belongs

<When the number of LAN ports of the robot is 1>

Robot port 1 Connection to the ROBODRILL and robot using the FL-net, as well as connection to the
LAN or some other network
Port 1 must belong to a LAN having a class C network number. For LAN connection, consider the use
of an L3 switch as well.

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2. CONNECTION B-85444EN-4/02

2.2 WHEN FRONT AUTO-DOOR IS DRIVEN BY SERVO

MOTOR

2.2.1 Safety Fence Cable Connection

When the ROBODRILLs have a front auto-door (driven by a servo motor), connect the safety fence
cables as shown in the figure below.

Safety fence switch specifications

Rated voltage: 24 VDC or higher. A make and break contact whose maximum load capacity exceeds 0.1
A is required.
(Use a contact whose minimum load is 5 mA or less.)
For information about the cable and wiring, see Appendix C, "WIRING."

NOTE
It is recommended to use a cable made of sufficiently oil resistant material in
order to prevent degradation due to cutting fluid, lubricant, etc.

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B-85444EN-4/02 2. CONNECTION

2.2.2 Circuit Diagrams

-9-
2. CONNECTION B-85444EN-4/02

2.2.3 Connection Inside the Controller Cabinet

Inside the controller cabinet (1st unit)
<Wiring PCB unit >

〇Cable
A660-2042-T408#L500R0A
(CD38R)

Detailed view A

A Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
<Option mounting plate> <Robot interface unit> ×: Not supplied.
A04B-0094-J224 A04B-0103-C231#FSM (To be manufactured and connected.)
（A04B-0103-J223#FSM）

Inside the controller cabinet (2nd to 4th units)

△Cable
A660-2042-T408#L15R03A2
(CD38R)

Detailed view B
Cables
{: Connected before shipment.
B U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

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B-85444EN-4/02 2. CONNECTION

Robot interface unit (1st unit)

○Cable
A660-2042-T408#L500R0A Wired
(X1)

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

△Cable
A660-2042-T408#L15R03B1
(X5)

△Cable [K185]
A660-8018-T795#L15R03
(+24R,0V)

For information about the cable and wiring, see Appendix C, "WIRING."

Controller cabinet Cable entrance (1st unit)

Fasten the shielded part with a cable

To be fastened with a cable tie clamp (A99L-0035-0001).

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

△Cable
A660-2042-T408#L15R03B1
(to the robot)

△Cable [K185] ▲Cable

(to the robot) A660-2042-T408#L15R03A2
(from another ROBODRILL)

- 11 -
2. CONNECTION B-85444EN-4/02

Controller cabinet Cable entrance (2nd to 4th units)

Fasten the shielded part with a cable
clamp (A99L-0035-0001).

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

△Cable
A660-2042-T408#L15R03A2
(to the 1st ROBODRILL)

2.2.4 Circuit Diagrams

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B-85444EN-4/02 2. CONNECTION

2.3 WHEN SIDE AUTO-DOOR IS DRIVEN BY AIR CYLINDER

2.3.1 Safety Fence Cable Connection

When the ROBODRILLs have a side auto-door (driven by an air cylinder), connect the safety fence
cables as shown in the figure below.

- 13 -
2. CONNECTION B-85444EN-4/02

NOTE
When the ROBODRILLs have a side auto-door, be sure to connect the safety
fence cables in series as shown in the figure above (the safety fence relay
terminal blocks of the ROBODRILLs may be connected in any order).

Safety fence switch connection

Safety fence switch
Robot interface unit
SGA1-1

SGA1-2

SGA2-1

SGA2-2

Safety fence switch specifications

Rated voltage: 24 VDC or higher. A make and break contact whose maximum load capacity exceeds 0.1
A is required.
(Use a contact whose minimum load is 5 mA or less.)
For information about the cable and wiring, see Appendix C, "WIRING."

NOTE
It is recommended to use a cable made of sufficiently oil resistant material in
order to prevent degradation due to cutting fluid, lubricant, etc.

- 14 -
B-85444EN-4/02 2. CONNECTION

2.3.2 Circuit Diagrams

- 15 -
2. CONNECTION B-85444EN-4/02

2.3.3 Connection Inside the Controller Cabinet

Inside the controller cabinet (1st unit)
<Wiring PCB unit >

〇Cable
A660-2042-T408#L500R0A
(CD38R)

Detailed view A

A
Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
<Option mounting plate> <Robot interface unit> ▲: Supplied with another ROBODRILL.
×: Not supplied.
A04B-0094-J224 A04B-0103-C231#SAM
(To be manufactured and connected.)
(A04B-0103-J221#SAM)

Inside the controller cabinet (2nd to 4th units)

<Wiring PCB u nit >

△Cable
A660-2042-T408#L15R03A2
(CD38R)

Detailed view B

B Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
<Option mounting plate> <Robot interface unit> ×: Not supplied.
A04B-0094-J224 A04B-0103-C231#SAS (To be manufactured and connected.)
(A04B-0103-J221#SAS)

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B-85444EN-4/02 2. CONNECTION

Robot interface unit (1st unit)

Remove the jumper when
connecting to the safety fence or
another ROBODRILL.
○Cable
A660-2042-T408#L500R0A Wired
(X1)
▲Cable [K189]
A660-8018-T794#L15R03A
Cables
(SGA1-1,2 SGA-2-1,2) {: Connected before shipment.
or U: Supplied at shipment.
×Safety fence cable (To be connected during on-site
(SGA1-1,2 SGA-2-1,2) adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

△Cable
A660-2042-T408#L15R03B1
(X5)

△Cable [K184] △Cable [K185]

A660-8018-T794#L15R03B A660-8018-T795#L15R03
(SGA1-1,3 SGA-2-1,3) (+24R,0V)

Robot interface unit (2nd to 4th units)

Remove the jumper when
connecting to the safety fence or
another ROBODRILL.

Wired

▲Cable [K189]
A660-8018-T794#L15R03A
(SGA1-1,2 SGA-2-1,2) Cables
or {: Connected before shipment.
U: Supplied at shipment.
×Safety fence cable (To be connected during on-site
(SGA1-1,2 SGA-2-1,2) adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

△Cable [K189]
A660-8018-T794#L15R03A
(SGA1-1,3 SGA-2-1,3)

For information about the cable and wiring, see Appendix C, "WIRING."

- 17 -
2. CONNECTION B-85444EN-4/02

Controller cabinet Cable entrance (1st unit)

Fasten the shielded part with a cable
To be fastened with a cable tie clamp (A99L-0035-0001).

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

▲Cable [K189] △Cable

(from another ROBODRILL) A660-2042-T408#L15R03B1
or (to the robot)
×Safety fence cable
△Cable [K184] ▲Cable
△Cable [K185] A660-2042-T408#L15R03A2
(to the robot) (from another ROBODRILL)

Controller cabinet Cable entrance (2nd to 4th units)

Fasten the shielded part with a cable
To be fastened with a cable tie clamp (A99L-0035-0001).

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

▲Cable [K189] △Cable

(from another ROBODRILL) A660-2042-T408#L15R03A2
or (to the 1st ROBODRILL)
×Safety fence cable
△Cable [K189]
(to another ROBODRILL)

- 18 -
B-85444EN-4/02 2. CONNECTION

2.3.4 Circuit Diagrams

- 19 -
2. CONNECTION B-85444EN-4/02

- 20 -
B-85444EN-4/02 2. CONNECTION

- 21 -
2. CONNECTION B-85444EN-4/02

2.4 WHEN SIDE AUTO-DOOR IS DRIVEN BY SERVO MOTOR

2.4.1 Safety Fence Cable Connection

When the ROBODRILLs have a side auto-door (driven by a servo motor), connect the safety fence cables
as shown in the figure below.

- 22 -
B-85444EN-4/02 2. CONNECTION

NOTE
When the ROBODRILLs have a side auto-door, be sure to connect the safety
fence cables in series as shown in the figure above (the safety fence relay
terminal blocks of the ROBODRILLs may be connected in any order).

Safety fence switch connection

Safety fence switch
Robot interface unit
SGA1-1

SGA1-2

SGA2-1

SGA2-2

Safety fence switch specifications

Rated voltage: 24 VDC or higher. A make and break contact whose maximum load capacity exceeds 0.1
A is required.
(Use a contact whose minimum load is 5 mA or less.)
For information about the cable and wiring, see Appendix C, "WIRING."

NOTE
It is recommended to use a cable made of sufficiently oil resistant material in
order to prevent degradation due to cutting fluid, lubricant, etc.

- 23 -
2. CONNECTION B-85444EN-4/02

2.4.2 Circuit Diagrams

- 24 -
B-85444EN-4/02 2. CONNECTION

2.4.3 Connection Inside the Controller Cabinet

Inside the controller cabinet (1st unit)

<Wiring PCB unit >

〇Cable
A660-2042-T408#L500R0A
(CD38R)

Detailed view A

A Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
<Option mounting plate> <Robot interface unit> ×: Not supplied.
A04B-0094-J224 A04B-0103-C231#SSM (To be manufactured and connected.)
(A04B-0103-J221#SSM)

Inside the controller cabinet (2nd to 4th units)

<Wiring PCB unit >

△ Cable
A660-2042-T408#L15R03A2
(CD38R)

Detailed view B

B Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
<Robot interface unit> ▲: Supplied with another ROBODRILL.
<Option mounting plate> ×: Not supplied.
A04B-0103-C231#SSS
A04B-0094-J224 (To be manufactured and connected.)
(A04B-0103-J221#SSS)

- 25 -
2. CONNECTION B-85444EN-4/02

Robot interface unit (1st unit)

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied. Wired
(To be manufactured and connected.)

Remove the jumper when

connecting to the safety fence or
another ROBODRILL.
○Cable
A660-2042-T408#L500R0A
(SH1-X1) ▲Cable [K193]
A660-8019-T257#L15R03A
△Cable (+24R,0V)
A660-2042-T408#L15R03B1
(SH1-X5)

△Cable [K185]
A660-8018-T795#L15R03
(+24R,0V)
▲Cable [K189]
A660-8018-T794#L15R03A △Cable [K184]
(SGA1-1,2 SGA-2-1,2) A660-8018-T794#L15R03B
or (SGA1-1,3 SGA-2-1,3)
×Safety fence cable
(SGA1-1,2 SGA-2-1,2)

Robot interface unit (2nd to 4th units)

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.) Wired
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)
Remove the jumper when
connecting to the safety fence or
another ROBODRILL.

▲Cable [K189] ▲Cable [K193]

A660-8018-T794#L15R03A A660-8019-T257#L15R03A
(SGA1-1,2 SGA-2-1,2) (+24R,0V)
or
×Safety fence cable
(SGA1-1,2 SGA-2-1,2)
△Cable [K193]
A660-8019-T257#L15R03A
(+24R,0V)

△Cable [K189]
A660-8018-T794#L15R03A
(SGA1-1,3 SGA-2-1,3)

For information about the cable and wiring, see Appendix C, "WIRING."

- 26 -
B-85444EN-4/02 2. CONNECTION

Controller cabinet Cable entrance (1st unit)

Fasten the shielded part with a cable

To be fastened with a cable tie clamp (A99L-0035-0001).

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

from another ▲Cable [K189] △Cable

ROBODRILL ▲Cable [K193] A660-2042-T408#L15R03B1
or (to the robot)
×Safety fence cable
△Cable [K184] ▲Cable
△Cable [K185] A660-2042-T408#L15R03A2
(to the robot) (from another ROBODRILL)

Controller cabinet Cable entrance (2nd to 4th units)

Fasten the shielded part with a cable
To be fastened with a cable tie clamp (A99L-0035-0001).

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

from another ▲ Cable [K189] △Cable

ROBODRILL ▲ Cable [K193] A660-2042-T408#L15R03A2
or to the 1st ROBODRILL
×Safety fence cable
△Cable [K189]
△Cable [K193]
to another ROBODRILL

- 27 -
2. CONNECTION B-85444EN-4/02

2.4.4 Circuit Diagrams

- 28 -
B-85444EN-4/02 2. CONNECTION

- 29 -
2. CONNECTION B-85444EN-4/02

- 30 -
 3. SCREEN CONFIGURATION OF
B-85444EN-4/02 ROBOT INTERFACE 2

3 SCREEN CONFIGURATION OF ROBOT

INTERFACE 2
3.1 QUICK SCREEN
This screen is the main screen of the robot interface 2 function.

Use this screen to display sub-screens 1 to 6. To display a sub-screen, enter the number of the screen
you want to display (1 to 6), and then press the INPUT key.

Outline of the sub-screens

1. SYSTEM START/MONITOR screen
Use this screen to check the status at system startup and to monitor the operation status after startup.
2. MANUAL OPERATE screen
Use this screen to perform the jog operation of the robot, open and close the hand, open and close
the side door, etc.
3. PRODUCTION COUNTER screen
Use this screen to display the production counter and to set the number of parts required.
4. MAINTENANCE-1 (PROG.) screen
Use this screen to set the ROBODRILL and robot programs to be used at system startup.
5. MAINTENANCE-2 (SIGNAL) screen
This screen lets you view the states of the signals used by the system.
6. MAINTENANCE-3 (SET.) screen
This screen displays a summary of the settings related to this system.

- 31 -
3. SCREEN CONFIGURATION OF
ROBOT INTERFACE 2 B-85444EN-4/02

3.1.1 SYSTEM START/MONITOR Screen

<1> SYSTEM START screen
This screen is used to start the system. When you display the 1. SYSTEM START/MONITOR
screen before starting the system, this screen appears first. You can see whether the robot and
ROBODRILLs are ready to start, simply by checking whether the corresponding lamps are on. By
checking those items for which the lamps are off, you can start the system smoothly.
This screen allows you to select the set of programs that has been input in the 4. MAINTENANCE-1
(PROG.) screen and set it for the robot and ROBODRILLs. As the number of the robot program,
the number written for the master ROBODRILL is used.

- 32 -
 3. SCREEN CONFIGURATION OF
B-85444EN-4/02 ROBOT INTERFACE 2
<2> MONITOR screen
Use this screen after starting the system. When you display the 1. SYSTEM START/MONITOR
screen after starting the system, this screen appears first. Lamps and graphical displays let you
grasp the states of the robot and ROBODRILLs at a glance.
This screen allows you to stop the cycle and the system by setting bits 0 and 1 of PMC parameter
K25 (keep relay) to 0.
What is common to the screens of <1> and <2> is that the [ROBOT RESET] soft key enables you to
perform two kinds of operation; one is to abort the robot (program abort) and the other is to reset the
robot alarm (alarm reset). Note that program abort can be performed only for the master
ROBODRILL. Also, selecting [OVERRIDE] lets you change the override of the robot. The
current override is displayed next to the title bar of the robot.

Current override

- 33 -
3. SCREEN CONFIGURATION OF
ROBOT INTERFACE 2 B-85444EN-4/02

3.1.2 MANUAL OPERATE Screen

This screen is used to operate the robot manually from a ROBODRILL and to open and close the side
door of the ROBODRILL. In addition to performing these operations, you can view the state of the
robot and the alarms occurring for the robot.
To perform an operation, press the corresponding soft key to display a sub-screen.

<1> MANUAL OPERATE

To operate the robot, you need to turn on MANUAL OPERATE. Manual operations can be
performed only by one of the ROBODRILLs connected to the robot system. When another
ROBODRILL is performing a manual operation, the MANUAL OPARAT. state is grayed out, in
which case you need to turn off MANUAL OPERATE for that other ROBODRILL before turning
on MANUAL OPERATE for your ROBODRILL. You can perform the OVERRIDE, DOOR
OP/CS, and ROBOT RESET operations regardless of the MANUAL OPARAT. state.

- 34 -
 3. SCREEN CONFIGURATION OF
B-85444EN-4/02 ROBOT INTERFACE 2
<2> OVERRIDE
You can change the override of the robot. By selecting [LOW], you can reduce the override to a
value preset in the robot. By selecting [－] or [＋], you can decrease or increase the override in
steps of 10%. Selecting [100%] sets the override to 100%.

<3> ROBOT MOVING screen

This screen is used to move the robot along an axis. Two operation methods are available: [X,Y,Z]
and [J1,J2,J3,]. [X,Y,Z] lets you operate the robot based on the coordinate system as seen from the
ROBODRILL, while [J1,J2,J3,] allows you to operate the robot based on the travel amount of each
arm.

- 35 -
3. SCREEN CONFIGURATION OF
ROBOT INTERFACE 2 B-85444EN-4/02

<4> HAND OPERATION

You can execute hand macros. The state of the robot hand is displayed on the right side of the
screen.

<5> REF. RETURN

You can have the robot return to the reference point. Performing this operation causes the robot to
return to the preset reference point. To prevent the robot from coming into contact with a
ROBODRILL, the robot needs to be inside the reference position range. (PNS0255 is executed.)

- 36 -
 3. SCREEN CONFIGURATION OF
B-85444EN-4/02 ROBOT INTERFACE 2
<6> DOOR OPEN/CLOSE
You can open or close the side door by selecting the [OPEN] or [CLOSE] soft key. The graphical
display of the machine changes depending on the state of the ROBODRILL door you are operating.
Since you can operate the front door from the operator's panel, you cannot use this screen for the
front door.
When the side door is a servo motor-driven door, the door does not respond if you attempt to operate
it while there is an alarm. Even after the alarm is reset, you cannot operate the door immediately.
First, operate the door in the opposite direction, and then open or close it.

<7> ROBOT RESTART

You can resume the robot program (turn on the START signal). When the robot is on hold, this
operation allows you to resume the program without operating the machining system from the
beginning.
Note that this operation is effective only when the robot program is on hold. If the robot program
has ended, performing this operation does not start the robot program.

- 37 -
3. SCREEN CONFIGURATION OF
ROBOT INTERFACE 2 B-85444EN-4/02

<8> EXEC. PROGRAM

You can easily execute general-purpose macros that are registered in the robot in advance. A
comment can be added to each program.

<9> ROBOT RESET

This is the same as ROBOT RESET of the SYSTEM START/MONITOR screen.

- 38 -
 3. SCREEN CONFIGURATION OF
B-85444EN-4/02 ROBOT INTERFACE 2

3.1.3 PRODUCTION COUNTER Screen

This screen is used to manage the parts count of the machining system. The total number or hourly
(daily) number of parts produced on the current or previous day or in the current or previous month can
be displayed as a graph. If you enter a target parts count (the number of parts required), you can
compare the number of parts required with the actual parts count in a graph to check the progress of work.
Each parts count can be output in a format that can be edited with Excel or other appropriate application.

<1> Display example of the parts count of the current day (total)

An example of the TODAY TOTAL screen is shown above. The blue solid line represents the parts
count of the current day, and the purple dotted line shows the daily number of parts required, which is
entered in advance. When the blue line exceeds the purple line, it indicates that the number of parts
required on the current day has been reached.

- 39 -
3. SCREEN CONFIGURATION OF
ROBOT INTERFACE 2 B-85444EN-4/02

<2> Display example of the parts count of the current month

An example of the THIS MONTH TOTAL screen is shown above. The blue solid line represents the
total parts count, the green solid line represents the total of the daily numbers of parts required, and the
purple dotted line shows the total number, i.e. the monthly number, of parts required. When the blue
line exceeds the green line, it means that production on the day has progressed smoothly according to the
monthly target. When the blue line exceeds the purple line, it indicates that the monthly target has been
achieved.

- 40 -
 3. SCREEN CONFIGURATION OF
B-85444EN-4/02 ROBOT INTERFACE 2
<3> I-O screen
You can display the PRODUCTION COUNTER I-O screen by pressing the rightmost soft key with
a triangular mark and then [I-O].

You can switch menus by using the Up and Down keys and switch items by using Left and Right keys.
You can input or output the item by pressing the [EXEC] soft key. The parts counts are output in CSV
format, with each count separated by "," (comma). You can view the data in tabular format using Excel
or other appropriate application.
A parts count file is named as follows.

TODAY D_ _(year)_ _(month)_ _(day).CSV

YESTERDAY LD_ _(year)_ _(month)_ _(day).CSV

THIS MONTH M_ _(year)_ _(month).CSV

LAST MONTH LM_ _(year)_ _(month).CSV

You can edit PARTS REQUIRED and NEXT PARTS REQUIRED using a PC and input the data from
I-O equipment. The PARTS REQUIRED data is in a fixed format. Therefore, when inputting the
PARTS REQUIRED data, first output the data and edit it while maintaining the format.

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<4> PARTS REQUIRED SETTING screen

You can display the PARTS REQUIRED SETTING screen by pressing the rightmost soft key with a
triangular mark and then [REQ. SET].

This screen allows you to input the number of parts required for the current month. You can press
[COPY] to copy the PARTS REQUIRED value on the line where the cursor is placed and then [MOVE]
to paste the copied value to the position to which you move the cursor.
If you set AUTO READ OF NEXT PARTS REQUIRED to ON, the "PARTS REQUIRED OF MONTH"
data is overwritten with the "NEXT PARTS REQUIRED" data that is saved in advance when the month
turns. Selecting "REQ. INPUT," which appears when you place the cursor on the AUTO READ OF
NEXT PARTS REQUIRED field, displays the REQ. INPUT screen. You can input data in the same
way as PARTS REQUIRED OF MONTH.

When the pulse of the "Parts Count Up" signal (see Subsection 4.1.2.5, "Parts Count Up Signal") is sent
from the robot to a ROBODRILL, that ROBODRILL increments the production counter. Normally,
write a command in the robot program that generates the Parts Count Up signal as a pulse. By directing
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all machining results to a single ROBODRILL as a signal, the total parts count of the machining system
can be obtained. It is also possible to calculate the parts count of each ROBODRILL by sending the
signal to the ROBODRILLs individually.
The maximum value of the parts count per hour is 2400. The maximum value of the daily parts count is
60000. Typically, four ROBODRILLs produce a part every six seconds, with a single ROBODRILL
counting the number of parts. This system does not support any application in which more parts are
produced.

3.1.4 MAINTENANCE-1 (PROG.) Screen

This screen is used to set and select the programs to use. Place the cursor on a robot or ROBODRILL
field, and enter a program number. Then, by pressing the INPUT key, you can set the program number.
You can reset a program number by entering 0.
By placing the cursor on the Comment field and pressing the [EDIT COMMENT] soft key, you can edit a
comment. If no comment has been input, the comment of the ROBODRILL program is displayed.
Pressing the [SELECT] soft key sets the set of programs on which the cursor is currently placed for the
robot and ROBODRILL. To reflect changed settings even for already selected items, press the
[SELECT] soft key. As the number of the robot program, the number written for the master
ROBODRILL is used.

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3.1.5 MAINTENANCE-2 (SIGNAL) Screen

This screen lets you check the states of the signals used in the system. A signal that is off is indicated by
a gray lamp, and a signal that is on is indicated by a green lamp.

3.1.6 MAINTENANCE-3 (SET.) Screen

This screen lets you check and set the settings related to this system.

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3.1.6.1 List of the items to be set

Page 1/3

・ WORK EXCHANGE POS.

Set the position where the work-piece can be exchanged and the tolerance for the output of the work
exchange position signal.
First, enter the exact coordinates in "WORK EXCHANGE POS."
Then, enter a value in "TOLERANCE." This value represents the tolerance from "WORK
EXCHANGE POS." This means that the maximum value of the work exchange area is equal to
"WORK EXCHANGE POS." + "TOLERANCE" and that the minimum value is equal to "WORK
EXCHANGE POS." - "TOLERANCE."
・ ROBOT TYPE
Set the robot to use.
"LR-Mate" and "ETC." are available. Depending on the selected robot type, the graphical displays
on the MONITOR screen and ROBOT MOVING screen change.
・ ROBOT AXIS
Set the number of axes of the robot to use.
・ NUM. OF CONNECTED DRILL
Set the number of ROBODRILLs to use per system.
(Even if only one ROBODRILL is used, set "×1." When you set this value, the necessary
parameters are automatically set.)
・ DRILL No.
Set ROBODRILL numbers while making sure that there is no duplicate number in the system.
In addition to the internal processing, the number is used in the MONITOR screen to recognize the
currently selected ROBODRILL. Be sure to enter a different number for each ROBODRILL.
・ DRILL SPEC.
Specify whether the ROBODRILL is the master or slave unit. (The ROBODRILL used to start the
system is set as the master unit.)
・ ROBODRILL MOTION BY SYSTEM START
Set either "SAME TO ROBOT" or "COMPLETE SIGNAL."
・ EMG. STOP DURING LINK MODE
Set either "AND ROBOT" or "ONLY ROBODRILL."

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・ SERVICE REQUEST OUTPUT CONDITION

Set either "DOOR OPEN" or "ANYTIME."
・ OUTPUT OF SERVICE REQUEST 1
Set either "OUTPUT" or "NOT OUTPUT" to specify whether a service request signal is to be output
for the M02 or M30 command.
・ OUTPUT OF SERVICE REQUEST 2
Set either "OUTPUT" or "NOT OUTPUT" to specify whether a service request signal is to be output
when the cycle stops.

Page 2/3

・ M52/M53 COMMAND
Set either "ANYTIME" or "LINK MODE ONLY."
・ M61 COMMAND (AFTER CYCLE STOP)
Set either "OPERATE" or "NOT OPERAT" to specify whether M61 operates after the cycle stops.
・ M61 COMMAND (AFTER SYSTEM STOP)
Set either "OPERATE" or "NOT OPERAT" to specify whether M61 operates after the system stops.
・ CYCLE STOP KEY
・ SYSTEM STOP KEY
・ ROBOT RESET KEY
Set either "SCREEN" or "BY CUSTOM PMC."
・ DOOR TYPE
Set either "SIDE DOOR" or "FRONT DOOR" as the auto-door to be used for work-piece exchange.
・ READY ON CONDITION
Set either "CLOSE ONLY" or "ANYTIME."
・ TEACHING SIGNAL
Set either "CONTROL" or "NOT CONTROL" to specify whether to control the teaching signal with
a custom PMC.
・ PERIPHERY EQUIPMENT SIGNAL
Set either "WATCHING" or "NOT WATCHING" to specify whether to watch the periphery
equipment signal controlled with a custom PMC.
If you choose to watch, you cannot start the system unless the periphery equipment signal is turned
on.
・ PROGRAM No. SEARCH
Set either "SYSTEM START" or "ROBODRILL START."
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・ DOOR OPERATION MONITORING TIME
・ WATING TIME DURING (SYSTEM OPERATION/REF. RETURN)
・ WATING TIME DURING (MANUAL OPERATION OF THE ROBOT)
Set the times (in ms).

Page 3/3

・ PRODUCTION COUNTER SET. (RESET TIME)

This is the time when the parts count of the day is reset and the counter starts counting anew. Note
that, in order to change this time, you need to reset all parts counts.

・ PRODUCTION COUNTER SET. (PARTS COUNT OF HOLIDAY)

This item allows you to choose whether to overwrite the parts count of "YESTERDAY" with
relevant data when no parts were produced on the previous day. Suppose, for example, that your
factory is closed on Saturdays and Sundays. In this case, when you open the PRODUCTION
COUNTER screen on Monday, the system usually has the data of Sunday for "YESTERDAY." If
you use this function, you can have the previous day's data replaced by the parts count of last Friday.
The parts count of "YESTERDAY" saved by this function has (BEFORE HOLIDAY) added to its
title.

3.1.6.2 Data input and output

You can input and output only those parameters related to robot interface 2 from various setting screens.
The second page of the soft key on the right side displays [OUTPUT], [MEMORY CARD], and [USB
MEMORY].
To output the parameters, insert a memory card or USB memory device and press the [OUTPUT] soft key.
To input the parameters, press the [MEMORY CARD] or [USB MEMORY] soft key as appropriate for
the inserted device and select the desired file.
The output machine parameters are set as they are. Therefore, before inputting the parameters, be sure
to check the ROBODRILL number. Also, when the reset time needs to be changed, set a new reset time.
In addition to the CNC parameters and PMC parameters, the robot and ROBODRILL program numbers
set in the PROG. screen and the WORK EXCHANGE POS. and TOLERANCE values of the SET. screen
are input and output as well.

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3.2 iHMI SCREEN

The robot interface screen is opened from the iHMI home screen.

Pressing [Robot IF] on the home screen displays any of the following main screens according to the
selected operation mode.

Operation mode Displayed main screen

MEM

SYSTEM START/MONITOR screen

HNDL

MANUAL OPERATE screen

EDIT

PROG. screen

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Pressing either of the following vertical soft keys on the above main screens displays the corresponding
slide screen.

Vertical soft key Displayed slide screen

SIGNAL screen

SET. screen

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3.2.1 SYSTEM START/MONITOR Screen

On the SYSTEM START screen, you can see whether the robot and ROBODRILLs are ready to start,
simply by checking whether the corresponding lamps are on. By checking the items for which the lamps
are off, you can start the system smoothly. On the MONITOR screen, you can see the operation statuses
of the robot and ROBODRILLs graphically.

<1> SYSTEM START screen

Changing the operation mode to MEM with the robot interface main screen displayed displays the
SYSTEM START screen.

A B

Name Description
A Robot status Displays whether the robot is ready to start with lamps.
B ROBODRILL status Displays whether the ROBODRILLs are ready to start with lamps.
C Message display Displays operational tips and messages.
D Horizontal soft key Displays the horizontal soft keys.

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<2> MONITOR Screen
Pressing the [MONITOR] soft key with the SYSTEM START screen displayed displays the
MONITOR screen. This screen is used after the system has started. You can easily see the
statuses of the robot and ROBODRILLs with lamps and graphical displays.
Both on the screens <1> and <2>, you can perform two types of operation by pressing the [ROBOT
RESET] soft key: one is to abort the program (Program Abort) and the other is to reset the robot
alarm (Alarm Reset). Note that the Program Abort can be performed for the master ROBODRILL
only. Also, you can change the override of the robot by selecting [OVERRIDE].

Name Description
Displays the operation statuses of the robot and ROBODRILLs with lamps
A Operation status
and animation display.
B Message display Displays operational tips and messages.
C Horizontal soft key Displays horizontal soft keys.

If no soft keys are displayed, check the following:

Soft key Display conditions

On the SET. screen of the slide screens, check that "CONTROL OF
ROBOT RESET KEY" is set to "FROM SCREEN."

ROBOT RESET
On the SET. screen of the slide screens, check that "CONTROL CYCLE
STOP KEY" is set to "FROM SCREEN."

CYCLE STOP
On the SET. screen of the slide screens, check that "DRILL SPEC." is set
to "MASTER" and "CONTROL OF SYSTEM STOP KEY" to "FROM
SCREEN."
SYSTEM STOP

SYSTEM START

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3.2.2 ROBOT MANUAL OPERATE Screen

Changing the operation mode to HNDL with the robot interface main screen displayed displays the
MANUAL OPERATE screen.
This screen is used to manually operate the robot from a ROBODRILL and open and close the side door
of the ROBODRILL. In addition to performing these operations, you can see the robot status and the
details of alarms generated by the robot.
B

Name Description
A Robot status Displays the status of the robot, including the override.
B Manual operation Turns on and off robot manual operation and displays the operation buttons.
C Robot alarm Displays robot alarms.
D Message display Displays operational tips and messages.
E Horizontal soft key Displays horizontal soft keys.

<1> MANUAL OPERATE

To operate the robot, you need to turn on MANUAL OPERATE. Manual operation can be
performed by only one of the ROBODRILLs connected to the robot system. When a
ROBODRILL other than you are using is performing manual operation, the MANUAL OPERAT.
state is grayed out, in which state you need to turn off MANUAL OPERATE for that ROBODRILL
before turning on MANUAL OPERATE for your ROBODRILL. You can perform the
OVERRIDE, DOOR OP/CS, and ROBOT RESET operations regardless of the MANUAL OPERAT.
state.

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<2> OVERRIDE
You can change the override of the robot. By selecting [LOW], you can reduce the override to a
value preset in the robot. By selecting [-] or [+], you can decrease or increase the override in steps
of 10%. Selecting [100%] sets the override to 100%.

<3> ROBOT MOVING screen

This screen is used to move the robot along an axis. Two operation methods, orthogonal and per
axis are available: orthogonal allows you to operate the robot based on the coordinate system as seen
from the ROBODRILL, while per axis allows you to operate the robot based on the travel amount of
each arm.

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<4> HAND OPERATION

You can execute hand macros. The state of the robot hand is displayed on the right side of the
screen.

<5> REF. RETURN

You can have the robot return to the reference point. Performing this operation causes the robot to
return to the present reference point. To prevent the robot from coming into contact with a
ROBODRILL, the robot needs to be inside the reference position range. (PNS0255 is executed.)

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<6> DOOR OPEN/CLOSE
You can open or close the side door by selecting the [OPEN] or [CLOSE] soft key. The graphical
display of the machine changes depending on the state of the ROBODRILL door you are operating.
Since you can operate the front door from the operator's panel, you cannot use this screen for the
front door.
When the side door is a servo motor driven door, the door does not respond if you attempt to operate
it while there is an alarm. Even after the alarm is reset, you cannot operate the door immediately.
First, operate the door in the opposite direction, and then open or close it.

<7> ROBOT RESTART

You can resume the robot program (turn on the START signal). When the robot is on hold, this
operation allows you to resume the program without operating the machining system from the
beginning.
Note that this operation is effective only when the robot program is on hold. If the robot program
has ended, performing this operation does not start the robot program.

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<8> EXEC. PROGRAM

You can easily execute general-purpose macros that are registered in the robot in advance. A
comment can be added to each program.

<9> ROBOT RESET

This is the same as ROBOT RESET of the SYSTEM START/MONITOR screen.

3.2.3 PROG. Screen

This screen is used to set and select the programs to use. Place the cursor on a robot or ROBODRILL
field and enter a program number. Then, by pressing the INPUT key, you can set the program number.
You can reset a program number by entering 0. To change the setting, you need to enter edit mode.
By placing the cursor on the Comment field and pressing the [EDIT COMMENT] soft key, you can edit a
comment. If no comment has been input, the comment of the ROBODRILL program is displayed.
Pressing the [SELECT] soft key sets the set of programs on which the cursor is currently placed for the
robot and ROBODRILL. To reflect changes even for already selected items, press the [SELECT] soft
key. As the number of the robot program, the number written for the master ROBODRILL is used.

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3.2.4 SIGNAL Screen

This screen lets you check the states of the signals used in the system. A signal that is off is indicated by
a gray lamp, and a signal that is on is indicated by a blue lamp.

3.2.5 SET. Screen

This screen lets you check and set the settings related to this system.

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3.2.5.1 List of the items to be set

・ WORK EXCHANGE POS.
Set the position where the work-piece can be exchanged and the tolerance for the output of the work
exchange position signal.
First, enter the exact coordinates in "WORK EXCHANGE POS."
Then, enter a value in "TOLERANCE." This value represents the tolerance from "WORK
EXCHANGE POS." This means that the maximum value of the work exchange area is equal to
"WORK EXCHANGE POS." + "TOLERANCE" and that the minimum value is equal to "WORK
EXCHANGE POS." - "TOLERANCE."
・ ROBOT TYPE
Set the robot to use.
"LR-Mate," "Collaborative robot," and "ETC." are available. Depending on the selected robot
type, the graphic displays on the MONITOR screen and ROBOT MOVING screen change.
・ ROBOT AXIS
Set the number of axes of the robot to use.
・ NUM. OF CONNECTED DRILL
Set the number of ROBODRILLs to use per system.
(Even if only one ROBODRILL is used, set "x1." When you set this value, the necessary
parameters are automatically set.)
・ DRILL No.
Set ROBODRILL numbers while making sure that there is no duplicate number in the system.
In addition to the internal processing, the number is used in the MONITOR screen to recognize the
currently selected ROBODRILL. Be sure to enter a different number for each ROBODRILL.
・ DRILL SPEC.
Specify whether the ROBODRILL is the master or slave unit. (The ROBODRILL used to start the
system is set as the master unit.)
・ ROBODRILL MOTION BY SYSTEM START
Set either "SAME TO ROBOT" or "COMPLETE SIGNAL."
・ EMG. STOP DURING LINK MODE
Set either "AND ROBOT" or "ONLY ROBODRILL."
・ SERVICE REQUEST OUTPUT CONDITION
Set either "DOOR OPEN" or "ANYTIME."
・ OUTPUT OF SERVICE REQUEST 1
Set either "OUTPUT" or "NOT OUTPUT" to specify whether a service request signal is to be output
for the M02 or M30 command.
・ OUTPUT OF SERVICE REQUEST 2
Set either "OUTPUT" or "NOT OUTPUT" to specify whether a service request signal is to be output
when the cycle stops.
・ M52/M53 COMMAND
Set either "ANYTIME" or "LINK MODE ONLY."
・ M61 COMMAND (AFTER CYCLE STOP)
Set either "OPERATE" or "NOT OPERATE" to specify whether M61 operates after the cycle stops.
・ M61 COMMAND (AFTER SYSTEM STOP)
Set either "OPERATE" or "NOT OPERATE" to specify whether M61 operates after the system
stops.
・ CYCLE STOP KEY
・ SYSTEM STOP KEY (SYSTEM START KEY)
・ ROBOT RESET KEY
Set either "SCREEN" or "BY CUSTOM PMC."
・ DOOR TYPE
Set either "SIDE DOOR" or "FRONT DOOR" as the auto-door to be used for work-piece exchange.

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・ READY ON CONDITION
Set either "CLOSE ONLY" or "ANYTIME."
・ TEACHING SIGNAL
Set either "CONTROL" or "NOT CONTROL" to specify whether to control the teaching signal with
a custom PMC.
・ PERIPHERAL EQUIPMENT SIGNAL
Set either "WATCHING" or "NOT WATCHING" to specify whether to watch the periphery
equipment signal controlled with a custom PMC.
If you choose to watch, you cannot start the system unless the periphery equipment signal is turned
on.
・ PROGRAM No. SEARCH
Set either "SYSTEM START" or "ROBODRILL START."
・ DOOR OPERATION MONITORING TIME
・ WAITING TIME DURING (SYSTEM OPERATION/REF. RETURN)
・ WAITING TIME DURING (MANUAL OPERATION OF THE ROBOT)
Set the times (in ms).

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3.2.5.2 Data input and output

You can input and output only the parameters related to the robot interface from various setting screens.
To output the parameters, insert a memory card or USB memory device and press the [EXPORT] soft key.
To input the parameters, press the [IMPORT] soft key and select a file to input.
The output machine parameters are set as they are. Therefore, before inputting the parameters, be sure
to check the ROBODRILL number. In addition to the CNC parameters and PMC parameters, the robot
and ROBODRILL program numbers set in the PROG. screen and the WORK EXCHANGE POS. and
TOLERANCE values of the SET. screen are input and output as well.

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3.2.6 About the Production Counter

For the PRODUCTION COUNTER screen, refer to Section 3.1.3, "PRODUCTION COUNTER" in the
operator's manual for ROBODRILL (B-85444EN-1 or B-85454EN-1).

The parts count is incremented by the M code command. In addition, when the robot interface function
is enabled, the parts count can be incremented by the DO signal from the robot.

ROBODRILL number DO signal number

ROBODRILL 1 DO[14]
ROBODRILL 2 DO[270]
ROBODRILL 3 DO[526]
ROBODRILL 4 DO[782]

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4. USED SIGNALS B-85444EN-4/02

4 USED SIGNALS
4.1 INTERFACE SIGNALS BETWEEN THE ROBODRILL AND
ROBOT

4.1.1 How to Use Signals

For the robot interface 2 function, I/O signals used between the ROBODRILL and robot controller have
been defined in advance. This subsection describes how to use each signal.

4.1.1.1 Signals output from the robot controller to all ROBODRILLs

The following table lists the signals output from the robot controller to all ROBODRILLs.

Table 4.1.1.1 Signals output from the robot controller to all ROBODRILLs
Robot signal No. ROBODRILL PMC Robot I/O comment Number
address of signals
UO[1] R7200.0 SYSTEM OK (RBT) 1
UO[2] R7200.1 READY ON (RBT) 1
UO[3] R7200.2 CYCLE START (RBT) 1
UO[4] R7200.3 STOP (RBT) 1
UO[5] R7200.4 HOLD (RBT) 1
UO[6] R7200.5 ALARM (RBT) 1
UO[7] R7200.6 REF. POINT (RBT) 1
UO[8] R7200.7 TEACHING (RBT) 1
UO[9] R7201.0 BATTERY LOW (RBT) 1
UO[10] R7201.1 BUSY (RBT) 1
UO[11] - UO[18] R7201.2 - R7202.1 PRG NUM. n (RBT) 8
UO[19] R7202.2 PRG READ OK (RBT) 1
UO[20] R7202.3 (Reserved) 1
DO[1129] - DO[1132] R7202.4 - R7202.7 (Reserved) 4
DO[1025] R7203.0 Robot Power On 1
DO[1026] R7203.1 In E.Stop state 1
DO[1027] R7203.2 Safety Fence Open 1
DO[1028] R7203.3 Robot Peripherals Ready 1
DO[1029] R7203.4 Robot In Motion 1
DO[1030] R7203.5 System Stop Req. 1
DO[1031] R7203.6 ROBODRILL Ope H.Beat 1
DO[1032] R7203.7 (Reserved) 1
DO[1033] - DO[1040] R7204.0 - R7204.7 RI[n] STATE 8
DO[1041] - DO[1048] R7205.0 - R7205.7 RO[n] STATE 8
DO[1049] - DO[1056] R7206.0 - R7206.7 Robot override 8
DO[1057] - DO[1064] R7206.0 - R7207.7 Robot Ope. ACn 8
DO[1065] - DO[1080] R7208.0 - R7209.7 (Reserved) 16
DO[1081] - DO[1128] R7210.0 - R7215.7 FOR CUSTOM PMC 48

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B-85444EN-4/02 4. USED SIGNALS

SYSTEM OK (RBT)
This signal is output from peripheral I/O UO[1] in the robot controller as the input accept enable
(CMDENBL) signal.
The signal is on when the following conditions are satisfied. It indicates that a program involving an
operation (group) can be started from the ROBODRILL.
y The remote conditions are satisfied.
y The operation enable conditions are satisfied.
y The mode is continuous robot operation (single step disable).
READY ON (RBT)
This signal is output from peripheral I/O UO[2] in the robot controller as the system ready (SYSRDY)
signal.
The signal is on while the robot servo power is on. It places the robot in the operation enable state. In the
operation enable state, robot jog feed operation can be executed, and a program involving an operation
(group) can be started.
The robot enters the operation enable state when the following operation enable conditions are satisfied:
y Peripheral I/O ENBL input (robot operation enable (ENBL) signal: UI[8]) is on.
y The robot servo power is on (not in the alarm state).
CYCLE START (RBT)
This signal is output from peripheral I/O UO[3] in the robot controller as the program running
(PROGRUN) signal.
The signal is on while a robot program is being executed. It is off while a robot program is temporarily
stopped.
STOP (RBT)
This signal is output from peripheral I/O UO[4] in the robot controller as the program paused (PAUSED)
signal.
The signal is on when a robot program is temporarily stopped and waits for being resumed.
HOLD (RBT)
This signal is output from peripheral I/O UO[5] in the robot controller as the holding (HELD) signal.
The signal is on when the HOLD button of the robot is pressed and off when the button is released.
UI[2], robot held (HOLD input) signal, is normally on during robot operation. When this UI[2] is turned
off, UO[5], robot holding signal, is turned on.
When this signal is on, the HOLD LED on the robot teach pendant is displayed in red.
ALARM (RBT)
This signal is output from peripheral I/O UO[6] in the robot controller as the alarm (FAULT) signal.
The signal is turned on when an alarm occurs in the robot system.
The alarm state is released by the FAULT_RESET input (alarm release signal: UI[5]). The signal is not
turned on when a warning (WARN alarm) occurs.
REF. POINT (RBT)
This signal is output from peripheral I/O UO[7] in the robot controller as the reference point (ATPERCH)
signal.
The signal is on when the robot is in a previously defined reference position.
Up to ten reference positions can be defined. This signal is output when the robot is in the first robot
reference position. For any other reference positions, general-purpose signals are assigned.
TEACHING (RBT)
This signal is output from peripheral I/O UO[8] in the robot controller as the teach pendant enable
(TPENBL) signal.
The signal is on when the enable switch on the robot teach pendant is in the ON position.
BATTERY LOW (RBT)
This signal is output from peripheral I/O UO[9] in the robot controller as the battery error (BATALM)
signal.
The signal indicates a low-voltage alarm for the backup battery of the robot controller or robot pulse
coder. Turn the power to the robot controller on and replace the battery.

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BUSY (RBT)
This signal is output from peripheral I/O UO[10] in the robot controller as the processing in progress
(BUSY) signal.
The signal is output while a robot program is being executed or processing using the robot teach pendant
is being performed. It is not on when a robot program is temporarily stopped.
PRG NUM. n (RBT)
This signal is output from peripheral I/O UO[11] to UO[18] in the robot controller as the selected
program number (SNO) signal.
The currently selected robot program number (signal corresponding to PNS1 to PNS8 input) is always
output, in binary code, as confirmation. The selection of another robot program changes the number
SNO1 to SNO8.
SNO1 to SNO8 is displayed on the ROBODRILL screen.
PRG READ OK (RBT)
This signal is output from peripheral I/O UO[19] in the robot controller as the PNS acknowledgment
(SNACK) signal.
When a PNS input is received, a pulse of this signal is output as an acknowledgment. The pulse width can
be specified.
(Reserved)
Reserved for the future extension of this function.
Robot Power On
This signal is on when the power to the robot controller is on.
In E.Stop state
This signal is on when the emergency stop button on the robot controller is pressed.
Safety Fence Open
This signal is on when the safety fence for the robot controller is open.
Robot Peripherals Ready
This signal is on when Enable UI signals on the system configuration screen of the robot controller is set
to TRUE.
Robot In Motion
When this signal is on, robot arm animation is displayed on the ROBODRILL screen.
The user should create this signal. Set the signal so that it is on when robot motion according to the robot
controller is in progress.
System Stop Req.
Set this signal so that it is on when the robot controller requests the ROBODRILL to stop the system.
ROBODRILL Ope H.Beat
When the Machine Tool Operation screen from the robot teach pendant is opened, heart beat with a pulse
width of 128 ms is output to this signal.
RI[n] STATE
The value of the RI signal of the robot controller is output.
RO[n] STATE
The value of the RO signal of the robot controller is output.
Robot override
The robot override is output in binary.
Robot Ope. ACn
When multiple ROBODRILLs are used, the remote operation right can be obtained only for one of them
at a time. The signal corresponding to the ROBODRILL number of the ROBODRILL for which the
remote operation right is obtained is on.
FOR CUSTOM PMC
The user can use these signals without restrictions.

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B-85444EN-4/02 4. USED SIGNALS

4.1.1.2 Signals output from the robot controller to each ROBODRILL

The following table lists the ranges of signals output from the robot controller to multiple ROBODRILLs
individually.

Table 4.1.1.2(a) Ranges of signals output from the robot controller to individual ROBODRILLs
Target Range Note
ROBODRILL 1 DO[1] - DO[64], DO[129] - DO[256] No I/O assigned to DO[65] to DO[128].
ROBODRILL 2 DO[257] - DO[320], DO[385] - DO[512] No I/O assigned to DO[321] to DO[384].
ROBODRILL 3 DO[513] - DO[576], DO[641] - DO[768] No I/O assigned to DO[577] to DO[640].
ROBODRILL 4 DO[769] - DO[832], DO[897] - No I/O assigned to DO [833] to DO[896].
DO[1024]

The signals assigned to each ROBODRILL are the same except the signal number. The signals output to
ROBODRILL 1 are described as an example.

Table 4.1.1.2(b) Signals output from the robot controller to ROBODRILL 1

Signal No. ROBODRILL address Robot I/O comment Number of
signals
DO[1] R7216.0 SERVICE OK (RBT) 1
DO[2] R7216.1 IN SERV. TO FRD1 1
DO[3] R7216.2 CYCLE STOP OK 1
DO[4] R7216.3 SYSTEM STOP OK 1
DO[5] R7216.4 SIDE GATE CLOSE LOCK 1
DO[6] R7216.5 FRONT GATE CLOSE LOCK 1
DO[7] R7216.6 REF.POINT RTN OK 1
DO[8] R7216.7 Robot Assigned 1
DO[9] R7217.0 SIDE GATE OPEN Req. 1
DO[10] R7217.1 SIDE GATE CLOSE Req. 1
DO[11] R7217.2 FRONT GATE OPEN Req. 1
DO[12] R7217.3 FRONT GATE CLOSE Req. 1
DO[13] R7217.4 L/UL POS Return Req. 1
DO[14] R7217.5 Parts Count Up 1
DO[15] R7217.6 Cycle Stop Req. 1
DO[16] R7217.7 (Reserved) 1
DO[17] -- DO[32] R7218.0 -- R7219.7 ROBODRILL Jog ovr n 16
DO[33] R7220.0 ROBODRILL Ope Req. 1
DO[34] R7220.1 (Reserved) 1
DO[35] -- DO[44] R7220.2 -- R7221.3 ROBODRILL Jog (n+/-) 10
DO[45] -- DO[48] R7221.4 -- R7221.7 (Reserved) 4
DO[49] R7222.0 Side door open end position signal 1
DO[50] R7222.1 Side door close end position signal 1
DO[51] -- DO[64] R7221.4 -- R7223.7 (Reserved) 14
DO[129] -- DO[160] R7224.0 -- R7227.7 (Reserved) 32
DO[161] -- DO[256] R7228.0 -- R7239.7 FOR CUSTOM PMC 96

SERVICE OK (RBT)
[Robot] When the robot receives the SERVICE REQUEST signal from the ROBODRILL, performs the
service, and gets away from the interference zone of the ROBODRILL, outputs a pulse of this signal for
at least 200 ms. Then, the ROBODRILL starts machining.
[ROBODRILL] When the ROBODRILL receives this signal, it:
z Closes the side door.
z Turns the SERVICE REQUEST signal off.
z Starts the next operation.

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4. USED SIGNALS B-85444EN-4/02

IN SERV. TO FRD1
[Robot] When the robot is in the interference zone of the ROBODRILL during automatic operation, keep
this signal on.
[ROBODRILL] When this signal is on, the following operations are disabled:
z Start of automatic operation and MDI operation
z Tool change
z Spindle rotation
z Jog feed operation (not during teaching)
CYCLE STOP OK
[Robot] When the CYCLE STOP REQ. signal is input from the ROBODRILL, output a pulse of this
signal for at least 200 ms after the completion of the service.
[ROBODRILL] When the ROBODRILL receives this signal, it:
z Closes the side door.
z Turns the SERVICE REQUEST signal off.
z Does not start the next operation.
SYSTEM STOP OK
[Robot] When the SYSTEM STOP REQ. signal is input from the ROBODRILL, output a pulse of this
signal for at least 200 ms after the completion of the service.
[ROBODRILL] When the ROBODRILL receives this signal, it:
z Closes the side door.
z Turns the SERVICE REQUEST signal off.
z Does not start the next operation.
SIDE GATE CLOSE LOCK
[Robot] If you want to disable the closing of the side door when the robot is in the interference zone of
the ROBODRILL, output this signal.
[ROBODRILL] When this signal is on, side door close operation is disabled.
FRONT GATE CLOSE LOCK
This signal is used for the ROBODRILL with a front auto-door. The signal has the same function as SIDE
GATE CLOSE LOCK.
REF.POINT RTN OK
[Robot] When the robot is in a safe zone for reference position return, output this signal.
[ROBODRILL] When this signal is on, REF. RETURN on the MANUAL OPERATE screen is enabled.
Robot Assigned
When this signal is turned on, the robot arm icon on the ROBODRILL screen turns to the corresponding
ROBODRILL. Embed instructions which turn this signal on and off in the robot PNS program.
SIDE GATE OPEN Req.
When this signal is turned on, the side auto-door of the corresponding ROBODRILL is opened, only if
the opening of the door is enabled.
SIDE GATE CLOSE Req.
When this signal is turned on, the side auto-door of the corresponding ROBODRILL is closed, only if the
closing of the door is enabled.
FRONT GATE OPEN Req.
When this signal is turned on for a ROBODRILL with a front auto-door, the front auto-door of the
corresponding ROBODRILL is opened, only if the opening of the door is enabled.
FRONT GATE CLOSE Req.
When this signal is turned on for a ROBODRILL with a front auto-door, the front auto-door of the
corresponding ROBODRILL is closed, only if the closing of the door is enabled.
L/UL POS Return Req.
This signal is reserved for future extension.

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B-85444EN-4/02 4. USED SIGNALS

Parts Count Up
Outputting a pulse of this signal can increment the production counter of the corresponding ROBODRILL.
Use this signal by embedding required instructions in the robot PNS program. The pulse width shall be at
least 100 ms and pulse interval is at least 2 s.
Cycle Stop Req.
Use this signal to request cycle stop from the robot controller to the ROBODRILL.
(Reserved)
This signal is reserved for future extension.
ROBODRILL Jog ovr n
The feedrate override for the ROBODRILL is output during ROBODRILL jog feed operation from the
robot teach pendant. The value is between 0 and 100.
ROBODRILL Ope Req.
This signal is on when the robot requests permission of the ROBODRILL jog feed operation during
ROBODRILL jog feed operation from the robot teach pendant.
ROBODRILL Jog (n+/-)
During ROBODRILL jog feed operation from the robot teach pendant, the signal corresponding to the
target axis for jog feed operation of the ROBODRILL is on.
Side door open end position signal
Turn this signal on when the side door is in the open end position.
Side door close end position signal
Turn this signal on when the side door is in the close end position.
FOR CUSTOM PMC
The user can use these signals without restrictions.

4.1.1.3 Signals output from each ROBODRILL to the robot controller

The signals output from multiple ROBODRILLs are input to the robot controller as follows.

Table 4.1.1.3(a) Ranges of signals output from individual ROBODRILLs to the robot controller
Target Range Note
ROBODRILL 1 DI[1] - DI[256]
ROBODRILL 2 DI[257] - DI[512]
ROBODRILL 3 DI[513] - DI[768]
ROBODRILL 4 DI[769] - DI[1024]

The signals input from each ROBODRILL are the same except the signal number. The signals output
from ROBODRILL 1 are described as an example.

Table 4.1.1.3(b) Signals output from ROBODRILL 1 to the robot controller

Signal No. ROBODRILL Robot I/O comment Number for
signals
DI[1] R7300.0 SERVICE REQUEST 1
DI[2] R7300.1 WORK INSTALL.REQ 1
DI[3] R7300.2 WORK REMOV. REQ. 1
DI[4] R7300.3 NOTICE OF M30/M02 1
DI[5] R7300.4 CYCLE STOP REQ. 1
DI[6] R7300.5 SYSTEM STOP REQ. 1
DI[7] R7300.6 ALARM (FRD) 1
DI[8] R7300.7 SIDE GATE OPEN 1
DI[9] R7301.0 WORK L/UL POS 1
DI[10] R7301.1 FRONT GATE OPEN 1
DI[11] R7301.2 ROBODRILL Power On 1
DI[12] R7301.3 ROBODRILL System Running 1
DI[13] R7301.4 SYSTEM MODE ON 1
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4. USED SIGNALS B-85444EN-4/02

Signal No. ROBODRILL Robot I/O comment Number for

signals
DI[14] R7301.5 MANUAL OPE REQ. 1
DI[15] R7301.6 READY ON 1
DI[16] R7301.7 SYSTEM START REQ.(slave) 1
DI[17] -- DI[32] R7302.0 - R7303.7 JOG n+/- (ROBOT) 16
DI[33] R7304.0 Joint Jog Selection 1
DI[34] R7304.1 Cartesian Jog Selection 1
DI[35] R7304.2 Robot Jog Enable 1
DI[36] R7304.3 Override Up 1
DI[37] R7304.4 Override Down 1
DI[38] R7304.5 Override 100% 1
DI[39] R7304.6 Override Low 1
DI[40] R7304.7 HAND ACT. REQUEST 1
DI[41] -- DI[48] R7305.0 -- R7305.7 ROn SELECT. 8
DI[49] R7306.0 Robot Jog Entry 1
DI[50] R7306.1 Robot Jog Exit 1
DI[51] R7306.2 ROBODRILL ope Enabled 1
DI[52] R7306.3 ROBODRILL ope Rejected 1
DI[53] -- DI[57] R7306.4 -- R7306.7 ROBODRILL ope Reject n 4
DI[57] R7307.0 EMG STOP (RBT) 1
DI[58] R7307.1 HOLD (RBT) 1
DI[59] R7307.2 SAFETY SPD (RBT) 1
DI[60] R7307.3 CYCLE STOP (RBT) 1
DI[61] R7307.4 RESET (RBT) 1
DI[62] R7307.5 EXT START (RBT) 1
DI[63] R7307.6 HOME 1
DI[64] R7307.7 OPERAT. OK (RBT) 1
DI[65] -- DI[72] R7308.0 -- R7308.7 PNS n (RBT) 8
DI[73] R7309.0 PNS REQUEST (RBT) 1
DI[74] R7309.1 START (RBT) 1
DI[75] -- DI[79] R7309.2 -- R7309.6 (Reserved) 5
DI[80] R7309.7 Master ROBODRILL 1
DI[81] -- DI[96] R7310.0 -- R7311.7 ROBODRILL Program Number n 16
DI[97] -- DI[104] R7312.0 -- R7312.7 Peripherals Macro n 8
DI[105] -- DI[160] R7313.0 -- R7319.7 (Reserved) 56
DI[161] -- DI[256] R7320.0 -- R7331.7 FOR CUSTOM PMC 96

SERVICE REQUEST
[Robot] The ROBODRILL outputs this signal to the robot as a request to install or remove the
work-piece.
[ROBODRILL] This signal is on when the ROBODRILL satisfies the following conditions:
z M60, M02, or M30 is being executed.
z The side door is open (limit position to open).
z The axes of the ROBODRILL are at the work-piece exchange position.
This signal is turned off when:
z The robot outputs the SERVICE OK (RBT) signal.
z The reset button on the ROBODRILL is pressed.
z The emergency stop button is pressed.
WORK INSTALL.REQ.
[Robot] The ROBODRILL requests work-piece installation (the robot does not remove the work-piece).
[ROBODRILL] This signal is on when the ROBODRILL satisfies the following conditions:
z M61 is issued first after the System/Stand-alone switch on the ROBODRILL operator's panel is
switched from Stand-alone to System.
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B-85444EN-4/02 4. USED SIGNALS
z The side door is open (limit position to open).
z The axes of the ROBODRILL are at the work-piece exchange position.
This signal is turned off when:
z The robot outputs the SERVICE OK (RBT) signal.
z The reset button on the ROBODRILL is pressed.
z The emergency stop button is pressed.
WORK REMOV. REQ.
[Robot] The ROBODRILL requests work-piece removal. When this signal is turned on, remove the
work-piece and output the CYCLE STOP OK signal (do not install the work-piece).
[ROBODRILL] This signal is on when the ROBODRILL satisfies the following conditions:
z When the CYCLE STOP REQ. signal is output, M60 is issued or machining ends (M02 or M30 is
issued).
z The side door is open (limit position to open).
z The axes of the ROBODRILL are at the work-piece exchange position.
NOTICE OF M30/M02
[Robot] When the ROBODRILL executes the M62 code before the completion of machining, NOTICE
OF M30/M02 is input. The robot can make preparations such as moving to the door before receiving
SERVICE REQUEST according to the NOTICE OF M30/M02 signal.
[ROBODRILL] This signal is turned on when M62 is issued. The signal is turned off when SERVICE
REQUEST, WORK INSTALL.REQ., or WORK REMOV. REQ. is output or ROBODRILL program
operation terminates.
CYCLE STOP REQ.
[Robot] This signal is on when a cycle stop request is made by pressing the cycle stop button. This signal
is not used when the WORK REMOV. REQ. signal is used.
[ROBODRILL] This signal is turned on when the cycle stop key on the robot system operation screen is
pressed. The signal is turned off when the cycle stop key is pressed again or the CYCLE STOP OK signal
is output from the robot.
SYSTEM STOP REQ.
[Robot] This signal is turned on when a system stop request is made by pressing the system stop button.
[ROBODRILL] This signal is turned on when the system stop key on the robot system operation screen is
pressed. The signal is turned off when the SYSTEM STOP OK signal is output from the robot.
ALARM (FRD)
This signal is on when the ROBODRILL is in the alarm state.
SIDE GATE OPEN
This signal is on when the side door is open.
WORK L/UL POS
This signal is on when the axes of the ROBODRILL are at the specified work-piece exchange position.
FRONT GATE OPEN
This signal is on when the front door is open.
ROBODRILL Power On
This signal is on when the power to the ROBODRILL is on.
ROBODRILL System Running
This signal is on when the ROBODRILL is performing system operation.
SYSTEM MODE ON
This signal is on when the ROBODRILL is in the system mode.
MANUAL OPE REQ.
This signal is on when the operation right is requested on the MANUAL OPERATE screen of the
ROBODRILL.
READY ON
This signal is on when the ROBODRILL is in the system start enable state.

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4. USED SIGNALS B-85444EN-4/02

SYSTEM START REQ.(slave)

This signal is turned on when the master ROBODRILL executes system start. The signal is used to start
the slave ROBODRILL.
The robot controller does not use this signal.
Jog (ROBOT)
This signal is used for robot jog feed operation.
Joint Jog Selection
This signal is used for selecting the type of jog feed to specify robot jog feed operation on the MANUAL
OPERATE screen of the ROBODRILL. The signal is on when "J1,J2,J3," is specified for "JOG" on the
ROBODRILL screen.
When robot jog feed operation starts by turning this signal on on the ROBODRILL, the robot controller
executes jog feed operation for the specified axis.
Cartesian Jog Selection
This signal is used for selecting the type of jog feed to specify the robot jog feed operation on the
MANUAL OPERATE screen of the ROBODRILL. The signal is on when "X,Y,Z" is specified for "JOG"
on the ROBODRILL screen.
When robot jog feed operation starts by turning this signal on on the ROBODRILL, the robot controller
executes jog feed operation for the specified axis.
Robot Jog Enable
This signal is on when the ROBODRILL requests robot jog feed.
Override Up
When "override up" is specified on the MANUAL OPERATE screen of the ROBODRILL, a pulse of this
signal is output.
The robot controller changes the feedrate override at the rising edge of this signal.
Override Down
When "override down" is specified on the MANUAL OPERATE screen of the ROBODRILL, a pulse of
this signal is output.
The robot controller changes the feedrate override at the rising edge of this signal.
Override 100%
When "override 100%" is specified on the MANUAL OPERATE screen of the ROBODRILL, a pulse of
this signal is output.
The robot controller changes the feedrate override at the rising edge of this signal.
Override Low
When "override low" is specified on the MANUAL OPERATE screen of the ROBODRILL, a pulse of
this signal is output.
The robot controller changes the feedrate override at the rising edge of this signal.
HAND ACT. REQUEST
This signal is used for starting a macro. When each RO SELECT. signal is turned on, this signal is kept
on for about 200 ms. With this signal, the robot controller starts a hand operation macro.
ROn SELECT.
This signal is output to indicate the type of hand operation selected on the MANUAL OPERATE screen
of the ROBODRILL. Hand operation 1 to 8 can be specified as the type of hand operation.
Robot Jog Entry
A pulse of this signal is output when the robot jog feed screen is selected on the robot operation screen of
the ROBODRILL. The robot controller calls a macro which decreases the override.
Robot Jog Exit
A pulse of this signal is output when the robot jog feed screen of the ROBODRILL is closed. The robot
controller calls a macro which restores the override.
ROBODRILL ope Enabled
When the "OPR Enable" button is pressed on the Machine Tool Operation screen, if ROBODRILL jog
feed operation from the robot teach pendant is enabled, this signal is turned on. When this signal is turned
off, the OPR Enable lamp on the Machine Tool Operation screen goes off and the robot controller cannot
perform machine tool operation.
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B-85444EN-4/02 4. USED SIGNALS

ROBODRILL ope Rejected

When the "OPR Enable" button is pressed on the Machine Tool Operation screen, if ROBODRILL jog
feed operation from the robot teach pendant is disabled, this signal is turned on.
ROBODRILL ope Reject n
When the ROBODRILL ope Rejected signal is output, this signal is output to indicate the cause of the
rejection.
EMG STOP (RBT)
This signal is used to stop the robot from the ROBODRILL. In the robot controller, this signal is input to
UI[1] (emergency stop signal) by the background logic program.
HOLD (RBT)
This signal is used to hold the robot program from the ROBODRILL. In the robot controller, this signal is
input to UI[2] (held signal) by the background logic program.
SAFETY SPD (RBT)
In the robot controller, this signal is input to UI[3] (safety speed signal) by the background logic program.
CYCLE STOP (RBT)
This signal is used to stop the robot program during operation. In the robot controller, this signal is input
to UI[4] (cycle stop signal) by the background logic program.
RESET (RBT)
In the robot controller, this signal is input to UI[5] (alarm release signal) by the background logic
program.
EXT. START (RBT)
This signal is used to resume the robot program temporarily stopped. In the robot controller, this signal is
input to UI[6] by the background logic program.
OPERAT. OK (RBT)
This signal is used to enable the robot from the ROBODRILL. In the robot controller, this signal is input
to UI[8] by the background logic program.
PNS n (RBT)
This signal is used to specify a robot PNS program from the ROBODRILL. In the robot controller, this
signal is input to UI[9] to UI[16] (program selection signal) by the background logic program.
PNS REQUEST (RBT)
This signal is used to allow the ROBODRILL to select a robot PNS program. In the robot controller, this
signal is input to UI[17] by the background logic program.
START (RBT)
This signal is used to allow the ROBODRILL to start a robot PNS program. In the robot controller, this
signal is input to UI[18] by the background logic program.
Master ROBODRILL
The ROBODRILL acts as the master ROBODRILL outputs this signal. The robot controller uses this
signal to select the master ROBODRILL.
ROBODRILL Program Number n
This signal is output to indicate the program number selected by the ROBODRILL. The robot controller
does not use this signal.
Peripherals Macro n
This signal is output to indicate the type of peripheral equipment operation selected on the MANUAL
OPERATE screen of the ROBODRILL. Peripheral equipment operation 1 to 8 can be selected as the type
of peripheral equipment operation.
(Reserved)
Reserved for future extension.
FOR CUSTOM PMC
The user can use these signals without restrictions.

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4. USED SIGNALS B-85444EN-4/02

4.1.1.4 I/O signals internally used in the robot controller

The robot controller uses internal-only signals to output the status of the robot to the ROBODRILL and
process signals from multiple ROBODRILLs. These signals are processed by background logic.

Table 4.1.1.4 I/O signals internally used in the robot controller

Signal Assigned to Note
F[1] UI[1]
F[2] UI[2]
F[3] UI[3]
F[4] UI[4]
F[5] UI[5]
F[6] UI[6]
F[7] UI[7] Not used
F[8] UI[8]
F[9]--F[18] UI[9]--UI[18]
F[25] DI[1025]
F[26] DI[1026]
F[28] DI[1028]
F[29] DI[1029]
F[32]--F[48] DI[1032]--DI[1048]
F[49] DI[1049] Not used
F[50] DI[1050] Not used
F[51] DI[1051]
F[52] DI[1052]
F[53]--F[56] DI[1053]--DI[1056]
F[57] DI[1057]
F[58] DI[1058]
SSI DI[1065]--DI[1075]

F[1], F[2], F[3], F[8] Robot operation stop from the ROBODRILL
These signals are used to stop robot operation based on signals from the ROBODRILL. Signals from
multiple ROBODRILLs are processed by background logic to integrate them. When signals satisfy
specific conditions, they are output to F[1], F[2], F[3], and F[8]. Since F[1], F[2], F[3], and F[8] are
assigned to UI[1], UI[2], UI[3], and UI[8], robot operation can be stopped from the ROBODRILL.
F[4] Robot program abort from the ROBODRILL
This signal is used to abort a robot program from the ROBODRILL. Signals from multiple
ROBODRILLs are processed by background logic to integrate them. This signal from the master
ROBODRILL is output to F[4]. Since F[4] is assigned to UI[4], a robot program can be aborted from the
ROBODRILL.
F[5] Robot alarm reset from the ROBODRILL
This signal is used to reset a robot alarm from the ROBODRILL. Signals from multiple ROBODRILLs
are processed by background logic to integrate them. This signal is output to F[5]. F[5] is assigned to
UI[5], and a robot alarm is reset by the signal from the ROBODRILL.
F[6] Robot program resume from the ROBODRILL
This signal is used to resume a robot program temporarily stopped, from the ROBODRILL. Signals from
multiple ROBODRILLs are processed by background logic to integrate them. This signal from the master
ROBODRILL is output to F[6]. Since F[6] is assigned to UI[6], a robot program can be resumed by the
signal from the ROBODRILL.

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B-85444EN-4/02 4. USED SIGNALS

F[9]--F[18] PNS program start from the master ROBODRILL

These signals are used to implement robot PNS program start from the ROBODRILL. To implement PNS
program start from multiple ROBODRILLs, the robot controller processes signals from the
ROBODRILLs with background logic. Only signals from the master ROBODRILL are output to
F[9]--F[18]. Since F[9]--F[18] are assigned to UI[9]-UI[18], robot PNC programs can be started based on
signals from the master ROBODRILL.
F[25], F[26] Adjustment of override at the start and end of robot jog feed operation
from the ROBODRILL
When the robot jog feed screen is selected on the ROBODRILL, the Robot Jog Entry signal is sent to the
robot controller. The robot controller calls a macro which decreases the override based on this signal.
When robot jog feed from the ROBODRILL terminates, the Robot Jog Exit signal is sent. The robot
controller calls a macro which restores the override based on this signal.
Since the Robot Jog Entry and Robot Jog Exit signals are defined for each ROBODRILL, the robot
controller processes these signals with background logic and outputs to F[25] and F[26]. F[25] and F[26]
are assigned to DI[1025] and DI[1026] to start the corresponding macro programs.
F[28], F[29] Override up, Override down
The Override Up and Override Down signals from multiple ROBODRILLs are integrated to one signal
with background logic and transferred to F[28] and F[29]. F[28] and F[29] are assigned to DI[1028] and
DI[1029] to start the corresponding macro programs.
F[32]--F[48] Axis and direction specification for jog feed
These signals are used to specify the axis number and moving direction for robot jog feed operation from
the ROBODRILL. They are assigned to DI[1032] -- DI[10548]. According to the axis number and
direction specified on the ROBODRILL screen, the corresponding signals are turned on.
F[51], F[52] Joint jog and Cartesian jog specification for jog feed
These signals are used to specify joint jog or Cartesian jog for robot jog feed operation from the
ROBODRILL. They are assigned to DI[1051] and DI[1052]. When joint jog feed operation is specified
on the ROBODRILL screen, DI[1051] is on. When Cartesian jog feed operation is specified, DI[1052] is
on.
F[53]--F[56] Jog coordinate system specification for jog feed
These signals are used to use the jog coordinate system corresponding to the ROBODRILL number for
robot jog feed operation from the ROBODRILL. They are assigned to DI[1053]--DI[1056]. For robot jog
feed operation from ROBODRILL 1, DI[1053] is turned on. For robot jog feed operation from
ROBODRILL 2, ROBODRILL 3, and ROBODRILL 4, DI[1054], DI[1055], and DI[1056] are turned on,
respectively. With these signals, jog coordinate systems 1, 2, 3, and 4 are specified.
F[57], F[58] Override 100, Override low
The Override 100% and Override Low signals from multiple ROBODRILLs are integrated to one signal
with background logic and transferred to F[57] and F[58]. F[57] and F[58] are assigned to DI[1057] and
DI[1058] to start the corresponding macro programs.
SSI Safety gate monitor
I/O signals are assigned to reference SSI (Safe System Input) of the robot controller as DI signals. They
are used to output the open/close states of the robot safety gate to the ROBODRILL by monitoring the
open/close states of the safety gate in the SSI as DI signals and transferring them to DO signals with
background logic.
Note that these signals are not safety I/O signals, but general I/O signals. These signals are mainly used to
display the robot status on the ROBODRILL screen. Do not use these signals for safety purposes.

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4. USED SIGNALS B-85444EN-4/02

4.1.2 Signal Functions

4.1.2.1 Robot I/O assignment

Robot I/O signals are assigned as follows.

Table 4.1.2.1(a) Assignment of DI/DO and UI/UO signals

Signal Signal range Signal range Rack Slot Start point Condition
type (start) (end)
DI 1 256 68 2 1
DI 257 512 68 3 1 *2
DI 513 768 68 4 1 *3
DI 769 1024 68 5 1 *4
DI 1025 1064 34 1 25
DI 1065 1075 36 3 1
DI 1076 1080 0 0 0
DO 1 64 68 1 129
DO 65 128 0 0 0
DO 129 256 68 1 193
DO 257 320 68 1 321 *2
DO 321 384 0 0 0 *2
DO 385 512 68 1 385 *2
DO 513 576 68 1 513 *3
DO 577 640 0 0 0 *3
DO 641 768 68 1 577 *3
DO 769 832 68 1 705 *4
DO 833 896 0 0 0 *4
DO 897 1024 68 1 769 *4
DO 1025 1128 68 1 25
DO 1129 1132 68 1 21
UI 1 18 34 1 1
UO 1 20 68 1 1
When *1, *2, *3, or *4 is shown in the Condition column, the relevant item is set according to the number
of ROBODRILLs.
The R-30iB Mate controller is equipped with a peripheral equipment control interface which is allocated
to DI[101-120], DO[101-120], DI[81-88], and DO[81-84] as standard, but works normally regardless of
this standard setting. For details, refer to Section 1, I/O "R-30iB MATE MAIN BOARD (CRMA15 AND
CRMA16)" in Chapter 3 of the B-83284EN R-30iB/R-30iB MATE CONTROLLER OPERATOR'S
MANUAL (Basic Operation).

Table 4.1.2.1(b) Assignment of the GI/GO signal

Signal Signal No. Rack Slot Start point Number of Condition
type signals
GO 1 68 1 49 8

4.1.2.2 Robot flag signal table

The following table lists the DI/DO signals used by the robot controller.

Table 4.1.2.2 Flag comments

Signal Comment Signal Comment
F[1] UI[1] F[33] DI[1033]
F[2] UI[2] F[34] DI[1034]

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B-85444EN-4/02 4. USED SIGNALS

Signal Comment Signal Comment

F[3] UI[3] F[35] DI[1035]
F[4] UI[4] F[36] DI[1036]
F[5] UI[5] F[37] DI[1037]
F[6] UI[6] F[38] DI[1038]
F[7] UI[7] F[39] DI[1039]
F[8] UI[8] F[40] DI[1040]
F[9] UI[9] F[41] DI[1041]
F[10] UI[10] F[42] DI[1042]
F[11] UI[11] F[43] DI[1043]
F[12] UI[12] F[44] DI[1044]
F[13] UI[13] F[45] DI[1045]
F[14] UI[14] F[46] DI[1046]
F[15] UI[15] F[47] DI[1047]
F[16] UI[16] F[48] DI[1048]
F[17] UI[17] F[49] DI[1049]
F[18] UI[18] F[50] DI[1050]
F[19] F[51] DI[1051]
F[20] F[52] DI[1052]
F[21] F[53] DI[1053]
F[22] F[54] DI[1054]
F[23] F[55] DI[1055]
F[24] F[56] DI[1056]
F[25] DI[1025] F[57] DI[1057]
F[26] DI[1026] F[58] DI[1058]
F[27] DI[1027] F[59] DI[1059]
F[28] DI[1028] F[60] DI[1060]
F[29] DI[1029] F[61] DI[1061]
F[30] DI[1030] F[62] DI[1062]
F[31] DI[1031] F[63] DI[1063]
F[32] DI[1032] F[64] DI[1064]

4.1.2.3 DI to DO connection
The following table shows DI to DO connection.

Table 4.1.2.3 DI to DO connection setting

No. Input Output
1 RI[1] DO[1033]
2 RI[2] DO[1034]
3 RI[3] DO[1035]
4 RI[4] DO[1036]
5 RI[5] DO[1036]
6 RI[6] DO[1038]
7 RI[7] DO[1039]
8 RI[8] DO[1040]

4.1.2.4 GI/GO signal comment

No GI signal is used. The following table lists the GO signal comment.

Table 4.1.2.4 GO signal comment

Signal No. Comment *
GO[1] Override

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4. USED SIGNALS B-85444EN-4/02

4.1.2.5 DI/DO signal comments

The following tables list the DI/DO signal comments. When a signal is connected to the ROBODRILL,
the PMC address on the ROBODRILL is also shown.
To each ROBODRILL, 256 DI/DO signals among DI[1]--DI[1024] and DO[1]--DO[1024] are assigned.
Signals DI[1025] and later and DO[1025] and later are used internally in the robot controller and used
commonly to all ROBODRILLs. These two types of signals are listed separately.

Table 4.1.2.5(a) DI/DO signal comments (1)

Signal ROBODRI Robot I/O comment * Signal ROBODRIL Robot I/O comment *
No. LL No. L
DI[1] R7300.0 SERVICE REQUEST DO[1] R7216.0 SERVICE OK (RBT)
DI[2] R7300.1 WORK INSTALL.REQ. DO[2] R7216.1 IN SERV. TO FRD1
DI[3] R7300.2 WORK REMOV. REQ. DO[3] R7216.2 CYCLE STOP OK
DI[4] R7300.3 NOTICE OF M30/M02 DO[4] R7216.3 SYSTEM STOP OK
DI[5] R7300.4 CYCLE STOP REQ. DO[5] R7216.4 SIDE GATE CLOSE LOCK
DI[6] R7300.5 SYSTEM STOP REQ. DO[6] R7216.5 FRONT GATE CLOSE
LOCK
DI[7] R7300.6 ALARM (FRD) DO[7] R7216.6 REF.POINT RTN OK
DI[8] R7300.7 SIDE GATE OPEN DO[8] R7216.7 Robot Assigned
DI[9] R7301.0 WORK L/UL POS DO[9] R7217.0 SIDE GATE OPEN Req.
DI[10] R7301.1 FRONT GATE OPEN DO[10] R7217.1 SIDE GATE CLOSE Req.
DI[11] R7301.2 ROBODRILL Power On DO[11] R7217.2 FRONT GATE OPEN Req.
DI[12] R7301.3 ROBODRILL System DO[12] R7217.3 FRONT GATE CLOSE
Running Req.
DI[13] R7301.4 SYSTEM MODE ON DO[13] R7217.4 L/UL POS Return Req.
DI[14] R7301.5 MANUAL OPE REQ. DO[14] R7217.5 Parts Count Up
DI[15] R7301.6 READY ON DO[15] R7217.6 Cycle Stop Req.
DI[16] R7301.7 SYSTEM START DO[16] R7217.7 (Reserved)
REQ.(slave)
DI[17] R7302.0 JOG 1+ (ROBOT) DO[17] R7218.0 ROBODRILL Jog ovr 0
DI[18] R7302.1 JOG 1- (ROBOT) DO[18] R7218.1 ROBODRILL Jog ovr 1
DI[19] R7302.2 JOG 2+ (ROBOT) DO[19] R7218.2 ROBODRILL Jog ovr 2
DI[20] R7302.3 JOG 2- (ROBOT) DO[20] R7218.3 ROBODRILL Jog ovr 3
DI[21] R7302.4 JOG 3+ (ROBOT) DO[21] R7218.4 ROBODRILL Jog ovr 4
DI[22] R7302.5 JOG 3- (ROBOT) DO[22] R7218.5 ROBODRILL Jog ovr 5
DI[23] R7302.6 JOG 4+ (ROBOT) DO[23] R7218.6 ROBODRILL Jog ovr 6
DI[24] R7302.7 JOG 4- (ROBOT) DO[24] R7218.7 ROBODRILL Jog ovr 7
DI[25] R7303.0 JOG 5+ (ROBOT) DO[25] R7219.0 ROBODRILL Jog ovr 8
DI[26] R7303.1 JOG 5- (ROBOT) DO[26] R7219.1 ROBODRILL Jog ovr 9
DI[27] R7303.2 JOG 6+ (ROBOT) DO[27] R7219.2 ROBODRILL Jog ovr 10
DI[28] R7303.3 JOG 6- (ROBOT) DO[28] R7219.3 ROBODRILL Jog ovr 11
DI[29] R7303.4 JOG 7+ (ROBOT) DO[29] R7219.4 ROBODRILL Jog ovr 12
DI[30] R7303.5 JOG 7- (ROBOT) DO[30] R7219.5 ROBODRILL Jog ovr 13
DI[31] R7303.6 JOG 8+ (ROBOT) DO[31] R7219.6 ROBODRILL Jog ovr 14
DI[32] R7303.7 JOG 8- (ROBOT) DO[32] R7219.7 ROBODRILL Jog ovr 15
DI[33] R7304.0 Joint Jog Selection DO[33] R7220.0 ROBODRILL Ope Req.
DI[34] R7304.1 Cartesian Jog Selection DO[34] R7220.1 (Reserved)
DI[35] R7304.2 Robot Jog Enable DO[35] R7220.2 ROBODRILL Jog (1+)
DI[36] R7304.3 Override Up DO[36] R7220.3 ROBODRILL Jog (1-)
DI[37] R7304.4 Override Down DO[37] R7220.4 ROBODRILL Jog (2+)
DI[38] R7304.5 Override 100% DO[38] R7220.5 ROBODRILL Jog (2-)
DI[39] R7304.6 Override Low DO[39] R7220.6 ROBODRILL Jog (3+)
DI[40] R7304.7 HAND ACT. REQUEST DO[40] R7220.7 ROBODRILL Jog (3-)
DI[41] R7305.0 RO1 SELECT. DO[41] R7221.0 ROBODRILL Jog (4+)

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B-85444EN-4/02 4. USED SIGNALS

Signal ROBODRI Robot I/O comment * Signal ROBODRIL Robot I/O comment *
No. LL No. L
DI[42] R7305.1 RO2 SELECT. DO[42] R7221.1 ROBODRILL Jog (4-)
DI[43] R7305.2 RO3 SELECT. DO[43] R7221.2 ROBODRILL Jog (5+)
DI[44] R7305.3 RO4 SELECT. DO[44] R7221.3 ROBODRILL Jog (5-)
DI[45] R7305.4 RO5 SELECT. DO[45] R7221.4 (Reserved)
DI[46] R7305.5 RO6 SELECT. DO[46] R7221.5 (Reserved)
DI[47] R7305.6 RO7 SELECT. DO[47] R7221.6 (Reserved)
DI[48] R7305.7 RO8 SELECT. DO[48] R7221.7 (Reserved)
DI[49] R7306.0 Robot Jog Entry DO[49] R7222.0 Side door open end
position signal
DI[50] R7306.1 Robot Jog Exit DO[50] R7222.1 Side door close end
position signal
DI[51] R7306.2 ROBODRILL ope Enabled DO[51] R7222.2 (Reserved)
DI[52] R7306.3 ROBODRILL ope Rejected DO[52] R7222.3 (Reserved)
DI[53] R7306.4 ROBODRILL ope Reject 0 DO[53] R7222.4 (Reserved)
DI[54] R7306.5 ROBODRILL ope Reject 1 DO[54] R7222.5 (Reserved)
DI[55] R7306.6 ROBODRILL ope Reject 2 DO[55] R7222.6 (Reserved)
DI[56] R7306.7 ROBODRILL ope Reject 3 DO[56] R7222.7 (Reserved)
DI[57] R7307.0 EMG STOP (RBT) DO[57] R7223.0 (Reserved)
DI[58] R7307.1 HOLD (RBT) DO[58] R7223.1 (Reserved)
DI[59] R7307.2 SAFETY SPD (RBT) DO[59] R7223.2 (Reserved)
DI[60] R7307.3 CYCLE STOP (RBT) DO[60] R7223.3 (Reserved)
DI[61] R7307.4 RESET (RBT) DO[61] R7223.4 (Reserved)
DI[62] R7307.5 EXT. START (RBT) DO[62] R7223.5 (Reserved)
DI[63] R7307.6 HOME DO[63] R7223.6 (Reserved)
DI[64] R7307.7 OPERAT. OK (RBT) DO[64] R7223.7 (Reserved)
DI[65] R7308.0 PNS 1 (RBT)
DI[66] R7308.1 PNS 2(RBT)
DI[67] R7308.2 PNS 3 (RBT)
DI[68] R7308.3 PNS 4 (RBT)
DI[69] R7308.4 PNS 5 (RBT)
DI[70] R7308.5 PNS 6 (RBT)
DI[71] R7308.6 PNS 7 (RBT)
DI[72] R7308.7 PNS 8 (RBT)
DI[73] R7309.0 PNS REQUEST (RBT)
DI[74] R7309.1 START (RBT)
DI[75] R7309.2 (Reserved)
DI[76] R7309.3 (Reserved)
DI[77] R7309.4 (Reserved)
DI[78] R7309.5 (Reserved)
DI[79] R7309.6 (Reserved)
DI[80] R7309.7 Master ROBODRILL
DI[81] R7310.0 ROBODRILL Program
Number 0
DI[82] R7310.1 ROBODRILL Program
Number 1
DI[83] R7310.2 ROBODRILL Program
Number 2
DI[84] R7310.3 ROBODRILL Program
Number 3
DI[85] R7310.4 ROBODRILL Program
Number 4
DI[86] R7310.5 ROBODRILL Program
Number 5

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4. USED SIGNALS B-85444EN-4/02

Signal ROBODRI Robot I/O comment * Signal ROBODRIL Robot I/O comment *
No. LL No. L
DI[87] R7310.6 ROBODRILL Program
Number 6
DI[88] R7310.7 ROBODRILL Program
Number 7
DI[89] R7311.0 ROBODRILL Program
Number 8
DI[90] R7311.1 ROBODRILL Program
Number 9
DI[91] R7311.2 ROBODRILL Program
Number 10
DI[92] R7311.3 ROBODRILL Program
Number 11
DI[93] R7311.4 ROBODRILL Program
Number 12
DI[94] R7311.5 ROBODRILL Program
Number 13
DI[95] R7311.6 ROBODRILL Program
Number 14
DI[96] R7311.7 ROBODRILL Program
Number 15
DI[97] R7312.0 Peripherals Macro 1
DI[98] R7312.1 Peripherals Macro 2
DI[99] R7312.2 Peripherals Macro 3
DI[100] R7312.3 Peripherals Macro 4
DI[101] R7312.4 Peripherals Macro 5
DI[102] R7312.5 Peripherals Macro 6
DI[103] R7312.6 Peripherals Macro 7
DI[104] R7312.7 Peripherals Macro 8
DI[105] R7313.0 (Reserved)
DI[106] R7313.1 (Reserved)
DI[107] R7313.2 (Reserved)
DI[108] R7313.3 (Reserved)
DI[109] R7313.4 (Reserved)
DI[110] R7313.5 (Reserved)
DI[111] R7313.6 (Reserved)
DI[112] R7313.7 (Reserved)
DI[113] R7314.0 Side Servo Door Open
Request
DI[114] R7314.1 Side Servo Door Close
Request
DI[115] R7314.2 (Reserved)
DI[116] R7314.3 (Reserved)
DI[117] R7314.4 (Reserved)
DI[118] R7314.5 (Reserved)
DI[119] R7314.6 (Reserved)
DI[120] R7314.7 (Reserved)
DI[121] R7315.0 (Reserved)
DI[122] R7315.1 (Reserved)
DI[123] R7315.2 (Reserved)
DI[124] R7315.3 (Reserved)
DI[125] R7315.4 (Reserved)
DI[126] R7315.5 (Reserved)
DI[127] R7315.6 (Reserved)
DI[128] R7315.7 (Reserved)

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B-85444EN-4/02 4. USED SIGNALS

Signal ROBODRI Robot I/O comment * Signal ROBODRIL Robot I/O comment *
No. LL No. L
DI[129] R7316.0 (Reserved) DO[129] R7224.0 (Reserved)
DI[130] R7316.1 (Reserved) DO[130] R7224.1 (Reserved)
DI[131] R7316.2 (Reserved) DO[131] R7224.2 (Reserved)
DI[132] R7316.3 (Reserved) DO[132] R7224.3 (Reserved)
DI[133] R7316.4 (Reserved) DO[133] R7224.4 (Reserved)
DI[134] R7316.5 (Reserved) DO[134] R7224.5 (Reserved)
DI[135] R7316.6 (Reserved) DO[135] R7224.6 (Reserved)
DI[136] R7316.7 (Reserved) DO[136] R7224.7 (Reserved)
DI[137] R7317.0 (Reserved) DO[137] R7225.0 (Reserved)
DI[138] R7317.1 (Reserved) DO[138] R7225.1 (Reserved)
DI[139] R7317.2 (Reserved) DO[139] R7225.2 (Reserved)
DI[140] R7317.3 (Reserved) DO[140] R7225.3 (Reserved)
DI[141] R7317.4 (Reserved) DO[141] R7225.4 (Reserved)
DI[142] R7317.5 (Reserved) DO[142] R7225.5 (Reserved)
DI[143] R7317.6 (Reserved) DO[143] R7225.6 (Reserved)
DI[144] R7317.7 (Reserved) DO[144] R7225.7 (Reserved)
DI[145] R7318.0 (Reserved) DO[145] R7226.0 (Reserved)
DI[146] R7318.1 (Reserved) DO[146] R7226.1 (Reserved)
DI[147] R7318.2 (Reserved) DO[147] R7226.2 (Reserved)
DI[148] R7318.3 (Reserved) DO[148] R7226.3 (Reserved)
DI[149] R7318.4 (Reserved) DO[149] R7226.4 (Reserved)
DI[150] R7318.5 (Reserved) DO[150] R7226.5 (Reserved)
DI[151] R7318.6 (Reserved) DO[151] R7226.6 (Reserved)
DI[152] R7318.7 (Reserved) DO[152] R7226.7 (Reserved)
DI[153] R7319.0 (Reserved) DO[153] R7227.0 (Reserved)
DI[154] R7319.1 (Reserved) DO[154] R7227.1 (Reserved)
DI[155] R7319.2 (Reserved) DO[155] R7227.2 (Reserved)
DI[156] R7319.3 (Reserved) DO[156] R7227.3 (Reserved)
DI[157] R7319.4 (Reserved) DO[157] R7227.4 (Reserved)
DI[158] R7319.5 (Reserved) DO[158] R7227.5 (Reserved)
DI[159] R7319.6 (Reserved) DO[159] R7227.6 (Reserved)
DI[160] R7319.7 (Reserved) DO[160] R7227.7 (Reserved)
DI[161] R7320.0 FOR CUSTOM PMC DO[161] R7228.0 FOR CUSTOM PMC
DI[162] R7320.1 FOR CUSTOM PMC DO[162] R7228.1 FOR CUSTOM PMC
DI[163] R7320.2 FOR CUSTOM PMC DO[163] R7228.2 FOR CUSTOM PMC
DI[164] R7320.3 FOR CUSTOM PMC DO[164] R7228.3 FOR CUSTOM PMC
DI[165] R7320.4 FOR CUSTOM PMC DO[165] R7228.4 FOR CUSTOM PMC
DI[166] R7320.5 FOR CUSTOM PMC DO[166] R7228.5 FOR CUSTOM PMC
DI[167] R7320.6 FOR CUSTOM PMC DO[167] R7228.6 FOR CUSTOM PMC
DI[168] R7320.7 FOR CUSTOM PMC DO[168] R7228.7 FOR CUSTOM PMC
DI[169] R7321.0 FOR CUSTOM PMC DO[169] R7229.0 FOR CUSTOM PMC
DI[170] R7321.1 FOR CUSTOM PMC DO[170] R7229.1 FOR CUSTOM PMC
DI[171] R7321.2 FOR CUSTOM PMC DO[171] R7229.2 FOR CUSTOM PMC
DI[172] R7321.3 FOR CUSTOM PMC DO[172] R7229.3 FOR CUSTOM PMC
DI[173] R7321.4 FOR CUSTOM PMC DO[173] R7229.4 FOR CUSTOM PMC
DI[174] R7321.5 FOR CUSTOM PMC DO[174] R7229.5 FOR CUSTOM PMC
DI[175] R7321.6 FOR CUSTOM PMC DO[175] R7229.6 FOR CUSTOM PMC
DI[176] R7321.7 FOR CUSTOM PMC DO[176] R7229.7 FOR CUSTOM PMC
DI[177] R7322.0 FOR CUSTOM PMC DO[177] R7230.0 FOR CUSTOM PMC
DI[178] R7322.1 FOR CUSTOM PMC DO[178] R7230.1 FOR CUSTOM PMC
DI[179] R7322.2 FOR CUSTOM PMC DO[179] R7230.2 FOR CUSTOM PMC
DI[180] R7322.3 FOR CUSTOM PMC DO[180] R7230.3 FOR CUSTOM PMC
DI[181] R7322.4 FOR CUSTOM PMC DO[181] R7230.4 FOR CUSTOM PMC
DI[182] R7322.5 FOR CUSTOM PMC DO[182] R7230.5 FOR CUSTOM PMC
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4. USED SIGNALS B-85444EN-4/02

Signal ROBODRI Robot I/O comment * Signal ROBODRIL Robot I/O comment *
No. LL No. L
DI[183] R7322.6 FOR CUSTOM PMC DO[183] R7230.6 FOR CUSTOM PMC
DI[184] R7322.7 FOR CUSTOM PMC DO[184] R7230.7 FOR CUSTOM PMC
DI[185] R7323.0 FOR CUSTOM PMC DO[185] R7231.0 FOR CUSTOM PMC
DI[186] R7323.1 FOR CUSTOM PMC DO[186] R7231.1 FOR CUSTOM PMC
DI[187] R7323.2 FOR CUSTOM PMC DO[187] R7231.2 FOR CUSTOM PMC
DI[188] R7323.3 FOR CUSTOM PMC DO[188] R7231.3 FOR CUSTOM PMC
DI[189] R7323.4 FOR CUSTOM PMC DO[189] R7231.4 FOR CUSTOM PMC
DI[190] R7323.5 FOR CUSTOM PMC DO[190] R7231.5 FOR CUSTOM PMC
DI[191] R7323.6 FOR CUSTOM PMC DO[191] R7231.6 FOR CUSTOM PMC
DI[192] R7323.7 FOR CUSTOM PMC DO[192] R7231.7 FOR CUSTOM PMC
DI[193] R7324.0 FOR CUSTOM PMC DO[193] R7232.0 FOR CUSTOM PMC
DI[194] R7324.1 FOR CUSTOM PMC DO[194] R7232.1 FOR CUSTOM PMC
DI[195] R7324.2 FOR CUSTOM PMC DO[195] R7232.2 FOR CUSTOM PMC
DI[196] R7324.3 FOR CUSTOM PMC DO[196] R7232.3 FOR CUSTOM PMC
DI[197] R7324.4 FOR CUSTOM PMC DO[197] R7232.4 FOR CUSTOM PMC
DI[198] R7324.5 FOR CUSTOM PMC DO[198] R7232.5 FOR CUSTOM PMC
DI[199] R7324.6 FOR CUSTOM PMC DO[199] R7232.6 FOR CUSTOM PMC
DI[200] R7324.7 FOR CUSTOM PMC DO[200] R7232.7 FOR CUSTOM PMC
DI[201] R7325.0 FOR CUSTOM PMC DO[201] R7233.0 FOR CUSTOM PMC
DI[202] R7325.1 FOR CUSTOM PMC DO[202] R7233.1 FOR CUSTOM PMC
DI[203] R7325.2 FOR CUSTOM PMC DO[203] R7233.2 FOR CUSTOM PMC
DI[204] R7325.3 FOR CUSTOM PMC DO[204] R7233.3 FOR CUSTOM PMC
DI[205] R7325.4 FOR CUSTOM PMC DO[205] R7233.4 FOR CUSTOM PMC
DI[206] R7325.5 FOR CUSTOM PMC DO[206] R7233.5 FOR CUSTOM PMC
DI[207] R7325.6 FOR CUSTOM PMC DO[207] R7233.6 FOR CUSTOM PMC
DI[208] R7325.7 FOR CUSTOM PMC DO[208] R7233.7 FOR CUSTOM PMC
DI[209] R7326.0 FOR CUSTOM PMC DO[209] R7234.0 FOR CUSTOM PMC
DI[210] R7326.1 FOR CUSTOM PMC DO[210] R7234.1 FOR CUSTOM PMC
DI[211] R7326.2 FOR CUSTOM PMC DO[211] R7234.2 FOR CUSTOM PMC
DI[212] R7326.3 FOR CUSTOM PMC DO[212] R7234.3 FOR CUSTOM PMC
DI[213] R7326.4 FOR CUSTOM PMC DO[213] R7234.4 FOR CUSTOM PMC
DI[214] R7326.5 FOR CUSTOM PMC DO[214] R7234.5 FOR CUSTOM PMC
DI[215] R7326.6 FOR CUSTOM PMC DO[215] R7234.6 FOR CUSTOM PMC
DI[216] R7326.7 FOR CUSTOM PMC DO[216] R7234.7 FOR CUSTOM PMC
DI[217] R7327.0 FOR CUSTOM PMC DO[217] R7235.0 FOR CUSTOM PMC
DI[218] R7327.1 FOR CUSTOM PMC DO[218] R7235.1 FOR CUSTOM PMC
DI[219] R7327.2 FOR CUSTOM PMC DO[219] R7235.2 FOR CUSTOM PMC
DI[220] R7327.3 FOR CUSTOM PMC DO[220] R7235.3 FOR CUSTOM PMC
DI[221] R7327.4 FOR CUSTOM PMC DO[221] R7235.4 FOR CUSTOM PMC
DI[222] R7327.5 FOR CUSTOM PMC DO[222] R7235.5 FOR CUSTOM PMC
DI[223] R7327.6 FOR CUSTOM PMC DO[223] R7235.6 FOR CUSTOM PMC
DI[224] R7327.7 FOR CUSTOM PMC DO[224] R7235.7 FOR CUSTOM PMC
DI[225] R7328.0 FOR CUSTOM PMC DO[225] R7236.0 FOR CUSTOM PMC
DI[226] R7328.1 FOR CUSTOM PMC DO[226] R7236.1 FOR CUSTOM PMC
DI[227] R7328.2 FOR CUSTOM PMC DO[227] R7236.2 FOR CUSTOM PMC
DI[228] R7328.3 FOR CUSTOM PMC DO[228] R7236.3 FOR CUSTOM PMC
DI[229] R7328.4 FOR CUSTOM PMC DO[229] R7236.4 FOR CUSTOM PMC
DI[230] R7328.5 FOR CUSTOM PMC DO[230] R7236.5 FOR CUSTOM PMC
DI[231] R7328.6 FOR CUSTOM PMC DO[231] R7236.6 FOR CUSTOM PMC
DI[232] R7328.7 FOR CUSTOM PMC DO[232] R7236.7 FOR CUSTOM PMC
DI[233] R7329.0 FOR CUSTOM PMC DO[233] R7237.0 FOR CUSTOM PMC
DI[234] R7329.1 FOR CUSTOM PMC DO[234] R7237.1 FOR CUSTOM PMC
DI[235] R7329.2 FOR CUSTOM PMC DO[235] R7237.2 FOR CUSTOM PMC
DI[236] R7329.3 FOR CUSTOM PMC DO[236] R7237.3 FOR CUSTOM PMC
- 80 -
B-85444EN-4/02 4. USED SIGNALS

Signal ROBODRI Robot I/O comment * Signal ROBODRIL Robot I/O comment *
No. LL No. L
DI[237] R7329.4 FOR CUSTOM PMC DO[237] R7237.4 FOR CUSTOM PMC
DI[238] R7329.5 FOR CUSTOM PMC DO[238] R7237.5 FOR CUSTOM PMC
DI[239] R7329.6 FOR CUSTOM PMC DO[239] R7237.6 FOR CUSTOM PMC
DI[240] R7329.7 FOR CUSTOM PMC DO[240] R7237.7 FOR CUSTOM PMC
DI[241] R7330.0 FOR CUSTOM PMC DO[241] R7238.0 FOR CUSTOM PMC
DI[242] R7330.1 FOR CUSTOM PMC DO[242] R7238.1 FOR CUSTOM PMC
DI[243] R7330.2 FOR CUSTOM PMC DO[243] R7238.2 FOR CUSTOM PMC
DI[244] R7330.3 FOR CUSTOM PMC DO[244] R7238.3 FOR CUSTOM PMC
DI[245] R7330.4 FOR CUSTOM PMC DO[245] R7238.4 FOR CUSTOM PMC
DI[246] R7330.5 FOR CUSTOM PMC DO[246] R7238.5 FOR CUSTOM PMC
DI[247] R7330.6 FOR CUSTOM PMC DO[247] R7238.6 FOR CUSTOM PMC
DI[248] R7330.7 FOR CUSTOM PMC DO[248] R7238.7 FOR CUSTOM PMC
DI[249] R7331.0 FOR CUSTOM PMC DO[249] R7239.0 FOR CUSTOM PMC
DI[250] R7331.1 FOR CUSTOM PMC DO[250] R7239.1 FOR CUSTOM PMC
DI[251] R7331.2 FOR CUSTOM PMC DO[251] R7239.2 FOR CUSTOM PMC
DI[252] R7331.3 FOR CUSTOM PMC DO[252] R7239.3 FOR CUSTOM PMC
DI[253] R7331.4 FOR CUSTOM PMC DO[253] R7239.4 FOR CUSTOM PMC
DI[254] R7331.5 FOR CUSTOM PMC DO[254] R7239.5 FOR CUSTOM PMC
DI[255] R7331.6 FOR CUSTOM PMC DO[255] R7239.6 FOR CUSTOM PMC
DI[256] R7331.7 FOR CUSTOM PMC DO[256] R7239.7 FOR CUSTOM PMC

Table 4.1.2.5(b) DI/DO signal comments (2)

Signal Robot I/O comment * Signal Robot I/O comment *
No. No.
DI[257] R7301.2 SERVICE REQUEST 2 DO[257] R7216.0 SERVICE OK (RBT) 2
... ... 2 ... ... 2
DI[512] R7331.7 FOR CUSTOM PMC 2 DO[512] R7239.7 FOR CUSTOM PMC 2
DI[513] R7301.2 SERVICE REQUEST 3 DO[513] R7216.0 SERVICE OK (RBT) 3
... ... 3 ... ... 3
DI[768] R7331.7 FOR CUSTOM PMC 3 DO[768] R7239.7 FOR CUSTOM PMC 3
DI[769] R7301.2 SERVICE REQUEST 4 DO[769] R7216.0 SERVICE OK (RBT) 4
... ... 4 ... ... 4
DI[1024] R7331.7 FOR CUSTOM PMC 4 DO[1024] R7239.7 FOR CUSTOM PMC 4

Table 4.1.2.5(c) DI/DO signal comments (3)

Signal Robot I/O comment * Signal No. Robot I/O comment *
No.
DI[1025] REM OPE Entry DO[1025] R7203.0 Robot Power On
DI[1026] REM OPE Exit DO[1026] R7203.1 In E.Stop state
DI[1027] (Reserved) DO[1027] R7203.2 Safety Fence Open
DI[1028] OVR UP DO[1028] R7203.3 Robot Peripherals Ready
DI[1029] OVR DOWN DO[1029] R7203.4 Robot In Motion
DI[1030] (Reserved) DO[1030] R7203.5 System Stop Req.
DI[1031] (Reserved) DO[1031] R7203.6 ROBODRILL Ope H.Beat
DI[1032] DIJog Enable DO[1032] R7203.7 (Reserved)
DI[1033] DIJog 1+ DO[1033] R7204.0 RI[1] STATE
DI[1034] DIJog 1- DO[1034] R7204.1 RI[2] STATE
DI[1035] DIJog 2+ DO[1035] R7204.2 RI[3] STATE
DI[1036] DIJog 2- DO[1036] R7204.3 RI[4] STATE
DI[1037] DIJog 3+ DO[1037] R7204.4 RI[5] STATE
DI[1038] DIJog 3- DO[1038] R7204.5 RI[6] STATE
DI[1039] DIJog 4+ DO[1039] R7204.6 RI[7] STATE
DI[1040] DIJog 4- DO[1040] R7204.7 RI[8] STATE

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4. USED SIGNALS B-85444EN-4/02

Signal Robot I/O comment * Signal No. Robot I/O comment *

No.
DI[1041] DIJog 5+ DO[1041] R7205.0 RO[1] STATE
DI[1042] DIJog 5- DO[1042] R7205.1 RO[2] STATE
DI[1043] DIJog 6+ DO[1043] R7205.2 RO[3] STATE
DI[1044] DIJog 6- DO[1044] R7205.3 RO[4] STATE
DI[1045] DIJog 7+ DO[1045] R7205.4 RO[5] STATE
DI[1046] DIJog 7- DO[1046] R7205.5 RO[6] STATE
DI[1047] DIJog 8+ DO[1047] R7205.6 RO[7] STATE
DI[1048] DIJog 8- DO[1048] R7205.7 RO[8] STATE
DI[1049] DIJog 9+ DO[1049] R7206.0 Robot override 0
DI[1050] DIJog 9- DO[1050] R7206.1 Robot override 1
DI[1051] DIJog Joint DO[1051] R7206.2 Robot override 2
DI[1052] DIJog Cart. DO[1052] R7206.3 Robot override 3
DI[1053] DIJog JF1 DO[1053] R7206.4 Robot override 4
DI[1054] DIJog JF2 DO[1054] R7206.5 Robot override 5
DI[1055] DIJog JF3 DO[1055] R7206.6 Robot override 6
DI[1056] DIJog JF4 DO[1056] R7206.7 Robot override 7
DI[1057] OVR 100 DO[1057] R7207.0 Robot Ope. AC1
DI[1058] OVR LOW DO[1058] R7207.1 Robot Ope. AC2
DI[1059] (Reserved) DO[1059] R7207.2 Robot Ope. AC3
DI[1060] (Reserved) DO[1060] R7207.3 Robot Ope. AC4
DI[1061] (Reserved) DO[1061] R7207.4 Robot Ope. AC5
DI[1062] (Reserved) DO[1062] R7207.5 Robot Ope. AC6
DI[1063] (Reserved) DO[1063] R7207.6 Robot Ope. AC7
DI[1064] (Reserved) DO[1064] R7207.7 Robot Ope. AC8
DI[1065] SSI[1] DO[1065] R7208.0 (Reserved)
DI[1066] SSI[2] DO[1066] R7208.1 (Reserved)
DI[1067] SSI[3] DO[1067] R7208.2 (Reserved)
DI[1068] SSI[4] DO[1068] R7208.3 (Reserved)
DI[1069] SSI[5] DO[1069] R7208.4 (Reserved)
DI[1070] SSI[6] DO[1070] R7208.5 (Reserved)
DI[1071] SSI[7] DO[1071] R7208.6 (Reserved)
DI[1072] SSI[8] DO[1072] R7208.7 (Reserved)
DI[1073] SSI[9] DO[1073] R7209.0 (Reserved)
DI[1074] SSI[10] DO[1074] R7209.1 (Reserved)
DI[1075] SSI[11] DO[1075] R7209.2 (Reserved)
DI[1076] (Reserved) DO[1076] R7209.3 (Reserved)
DI[1077] (Reserved) DO[1077] R7209.4 (Reserved)
DI[1078] (Reserved) DO[1078] R7209.5 (Reserved)
DI[1079] (Reserved) DO[1079] R7209.6 (Reserved)
DI[1080] (Reserved) DO[1080] R7209.7 (Reserved)
DO[1081] R7210.0 FOR CUSTOM PMC
DO[1082] R7210.1 FOR CUSTOM PMC
DO[1083] R7210.2 FOR CUSTOM PMC
DO[1084] R7210.3 FOR CUSTOM PMC
DO[1085] R7210.4 FOR CUSTOM PMC
DO[1086] R7210.5 FOR CUSTOM PMC
DO[1087] R7210.6 FOR CUSTOM PMC
DO[1088] R7210.7 FOR CUSTOM PMC
DO[1089] R7211.0 FOR CUSTOM PMC
DO[1090] R7211.1 FOR CUSTOM PMC
DO[1091] R7211.2 FOR CUSTOM PMC
DO[1092] R7211.3 FOR CUSTOM PMC
DO[1093] R7211.4 FOR CUSTOM PMC
DO[1094] R7211.5 FOR CUSTOM PMC
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B-85444EN-4/02 4. USED SIGNALS

Signal Robot I/O comment * Signal No. Robot I/O comment *

No.
DO[1095] R7211.6 FOR CUSTOM PMC
DO[1096] R7211.7 FOR CUSTOM PMC
DO[1097] R7212.0 FOR CUSTOM PMC
DO[1098] R7212.1 FOR CUSTOM PMC
DO[1099] R7212.2 FOR CUSTOM PMC
DO[1100] R7212.3 FOR CUSTOM PMC
DO[1101] R7212.4 FOR CUSTOM PMC
DO[1102] R7212.5 FOR CUSTOM PMC
DO[1103] R7212.6 FOR CUSTOM PMC
DO[1104] R7212.7 FOR CUSTOM PMC
DO[1105] R7213.0 FOR CUSTOM PMC
DO[1106] R7213.1 FOR CUSTOM PMC
DO[1107] R7213.2 FOR CUSTOM PMC
DO[1108] R7213.3 FOR CUSTOM PMC
DO[1109] R7213.4 FOR CUSTOM PMC
DO[1110] R7213.5 FOR CUSTOM PMC
DO[1111] R7213.6 FOR CUSTOM PMC
DO[1112] R7213.7 FOR CUSTOM PMC
DO[1113] R7214.0 FOR CUSTOM PMC
DO[1114] R7214.1 FOR CUSTOM PMC
DO[1115] R7214.2 FOR CUSTOM PMC
DO[1116] R7214.3 FOR CUSTOM PMC
DO[1117] R7214.4 FOR CUSTOM PMC
DO[1118] R7214.5 FOR CUSTOM PMC
DO[1119] R7214.6 FOR CUSTOM PMC
DO[1120] R7214.7 FOR CUSTOM PMC
DO[1121] R7215.0 FOR CUSTOM PMC
DO[1122] R7215.1 FOR CUSTOM PMC
DO[1123] R7215.2 FOR CUSTOM PMC
DO[1124] R7215.3 FOR CUSTOM PMC
DO[1125] R7215.4 FOR CUSTOM PMC
DO[1126] R7215.5 FOR CUSTOM PMC
DO[1127] R7215.6 FOR CUSTOM PMC
DO[1128] R7215.7 FOR CUSTOM PMC
DO[1129] R7202.4 (Reserved)
DO[1130] R7202.5 (Reserved)
DO[1131] R7202.6 (Reserved)
DO[1132] R7202.7 (Reserved)

The following table lists the I/O numbers of the Parts Count Up signal.
For the Parts Count Up signal, set the pulse width to at least 100 ms and the pulse interval to at least 2 s.

Destination Signal No. (robot)

ROBODRILL1 DO[14]
ROBODRILL2 DO[270]
ROBODRILL3 DO[526]
ROBODRILL4 DO[782]

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4. USED SIGNALS B-85444EN-4/02

4.2 PERIPHERAL EQUIPMENT CONTROL SIGNALS

(ROBODRILL CUSTOM PMC FUNCTION)

4.2.1 [System Ladder → Custom Ladder]

Address Symbol Function Remarks
R1309.6 SI9_6 Side door closed state On when the side door is in the close end
position.
R1309.7 SI9_7 Side door open state On when the side door is in the open end
position.
R1428.0 SI78_0 Robot system operation under way On during system operation.
R1428.1 SI78_1 Peripheral in cycle stop mode On in the cycle stop mode.
R1428.2 SI78_2 Peripheral in system stop mode On in the system stop mode.
R1429.3 SI79_3 In teach mode On in the teach mode.
R1429.4 SI79_4 Front door open On when the front door is open.
R1429.5 SI79_5 In system mode On in the system mode.

[Side door closed state: SI9_6]

This signal is on when the ROBODRILL side door is in the close end position.

[Side door open state: SI9_7]

This signal is on when the ROBODRILL side door is in the open end position.

[Robot system operation under way: SI78_0]

This signal is on during system operation.

[Peripheral equipment in cycle stop mode: SI78_1]

This signal is on when the peripheral equipment is put in the cycle stop mode by pressing the [CYCLE
STOP] soft key on the ROBOT OPERATION screen or issuing a cycle stop command from the custom
PMC.

[Peripheral equipment in system stop mode: SI78_2]

This signal is on when the peripheral equipment is put in the system stop mode by pressing the [SYSTEM
STOP] soft key on the ROBOT OPERATION screen or issuing a system stop command from the custom
PMC.

[In teach mode: SI79_3]

This signal is on when the ROBODRILL is in the teach mode.

[Front door open: SI79_4]

This signal is on when the ROBODRILL front door is open.

[In system mode: SI79_5]

This signal is on when the ROBODRILL is in the system mode.

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B-85444EN-4/02 4. USED SIGNALS

4.2.2 [Custom Ladder → System Ladder]

Address Symbol Function Remarks
R1367.0 SO17_0 Teach mode If on, this signal specifies that the robot system
be in the teach mode.
R1367.1 SO17_1 System/stand-alone switching If on, this signal specifies that the robot system
be in the system mode.
R1367.2 SO17_2 System start If on, this signal specifies that the robot system
be started.
R1367.3 SO17_3 ROBOT OPERATION screen If on, this signal specifies that the ROBOT
display OPERATION screen be displayed. If off, it
specifies that the previous screen be resumed.
R1367.4 SO17_4 Cycle stop command To issue the command, keep this signal on for
100 ms.
R1367.5 SO17_5 System stop command To issue the command, keep this signal on for
100 ms.
R1367.7 SO17_7 Peripheral equipment ready If on, this signal indicates that the peripheral
equipment is ready to operate.
R1368.0 SO18_0 Side auto-door open To issue the command, keep this signal on for
100 ms.
R1368.1 SO18_1 Side auto-door close To issue the command, keep this signal on for
100 ms.
R1370.3 SO20_3 Robot start command Turn this signal on to start only the robot.
To issue the command, keep this signal on for
100 ms.
R1375.2 SO25_2 Work-piece clamp Turn this signal on to clamp the work-piece.
To issue the command, keep this signal on for
100 ms.
R1375.3 SO25_3 Robot program stop Turn this signal on to stop the robot program.
To issue the command, keep this signal on for
100 ms.
R1375.4 SO25_4 Robot alarm reset Turn this signal on to reset the robot alarm.
To issue the command, keep this signal on for
100 ms.

[Teach mode: SO17_0]

Turn this signal on to place the ROBODRILL in the teach mode.
Set bit 0 of PMC parameter K19 to 1.

[System/stand-alone switching: SO17_1]

This signal offers the same function as the System/Stand-alone switch.
Before using this signal, take a measure to prevent this signal and the System/Stand-alone switch from
working simultaneously.

[System start: SO17_2]

This signal offers the same function as the system start button on the ROBODRILL operator's panel.
Set bit 1 of PMC parameter K25 to 1.

[ROBOT OPERATION screen display: SO17_3]

Turning this signal on displays the ROBOT OPERATION screen on the ROBODRILL. Turning it off
resumes the previous screen.

[Cycle stop command: SO17_4]

This signal offers the same function as the [CYCLE STOP] soft key on the ROBOT OPERATION
screen.

- 85 -
4. USED SIGNALS B-85444EN-4/02

Set bit 0 of PMC parameter to K25 to 1. In this case, the [CYCLE STOP] soft key is disabled.

[System stop command: SO17_5]

This signal offers the same function as the [SYSTEM STOP] soft key on the ROBOT OPERATION
screen.
Set bit 1 of PMC parameter K25 to 1. In this case, the [SYSTEM STOP] soft key is disabled.

[Peripheral equipment ready: SO17_7]

Use this function to keep system operation from starting. Set bit 4 of PMC parameter K21 to 1.
Unless this signal is on, system operation does not start.

[Side auto-door open: SO18_0]

Turning this signal on opens the side auto-door.

[Side auto-door close: SO18_1]

Turning this signal on closes the side auto-door.

[Robot start command: SO20_3]

Turning this signal on starts the robot. This signal is valid only for the master ROBODRILL.

[Work-piece clamp: SO25_2]

Turning this signal on clamps the work-piece.

[Robot program stop: SO25_3]

Turning this signal on stops the robot program. Set bit 2 of PMC parameter K25 to 1.

[Robot alarm reset: SO25_4]

Turning this signal on resets the robot alarm. Set bit 2 of PMC parameter K25 to 1.

4.2.3 Addresses Available for the Custom PMC

In the ROBODRILL, an area from R2000.0 to R2999.7 is allocated as R addresses available for the
custom PMC. When this function is used, the following R addresses can be used without restrictions in
addition to the above area.

ROBODRILL Corresponding robot

Signal ROBODRILL
addresses addresses
1st DO[161] - DO[256]
Signals sent from the robot to each 2nd R7228.0 - R7239.7 DO[417] - DO[512]
ROBODRILL 3rd (common) DO[673] - DO[768]
4th DO[929] - DO[1024]
1st DI[161] - DI[256]
Signals sent from each 2nd R7320.0 - R7331.7 DI[417] - DI[512]
ROBODRILL to the robot 3rd (common) DI[673] - DI[768]
4th DI[929] - DI[1024]
Signals sent from the robot to all Common R7210.0 - R7215.7 DO[1081] - DO[1128]
ROBODRILLs (common) (common)

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B-85444EN-4/02 5. SETTING OF THE ROBODRILL

5 SETTING OF THE ROBODRILL

5.1 CNC PARAMETERS
No. Setting Function
3006#1 1 Uses the expansion external work-piece number search function.
3006#2 0 Starts a number search (expansion external work-piece number search) by a program.
6920 1 Axis (X-axis) corresponding to position switch 11
6921 2 Axis (Y-axis) corresponding to position switch 12
6922 3 Axis (Z-axis) corresponding to position switch 13
4 (0) Axis (first additional axis) corresponding to position switch 14
6923 Setting not required when the fourth axis is not installed.
6940 Work-piece exchange position (X-axis) maximum value
6941 Work-piece exchange position (Y-axis) maximum value
6942 Work-piece exchange position (Z-axis) maximum value
Work-piece exchange position (first additional axis) maximum value
6943 Setting not required when the fourth axis is not installed.
6960 Work-piece exchange position (X-axis) minimum value
6961 Work-piece exchange position (Y-axis) minimum value
6962 Work-piece exchange position (Z-axis) minimum value
Work-piece exchange position (first additional axis) minimum value
6963 Setting not required when the fourth axis is not installed.

Communication-related parameter setting

When optional communication functions PROFINET and EtherNet/IP are not used

When only Fast Ethernet board is used When multi-function Ethernet is used
CNC parameter Without data server With data server Without data server With data server
No.970 3 3 1 3
No.971 3 4 1 1
No.972 -1
No.973 -1
No.974 -1
No.975 -1
No.976 -1

When optional communication function PROFINET or EtherNet/IP is used

By referring to the table below, make appropriate settings according to the hardware and software
options.

0970 Select a hardware option that operates the Ethernet function, Data Server function, or Modbus/TCP
Server function
0971 Select a hardware option that operates the first FL-net function
0972 Select a hardware option that operates the second FL-net Port2 function
0973 Select a hardware option that operates the PROFINET IO Device function
0974 Select a hardware option that operates the PROFINET IO Controller function

- 87 -
5. SETTING OF THE ROBODRILL B-85444EN-4/02

NOTE
When these parameters are set, the power must be turned off
before operation is continued.

[Input type] Parameter input

[Data byte] Byte
[Valid data range] -1 to 6: Select a hardware option that operates each communication function.

Value Hardware option

-1 Not operated
0 Unsetting (initial value)
1 Multi-function Ethernet (NOTE)
2 Reserved
3 Fast Ethernet board mounted in slot 1
4 Fast Ethernet board mounted in slot 2
5 Fast Ethernet board mounted in slot 3
6 Fast Ethernet board mounted in slot 4

NOTE
1 For Multi-function Ethernet, the Data Server function cannot be
used.
If the Data Server function option (S737) is specified, do not set
Multi-function Ethernet for parameter No. 970.

0975 EtherNet/IP function operating condition selection 1

NOTE
When this parameter is set, the power must be turned off before
operation is continued.

[Input type] Parameter input

[Data byte] Byte
[Valid data range] -1, 0, 10, 20, 30:
Selects the operating condition for the EtherNet/IP function if operating the EtherNet/IP
function on the same hardware option together with the Ethernet function.

Operating condition
Value
Function to operate Hardware option
-1 Not operated
0 Unsetting (initial value)
10 Scanner function only
20 Adapter function only Same hardware option as that specified
30 Both Scanner function and Adapter for parameter No. 970
function

NOTE
Set the hardware option on which to operate the communication
function for parameter No. 970.
If the Ethernet function option (S707) is not specified or if the Data
Server function option (S737) is specified, set -1 (Not operated) for
this parameter.

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B-85444EN-4/02 5. SETTING OF THE ROBODRILL
0976 EtherNet/IP function operating condition selection 2

NOTE
When this parameter is set, the power must be turned off before
operation is continued.

[Input type] Parameter input

[Data byte] Byte
[Valid data range] -1, 0, 11 to 16, 21 to 26, 31 to 36
Selects the operating condition for the EtherNet/IP function if operating the EtherNet/IP
function on a hardware option different from that of the Ethernet function.

Operating condition
Value
Function to operate Hardware option
-1 Not operated
0 Unsetting (initial value)
11 Multi-function Ethernet
12 Reserved
13 Fast Ethernet board mounted in slot 1
Scanner function only
14 Fast Ethernet board mounted in slot 2
15 Fast Ethernet board mounted in slot 3
16 Fast Ethernet board mounted in slot 4
21 Multi-function Ethernet
22 Reserved
23 Fast Ethernet board mounted in slot 1
Adapter function only
24 Fast Ethernet board mounted in slot 2
25 Fast Ethernet board mounted in slot 3
26 Fast Ethernet board mounted in slot 4
31 Multi-function Ethernet
32 Reserved
33 Both Scanner function and Adapter Fast Ethernet board mounted in slot 1
34 function Fast Ethernet board mounted in slot 2
35 Fast Ethernet board mounted in slot 3
36 Fast Ethernet board mounted in slot 4

Parameters related to the Safety function by FL-net

The following parameters cannot be set on the parameter screen. They are automatically set when "NUM.
OF CONNECTED DRILL" or "DRILL No." is set as described in Subsection 3.1.6.1, "List of the items
to be set" or Subsection 3.2.5.1 "List of the items to be set."
Alarm "PW0499" or "PW0500" may be issued due to automatic parameter setting.
If this alarm is issued, turn the power to all robots and ROBODRILLs connected via FL-net off, then on
again.

No. Setting Function

13860#0 The Safety function by FL-net is:
1
13866#0 1: Enabled.
13860#2 The operation mode of the Safety function by FL-net is set to:
1
13866#2 1: 2.
The number of the local node on FL-net is set (2 to 5).
13861 *
ROBODRILL 1 = 2, ROBODRILL 2 = 3, ROBODRILL 3 = 4, ROBODRILL 4 = 5

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5. SETTING OF THE ROBODRILL B-85444EN-4/02

No. Setting Function

13862#1 Communication with the relevant node by using the Safety function by FL-net is:
13876#1 0: Enabled.
: * 1: Disabled.
13865#6 Set to 0 for the robot and remote ROBODRILLs. Set to 1 for the local ROBODRILL and
13879#6 others.
For the DCS PMC area in which to place the signals received via the Safety function by
13867 1 FL-net on the CNC CPU, the address type is specified:
1: DCS PMC R area
For the DCS PMC area in which to place the signals to be sent via the Safety function
13868 1 by FL-net on the CNC CPU, the address type is specified:
1: DCS PMC R area
The start address of the DCS PMC area in which to place the signals received via the
Safety function by FL-net on the CNC CPU is specified. In this area, safety signals and
13869 902 target node information are stored. The size of this area consisting of the 30-byte safety
signal area and 4-byte target node information area is 34 bytes. A 34-byte continuous
area is required.
The start address of the DCS PMC area in which to place the signals to be sent via the
13870 900 Safety function by FL-net on the CNC CPU is specified. The size of send data
consisting of a safety signal is 1 byte.
For the PMC area in which to place the signals received via the Safety function by
13872 1 FL-net on the FL-net CPU, the address type is specified:
1: First PMC R area
For the PMC area in which to place the signals to be sent via the Safety function by
13873 1 FL-net on the FL-net CPU, the address type is specified:
1: First PMC R area
The start address of the PMC area in which to place the signals received via the Safety
function by FL-net on the FL-net CPU is specified. In this area, safety signals and target
13858 7902 node information are stored. The size of this area consisting of the 30-byte safety signal
area and 4-byte target node information area is 34 bytes. A 34-byte continuous area is
required.
The start address of the PMC area in which to place the signals to be sent via the
13859 7900 Safety function by FL-net on the FL-net CPU is specified. The size of send data
consisting of a safety signal is 1 byte.
The Safety function by FL-net transfers data of independent two safety circuits from the
sending node to the receiving node. On the receiving node, the CNC CPU and FL-net
CPU mutually monitor the data of these two paths. If an inconsistency is present for
13871 500
more than the time set for this parameter, an alarm is issued. When the CNC CPU
detects the inconsistency, alarm PW0499 is issued. When the FL-net CPU detects it,
alarm PW0500 is issued.
When the time set for this parameter has passed after power on, the Safety function by
FL-net starts checking receive data. When all nodes participating in the Safety function
by FL-net participate in the network, however, the function starts checking receive data
13874 180
even if the time set for this parameter has not passed.
The value set for this parameter must be longer than or equal to the time required for all
nodes using the Safety function by FL-net to start up and start FL-net communication.
13850#1 The node corresponding to each bit of this parameter:
13854#1 0: Participates in the network of the Safety function by FL-net.
: All 0 1: Is temporarily detached from the network.
13853#6
13857#6

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B-85444EN-4/02 5. SETTING OF THE ROBODRILL

5.2 PMC PARAMETERS

No. Setting Function
T214 2104 Side door operation monitoring time
Wait time between a cycle stop command and move command during system operation or
T216 104 reference position return
Wait time between a cycle stop command and move command during manual robot
T218 104 operation
0: The mini-cell function is disabled.
K17#3 0 1: The mini-cell function is enabled.
During teaching, signals are:
0: Not controlled with the custom PMC (the T1 signal from the robot is used).
K19#0 0 1: Controlled with the custom PMC.
When the fourth axis is installed, the signal of position switch PSW14 (fourth axis) is:
0: Not inverted.
K19#1 * 1: Inverted.
The door used for work-piece exchange by the robot interface is:
0: Side door.
K21#0 0 1: Front door.
Robot specification 0: Six axes 1: Five axes
K21#1 * Set 0 since robots other than the LRMate100iB are six-axis robots.
The robot service request signal is output:
0: When the auto-door is at the open end.
K21#3 0 1: Regardless of the status of the auto-door.
The peripheral equipment ready signal (custom PMC) is:
0: Not monitored. 1: Monitored.
When bit 4 of K21 is set to 1, system operation cannot start unless the peripheral
K21#4 0 equipment ready signal is on.
System operation can start:
0: When the side door is closed.
After the completion of robot service, the ROBODRILL starts operation after the side
door is closed.
1: Even when the side door is not closed.
After the completion of robot service, the ROBODRILL starts operation while the side
K21#5 0 door is being closed.
With the M02 or M30 command, the robot service request signal is:
0: Output.
K21#6 0 1: Not output.
ROBODRILL specification when multiple ROBODRILLs are connected:
* 0: Slave
K21#7 1: Master
When the System/Stand-alone switch is in the System position, pressing the emergency
stop button on the ROBODRILL:
0: Puts the robot in the emergency stop state.
K24#0 0 1: Does not put the robot in the emergency stop state.
The M61 command after a cycle stop command:
0: Does not work.
K24#1 0 1: Works.
The M61 command after a system stop command:
0: Does not work.
K24#2 0 1: Works.

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5. SETTING OF THE ROBODRILL B-85444EN-4/02

No. Setting Function

When the system starts, the ROBODRILL starts:
0: Simultaneously with the robot.
The ROBODRILL is started simultaneously when the robot is started.
1: Starts when receiving the SERVICE OK (RBT) signal from the robot.
The side door of the ROBODRILL is opened and SERVICE REQUEST is output to the
robot simultaneously when the robot is started. When receiving the SERVICE OK (RBT)
K24#3 0(*) signal, the ROBODRILL is started.
At cycle stop, the SERVICE REQUEST signal is:
0: Not output. (The WORK REMOV. REQ. signal is output only.)
K24#4 0 1: Output.
The M52/M53 command works:
0: Regardless of the system or stand-alone mode.
K24#5 0 1: Only in the system mode.
ROBODRILL program number search is performed:
0: At the start of system operation.
K24#6 0 1: At the start of ROBODRILL operation.
At the start of the system:
0: The robot and ROBODRILL start simultaneously.
K24#7 0 1: Only the robot starts.
The cycle stop key is controlled:
0: On the robot system operation screen.
K25#0 0 1: By the custom PMC.
The system start/system stop key is controlled:
0: On the robot system operation screen.
K25#1 0 1: By the custom PMC.
0: The robot reset key is controlled on the robot system operation screen.
K25#2 0 1: Robot reset and robot program stop are controlled by the custom PMC.
System start is controlled:
K58#4 1 1: By the custom PMC.
The robot interface 2 function is:
0: Disabled.
K58#5 0 1: Enabled.
On the robot interface 2 screen, setting:
0: Can be made.
K58#6 0 1: Cannot be made.
System control without the robot interface 2 function is:
0: Disabled
K58#7 0 1: Enabled (Refer to Appendix A.)
Side door control with the new specification is:
0: Disabled.
K60#2 0 1: Enabled.
When the emergency stop button on the ROBODRILL is pressed, the robot is stopped:
0: If the side door is open.
D6863#4 0 1: Regardless of whether the side door is open (same specification as the former interface).
The type of robot is:
0: LR-Mate
D6893 0 1: Others
Production counter data on holidays is:
0: Not saved.
D6892#0 0 1: Saved.

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B-85444EN-4/02 5. SETTING OF THE ROBODRILL

5.3 SETTING OF FL-net

Parameter name Setting Description

ROBODRILL IP address of the local node (The host address part
1st: 192.168.250.002 (last digit) of the IP address is used as the node
IP ADDRESS 2nd: 192.168.250.003 number of the local node.)
3rd: 192.168.250.004
4th: 192.168.250.005
ROBODRILL Facility name of the local node
1st: D1
NODE NAME 2nd: D2
3rd: D3
4th: D4
ROBODRILL Start address of common memory area 1 allocated as
1st: 62 the local node DO (in words)
AREA1 ADDRESS 2nd: 84
3rd: 106
4th: 128
22 Data size of common memory area 1 allocated as the
AREA1 SIZE
(Common to all ROBODRILLs) local node DO (in words)
0 Start address of common memory area 2 allocated as
AREA2 ADDRESS
(Common to all ROBODRILLs) the local node DO (in words)
0 Data size of common memory area 2 allocated as the
AREA2 SIZE
(Common to all ROBODRILLs) local node DO (in words)
TOKEN WATCHDOG 30 Token hold time of the local node
TIME (Common to all ROBODRILLs)
MINIMUM FRAME 50 Time intervals between frames requested to other
TIME (Common to all ROBODRILLs) nodes

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5. SETTING OF THE ROBODRILL B-85444EN-4/02

Parameter name Setting Description

(Common to all
ROBODRILLs)
None Start address of the PMC E/R area to which to output status
OWN STATUS
information related to the local node
R7936 Start address of the PMC E/R area to which to output
ENTRY NODE
information of the nodes participating in the network
1 Byte swap operation for common memory area 1 and 2 cyclic
PARAMETER 1 data is:
CYC 0: Not performed.
1: Performed.
0 Byte swap operation for word block data and transparent
PARAMETER 1 message data is:
WRD 0: Not performed.
1: Performed.
0 Byte swap operation for byte block data is:
PARAMETER 1
0: Not performed.
BYT
1: Performed.
PARAMETER 1 0 (Reserved)
RSV
PARAMETER 2 0 Be sure to set 0.
BAK
0 Auto negotiation (automatic determination of 10/100 Mbps
PARAMETER 2 and full duplex/half duplex) is:
AUT 0: Not used.
1: Used.
0 For the setting of common memory area 2 assignment
PARAMETER 2 parameters, compatible specification of former models is:
DTL 0: Not used.
1: Used.
PARAMETER 2 0 (Reserved)
RSV

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B-85444EN-4/02 5. SETTING OF THE ROBODRILL

Parameter name Setting Description

(Common to all
ROBODRILLs)
R7400 Start address of the PMC E/R area allocated in common
PMC ADDRESS
memory area 1
0 Start address of common memory area 1 allocated in the
AREA1 ADDRESS
PMC E/R area
ALLOCATED 150 Data exchange data size (in words)
SIZE(WORD)

Parameter name Setting Description

(Common to all
ROBODRILLs)
None Start address of the PMC E/R area allocated in common
PMC ADDRESS
memory area 2
0 Start address of common memory area 2 allocated in the
AREA2 ADDRESS
PMC E/R area
ALLOCATED 0 Data exchange data size (in words)
SIZE(WORD)

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5. SETTING OF THE ROBODRILL B-85444EN-4/02

Parameter name Setting Description

(Common to all
ROBODRILLs)
None Start address of the PMC E/R/D area as the interface used by
CLIENT I/F
the message transmission client function
I/F SIZE(BYTE) 0 Maximum available size of the interface area used above
None Start address of the PMC E/R/D area as the interface used by
SERVER I/F
the message transmission server function
I/F SIZE(BYTE) 0 Maximum available size of the interface area used above

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B-85444EN-4/02 5. SETTING OF THE ROBODRILL

5.4 SETTING OF ETHERNET

Parameter name Setting Description

(Common to all
ROBODRILLs)
8193 The port No. used by the FOCAS2/Ethernet functions and
PORT NUMBER (TCP)
CNC screen display functions
PORT NUMBER (UDP) 0 Set 0.
TIME INTERVAL 0 Set 0.

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6. SYSTEM CONTROL B-85444EN-4/02

6 SYSTEM CONTROL
With robot interface 2, the robot and ROBODRILL are connected with FL-net, and the ROBODRILL works
as the master of the system.

6.1 TIMING CHART

This section explains how this system operates, using examples.

6.1.1 Robot/ROBODRILL Operation Upon Completion of Machining

ROBODRILL
operation Completion of machining Next cycle

Side auto-door
(front *1) Open Closed

Service request
signal ON OFF

Robot operation Entry into Picking up/setting Exit from

Service
completion signal ON

6.1.2 Robot/ROBODRILL Operation at Cycle Stop

ROBODRILL
operation Completion of machining

Side auto-door
(front *1) Open Closed

Work pick up
request signal ON OFF

Robot operation Entry into Picking up work Exit from

Cycle stop
completion signal ON

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B-85444EN-4/02 6. SYSTEM CONTROL

6.1.3 Robot/ROBODRILL Operation at System Stop

ROBODRILL
operation Completion of machining

Side auto-door
(front *1) Open Closed

Work pick up
request signal ON OFF

Robot operation Entry into Picking up work Exit from

System stop
completion signal ON

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6. SYSTEM CONTROL B-85444EN-4/02

6.2 DETAILS OF SYSTEM CONTROL

Control for the 1st ROBODRILL is detailed below.

6.2.1 Control during Normal Operation

ROBODRILL Robot

ROBODRILL machining completed

SERVICE REQUEST (DI[1] = ON) ------------> Signal status check
SIDE GATE OPEN (DI[8] = ON)
(Front auto-door control (DI[10] = ON)*1) ------------> Signal status check
Work-piece install and remove operation
SERVICE OK
ROBODRILL machining start <------------ (DO[1] = ON, OFF after 300 ms)

6.2.2 Work-Piece Installation (Install Operation Only)

ROBODRILL Robot

ROBODRILL machining completed

WORK INSTALL.REQ. (DI[2] = ON) ------------> Signal status check
SIDE GATE OPEN (DI[8] = ON)
(Front auto-door control (DI[10] = ON)*1) ------------> Signal status check
Work-piece install operation
SERVICE OK
ROBODRILL machining start <------------ (DO[1] = ON, OFF after 300 ms)

6.2.3 Work-Piece Removal (Cycle Stop)

ROBODRILL Robot

ROBODRILL machining completed

WORK REMOV. REQ. (DI[3] = ON) ------------> Signal status check
SIDE GATE OPEN (DI[8] = ON)
(Front auto-door control (DI[10] = ON)*1) ------------> Signal status check
Work-piece remove operation
CYCLE STOP OK
ROBODRILL stop <------------ (DO[3] = ON, OFF after 300 ms)
The program remains in the execution
state.

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B-85444EN-4/02 6. SYSTEM CONTROL

6.2.4 System Stop

ROBODRILL Robot

ROBODRILL machining completed

SYSTEM STOP REQ. (DI[6] = ON) ------------> Signal status check
SERVICE REQUEST (DI[1] = ON) ------------> Signal status check
SIDE GATE OPEN (DI[8] = ON)
(Front auto-door control (DI[10] = ON)*1) ------------> Signal status check
Stop-related operation
SYSTEM STOP OK
ROBODRILL machining stop <------------ (DO[4] = ON, OFF after 300 ms)
The program ends.

6.2.5 Machining Completion Notice

ROBODRILL Robot

M62 executed
NOTICE OF M30/M02 (DI[4] = ON) ------------> Signal status check
Preparations for work-piece exchange

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6. SYSTEM CONTROL B-85444EN-4/02

6.3 M CODES
Function Command Detailed description
Robot service M60 When the machining program of the ROBODRILL is of the infinite loop type, use
request this M code to request the robot to remove and install the work-piece.
If the System/Stand-alone switch is in the "System" position:
The side door (front door*1) is opened, and a service request signal or cycle
stop request signal is issued to the robot.
When the robot issues a service completion signal, the side door (front door*1)
is closed, and commands in the next block are executed.
When the robot issues either a cycle stop completion/system completion signal,
the side door (front door*1) is closed, and the operation is finished.
If the System/Stand-alone switch is in the "Stand-alone" position:
Nothing is performed.
Work-piece M61 Use this code to make the robot only install the work-piece after the start of
install request system operation. Do not use this code when system operation starts after the
work-piece is always set manually.
If the System/Stand-alone switch is in the "System" position:
The side door is opened and a work setting request signal is issued to the
robot first time M61 is issued after any of the events:
• Setting the System/Stand-alone switch to the "Stand-alone" position
• Cycle stop (if bit 1 of PMC K24 parameter =1)
• System stop (if bit 2 of PMC K24 parameter =1)
When a first M61 command is specified later, the side door (front door*1) is
opened, and a work setting request is sent to the robot.
When the robot issues a service completion signal, the side door (front door*1)
is closed, and the next block is executed.
Nothing is performed the next and subsequent times M61 is issued.
If the System/Stand-alone switch is in the "Stand-alone" position:
Nothing is performed.
Process M62 A process completion notice signal is issued to the robot.
completion Use this code as a trigger for preparation for work-piece exchange such as
notice moving the robot closer to the side (front*1) auto-door before the completion of
machining.
Side door close M52 The side door is closed.
Side door open M53 The side door is opened.

*1) When changing work-piece from the front door, set bit 0 of K21 to 1.

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B-85444EN-4/02 6. SYSTEM CONTROL

6.4 SYSTEM/STAND-ALONE AND SYSTEM START

(1) When an external switch is used
Install an external switch and connect it to the custom PMC (custom ladder) signals.

Sample external switch

Stand-alone System

Momentary switch Alternate switch

Signal

ON ON

OFF OFF

Switch ON Switch status switching

R1367.1 (SO17_1): System/stand-alone switching (On: System mode)

R1367.2 (SO17_2): System start command

(2) When the custom operator's panel function is used

The custom operator's panel (vertical soft keys on the side of the screen) function and custom PMC
can be used to switch between the system and stand-alone modes and start the system without
installing an external switch.

Example of setting

Signals to be turned on Signals R1367.1,

and off by the custom R1367.2, and
operator's panel function others are turned
are used in the custom on and off.
PMC.

Custom PMC

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6. SYSTEM CONTROL B-85444EN-4/02

The custom operator's panel function can be used to turn the signals at set addresses from the switch on
the screen on and off.
The addresses at which signals are turned on and off by the switch on the screen can be used to create the
custom PMC for processing which turns the signals at the following addresses (R1367.1 and R1367.2)
and others on and off.
For details, refer to Chapter 42, "CUSTOM OPERATOR'S PANEL FUNCTION," in Part IV of the
"Operator's Manual (Detailed version) (B-85444EN-1 or B-85454EN-1)" and the "CUSTOM PMC
FUNCTION OPERATOR'S MANUAL (B-85444EN-3)."

R1367.1(SO17_1): System/stand-alone switching (On: System mode)

R1367.2(SO17_2): System start command

The system start conditions are listed below:

(a) The system mode is selected.
(b) The peripheral equipment ready signal is on (when bit 4 of K21 is set to 1).
(c) The machine is at the work-piece exchange position (when bit 3 of K24 is set to 1).
(d) The machine is in the operation enable state (no alarm is issued, the servo ready signal is on, and the
feed hold button is not pressed).
(e) The MEM mode (auto mode) is selected.
(f) The side door is closed (when bits 0 and 5 of K21 are set to 0).

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B-85444EN-4/02 6. SYSTEM CONTROL

6.5 SYSTEM STOP AND CYCLE STOP

The following four methods are available for performing system stop and cycle stop.

(1) Method using external switches

Add external switches and use the signals to turn the system stop and cycle stop signals provided in
the custom PMC on.
R1367.4 (SO17_4): Cycle stop command
R1367.5 (SO17_5): System stop command

(2) Method using robot interface screens

By parameter setting, soft keys on the SYSTEM START/MONITOR screen can be used to perform
system stop and cycle stop.
The setting can be made with "CYCLE STOP KEY" and "SYSTEM STOP KEY" on Page 2 of 6.
MAINTENANCE-3(SET.).

(3) Method using the custom operator's panel function

The custom operator's panel function can be used to perform system stop and cycle stop using
vertical soft keys on the side of the screen when the QUICK Screen is displayed.
R1367.4 (SO17_4): Cycle stop command
R1367.5 (SO17_5): System stop command

(4) Method using robot output signals

Corresponding signals can be output from the robot to the ROBODRILL to perform system stop and
cycle stop.
Keep each corresponding signal on for about 100 ms.

Cycle stop request

Destination Signal No. (robot)
ROBODRILL1 DO[15]
ROBODRILL2 DO[271]
ROBODRILL3 DO[527]
ROBODRILL4 DO[783]

System stop request

Destination Signal No. (robot)
All ROBODRILLs DO[1030]
Caution: Methods (1) to (3) are available for system stop only from the master ROBODRILL.

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7. ALARMS AND MESSAGES B-85444EN-4/02

7 ALARMS AND MESSAGES

This chapter describes the alarms and messages related to this function.

7.1 MACHINE ALARMS (EX ALARMS)

Alarm display
No. Corrective action Remarks
Description
EX1008 AUTO DOOR TOTAL TIME OVER. Check whether the Default timer
The open/close function for the front door or side door (for the auto-door open/close settings:
robot interface) is abnormal. operation is completed T20 = 6000
When the auto-door open/close option is installed, the within about 4 seconds T214 = 2104
operation time between the door open/close command and the for the front door or
completion of operation exceeds the setting. The setting for about 2 seconds for
the door open/close operation time is invalid. The adjustment the side door.
(air pressure, flow rate adjustment valve air damper, or Check the PMC
proximity switch) of the door open/close function may also be parameter timer
faulty. settings.
EX1054 SIDE DOOR SW IS DEFECTIVE. Turn the power off,
The open/close state signal for the side door is abnormal. then on again. If this
A signal inconsistency is found between the two switches for alarm is still issued
monitoring the side door open/close state (air cylinder switch after that, contact
and side door switch). FANUC.
The door open/close signal status is either of the following:
<1> The door open state (X10.3 = 0 or X10.2 = 1) and door
close state (X16.7 = 1) are kept for at least 500 ms.
<2> The door open state (X10.2 = 1 or X16.7 = 0) and door
close state (X10.3 = 1) are kept for at least 500 ms.
X10.2: Side door open cylinder switch
X10.3: Side door close cylinder switch
X16.7: Side door monitor switch
EX1061 ROBOT IS IN SERVICE. In the robot service
Spindle rotation or tool change was specified in the robot state, these operations
service state. are disabled.

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B-85444EN-4/02 7. ALARMS AND MESSAGES

7.2 OPERATOR MESSAGES

Message display
No. Corrective action Remarks
Description
2016 SAFETY GATE IS OPEN.
If this message is displayed even when the safety gate is
not open, the power to the robot may be off or an FL-net
communication error may occur.
2020 TEACHING MODE.(T1) To perform normal
When bit 0 of K19 is set to 0, the robot is in the T1 mode. operation, cancel the
If the robot is not in the T1 mode, an FL-net teach mode.
communication error occurs. When bit 0 of K19 is set to 1,
custom PMC signal R1367.0 (SO17_0) is set to 1.
2021 SIDE DOOR AND SAFETY DOOR IS OPEN.
The side door is in the open state (X16.7 = 0) and the
safety gate signal input from the robot indicates the open
state.
2033 CAN NOT OPEN THE FRONT DOOR.(SIDE DOOR IS Close the side door,
OPEN) then open the front
An attempt was made to open the front door when the side door.
door was open.
2034 CAN NOT OPEN THE SIDE DOOR.(FRONT DOOR IS Close the front door,
OPEN) then open the side
An attempt was made to open the side door when the front door.
door was open.

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8. FUNCTIONS OF THE
ROBOT CONTROLLER B-85444EN-4/02

8 FUNCTIONS OF THE ROBOT

CONTROLLER
The robot controller which supports this function mainly has the following functions:
・ Interlock between the robot and ROBODRILL programs (machine system operation)
・ Manual robot operation from the ROBODRILL screen (manual robot operation)
・ ROBODRILL status display on the robot teach pendant (ROBODRILL display)
・ ROBODRILL jog feed and tool length compensation change on the robot teach pendant
(ROBODRILL operation)
In addition, the robot controller has a function which installs the settings required for connection with the
ROBODRILL at a time and a function which displays the I/O comments and alarms of the robot
controller on the ROBODRILL screen to support robot operation from the ROBODRILL screen.

8.1 ROBODRILL AND ROBOT SYSTEM OPERATION

(MACHINE INTERLOCK OPERATION)
Machine system operation (machine interlock operation) means the operation status in which programs
are executed based on cooperation of the robot and ROBODRILL.
In a system configured using this function, the ROBODRILL directs the entire system to start machine
system operation. This processing is called system start. When the system contains multiple
ROBODRILLs, a specific ROBODRILL directs system start. The ROBODRILL which takes this role is
called the master ROBODRILL.
Machine system operation is performed as follows:
・ The robot controller starts the robot operation program (PNS program) specified using I/O signals
from the master ROBODRILL.
・ The started robot operation program establishes synchronization with the machining program
running on the ROBODRILL, using I/O signals.
・ The robot operation program terminates according to the instructions from the ROBODRILL. You
can create a program which allows the robot to terminate for robot's own reason.
To implement machine system operation, background logic in the robot controller is used to transfer the
DI signals from the master ROBODRILL to UI. Background logic programs are contained in this
function. They can be used as is, and can also be customized by the system designer.
The start of the robot operation program is specified by signals from the master ROBODRILL.
Work-piece loading and unloading are also specified by signals from the master ROBODRILL. The
termination of the robot operation program is also specified by signals from the master ROBODRILL in
principle. To stop the system for robot's own reason, the robot can send a stop request to the
ROBODRILL. In this case, however, the ROBODRILL which receives this stop request directs the robot
to terminate. For this reason, in the robot operation program, logic to respond to the I/O signals from the
ROBODRILL must be written.

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 8. FUNCTIONS OF THE
B-85444EN-4/02 ROBOT CONTROLLER

8.2 MASTER ROBODRILL CHANGE AND ROBODRILL

SEPARATION (DEGRADATION OPERATION) DURING
MACHINE SYSTEM OPERATION
When a system consists of multiple ROBODRILLs, the master ROBODRILL can be changed at any
timing.
A ROBODRILL which does not work as the master ROBODRILL can withdraw from machine system
operation and can also participate in machine system operation again when it does not participate in the
operation. The power to a ROBODRILL which does not participate in machine system operation can be
turned off.
When some ROBODRILLs do not participate in machine system operation, the other ROBODRILLs and
robot can continue machine system operation. This status is called degradation operation.

8.3 MANUAL ROBOT OPERATION FROM THE ROBODRILL

(MANUAL ROBOT OPERATION)
The ROBODRILL operator can use the ROBODRILL screen to perform robot jog feed operation, and
open and close the robot hand manually. The following operations are available:
・ Robot jog feed
・ Robot override change
・ Execution of robot hand operation and jig operation programs
・ Robot home position return
・ Resuming of a held robot program
・ Robot alarm reset
・ Abort of a robot program

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8.4 ROBODRILL STATUS DISPLAY ON THE ROBOT TEACH

PENDANT
On the robot teach pendant, the following types of ROBODRILL screens can be displayed:
・ CNC Actual Position screen
・ CNC Alarm screen
・ CNC Message screen
・ CNC Running Program screen
・ I/O screen
This function is implemented by obtaining the ROBODRILL status from the robot with MTCOM
communication with the ROBODRILL.

8.5 DISPLAY AND CHANGE OF ROBODRILL TOOL LENGTH

COMPENSATION ON THE ROBOT TEACH PENDANT
On the robot teach pendant, the tool length compensation of the ROBODRILL can be displayed and
changed. This function is implemented by obtaining or rewriting the tool length compensation of the
ROBODRILL from the robot with MTCOM communication with the ROBODRILL.

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8.6 ROBODRILL JOG FEED ON THE ROBOT TEACH

PENDANT
On the robot teach pendant, ROBODRILL jog feed can be performed. This function is implemented by
obtaining the current position of the ROBODRILL and directing; by using I/O, jog feed of the
ROBODRILL from the robot with MTCOM communication with the ROBODRILL.

8.7 INPUT OF THE SETTINGS REQUIRED FOR CONNECTION

WITH THE ROBODRILL AT A TIME
This function can input the settings required for connecting the robot and ROBODRILL in the robot
controller at a time. After the installation of the settings, the system designer can change individual
settings manually as required.

8.8 SENDING OF THE I/O COMMENTS OF THE ROBOT

CONTROLLER TO THE ROBODRILL SCREEN
The system designer can send the I/O comments set on the robot controller to the ROBODRILL to
display them on the ROBODRILL screen.
The I/O comments are sent to all connected ROBODRILLs.
The I/O comments of up to 256 DI and 256 DO signals can be sent to each ROBODRILL. For example,
to ROBODRILL1, the I/O comments of DI[1] to DI[256] and DO[1] to DO[256] are sent. To
ROBODRILL2, the I/O comments of DI[257] to DI[512] and DO[257] to DO[512] are sent. Other I/O
comments cannot be sent to the ROBODRILL.

8.9 DISPLAY OF ROBOT CONTROLLER ALARMS ON THE

ROBODRILL SCREEN
On the ROBODRILL screen, alarm messages issued on the robot controller are displayed in real time.
The robot alarm messages are sent to the ROBODRILL via FOCAS2 communication.

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9 SETTING OF THE ROBOT

9.1 SETTING ON THE ROBOT CONTROLLER
This section describes the setting required for using the robot connected to the ROBODRILL that is made
on the robot controller.
The following setting operations are minimum required on the robot controller:

・ Loading the settings determined according to the number of ROBODRILLs to be connected

・ Executing background logic programs
・ Transferring I/O comments to the ROBODRILL
・ Setting reference positions
・ Setting jog coordinate systems
・ Enabling/disabling the ROBODRILL jog feed function from the robot
・ Enabling/disabling the ROBODRILL tool offset data change function from the robot
・ Enabling/disabling the robot jog feed function from the ROBODRILL

The settings determined according to the number of ROBODRILLs can be loaded at a time. These
settings include I/O assignment and TCP/IP settings.
To handle signals from multiple ROBODRILLs, background logic programs are used. Select the
background logic programs according to the number of ROBODRILLs.
After changing I/O assignment and I/O comments on the robot controller, transfer the I/O comments to
the ROBODRILL. With this operation, the robot I/O comments are displayed on the ROBODRILL screen.
The reference positions are used to set the reference positions of the robot for which system start can be
directed. They are also used to define a range of positions at which the robot home position return
operation can be performed from the ROBODRILL.
For robot jog feed from the ROBODRILL, the jog coordinate system corresponding to the ROBODRILL
number is used. The jog coordinate system can be set so that the directions are the same as those in the
ROBODRILL machine coordinate system to make the X-, Y-, and Z-axis directions of the robot in the
robot jog feed operation from the ROBODRILL intuitively easy to understand.
By default, the ROBODRILL jog feed function and ROBODRILL tool offset data change function from
the robot teach pendant are disabled. Enable these functions as required.
By default, the robot jog feed function from the ROBODRILL is disabled. Enable the function as required.

9.1.1 Loading the Settings Determined According to the Number of

ROBODRILLs at a Time
The settings required for using this function are loaded at a time. They include the following items. For
some of these items, it is necessary to check and execute the setting manually after loaded.

・ I/O assignment and I/O comments

・ TCP/IP parameters
・ FL-net settings
・ Settings related to the Safety function by FL-net
・ Settings of safe I/O connect
・ Selection of background logic programs
・ Client tag setting
・ Macro assignment
・ Reference position setting

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WARNING
Loading the settings overwrites the existing settings.

Operation 9-1 Procedure for loading the settings determined according to the
number of ROBODRILLs
1 While holding the PREV and NEXT keys on the teach pendant, turn the power to the robot
controller on. The CONFIGURATION MENU appears.
2 Select "Controlled start". The initial screen of the controlled start menu appears.
3 Press the MENU key to display the screen menu.
4 Select "ROBODRILL Cfg". The Setup ROBODRILL screen appears.

Fig. 9.1.1(a) Setup ROBODRILL screen (controlled start)

5 Set the number of ROBODRILLs to be connected to the robot controller for "Number of
ROBODRILLs". The valid value range is from 1 to 4. When this function is not used, set 0.
6 For "I/O device", select FL-net(Port#1) or FL-net(Port#2). When the controller has only one
Ethernet port, select FL-net(Port#1).
7 Place the cursor on <Execute> for "Load Setting" and press the ENTER key. A confirmation
message appears. Press OK. Executing load setting overwrites the existing settings.
8 If you want to change the step of override change for manual operation from the ROBODRILL,
enter an appropriate value for "Override Step". The default is 10%.
9 Press the FCTN key and select "START (COLD)" from the menu. The robot controller is started by
the cold start. After the cold start, the SYST-212 alarm is issued. This is because settings of the
Safety function by FL-net in the DCS are changed.

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Fig. 9.1.1(b) DCS screen

10 Check the changes and press F2 (APPLY).

You are asked to enter a password (master). Enter 1111.
For details on the DCS password, refer to Section 2.5, "DCS PASSWORD SETTING SCREEN" in
the R-30iB/R-30iB MATE CONTROLLER DUAL CHECK SAFETY FUNCTION OPERATOR'S
MANUAL.

11 The changes are displayed. Press F4 (OK).

Fig. 9.1.1(c) After DCS settings are applied

12 Restart the robot controller.

WARNING
Loading the settings overwrites the existing settings.

9.1.2 Selecting and Executing Background Logic Programs

After the settings determined according to the number of ROBODRILLs are loaded at a time, background
logic programs are selected. However, these background logic programs may not be in the execution state,
and stop. Use the following procedure to execute the background logic programs.

Operation 9-2 Executing the background logic programs

1 Press the MENU key to display the screen menu.
2 Select "SETUP".
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3 Press F1 "TYPE" to display the screen switching menu.
4 Select "BG Logic". The following screen appears. As many background logic programs as the
number of ROBODRILLs are displayed. RDC2UI01 is a background logic program for a system
having one ROBODRILL.

Fig. 9.1.2 Background Logic screen

5 When "Stop" is displayed as the status of a background logic program, press F2 "RUN" to execute
the program.

9.1.3 Setting Reference Positions

The ROBODRILL can direct system start only when the robot is in the reference position. This reference
position means the position set as reference position 1 in the robot controller. After the settings
determined according to the number of ROBODRILLs are loaded at a time, reference position 1 is invalid.
This is because system start is not performed from the ROBODRILL unintentionally.
Robot home position return operation from the ROBODRILL is also involved with reference positions.
The robot controller sets an independent positional range for each ROBODRILL, and only when the robot
is in the range, it turns the home position return enable signal for the corresponding ROBODRILL on.
These positional ranges are set as reference positions 2 to 5. The reference positions are also invalid after
the settings determined according to the number of ROBODRILLs are loaded.

Operation 9-3 Procedure for setting reference position 1

1 Press the MENU key to display the screen menu.
2 Select "SETUP".
3 Press F1 "TYPE" to display the screen switching menu.
4 Select "Ref Position". The reference position list screen appears.

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Fig. 9.1.3(a) Reference position list screen

5 Place the cursor on No. 1.
6 Press F3 "DETAIL". The reference position detail screen appears.

Fig. 9.1.3(b) Reference position detail screen

7 Enter data for the reference position.

8 Press the PREV key. The reference position list screen appears again.
9 Place the cursor on ENABLE/DISABLE and press the ENABLE function key.
10 Move the robot to reference position 1 and confirm that peripheral I/O UO[7] (reference point
signal) is turned on.

Operation 9-4 Procedure for setting reference positions 2 to 5

1 Press the MENU key to display the screen menu.
2 Select "SETUP".
3 Press F1 "TYPE" to display the screen switching menu.
4 Select "Ref Position". The reference position list screen appears.
5 Place the cursor on No. 2.
6 Press F3 "DETAIL". The reference position detail screen appears.

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Fig. 9.1.3(c) Reference position detail screen

7 Enter data for the reference position.

8 Press the PREV key. The reference position list screen appears again.
9 Place the cursor on ENABLE/DISABLE and press the ENABLE function key.
10 Set reference positions 3 to 5 in the same way according to the number of connected ROBODRILLs.

9.1.4 Setting Robot Jog Feed Operation

The robot jog feed function from the ROBODRILL operator's panel is disabled by default. Use the
following procedure to enable the function.

Operation 9-5 Enabling robot jog feed operation

1 Press the MENU key to display the screen menu.
2 Select "SETUP".
3 Press F1 "TYPE" to display the screen switching menu.
4 Select "ROBODRILL Cfg". The Setup ROBODRILL screen appears.

Fig. 9.1.4 Setup ROBODRILL screen

5 Place the cursor on "Robot Jog Feed by DI signals".

6 Select ENABLE.

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9.1.5 Setting Jog Coordinate Systems

A jog coordinate system is a Cartesian coordinate system defined for jog feed. Set a jog coordinate
system according to the system to improve work efficiency. Usually, the machine coordinate system of
the ROBODRILL and the coordinate system of the robot are different in directions. In this status, when
the ROBODRILL directs robot jog feed in the X direction, the robot moves in a direction different from
the X direction in the ROBODRILL machine coordinate system.
The jog coordinate system of the robot can be set so that the directions are the same as those in the
ROBODRILL machine coordinate system to move the robot in the X direction in the machine coordinate
system when robot jog feed in the X direction is directed.
For robot jog feed from the ROBODRILL, the jog coordinate system corresponding to each
ROBODRILL number is used as the reference coordinate system. For example, jog coordinate system 1 is
used for jog feed from ROBODRILL1, and jog coordinate system 2 is used for jog feed from
ROBODRILL2.
Set jog coordinate systems 1 to 4 appropriately. The following describes how to set jog coordinate system
1 using the direct list method.

Operation 9-6 Procedure for setting a jog coordinate system

1 Press the MENU key to display the screen menu.
2 Select "SETUP".
3 Press F1 "TYPE" to display the screen switching menu.
4 Select "Frames".
5 Press F3 "OTHER".
6 Select "Jog Frame". The jog coordinate system list screen appears.

Fig. 9.1.5(a) Jog coordinate system list screen

7 Place the cursor on a jog coordinate system number.

8 Press F2 "DETAIL".
9 Press F2 "METHOD".
10 Select "Direct Entry".

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Fig. 9.1.5(b) Jog coordinate system detail screen

11 Enter the comment and coordinate values.

12 Press the PREV key to display the jog coordinate system list screen.

An example of entering numeric values directly to define a jog coordinate system is shown below with a
figure which shows how the ROBODRILL and robot are placed.

ROBODRILL
Machine Coordinate System

ZZ
ロボドリルの
機械座標系
Y
Y

X
X
ZZ
Robot World Coordinate System
ロボット座標系
(Robot World Frame)

X
X Y
Y

Fig. 9.1.5(c) Example of the positional relationships between the ROBODRILL machine coordinate system
and robot coordinate system

In the above example, the robot M-10iA enters into the ROBODRILL from its side door, and loads and
unloads the work-piece. To match the jog direction of the ROBODRILL table and spindle and the jog
direction of the robot TCP (tool center point), specify the jog coordinate system as follows.

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⎡X⎤ ⎡ 0 ⎤
⎢ ⎥ ⎢ ⎥
⎢Y⎥ ⎢ 0 ⎥
⎢Z⎥ ⎢0⎥
⎢ ⎥=⎢ ⎥
⎢W ⎥ ⎢ 0 ⎥
⎢P⎥ ⎢0⎥
⎢ ⎥ ⎢ ⎥
⎢⎣ R ⎥⎦ ⎢⎣90⎥⎦

9.1.6 Transferring I/O Comments of the Robot Controller

To display I/O comments of the robot controller on the ROBODRILL screen, transfer the I/O comments
from the robot controller to the ROBODRILL. I/O comments are transferred manually. After changing
I/O comments on the robot controller, transfer them to the ROBODRILL again.
The I/O comments are transferred to all CNCs connected via MTCOM communication.

Operation 9-7 Transferring I/O comments

1 Press the MENU key to display the screen menu.
2 Select "SETUP".
3 Press F1 "TYPE" to display the screen switching menu.
4 Select "ROBODRILL Cfg". The Setup ROBODRILL screen appears.

Fig. 9.1.6 Setup ROBODRILL screen

5 Place the cursor on <Send> of "Send I/O Comment to ROBODRILL" and press the "ENTER" key.
Use the PREV key to cancel transfer operation.

9.1.7 Setting the Tool Offset Screen

To enable ROBODRILL tool offset data to be changed using the robot teach pendant, enable the function
on the Setup ROBODRILL screen in advance.

Operation 9-8 Enabling the tool offset screen

1 Press the MENU key to display the screen menu.
2 Select "SETUP".
3 Press F1 "TYPE" to display the screen switching menu.
4 Select "ROBODRILL Cfg". The Setup ROBODRILL screen appears.

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Fig. 9.1.7 Setup ROBODRILL screen

5 Place the cursor on "Tool offset data changing".

6 Press F4 "ENABLE". To disable the function, press F5 "DISABLE".

9.1.8 Setting the Machine Tool Operation Screen

To enable ROBODRILL jog feed on the robot teach pendant, enable the function on the Setup
ROBODRILL screen in advance.

Operation 9-9 Enabling the Machine Tool Operation screen

1 Press the MENU key to display the screen menu.
2 Select "SETUP".
3 Press F1 "TYPE" to display the screen switching menu.
4 Select "ROBODRILL Cfg". The Setup ROBODRILL screen appears.

Fig. 9.1.8 Setup ROBODRILL screen

5 Place the cursor on "ROBODRILL Jog Feed".

6 Press F4 "ENABLE". To disable the function, press F5 "DISABLE".

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9.2 ADVANCED SETTINGS OF THE ROBOT CONTROLLER

In addition to standard settings, set appropriate values according to each function when required.
The following subsections describe how to change values loaded by loading the settings determined
according to the number of ROBODRILLs at a time.

9.2.1 TCP/IP Parameter Setting

The standard setting provides I/O transfer with FL-net communication between one ROBODRILL and
one robot, and MTCOM communication connected with one Ethernet cable between one Ethernet port on
the robot controller and one Fast Ethernet card in an optional slot of the ROBODRILL.

When the function for loading the settings determined according to the number of ROBODRILLs is used,
the TCP/IP parameters are also set. These settings can be used as is. You can also change them according
to the environment you use as required.
Change TCP/IP parameters so that the setting is consistent between the robot controller and
ROBODRILL.

For example, when the data server function is used for the ROBODRILL, refer to the parameter settings
of the robot controller described in Appendix H, "IF USING THE DATA SERVER FUNCTION
SIMULTANEOUSLY" in this Operator's Manual.

Operation 9-10 Checking and changing TCP/IP parameters

1 Press the MENU key to display the screen menu.
2 Select "SETUP".
3 Press F1 "TYPE" to display the screen switching menu.
4 Select "Host Comm".
5 Place the cursor on TCP/IP and press F3 "DETAIL". The following screen appears. When the robot
controller has two or more Ethernet ports, press F3 "PORT" to change the port number.

Fig. 9.2.1 SETUP Host Comm screen

6 If any displayed TCP/IP parameter is inappropriate for the environment you use, change the value.

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9.2.2 FL-net Setting

When the function for loading the settings determined according to the number of ROBODRILLs is used,
FL-net is also set. The setting can be used as is. You can also change it according to the environment you
use as required.
Change FL-net parameters so that the setting is consistent between the robot controller and ROBODRILL.

Operation 9-11 Checking and changing FL-net parameters

1 Press the MENU key to display the screen menu.
2 Select "SETUP".
3 Press F1 "TYPE" to display the screen switching menu.
4 Select "FL-NET".
5 Press F3 "OTHER" and select "OWN NODE". The FL-net settings for the robot controller are
displayed.

Fig. 9.2.2 FL-NET OWN NODE SETUP

6 If any displayed parameter is inappropriate for the environment you use, change the value.

9.2.3 Setting of the Safety Function by FL-net

When the function for loading the settings determined according tithe number of ROBODRILLs is used,
the Safety function by FL-net is also set. The setting can be used as is. You can also change it according
to the environment you use as required.
Change the setting for the Safety function by FL-net so that the setting is consistent between the robot
controller and ROBODRILL.

Operation 9-12 Checking and changing FL-net parameters

1 Press the MENU key to display the screen menu.
2 Select "SYSTEM".
3 Press F1 "TYPE" to display the screen switching menu.
4 Select "DCS".
5 Place the cursor on "Safety function by FL-net" and press F3 "DETAIL". The settings for the Safety
function by FL-net are displayed.

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Fig. 9.2.3 Safety function by FL-net screen

6 If any displayed parameter is inappropriate for the environment you use, change the value.

9.2.4 Setting of Safe I/O Connect

When the function for loading the settings determined according tithe number of ROBODRILLs is used,
safe I/O connect is also set. The setting can be used as is. You can also change it according to the
environment you use as required.
Do not change safe I/O casually since the ROBODRILL references it.

Operation 9-13 Checking and changing safe I/O connect

1 Press the MENU key to display the screen menu.
2 Select "SYSTEM".
3 Press F1 "TYPE" to display the screen switching menu.
4 Select "DCS".
5 Place the cursor on "Safe I/O connect" and press F3 "DETAIL". The settings for safe I/O connect are
displayed.

Fig. 9.2.4 Safe I/O connect screen

6 If any displayed parameter is inappropriate for the environment you use, change the value.
7 After changing any value, apply the setting on the DCS screen and restart the robot controller.

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9.2.5 Client Tag Setting

A client tag is used to establish MTCOM communication between the robot and ROBODRILL.
Set the client tag on the Host Comm screen. Define as many client tags as the number of connected CNCs
from eight client tags C1 to C8 displayed on the Host Comm screen. Define one client tag for each
ROBODRILL.

NOTE
・ If MTCOM communication has not started, the "ROBODRILL MON." screen and
the "ROBODRILL OPE." screen are unavailable. If MTCOM communication has
not started, follow the starting procedure below.
・ If communication fails to start, two or more routes of ROBODRILL's FOCUS2
communication may have started for other applications. Check the status of
software function that depends on ROBODRILL's FOCUS2 communication.

Operation 9-14 Setting client tags and starting communication

1 Press the MENU key and select SETUP, then Host Comm. (Press the MENU key and select Host
Comm in the controlled start mode.)
2 Press F4 "SHOW" button and select "Clients". Eight client tags C1 to C8 are listed. After the
settings are loaded at a time, the setting for connecting the ROBODRILL has been completed as
shown below.

Fig. 9.2.5(a) SETUP Clients screen

3 Place the cursor on a tag you want to set and press F3 "DETAIL". The screen changes as follows.

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Fig. 9.2.5(b) SETUP Tags screen

4 If you want to change any setting, read the description below.

Item Description
Protocol To connect the ROBODRILL, select MTCOM.
Startup State Selecting "START" automatically starts communication at power-on.
Server IP/Hostname ROBODRILL IP address or host name
Server Port The default is 8193. Do not change this value.
CNC No. Enter the ROBODRILL number.
Response Timeout A timeout occurs if communication response is not made within this time.

5 When "STARTED" is not displayed for Current State, press F2 "ACTION" and select "START".
When communication with the ROBODRILL is enabled, the Current State value changes to
"STARTED".

NOTE
Even when "START" is selected for "Startup State", communication does not
start if the power to the ROBODRILL is not on at the power-on of the robot
controller. In this case, it is necessary to start communication manually on the
Host Comm screen on the robot controller.

9.2.6 Alarm Message Transfer Setting

When MTCOM communication is enabled, the message related to an alarm issued in the robot controller
is displayed on the ROBODRILL screen. The alarm message display operation can be changed as follows.

Table 9.2.6(a) Settings related to alarm message transfer

Setting Description
Enabling/disabling of alarm When alarm message transfer is enabled, up to four alarm messages are
message transfer displayed on the CNC when issued. When alarm message transfer is disabled,
no alarm message is displayed on the CNC. By default, alarm message
transfer is enabled.
Selection of types of alarm Whether to display an alarm message for which the alarm severity is WARN
messages to transfer on the CNC and whether to display the detail alarm code can be selected. By
default, the WARN alarm display and detail code display are disabled.

Operation 9-15 Setting alarm message transfer

1 Press the MENU key to display the screen menu.
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2 Select "SETUP".
3 Press F1 "TYPE" to display the screen switching menu.
4 Select "ROBODRILL Cfg". The Setup ROBODRILL screen appears.
5 Press F3 "OTHER" and select "MTCOM". The following communication screen appears.

Fig. 9.2.6(a) Setup Machine I/F screen (communication setup screen of Setup ROBODRILL)

6 Select the client tag corresponding to the target CNC and press "DETAIL". The following screen
appears.

Fig. 9.2.6(b) Setup Machine I/F screen (communication setup detail screen of Setup ROBODRILL)

7 Set Alarm Output, Send Warning, and Send Cause Code to ENABLE or DISABLE. The following
table describes the setting items.

Table 9.2.6(b) Setting items

Setting item Description
Alarm Output When this item is set to ENABLE, up to four alarm messages are sent to the CNC if an
alarm is issued and reset. The default is ENABLE.
Send Warning When this item is set to ENABLE, an alarm message for which the alarm severity is
WARN is also sent to the CNC. The default is DISABLE.
Send Cause Code When this item is set to ENABLE, the detail alarm code is sent to the CNC. The default is
DISABLE.

8 Press F2 "LIST" to display the MTCOM list screen. The following table lists key operations
available on this screen.

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Table 9.2.6(c) Key operations on the Setup Machine I/F screen (communication setup detail screen of Setup
ROBODRILL)
Key Function
F2 "LIST" Displays the communication list screen again.

F3 "PREV" Displays the CNC detail screen corresponding to the previous CNC number.

F4 "NEXT" Displays the CNC detail screen corresponding to the next CNC number.

9.2.7 Override Step Change

By default, the step of override change from the ROBODRILL to the robot controller is 10%. This value
can be changed.

Operation 9-16 Procedure for setting the step of override change

1 Press the MENU key to display the screen menu.
2 Select "SETUP".
3 Press F1 "TYPE" to display the screen switching menu.
4 Select "ROBODRILL Cfg". The Setup ROBODRILL screen appears.

Fig. 9.2.7 Setup ROBODRILL screen

5 Place the cursor on "Override Step".

6 Enter an appropriate value and press the "ENTER" key. The setting becomes available immediately.

9.2.8 Connection Retry of MTCOM Communication

If connection to the ROBODRILL via the MTCOM communication fails, it can retry at specified
intervals for the specified period. This retry can be set on the Setup Machine I/F screen (communication
setup detail screen of Setup ROBODRILL). By default, the retry is performed at intervals of 10 seconds
for 3 minutes.

Operation 9-17 Setting connection retry of MTCOM communication

1 Press the MENU key to display the screen menu.
2 Select "SETUP".
3 Press F1 "TYPE" to display the screen switching menu.
4 Select "ROBODRILL Cfg". The Setup ROBODRILL screen appears.
5 Press F3 "OTHER" and select "MTCOM". The following communication screen appears.

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Fig. 9.2.8(a) Setup Machine I/F screen (communication setup screen of Setup ROBODRILL)

6 Select the client tag corresponding to the target CNC and press "DETAIL". The following screen
appears.

Fig. 9.2.8(b) Setup Machine I/F screen (communication setup detail screen of Setup ROBODRILL)

7 Place the cursor on "Connection retry" and set ENABLE.

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9.3 SYSTEM SETTING

9.3.1 Macros
Macros are set as listed in the table below.

Table 9.3.1 Macro setting

No. Macro Program name Assignment *
instruction
121 HANDOP01 M_HAND11 MF 31
122 HANDOP02 M_HAND12 MF 32
123 HANDOP03 M_HAND13 MF 33
124 HANDOP04 M_HAND14 MF 34
125 HANDOP05 M_HAND15 MF 35
126 HANDOP06 M_HAND16 MF 36
127 HANDOP07 M_HAND17 MF 37
128 HANDOP08 M_HAND18 MF 38
129 HANDOP09 M_HAND21 MF 39
130 HANDOP10 M_HAND22 MF 40
131 HANDOP11 M_HAND23 MF 41
132 HANDOP12 M_HAND24 MF 42
133 HANDOP13 M_HAND25 MF 43
134 HANDOP14 M_HAND26 MF 44
135 HANDOP15 M_HAND27 MF 45
136 HANDOP16 M_HAND28 MF 46
137 MANL_OP MANL_OP DI 40
138 MANL_OP2 MANL_OP2 DI 296 *
139 MANL_OP3 MANL_OP3 DI 552 *
140 MANL_OP4 MANL_OP4 DI 808 *
141 REM_ENT REM_ENT DI 1025
142 REM_EXT REM_EXT DI 1026
143 OVRUP OVRUP DI 1028
144 OVRDOWN OVRDOWN DI 1029
145 OVR100 OVR100 DI 1057
146 OVRLOW OVRLOW DI 1058
When * is shown in the rightmost column, the relevant item is set according to the number of
ROBODRILLs.

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B-85444EN-4/02 9. SETTING OF THE ROBOT

9.3.2 System Variables

System variables are set as listed in the table below.

Table 9.3.2 System variables

System variable name Value
$BLAL_OUT.$BATALM_OR TRUE
$E_STOP_DO 1026
$MACROMAXDRI 15
$MAX_DIG_PRT 1280
$MTSERV_CNC[1].$RECON_ENB TRUE
$MTSERV_CNC[2].$RECON_ENB TRUE Set when the number of ROBODRILLs is 2.
$MTSERV_CNC[3].$RECON_ENB TRUE Set when the number of ROBODRILLs is 3.
$MTSERV_CNC[4].$RECON_ENB TRUE Set when the number of ROBODRILLs is 4.
$MTSERV_CFG.$CNC_POW_IO[1] 11
$MTSERV_CFG.$CNC_POW_IO[2] 267 Set when the number of ROBODRILLs is 2.
$MTSERV_CFG.$CNC_POW_IO[3] 523 Set when the number of ROBODRILLs is 3.
$MTSERV_CFG.$CNC_POW_IO[4] 779 Set when the number of ROBODRILLs is 4.
$MTSI.$DI_INDEX[1] 1032
$MTSI.$DI_INDEX[2] 1051
$MTSI.$DI_INDEX[3] 1052
$MTSI.$DI_INDEX[4] 1053
$MTSI.$DI_INDEX[5] 1054
$MTSI.$DI_INDEX[6] 1055
$MTSI.$DI_INDEX[7] 1056
$MTSI.$DI_INDEX[8] 0
$MTSI.$DI_INDEX[9] 1033
$MTSI.$DI_INDEX[10] 1034
$MTSI.$DI_INDEX[11] 1035
$MTSI.$DI_INDEX[12] 1036
$MTSI.$DI_INDEX[13] 1037
$MTSI.$DI_INDEX[14] 1038
$MTSI.$DI_INDEX[15] 1039
$MTSI.$DI_INDEX[16] 1040
$MTSI.$DI_INDEX[17] 1041
$MTSI.$DI_INDEX[18] 1042
$MTSI.$DI_INDEX[19] 1043
$MTSI.$DI_INDEX[20] 1044
$MTSI.$DI_INDEX[21] 1045
$MTSI.$DI_INDEX[22] 1046
$MTSI.$DI_INDEX[23] 1047
$MTSI.$DI_INDEX[24] 1048
$MTSI.$DI_INDEX[25] 1049
$MTSI.$DI_INDEX[26] 1050
$OPWORK.$UOP_DISABLE 0
$PARAM_GROUP[1].$PPABN_ENBL FALSE
$REFPOS1[1].$COMMENT REF POSITION
$REFPOS1[1].$ENABLED FALSE
$REFPOS1[1].$DOUT_TYPE 2
$REFPOS1[1].$DOUT_INDX 0
$REFPOS1[2].$COMMENT DRILL1
INTFZONE
$REFPOS1[2].$ENABLED FALSE
$REFPOS1[2].$DOUT_TYPE 2
$REFPOS1[2].$DOUT_INDX 7

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9. SETTING OF THE ROBOT B-85444EN-4/02

System variable name Value

$REFPOS1[3].$COMMENT DRILL2 Set when the number of ROBODRILLs is 2.
INTFZONE
$REFPOS1[3].$ENABLED FALSE
$REFPOS1[3].$DOUT_TYPE 2
$REFPOS1[3].$DOUT_INDX 263
$REFPOS1[3].$COMMENT DRILL3 Set when the number of ROBODRILLs is 3.
INTFZONE
$REFPOS1[3].$ENABLED FALSE
$REFPOS1[3].$DOUT_TYPE 2
$REFPOS1[3].$DOUT_INDX 519
$REFPOS1[3].$COMMENT DRILL4 Set when the number of ROBODRILLs is 4.
INTFZONE
$REFPOS1[3].$ENABLED FALSE
$REFPOS1[3].$DOUT_TYPE 2
$REFPOS1[3].$DOUT_INDX 775
$REMOTE_CFG.$REMOTE_TYPE 1
$SEMIPOWERFL FALSE
$SHELL_CFG.$CONT_ONLY TRUE
$SHELL_CFG.$USE_ABORT TRUE
$SHELL_CFG.$PNS_ENABLE TRUE
$SHELL_CFG.$PRODSTARTYP 1
$SHELL_CFG.$CSTOPI_ALL TRUE

9.3.3 Host Communication Setting

Settings related to host communication are listed below.

Table 9.3.3(a) TCP/IP (1)

Item Value Note
IP address 192.168.250.1 Set for the selected port.
Subnet mask 255.255.255.0

Table 9.3.3(b) TCP/IP (2) host names

Host name (local) IP address
1 D1 192.168.250.2
2 D2 192.168.250.3
3 D3 192.168.250.4
4 D4 192.168.250.5

Table 9.3.3(c) Client tag setting

Tag Protocol CNC No. Destination
1 C1: MTCOM 1 D1
2 C2: MTCOM 2 D2
3 C3: MTCOM 3 D3
4 C4: MTCOM 4 D4

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B-85444EN-4/02 9. SETTING OF THE ROBOT

9.4 FL-net
This section describes how to use FL-net on the robot and ROBODRILLs.

9.4.1 Restrictions on the Robot Controller

The FL-net board cannot be used. Use internal port 1 or 2. When the robot controller does not have
internal port 2, use internal port 1.

9.4.2 Assignment of the FL-net Common Memory Area

This function uses only common memory area 1 of the two FL-net common memory areas. The following
figure shows how to use the common memory area in a system consisting of four ROBODRILLs.
Common memory area 1 is used by the robot and ROBODRILLs as shown in the figure.

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9. SETTING OF THE ROBOT B-85444EN-4/02

FL-net address (word)

0 Robot Safety Signal Area

Signals
to all ROBODRILLs (128 points）

Signals to ROBODRILL 1st

Signals to ROBODRILL 2nd

Signals to ROBODRILL 3rd

Signals to ROBODRILL 4th

62 ROBODRILL 1st Safety Signal Area

Signals to the Robot (256 points)

84 ROBODRILL 2nd Safety Signal Area

Signals to the Robot (256 points)

106 Safety Signal Area

ROBODRILL 3rd

Signals to the Robot (256 points)

128 Safety Signal Area

ROBODRILL 4th

Signals to the Robot (256 points)

150

♒ Reserved
♒
512
Fig. 9.4.2 Assignment of the FL-net common memory area in a system consisting of four ROBODRILLs

In a system consisting of one, two, or three ROBODRILLs, the area used by each ROBODRILL is the
same. For example, in a system consisting of one ROBODRILL, ROBODRILL1 uses the same area
shown in the above figure, and the areas for ROBODRILL2 to ROBODRILL4 are not used.
The size of the area used by the robot differs depending on the number of ROBODRILLs. In a system
consisting of four ROBODRILLs, the area shown in the above figure is used. In a system consisting of
one ROBODRILL, the area "Signals to ROBODRILL 2nd" and subsequent areas in the above figure are
not used.

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B-85444EN-4/02 9. SETTING OF THE ROBOT

9.4.3 Safety Function by FL-net

The robot controller outputs the following three safety signals:
• Safety fence close (b-contact)
• T1 mode
• Emergency stop (b-contact)

The ROBODRILL outputs the following four safety signals:

• Front door close (b-contact)
• Side door close (b-contact)
• Emergency stop (b-contact)
• Safety state (b-contact)

9.5 SETTING RELATED TO FL-net

This section describes the setting related to FL-net on the robot controller.

9.5.1 FL-net Settings on the Robot Controller

The node number of each equipment is fixed.
The last digit of the IP address indicates the node number. The node number for the robot controller is
fixed as 1. The node number for each ROBODRILL is assigned from 2 in the order of the ROBODRILL
number.

Table 9.5.1(a) Node numbers and IP addresses

Equipment Node number IP address
Robot 1 192.168.250.1
ROBODRILL1 2 192.168.250.2
ROBODRILL2 3 192.168.250.3
ROBODRILL3 4 192.168.250.4
ROBODRILL4 5 192.168.250.5

The following table lists the FL-net settings on the robot controller.

Table 9.5.1(b) Local node settings

Setting Value Node
MAX DIGITAL PORT 1280
NUM
USING PORT INTERNAL1 or INTERNAL2 The port selected on the SETUP screen is
used.
IP ADDRESS 192.168.250.1
MULTICAST DISABLE
TOKEN WATCH TIME 30
FRAME INTERVAL 50
AREA1 WORD OFFSET 0
AREA1 WORD SIZE 26 (, 38, 50, 62) Set according to the number of ROBODRILLs.
DO BYTE OFFSET1 12
DO BYTE SIZE1 40 (, 64, 88, 112) Set according to the number of ROBODRILLs.

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9. SETTING OF THE ROBOT B-85444EN-4/02

Table 9.5.1(c) Node list settings

Node AREA 1 WORD AREA1 WORD SIZE DI BYTE SIZE1 DI BYTE OFFSET1
OFFSET
NODE NO. 2 62 22 32 12
NODE NO. 3 84 22 32 12 *
NODE NO. 4 106 22 32 12 *
NODE NO. 5 128 22 32 12 *

9.5.2 Safety Function by FL-net

Table 9.5.2(a) Settings for the Safety function by FL-net(1) Local node setting
Item Value
Enable/Disable ENABLE
Own node number 1
Timer for receive data 500
Mode 2

Table 9.5.2(b) Settings for the Safety function by FL-net (2) Settings for each node
Node ENB/DIS IDnum.
1 DISABLE 1
2 ENABLE 1
3 ENABLE 1 *
4 ENABLE 1 *
5 ENABLE 1 *
6 DISABLE 1
... ... ...
30 DISABLE 1

Table 9.5.2(c) Functions of the FSI signals

Node Equipment #7 #6 #5 #4 #3 #2 #1 #0
1 Robot System Emergency T1 Safety fence
stop close
2 ROBODRILL1 System Safety Emergency Side door close Front door
state stop close
3 ROBODRILL2 System Safety Emergency Side door close Front door
state stop close
4 ROBODRILL3 System Safety Emergency Side door close Front door
state stop close
5 ROBODRILL4 System Safety Emergency Side door close Front door
state stop close

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B-85444EN-4/02 9. SETTING OF THE ROBOT

9.5.3 Safety Signals Output from the Robot Controller

The following three types of safety signals are output from the robot controller using safe I/O connect.

Table 9.5.3(a) Safe I/O connect

FSO[1] = SSI[2:FENCE]
FSO[2] = SSI[8:T1]
FSO[3] = SSI[6:OPEMG] (For the R-30iB Mate: FSO[3] = SSI[3:EXEMG])

Table 9.5.3(b) FSI signal comments

Signal name Comment *
FSI[1] Robot FENCE
FSI[2] Robot T1-mode
FSI[3] Robot Estop
FSI[4]
FSI[5]
FSI[6]
FSI[7]
FSI[8] Robot Error
FSI[9] ROBODRILL1 Front Door
FSI[10] ROBODRILL1 Side Door
FSI[11] ROBODRILL1 Estop
FSI[12] ROBODRILL1 Safety State
FSI[13]
FSI[14]
FSI[15]
FSI[16] ROBODRILL1 Error
FSI[17] ROBODRILL2 Front Door
FSI[18] ROBODRILL2 Side Door
FSI[19] ROBODRILL2 Estop
FSI[20] ROBODRILL2 Safety State
FSI[21]
FSI[22]
FSI[23]
FSI[24] ROBODRILL2 Error
FSI[25] ROBODRILL3 Front Door
FSI[26] ROBODRILL3 Side Door
FSI[27] ROBODRILL3 Estop
FSI[28] ROBODRILL3 Safety State
FSI[29]
FSI[30]
FSI[31]
FSI[32] ROBODRILL3 Error
FSI[33] ROBODRILL4 Front Door
FSI[34] ROBODRILL4 Side Door
FSI[35] ROBODRILL4 Estop
FSI[36] ROBODRILL4 Safety State
FSI[37]
FSI[38]
FSI[39]
FSI[40] ROBODRILL4 Error

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10. ROBOT PROGRAMS B-85444EN-4/02

10 ROBOT PROGRAMS
This chapter describes the TP programs to be read into the robot controller.

10.1 BACKGROUND LOGIC PROGRAMS

A Background Logic program is a TP program configured to be executed as a background operation.

Table 10.1 Background Logic programs

Program Use Note
name
RDC2UI01 1-ROBODRILL system Works without any modification. Free to customize.
RDC2UI02 2-ROBODRILL system Works without any modification. Free to customize.
RDC2UI03 3-ROBODRILL system Works without any modification. Free to customize.
RDC2UI04 4-ROBODRILL system Works without any modification. Free to customize.

10.1.1 Background Logic

With this function, only one ROBODRILL (⇒ master ROBODRILL) of multiple ROBODRILLs makes a
program call request to the robot controller. The robot controller selects a master ROBODRILL from
multiple ROBODRILLs, using Background Logic.

10.1.1.1 Mechanism of selecting a master ROBODRILL using

Background Logic
Only one ROBODRILL can make a program call request to the robot controller at a time. This
ROBODRILL is called a master ROBODRILL. Any one of the ROBODRILLs connected to the robot
controller will be a master ROBODRILL.
There can be only one master ROBODRILL at all times. In the ROBODRILL that is a master
ROBODRILL, the master ROBODRILL signal is ON, whereas in the other ROBODRILLs, the master
ROBODRILL signal is OFF.
Of the signals from all ROBODRILLs, the robot controller transfers only the signal from the
ROBODRILL in which the master ROBODRILL signal is ON to the UI signal. This is achieved by
Background Logic.
ROBODRILL
1st
DI
ROBODRILL
DI 2nd
Background
UI
Logic
DI ROBODRILL
3rd
Robot Controller DI
ROBODRILL
4th
Fig. 10.1.1.1 Selection of the signal from the master ROBODRILL using Background Logic

With this function, the UI signal of the robot controller is allocated to a flag. The flag (F[ ]) is an internal
I/O port that can be read and set. The Background Logic program contained in this function transfers the
signal from the master ROBODRILL to the flag, so that a status is created in which the UI signal of the
robot controller is connected to the master ROBODRILL.

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B-85444EN-4/02 10. ROBOT PROGRAMS
The Background Logic function executes a TP program that contains only instructions supported by
Background Logic in the background. The program is executed repeatedly from beginning to end. This
execution is not influenced by emergency stops, holds, or alarms. For details of the Background Logic
function, refer to "FANUC Robot series R-30iB/R-30iB Mate CONTROLLER OPERATOR'S MANUAL
(Basic Operation)".

10.1.1.2 Operation of Background Logic programs

The Background Logic programs contained in this function are of four types:
z For a 1-ROBODRILL system: RDC2UI01.TP
z For a 2-ROBODRILL system: RDC2UI02.TP
z For a 3-ROBODRILL system: RDC2UI03.TP
z For a 4-ROBODRILL system: RDC2UI04.TP
These Background Logic programs achieve robot program call requests from ROBODRILLs, as well as
robot manual operation. If the master ROBODRILL signal from a ROBODRILL is ON, the signal related
to the robot program call request from that ROBODRILL is transferred. This is also true of robot manual
operation: The signal from the ROBODRILL that acquires the Remote Operation Right is transferred to
the signal related to resuming the robot program and robot Jog Feed.

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10. ROBOT PROGRAMS B-85444EN-4/02

Fig. 10.1.1.2 General flowchart for Background Logic programs

Note that the signals from all ROBODRILLs are reflected in signals related to Robot Remote Condition
and Robot Reset.
These Background Logic programs can be used without any modifications, but can also be customized as
needed. For details, see Subsection 10.1.2, "Details of Background Logic Programs".

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B-85444EN-4/02 10. ROBOT PROGRAMS

10.1.2 Details of Background Logic Programs

The Background Logic programs contained in this function can be customized by the user at will. This
subsection describes the information necessary for customization.

10.1.2.1 Requirements for Background Logic programs

A Background Logic program must achieve the following:
z Generation of signals for use on the ROBODRILL screen
z Generation of the signal for transferring the status of the RO signal to a ROBODRILL
z Robot alarm reset from all ROBODRILLs
z Stop of the robot from the ROBODRILL that is in system mode, and the aborting of the robot
program
z Robot program call request with the UI signal from a master ROBODRILL
z Issuance of the Remote Operation Right to the ROBODRILL that makes a remote operation request
z Robot Jog Feed and robot Override Change from the ROBODRILL that has the Remote Operation
Right
These are achieved by transferring the DI signals from a ROBODRILL to the flag allocated to the UI and
DI signals of the robot and, in turn, transferring the robot status to the DO signals to the ROBODRILL.

10.1.2.2 Relationships between ROBODRILL statuses and robot

operations
In the prepared Background Logic programs, robot operations and ROBODRILL statuses are associated
as below. As indicated in this table, system start can be from a master ROBODRILL only, and Jog Feed
can be from a ROBODRILL that has the Remote Operation Right only.
This table differs from Chapter 11, "ROBOT OPERATIONS FROM ROBODRILLS". For example,
Hand Operation is implemented so that it can be accepted by even a ROBODRILL that does not have the
Remote Operation Right. The reason for this is that the operations that the operator can actually perform
are restricted by not only the Background Logic programs of the robot controller but also the
ROBODRILL screen and the ROBODRILL ladder program.

Table 10.1.2.2 Correspondence between robot operations and ROBODRILL statuses in Background Logic
programs
Robot operation ROBODRILL
status
Any
System
Master Remote
Operation
Right
Reset ○ ← ← ←
Override Change ○ ← ← ←
Resuming PNS Program × × × ○
Jog Feed × × × ○
Hand Operation ○ ← ← ←
General Operation ○ ← ← ←
Starting PNS Program × × ○ ×
HOLD, SFSPD, ENABLE × × ○ ×
Aborting PNS Program × ○ ← ←
*IMSTP × ○ ← ←
←: Same as left
○: Operable or effective (influencing) HOLD, SFSPD, ENABLE, *IMSTP
×: Inoperable or ineffective (not influencing)
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10. ROBOT PROGRAMS B-85444EN-4/02

Note that the Remote Operation Right can be acquired regardless of whether the robot program is being
executed or not. This is for making it possible to perform operations such as Jog Feed and Resuming PNS
Program from a ROBODRILL if the robot program is paused due to a robot alarm.

10.1.2.3 Details of Background Logic programs

This function incorporates four types of Background Logic programs according to the number of
ROBODRILLs. These programs have the same structure, so the Background Logic program used with a
2-ROBODRILL system is used as an example in the following description.

/PROG RDC2UI02
/MN
1: DO[1025:RC POWER ON]=ON ;
2: DO[1027:Safety Fence Open]=(!DI[1066:SSI[2]]) ;
3: DO[1028:Robot Peripherals Ready]=($OPWORK.$UOP_DISABLE=0) ;
4: ;

The DO signals used on the ROBODRILL screen are output. Note that for DI[1066], the fence signal,
which is a safety signal, is input.

5: !hand ;
6: DO[1041:RO[1] STATE]=(RO[1:Gripper Open]) ;
7: DO[1042:RO[2] STATE]=(RO[2:Gripper Close]) ;
8: DO[1043:RO[3] STATE]=(RO[3:Finish Grip Open]) ;
9: DO[1044:RO[4] STATE]=(RO[4:Finish Grip Close]) ;
10: DO[1045:RO[5] STATE]=(RO[5]) ;
11: DO[1046:RO[6] STATE]=(RO[6]) ;
12: DO[1047:RO[7] STATE]=(RO[7]) ;
13: DO[1048:RO[8] STATE]=(RO[8]) ;
14: ;

To monitor the statuses of RO[1] to RO[8] with the ROBODRILL, they are transferred to DO signals.

15: LBL [1000] ;

16: F[1:UI[1]]=((!DI[13:SYSTEM MODE ON] OR DI[57:EMG STOP (RBT)])
AND (!DI[269:SYSTEM MODE ON] OR DI[313:EMG STOP (RBT)])) ;
17: F[2:UI[2]]=((DI[80:Master ROBODRILL] AND DI[58:EMG STOP
(RBT)]) OR (DI[336:Master ROBODRILL]=ON AND DI[314:HOLD
(RBT)])) ;
18: F[3:UI[3]]=((DI[80:Master ROBODRILL] AND DI[59:SAFETY SPD
(RBT)]) OR (DI[336:Master ROBODRILL]=ON AND DI[315:SAFETY SPD
(RBT)])) ;
19: F[4:UI[4]]=((DI[13:SYSTEM MODE ON] AND DI[60:CYCLE STOP
(RBT)]) OR (DI[269:SYSTEM MODE ON] AND DI[316:CYCLE STOP
(RBT)])) ;
20: F[5:UI[5]]=(DI[61:RESET (RBT)] OR DI[317:RESET (RBT)]) ;
21: F[8:UI[8]]=((DI[80:Master ROBODRILL] AND DI[64:OPERAT. OK
(RBT)]) OR (DI[336:Master ROBODRILL]=ON AND DI[320:OPERAT. OK
(RBT)])) ;
22: ;

Signals to input to UI[1], UI[2], UI[3], UI[4], UI[5], and UI[8] are generated.
UI[1] makes it possible to apply robot Emergency Stop from a ROBODRILL that is in system mode. This
makes it possible for stopping the robot from a ROBODRILL that is not a master ROBODRILL.
UI[2], UI[3], and UI[8] are controlled from a master ROBODRILL only.

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B-85444EN-4/02 10. ROBOT PROGRAMS
UI[4] is a signal for prematurely terminating the robot program. A ROBODRILL that is in system mode
can prematurely terminate the robot program even if it is not a master ROBODRILL.
UI[5] is a signal for resetting a robot alarm. A robot alarm can be reset from any ROBODRILL.

23: LBL [1100] ;

24: IF (DI[80:Master ROBODRILL]<>ON),JUMP LBL [1200] ;
25: F[7:UI[7]]=((DI[63:HOME])) ;
26: F[9:UI[9]]=((DI[65:PNS 1])) ;
27: F[10:UI[10]]=((DI[66:PNS 1])) ;
28: F[11:UI[11]]=((DI[67:PNS 1])) ;
29: F[12:UI[12]]=((DI[68:PNS 1])) ;
30: F[13:UI[13]]=((DI[69:PNS 1])) ;
31: F[14:UI[14]]=((DI[70:PNS 1])) ;
32: F[15:UI[15]]=((DI[71:PNS 1])) ;
33: F[16:UI[16]]=((DI[72:PNS 1])) ;
34: F[17:UI[17]]=((DI[73:PNS REQUEST])) ;
35: F[18:UI[18]]=((DI[74:START (RBT)])) ;
36: ;

This section is processed if ROBODRILL 1 is a master ROBODRILL. The section is made so that the
PNS program of the robot can be started from the ROBODRILL. It is skipped if ROBODRILL 1 is not a
master ROBODRILL.

37: LBL [1200] ;

38: IF (DI[336:Master ROBODRILL]<>ON),JUMP LBL [1300] ;
39: F[7:UI[7]]=((DI[319:HOME])) ;
40: F[9:UI[9]]=((DI[321:PNS 1])) ;
41: F[10:UI[10]]=((DI[322:PNS 1])) ;
42: F[11:UI[11]]=((DI[323:PNS 1])) ;
43: F[12:UI[12]]=((DI[324:PNS 1])) ;
44: F[13:UI[13]]=((DI[325:PNS 1])) ;
45: F[14:UI[14]]=((DI[326:PNS 1])) ;
46: F[15:UI[15]]=((DI[327:PNS 1])) ;
47: F[16:UI[16]]=((DI[328:PNS 1])) ;
48: F[17:UI[17]]=((DI[329:PNS REQUEST])) ;
49: F[18:UI[18]]=((DI[330:START (RBT)])) ;
50: ;

This section is a portion for starting the PNS program of the robot from ROBODRILL 2 if ROBODRILL
2 is a master ROBODRILL. It is skipped if ROBODRILL 2 is not a master ROBODRILL.

51: LBL [1300] ;

52: ;
53: LBL [1400] ;
54: ;
55: LBL [1500] ;
56: ;

For systems with three and four ROBODRILLs, this section contains the processing for starting the PNS
program of the robot from ROBODRILL 3 and ROBODRILL 4. This example is the Background Logic
program used with a 2-ROBODRILL system, so the processing is not contained.
After this section, the processing for Program for Robot Remote Operation continues.

57: LBL [2000] ;

58: !manual op ;

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10. ROBOT PROGRAMS B-85444EN-4/02

59: DO[1057:Robot Ope. AC1]=(DI[14:MANUAL OPE REQ.]

AND !DI[270:MANUAL OPE REQ.]) ;
60: DO[1058:Robot Ope. AC2]=(!DI[14:MANUAL OPE REQ.] AND
DI[270:MANUAL OPE REQ.]) ;
61: ;

This section is made so that of the two ROBODRILLs, only one can have the Remote Operation Right.

62: !RobotJog Entry/Exit ;

63: F[25:DI[1025]]=(DI[49:Robot Jog Entry] OR DI[305:Robot Jog
Entry]) ;
64: F[26:DI[1026]]=(DI[50:Robot Jog Exit] OR DI[306:Robot Jog
Exit]) ;
65: ;

This section generates DI signals with the timing of the entry and exit of a robot Jog Feed operation from
the ROBODRILL. With these DI signals, the macro for reducing or returning the robot override is started.

66: !Ovr Up/Down ;

67: F[28:DI[1028]]=(DI[36:Override Up] OR DI[292:Override Up]) ;
68: F[29:DI[1029]]=(DI[37:Override Down] OR DI[293:Override
Down]) ;
69: ;
70: !Ovr 100/Low ;
71: F[57:DI[1057]]=(DI[38:Override 100%] OR DI[294:Override
100%]) ;
72: F[58:DI[1058]]=(DI[39:Override Low] OR DI[295:Override Low]) ;
73: ;

This section generates the signal for starting the macro for changing the robot override from the
ROBODRILL.

74: !Robot Jog ;

75: LBL [2100] ;
76: IF (DO[1057:Robot Ope. AC1]<>ON),JUMP LBL [2200] ;
77: F[6:UI[6]]=((DI[62:EXT. START (RBT)])) ;
78: F[32:DI[1032]]=(DI[35:Robot Jog Enable]) ;
79: F[33:DI[1033]]=(DI[17:JOG 1+ (ROBOT)]) ;
80: F[34:DI[1034]]=(DI[18:JOG 1- (ROBOT)]) ;
81: F[35:DI[1035]]=(DI[19:JOG 2+ (ROBOT)]) ;
82: F[36:DI[1036]]=(DI[20:JOG 2- (ROBOT)]) ;
83: F[37:DI[1037]]=(DI[21:JOG 3+ (ROBOT)]) ;
84: F[38:DI[1038]]=(DI[22:JOG 3- (ROBOT)]) ;
85: F[39:DI[1039]]=(DI[23:JOG 4+ (ROBOT)]) ;
86: F[40:DI[1040]]=(DI[24:JOG 4- (ROBOT)]) ;
87: F[41:DI[1041]]=(DI[25:JOG 5+ (ROBOT)]) ;
88: F[42:DI[1042]]=(DI[26:JOG 5- (ROBOT)]) ;
89: F[43:DI[1043]]=(DI[27:JOG 6+ (ROBOT)]) ;
90: F[44:DI[1044]]=(DI[28:JOG 6- (ROBOT)]) ;
91: F[45:DI[1045]]=(DI[29:JOG 7+ (ROBOT)]) ;
92: F[46:DI[1046]]=(DI[30:JOG 7- (ROBOT)]) ;
93: F[47:DI[1047]]=(DI[31:JOG 8+ (ROBOT)]) ;
94: F[48:DI[1048]]=(DI[32:JOG 8- (ROBOT)]) ;
95: F[51:DI[1051]]=(DI[33:Joint Jog Selection]) ;
96: F[52:DI[1052]]=(DI[34:Cartesian Jog Selection]) ;
97: F[53:DI[1053]]=(ON) ;

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B-85444EN-4/02 10. ROBOT PROGRAMS
98: F[54:DI[1054]]=(OFF) ;
99: F[55:DI[1055]]=(OFF) ;
100: F[56:DI[1056]]=(OFF) ;
101: ;

This section is a portion for resuming the robot program and robot Jog Feed from ROBODRILL 1. The
four DI signals DI[1053]--DI[1056] specify the jog coordinate system for use with robot Jog Feed. This
section is skipped if ROBODRILL 1 does not have the Remote Operation Right.

102: LBL [2200] ;

103: IF (DO[1058:Robot Ope. AC2]<>ON),JUMP LBL [2300] ;
104: F[6:UI[6]]=((DI[318:EXT. START (RBT)])) ;
105: F[32:DI[1032]]=(DI[291:Robot Jog Enable]) ;
106: F[33:DI[1033]]=(DI[273:JOG 1+ (ROBOT)]) ;
107: F[34:DI[1034]]=(DI[274:JOG 1- (ROBOT)]) ;
108: F[35:DI[1035]]=(DI[275:JOG 2+ (ROBOT)]) ;
109: F[36:DI[1036]]=(DI[276:JOG 2- (ROBOT)]) ;
110: F[37:DI[1037]]=(DI[277:JOG 3+ (ROBOT)]) ;
111: F[38:DI[1038]]=(DI[278:JOG 3- (ROBOT)]) ;
112: F[39:DI[1039]]=(DI[279:JOG 4+ (ROBOT)]) ;
113: F[40:DI[1040]]=(DI[280:JOG 4- (ROBOT)]) ;
114: F[41:DI[1041]]=(DI[281:JOG 5+ (ROBOT)]) ;
115: F[42:DI[1042]]=(DI[282:JOG 5- (ROBOT)]) ;
116: F[43:DI[1043]]=(DI[283:JOG 6+ (ROBOT)]) ;
117: F[44:DI[1044]]=(DI[284:JOG 6- (ROBOT)]) ;
118: F[45:DI[1045]]=(DI[285:JOG 7+ (ROBOT)]) ;
119: F[46:DI[1046]]=(DI[286:JOG 7- (ROBOT)]) ;
120: F[47:DI[1047]]=(DI[287:JOG 8+ (ROBOT)]) ;
121: F[48:DI[1048]]=(DI[288:JOG 8- (ROBOT)]) ;
122: F[51:DI[1051]]=(DI[289:Joint Jog Selection]) ;
123: F[52:DI[1052]]=(DI[290:Cartesian Jog Selection]) ;
124: F[53:DI[1053]]=(OFF) ;
125: F[54:DI[1054]]=(ON) ;
126: F[55:DI[1055]]=(OFF) ;
127: F[56:DI[1056]]=(OFF) ;
128: ;

This section is a portion for resuming the robot program and robot Jog Feed from ROBODRILL 2. The
four DI signals DI[1053]--DI[1056] specify jog coordinate system 2 for use with robot Jog Feed. This
section is skipped if ROBODRILL 2 does not have the Remote Operation Right.

129: LBL [2300] ;

130: ;
131: LBL [2400] ;
132: ;
133: LBL [2500] ;
/END

For systems with three and four ROBODRILLs, this section contains the processing to perform from
ROBODRILL 3 and ROBODRILL 4. This example is the Background Logic program used with a 2-
ROBODRILL system, so the processing is not contained.

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10. ROBOT PROGRAMS B-85444EN-4/02

10.1.2.4 Signals used with Background Logic programs

This subsection lists the signals used with Background Logic programs and their uses.

Table 10.1.2.4 (a) Processing of the DI signals from ROBODRILLs

Signal Allocated to Use Source
F[1] UI[1] Remote condition ROBODRILL in system mode
F[2] UI[2] Remote condition Master ROBODRILL
F[3] UI[3] Remote condition Master ROBODRILL
F[4] UI[4] Cycle stop ROBODRILL in system mode
F[5] UI[5] Reset All ROBODRILLs
F[6] UI[6] RESUME ROBODRILL that has the Remote
Operation Right
F[7] Not used
F[8] F[8] Remote condition Master ROBODRILL
F[9]--F[18] UI[9]--UI[18] PNS Master ROBODRILL
F[25] DI[1025] Override decrease at Jog Feed entry All ROBODRILLs
F[26] DI[1026] Override restoration at Jog Feed exit All ROBODRILLs
F[28] DI[1028] Override Up All ROBODRILLs
F[29] DI[1029] Override Down All ROBODRILLs
F[32]-- DI[1032]-- Jog Feed ROBODRILL that has the Remote
F[48] DI[1048] Operation Right
F[51] DI[1051] Joint Jog Feed specification ROBODRILL that has the Remote
Operation Right
F[52] DI[1052] Cartesian Jog Feed specification ROBODRILL that has the Remote
Operation Right
F[53]-- DI[1053]-- Jog coordinate system specification
F[56] DI[1056]
F[57] DI[1057] Override 100 All ROBODRILLs
F[58] DI[1058] Override Low All ROBODRILLs

Table 10.2.2.4 (b) Generation of the DO signals to output to ROBODRILLs

Output signal Use Source
DO[1025] Robot power ON signal
DO[1027] Safety Fence Open DI[1066]
DO[1028] Robot Peripherals Ready $OPWORK.$UOP_DISABLE
DO[1041]--DO[1048] RO signal monitor RO[1]--RO[8]

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B-85444EN-4/02 10. ROBOT PROGRAMS

10.2 MACRO PROGRAMS

A macro program is a TP program that is registered in such a way that it can be started as a macro. It is
mainly started with a DI signal from a ROBODRILL.

Table 10.2 Macro programs

Program name Use Note
MANL_OP Hand/General Operation selection Works without any modification. Free to customize.
MANL_OP2 Hand/General Operation selection Works without any modification. Free to customize.
MANL_OP3 Hand/General Operation selection Works without any modification. Free to customize.
MANL_OP4 Hand/General Operation selection Works without any modification. Free to customize.
M_EXE11 General Operation Need For Instruction.
M_EXE12 General Operation Need For Instruction.
M_EXE13 General Operation Need For Instruction.
M_EXE14 General Operation Need For Instruction.
M_EXE15 General Operation Need For Instruction.
M_EXE16 General Operation Need For Instruction.
M_EXE17 General Operation Need For Instruction.
M_EXE18 General Operation Need For Instruction.
M_HAND11 Hand Operation Need For Instruction.
M_HAND12 Hand Operation Need For Instruction.
M_HAND13 Hand Operation Need For Instruction.
M_HAND14 Hand Operation Need For Instruction.
M_HAND15 Hand Operation Need For Instruction.
M_HAND16 Hand Operation Need For Instruction.
M_HAND17 Hand Operation Need For Instruction.
M_HAND18 Hand Operation Need For Instruction.
OVR100 Override Change Works without any modification. Free to customize.
OVRLOW Override Change Works without any modification. Free to customize.
OVRDOWN Override Change No modification
OVRUP Override Change No modification
OVRSET Override Change No modification
REM_ENT Override Change No modification
REM_EXT Override Change No modification

10.2.1 Robot Programs for Program for Robot Remote Operation

Program for Robot Remote Operation from a ROBODRILL is achieved with robot programs executed in
the robot controller. These robot programs need to be instructed by the user.

10.2.1.1 Program for Robot Home Position Return

If the "REF. RETURN" button is pressed on the ROBODRILL operation panel, PNS program PNS0255
is started in the robot controller. To return the robot to the home position, the program called PNS0255
must be prepared in the robot controller beforehand. Instruct PNS0255, according to the example below.

Robot program example for robot home position return operation (PNS0255)
1: --eg:This program sends the robot to the Home position ;
2: ;
3:J P[1] 100% FINE ; ①

① Record the same position as that of reference point 1 to P[1].

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10. ROBOT PROGRAMS B-85444EN-4/02

10.2.1.2 Macro programs for Hand Operation

With Program for Robot Remote Operation from the ROBODRILL operation panel, the following
operations are possible.

Table 10.2.1.2 Program for Robot Remote Operation from the ROBODRILL operation panel
Operation name Macro program called by the robot controller
Hand Operation 1 M_HAND11
Hand Operation 2 M_HAND12
Hand Operation 3 M_HAND13
Hand Operation 4 M_HAND14
Hand Operation 5 M_HAND15
Hand Operation 6 M_HAND16
Hand Operation 7 M_HAND17
Hand Operation 8 M_HAND18

The macro programs for the Hand Operations are not instructed. Before executing Program for Robot
Remote Operation, instruct the macro programs.
Make sure that the subprograms for Hand Operations do not contain any instructions to wait endlessly. A
status of waiting endlessly is not conveyed to the ROBODRILL, so that the ROBODRILL operator may
not be able to tell that some error or other has occurred in the robot controller.

Macro program sample for a Hand Operation

1: RO[1:Gripper Open]=ON ;

10.2.1.3 Macro programs for manual operations

The macro programs for the following manual operations are loaded into the robot controller beforehand.

Table 10.2.1.3 Program for Robot Remote Operation from the ROBODRILL operation panel
Operation name Macro program called by the robot controller
Manual operation 1 M_EXE11
Manual operation 2 M_EXE12
Manual operation 3 M_EXE13
Manual operation 4 M_EXE14
Manual operation 5 M_EXE15
Manual operation 6 M_EXE16
Manual operation 7 M_EXE17
Manual operation 8 M_EXE18

These macro programs are loaded into the robot controller, but are not instructed. Instruct them
appropriately.

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B-85444EN-4/02 10. ROBOT PROGRAMS

10.3 PNS PROGRAMS

A PNS program is a TP program that is configured so that it can be started by specifying the PNS number
from the outside, using a UI signal.

Table 10.3 Macro programs

Program name Use Note
PNS0255 Home position return Please instruct this

The robot controller contains no PNS program used in the system mode at the time of shipment. The user
must create one by his or herself.

10.3.1 Robot PNS Program for System Operation

This subsection explains how to create a robot PNS program for use in system operation, using a sample
program.

10.3.1.1 Program name

With this function, a robot program is started with the program number selection function (PNS). The
name of a robot program starts with "PNS", followed by four digits.

10.3.1.2 Program configuration

The sample program consists of the following multiple programs.
• PNS Main program
• D1 (, D2, D3, D4) Processing for each ROBODRILL
• D1REQ (, D2REQ, D3REQ, D4REQ) Judging the requests from ROBODRILLs.
• D1RET (, D2RET, D3RET, D4RET) Sending responses to ROBODRILLs.
• D1ENTRY (, D2ENTRY, D3ENTRY, D4ENTRY) Entering the inside of ROBODRILLs
• D1EXIT (, D2EXIT, D3EXIT, D4EXIT) Exiting from the inside of ROBODRILLs
• ERRORMSG Alarm notification
• Home Movement to the home position (code not contained)
• WaitAny Movement to the wait position (code not contained)
• NearD1 (, NearD2, NearD3, NearD4) Approaching ROBODRILLs (code not contained)
• AwayD1 (, AwayD2, AwayD3, AwayD4) Leaving ROBODRILLs (code not contained)
• D1PU (, D2PU, D3PU, D4PU) Picking up a work-piece in ROBODRILLs (code not contained)
• D1PUL (, D2PUL, D3PUL, D4PUL) Exchanging a work-piece in ROBODRILLs (code not
contained)
• D1PL (, D2PL, D3PL, D4PL) Setting a work-piece in ROBODRILLs (code not contained)
• Pick Picking up a work-piece (code not contained)
• Place Ejecting a work-piece (code not contained)

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10. ROBOT PROGRAMS B-85444EN-4/02

10.3.1.3 Operation modes

This sample program provides three modes for robot operation.
The most typical Operation Mode is exchanging a work-piece. In this mode, a material work-piece is
picked from the pallet, is exchanged with the processed work-piece inside the ROBODRILL, and the
processed work-piece is ejected to the pallet or elsewhere.
Other operations are also provided: merely picking a work-piece from the pallet and setting the material
work-piece; and merely picking a processed work-piece from the ROBODRILL and ejecting it. These
two Operation Modes are used at the start and end of operation.

10.3.1.4 Stop mode

ROBODRILL connection function 2 provides two methods for stopping system operation, cycle stop and
system stop. The differences of these two are as described below.
• Each ROBODRILL can request cycle stop independently of one another. It is possible that one
ROBODRILL requests cycle stop whereas other ROBODRILLs do not request cycle stop.
• Only a master ROBODRILL can request system stop. If a master ROBODRILL requests system stop,
system stop request signals are output from all ROBODRILLs.

In this sample program, cycle stop is positioned as the operation stop of individual ROBODRILLs and
system stop is positioned as the operation stop of the entire system, and the operation is changed as
described below.
• If cycle stop is requested, the robot picks up a work-piece, and returns cycle stop completion to the
ROBODRILL. At this point, the ROBODRILL stops operation, but the robot waits for requests from
other ROBODRILLs.
• Even if system stop is requested, the robot does not enter system stop mode until the conditions are
satisfied, continuing normal operation.

To achieve such behavior, the robot manages the following statuses.

• Whether cycle stops from individual ROBODRILLs are accepted => R[53] (, R[54], R[55], R[56])
• Whether system stop mode for the entire system is accepted => R[61]

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10.3.1.5 Control flow

In this sample program, two programs, the uppermost PNS program and the subprogram for each
ROBODRILL that is called from the PNS program, decide on the flow of processing.
The PNS program waits until there is a request from a ROBODRILL. If it receives a request, it sets the
ROBODRILL number in R[52], and calls the subprograms D1, D2, D3, and D4 corresponding to the
individual ROBODRILLs.

: !:::::::::::::::::::::::::::::::: ;
: !Initialize ;
: !:::::::::::::::::::::::::::::::: ;
: ! ;
: R[51:error status]=0 ;
: R[52:Selected Drill]=0 ;
: R[53:ServiceMode(D1)]=0 ;
: R[54:ServiceMode(D2)]=0 ;
: R[55:ServiceMode(D3)]=0 ;
: R[56:ServiceMode(D4)]=0 ;
: R[57:StopReq(D1)]=0 ;
: R[58:StopReq(D2)]=0 ;
: R[59:StopReq(D3)]=0 ;
: R[60:StopReq(D4)]=0 ;
: R[61:SystemStopMode]=0 ;
: DO[2:IN SERV. TO FRD1]=OFF ;
: DO[258:IN SERV. TO FRD1]=OFF ;
: DO[514:IN SERV. TO FRD1]=OFF ;
: DO[770:IN SERV. TO FRD1]=OFF ;
: DO[8:Robot Assigned]=OFF ;
: DO[264:Robot Assigned]=OFF ;
: DO[520:Robot Assigned]=OFF ;
: DO[776:Robot Assigned]=OFF ;
: ;
: CALL WaitAny ;
: ;
: LBL [10:(s0)] ;
: WAIT DI[12]=ON OR DI[268]=ON OR DI[524]=ON OR DI[780]=ON ;
: ;
: !:::::::::::::::::::::::::::::::: ;
: !Main Loop ;
: !:::::::::::::::::::::::::::::::: ;
: LBL [100:(s1)] ;
: IF R[51:error status]<>0,JUMP LBL [900] ;
: IF DI[12]=OFF AND DI[268]=OFF AND DI[524]=OFF AND DI[780]=OFF, JUMP LBL [800] ;
: IF (DI[1]=ON OR DI[2]=ON OR DI[3]=ON OR DI[4]=ON),JUMP LBL [110];
: IF (DI[257]=ON OR DI[258]=ON OR DI[259]=ON OR DI[260]=ON),JUMP LBL [120];
: IF (DI[513]=ON OR DI[514]=ON OR DI[515]=ON OR DI[516]=ON),JUMP LBL [130];
: IF (DI[769]=ON OR DI[770]=ON OR DI[771]=ON OR DI[772]=ON),JUMP LBL [140];

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10. ROBOT PROGRAMS B-85444EN-4/02

: JUMP LBL [100];

: ;
: LBL [110:(i1)] ;
: R[52:Selected Drill]=1 ;
: CALL D1;
: JUMP LBL [200];
: ;
: LBL [120:(i2)] ;
: R[52:Selected Drill]=2 ;
: CALL D2;
: JUMP LBL [200];
: ;
: LBL [130:(i3)] ;
: R[52:Selected Drill]=3 ;
: CALL D3;
: JUMP LBL [200];
: ;
: LBL [140:(i4)] ;
: R[52:Selected Drill]=4 ;
: CALL D4;
: JUMP LBL [200];
: ;
: LBL [200:(s2)];
: CALL WaitAny ;
: JUMP LBL [100] ;
: ;
: !:::::::::::::::::::::::::::::::: ;
: !Normal End ;
: !:::::::::::::::::::::::::::::::: ;
: LBL [800:Normal End] ;
: CALL Home ;
: END ;
: ;
: !:::::::::::::::::::::::::::::::: ;
: !Abnormal End ;
: !:::::::::::::::::::::::::::::::: ;
: LBL [900] ;
: CALL ERRORMSG(R[51:error status],'Previous Loop');
: UALM[R[51:error status]] ;
: END ;

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B-85444EN-4/02 10. ROBOT PROGRAMS
Program D1 (, D2, D3, D4) for the ROBODRILL calls D1REQ (, D2REQ, D3REQ, D4REQ), and
decides on the Operation Mode. At the end of one of the operations for the ROBODRILL, exchanging a
work-piece, placing a work-piece, and picking up a work-piece, D1RET (, D2RET, D3RET, D4RET) is
called to notify the ROBODRILL of the completion of processing. At this time, a response according to
the specified Stop Mode is returned.

: CALL D1REQ ;
: ;
: LBL [100:pre] ;
: SELECT R[53:D1mode]=1,JUMP LBL [110] ;
: =2,JUMP LBL [120] ;
: =3,JUMP LBL [130] ;
: ELSE,JUMP LBL [910] ;
: ;
: LBL [110:Pick] ;
: // CALL Pick ;
: JUMP LBL [200] ;
: ;
: LBL [120:Pick] ;
: // CALL Pick ;
: JUMP LBL [200] ;
: ;
: LBL [130:No pick] ;
: // CALL NearD1 ;
: JUMP LBL [200] ;
: ;
: LBL [200:Load/Unload] ;
: SELECT R[53:D1mode]=1, CALL D1PUL ;
: =2, CALL D1PL ;
: =3, CALL D1PU ;
: ELSE, JUMP LBL [920] ;
: CALL D1RET ;
: IF R[53:D1mode]=2, JUMP LBL [300] ;
: DO[14:Parts Count Up]=PULSE,0.2sec;
: JUMP LBL [300] ;
: ;
: LBL [300:post] ;
: SELECT R[53:D1mode]=1,JUMP LBL [310] ;
: =2,JUMP LBL [320] ;
: =3,JUMP LBL [330] ;
: ELSE, JUMP LBL [930] ;
: LBL [310:Place] ;
: // CALL Place ;
: JUMP LBL [400] ;
: ;
: LBL [320:No place] ;
: // CALL AwayD1 ;
: JUMP LBL [400] ;
: ;
: LBL [330:Place] ;
: // CALL Place ;
: JUMP LBL [400] ;
: ;
: LBL [400] ;
: END ;

: !:::::::::::::::::::::::::::::::: ;
: !Abnormal End ;
: !:::::::::::::::::::::::::::::::: ;
: LBL [910] ;
: CALL ERRORMSG(101,'R[7]');
: UALM[R[51:error status]] ;

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10. ROBOT PROGRAMS B-85444EN-4/02

: END ;
: ;
: LBL [920] ;
: CALL ERRORMSG(101,'R[7]');
: UALM[R[51:error status]] ;
: END ;
: ;
: LBL [930] ;
: CALL ERRORMSG(101,'R[7]');
: UALM[R[51:error status]] ;
: END ;

10.3.1.6 Program D1REQ (, D2REQ, D3REQ, D4REQ)

Based on the request from a ROBODRILL, one is selected from the three Operation Modes, exchanging a
work-piece, setting a work-piece, and picking up a work-piece. This is assigned to R[53]. If an end
request is issued at the same time, the type is assigned to a register.

/MN
: IF (DI[5:CYCLE STOP REQ.]=OFF AND DI[6:SYSTEM STOP
REQ.]=OFF),R[57:StopReq(D1)]=0;
: IF (DI[5:CYCLE STOP REQ.]=ON AND DI[6:SYSTEM STOP REQ.]=OFF),R[57:StopReq(D1)]=1;
: IF (DI[5:CYCLE STOP REQ.]=OFF AND DI[6:SYSTEM STOP REQ.]=ON),R[57:StopReq(D1)]=2;
: IF (DI[5:CYCLE STOP REQ.]=ON AND DI[6:SYSTEM STOP REQ.]=ON),JUMP LBL [910] ;
: ;
: LBL [100] ;
: IF DI[2:WORK INSTALL.REQ.]=ON,JUMP LBL [520] ;
: IF R[57:StopReq(D1)]=1,JUMP LBL [200] ;
: IF R[57:StopReq(D1)]=2, JUMP LBL [300] ;
: IF DI[4:NOTICE OF M30/M02]=ON,JUMP LBL [510] ;
: IF DI[1:SERVICE REQUEST]=ON,JUMP LBL [510] ;
: JUMP LBL [910] ;
: ;
: LBL [200:CycleStopReq] ;
: IF DI[3:WORK REMOV. REQ.]=OFF,JUMP LBL [920] ;
: JUMP LBL [530] ;
: ;
: LBL [300:SystemStopReq] ;
: IF R[61:SystemStop]=1, JUMP LBL [320] ;
: --eg: Skip System stop request ? ;
: //IF R[61]<>R[61], JUMP LBL [310] ;
: R[61:SystemStop]=1 ;
: //JUMP LBL [510] ;
: //JUMP LBL [520] ;
: JUMP LBL [530] ;
: ;
: LBL [310:Skip StopReq] ;
: R[57:StopReq(D1)]=0;
: JUMP LBL [510] ;
: //JUMP LBL [520] ;
: //JUMP LBL [530] ;
: ;
: LBL [320:Accepted] ;
: --eg: System stop is already accepted ;
: //JUMP LBL [510] ;
: //JUMP LBL [520] ;
: JUMP LBL [530] ;
: ;
: LBL [510:Unload/Load] ;
: R[53:D1mode]=1 ;
: END ;
: ;
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B-85444EN-4/02 10. ROBOT PROGRAMS
: LBL [520:Load] ;
: R[53:D1mode]=2 ;
: END ;
: ;
: LBL [530:Unload] ;
: R[53:D1mode]=3 ;
: END ;
: ;
: !:::::::::::::::: ;
: !Error Handler ;
: !:::::::::::::::: ;
: ;
: LBL [910] ;
: CALL ERRORMSG(102,'DI[5],DI[6]');
: UALM[R[51:error status]] ;
: END ;
: ;
: LBL [920] ;
: CALL ERRORMSG(102,'DI[3]');
: UALM[R[51:error status]] ;
: END ;

10.3.1.7 Program D1RET (, D2RET, D3RET, D4RET)

Based on the Operation Mode decided with D1REQ (, D2REQ, D3REQ, D4REQ), as well as Stop Mode,
a response is sent to the ROBODRILL.

/MN
: LBL [100:Stop or Continue] ;
: IF R[57:StopReq(D1)]=1 AND DI[5:CYCLE STOP REQ.]<>ON,JUMP LBL [910] ;
: IF R[57:StopReq(D1)]=2 AND DI[6:SYSTEM STOP REQ.]<>ON,JUMP LBL [910] ;
: ;
: SELECT R[57:StopReq(D1)]=1,JUMP LBL [200] ;
: =2,JUMP LBL [300] ;
: ELSE,JUMP LBL [920] ;
: ;
: LBL [200:CycleStop] ;
: SELECT R[53:D1mode]=1,JUMP LBL [210] ;
: =2,JUMP LBL [220] ;
: =3,JUMP LBL [230] ;
: ELSE,JUMP LBL [930] ;
: ;
: LBL [210:Unload/Load] ;
: DO[3:CYCLE STOP OK]=PULSE,0.5sec ;
: WAIT DI[5:CYCLE STOP REQ.]=OFF ;
: JUMP LBL [600] ;
: ;
: LBL [220:Load] ;
: DO[3:CYCLE STOP OK]=PULSE,0.5sec ;
: WAIT DI[5:CYCLE STOP REQ.]=OFF ;
: JUMP LBL [600] ;
: ;
: LBL [230:Unload] ;
: DO[3:CYCLE STOP OK]=PULSE,0.5sec ;
: WAIT DI[5:CYCLE STOP REQ.]=OFF ;
: JUMP LBL [600] ;
: ;
: ;
: LBL [300:SystemStop] ;
: SELECT R[53:D1mode]=1,JUMP LBL [310] ;
: =2,JUMP LBL [320] ;
: =3,JUMP LBL [330] ;
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10. ROBOT PROGRAMS B-85444EN-4/02

: ELSE,JUMP LBL [940] ;

: ;
: LBL [310:Unload/Load] ;
: DO[4:SYSTEM STOP OK]=PULSE,0.5sec ;
: WAIT DI[6:SYSTEM STOP REQ.]=OFF ;
: JUMP LBL [600] ;
: ;
: LBL [320:Load] ;
: DO[4:SYSTEM STOP OK]=PULSE,0.5sec ;
: WAIT DI[6:SYSTEM STOP REQ.]=OFF ;
: JUMP LBL [600] ;
: ;
: LBL [330:Unload] ;
: DO[4:SYSTEM STOP OK]=PULSE,0.5sec ;
: WAIT DI[6:SYSTEM STOP REQ.]=OFF ;
: JUMP LBL [600] ;
: ;
: LBL [400:Continue] ;
: SELECT R[53:D1mode]=1,JUMP LBL [410] ;
: =2,JUMP LBL [420] ;
: =3,JUMP LBL [430] ;
: ELSE,JUMP LBL [950] ;
: ;
: LBL [410:Unload/Load] ;
: DO[1:SERVICE OK (RBT)]=PULSE,0.5sec ;
: WAIT DI[1:SERVICE REQUEST]=OFF ;
: JUMP LBL [600] ;
: ;
: LBL [420:Load] ;
: DO[1:SERVICE OK (RBT)]=PULSE,0.5sec ;
: WAIT DI[2:WORK INSTALL.REQ.]=OFF ;
: JUMP LBL [600] ;
: ;
: LBL [430:Unload] ;
: DO[1:SERVICE OK (RBT)]=PULSE,0.5sec ;
: WAIT DI[1:SERVICE REQUEST]=OFF ;
: JUMP LBL [600] ;
: ;
: LBL [600:Normal End] ;
: END ;
: ;
: LBL [910] ;
: CALL ERRORMSG(103,'R[3],DI[5],DI[6]');
: UALM[R[51:error status]] ;
: END ;
: ;
: LBL [920] ;
: CALL ERRORMSG(101,'R[3]');
: UALM[R[51:error status]] ;
: END ;
: ;
: LBL [930] ;
: CALL ERRORMSG(101,'R[7]');
: UALM[R[51:error status]] ;
: END ;
: ;
: LBL [940] ;
: CALL ERRORMSG(101,'R[7]');
: UALM[R[51:error status]] ;
: END ;
: ;
: LBL [950] ;
: CALL ERRORMSG(101,'R[7]');

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B-85444EN-4/02 10. ROBOT PROGRAMS
: UALM[R[51:error status]] ;
: END ;
: ;

10.3.1.8 Program for exchanging a work-piece in a ROBODRILL

A sample of a program for exchanging a work-piece is given below.

/PROG D1PUL
/ATTR
Comment = "RDC2 DRILL Part Unloading/Loading";
/MN
: CALL D1ENTRY ;
: --eg: Teach part unloading and loading procedure;
: CALL D1EXIT ;
/POS

Make sure that the subprogram D1ENTRY is called before entry inside the ROBODRILL.

/PROG D1ENTRY
/MN
: WAIT DI[8:SIDE GATE OPEN]=ON ;
: //WAIT DI[10:FRONT GATE OPEN]=ON ;
: WAIT DI[9:WORK L/UL POS]=ON ;
: DO[2:IN SERV. TO FRD1]=ON ;
: DO[5:SIDE GATE CLOSE LOCK]=ON ;
: //DO[6:FRONT GATE CLOSE LOCK]=ON ;
/POS

D1EXIT is a program for exiting from the ROBODRILL.

/PROG D1EXIT
/MN
: DO[2:IN SERV. TO FRD1]=OFF ;
: DO[5:SIDE GATE CLOSE LOCK]=OFF ;
: //DO[6:FRONT GATE CLOSE LOCK]=OFF ;
/POS

10.3.1.9 Other programs

ERRORMSG is a program for notifying of an error.

/MN
: R[51:error status]=AR[1] ;
: IF R[1:error message]=AR[2] ;
/POS

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10. ROBOT PROGRAMS B-85444EN-4/02

10.3.1.10 Resources used

The registers and string register used with this sample program are described below. Note that no position
registers are used.

Table 10.3.1.10 (a) Registers

Register Value
R[51:error status]=0 No error =>0, error => not 0
R[52:Selected Drill]=0 1,2,3,4
R[53:D1mode]=0 Unload/Load=>1, Load=>2, Unload=>3
R[54:D2mode]=0 Unload/Load=>1, Load=>2, Unload=>3
R[55:D3mode]=0 Unload/Load=>1, Load=>2, Unload=>3
R[56:D4mode]=0 Unload/Load=>1, Load=>2, Unload=>3
R[57:StopReq(D1)]=0 Cycle Stop Request => 1, SystemStop Request=>2
R[58:StopReq(D2)]=0 Cycle Stop Request => 1, SystemStop Request=>2
R[59:StopReq(D3)]=0 Cycle Stop Request => 1, SystemStop Request=>2
R[60:StopReq(D4)]=0 Cycle Stop Request => 1, SystemStop Request=>2
R[61:SystemStopAccepted]=0 0,1

Table 10.3.1.10 (b) String register

String register Use
SR[1] Error message

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 11. ROBOT OPERATIONS
B-85444EN-4/02 FROM ROBODRILLS

11 ROBOT OPERATIONS FROM

ROBODRILLS
The chapter describes the operations of the robot controller that can be controlled from ROBODRILLs.

11.1 RELATIONSHIPS BETWEEN ROBODRILL STATUSES

AND ROBOT OPERATIONS
The statuses of a ROBODRILL are divided into the following types:
• System mode/stand-alone mode
• The ROBODRILL is/is not a master ROBODRILL.
• The Remote Operation Right is/is not acquired.

A master ROBODRILL can start and abort the PNS programs of a robot. Other ROBODRILLs cannot
start the PNS programs of a robot. A ROBODRILL that acquires the Remote Operation Right can
perform manual operations such as robot Jog Feed.
Any ROBODRILL that is in system mode can perform the Override Change and Robot Reset operations.

Table 11.1 Correspondence between robot operations and ROBODRILL statuses

Robot operation ROBODRILL
status
Any
System
Master Remote
Operation
Right
Robot Reset × ○ ← ←
Override Change × ○ ← ←
Robot Emergency Stop × ○ ← ←
HOLD, SFSPD, ENABLE × × ○ ×
Starting PNS Program × × ○ ×
Aborting PNS Program × × ○ ×
Resuming PNS Program × × × ○
Jog Feed × × × ○
Hand Operation × × × ○
General Operation × × × ○
←: Same as left
○: Operable or effective (influencing) HOLD, SFSPD, ENABLE, *IMSTP
×: Inoperable or ineffective (not influencing)

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12. ROBODRILL SCREEN
OPERATIONS FROM THE ROBOT B-85444EN-4/02

12 ROBODRILL SCREEN OPERATIONS FROM

THE ROBOT
12.1 CNC STATUS DISPLAY SCREEN
The CNC status display screen contains the following screens:
• CNC actual position screen
• CNC alarm screen
• CNC message screen
• CNC running program screen
• I/O screen

The display language on each screen is the language selected by the robot controller. Note that CNC data
is displayed in the language selected by the CNC, and if the languages selected by the robot controller
and the CNC differ, the screen may not be displayed correctly.

Procedure for displaying the CNC status display screen

1 Press MENU key to display the screen menu.
2 From the screen menu, select "Browser".
3 Press F1 "TYPE".
4 From the menu that appears, select "ROBODRILL MON".
5 The CNC actual position screen appears.

NOTE
・ If MTCOM communication has not started, the "ROBODRILL MON." screen and
the "ROBODRILL OPE." screen are unavailable. If MTCOM communication has
not started, follow the procedure described in Section 9.2.5, "Client Tag Setting"
to start MTCOM communication.

Fig. 12.1 CNC actual position screen

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12.1.1 Display Items on the CNC Status Display Screen

The display items common to all screens of the CNC status display screen are as below.

Fig. 12.1.1 (a) Screen configuration

(1) Host name, path name

• The name of the CNC for which the data is displayed, as well as the path, is displayed.
• The CNC name displayed is the host name in the client tag used for communication. If no host
name is set as a communication setting, the IP address is displayed.

(2) Screen-switching buttons

• To display another screen of the CNC status display screen, press the button for that screen.
• The button of the currently selected screen is displayed in green.

(3) CNC program name, sequence number

• The program name and the sequence number selected by the CNC are displayed.

(4) CNC status display lamps

• The status of the CNC is displayed. The details of each lamp are as described below.

(1) (2) (3) (4) (5)

Fig. 12.1.1 (b) CNC status display lamps

(1) The present mode of the CNC is displayed.

Table 12.1.1 (a) Modes

Display item Description
MDI Manual data input, MDI operation
MEM Automatic operation (memory operation)
RMT Automatic operation (DNC operation)
Automatic operation is performed while a program is being read from the outside.
EDIT Memory editing
HND Manual handle feed
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12. ROBODRILL SCREEN
OPERATIONS FROM THE ROBOT B-85444EN-4/02

Display item Description

JOG Jog Feed
INC Manual incremental feed
REF Manual reference position return
Mode in which the tool is moved to the reference position manually on a specified controlled
axis.
TJOG TEACH IN mode in which the manual operation is Jog Feed
TEACH IN mode is a mode in which the positions on controlled axes that are obtained in
manual operation are stored in the CNC memory in order to create a program.
THND TEACH IN mode in which the manual operation is manual handle feed
TEACH IN mode is a mode in which the positions on controlled axes that are obtained in
manual operation are stored in the CNC memory in order to create a program.
**** Mode other than the above

(2) The present automatic operation status of the CNC is displayed.

Table 12.1.1(b) Automatic operation status list

Display Description
**** Reset (status when the power is turned on or in which the execution of the program is
terminated and automatic operation is terminated completely)
STOP Automatic operation stop (status in which the execution of a single block is terminated, and
automatic operation is stopped.)
HOLD Feed hold (status in which the execution of a single block is interrupted, and automatic
operation is paused)
STRT Automatic operation start-up (status in which automatic operation is actually being executed)
MSTR Manual numeric instruction start status (status in which a manual numeric instruction is being
executed or status in which the tool is being moved on the controlled axes by executing data
specified in program format in jog mode)
Or tool escape and restoration start status (status in which restoration operation and
repositioning operation are being executed)

(3) The axis movement status and the dwell status of the CNC are displayed.

Table 12.1.1 (c) Axis movement in progress status and dwell status list
Display item Description
MTN Axis movement in progress status
DWL Dwell status. Status in which the shift to the operation of the next block is delayed for the
specified time.
*** Status other than the above

(4) The execution status of an auxiliary function in the CNC is displayed.

Table 12.1.1 (d) Auxiliary function execution status list

Display item Description
FIN Status in which an auxiliary function is being executed. Status in which a completion signal
from the PMC is awaited.
*** Status other than the above

(5) The execution status of the alarm function of the CNC is displayed.

Table 12.1.1 (e) Alarm status list

Display item Description
ALM Status in which an alarm has occurred. (Blinks in reversed display.)
BAT The lithium battery (CNC backup battery) voltage reduction. (Blinks in reversed display.)
Blank Status other than the above
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12.1.2 CNC Actual Position Screen

On the CNC actual position screen, the actual position of the ROBODRILL as absolute coordinates, its
actual position as machine coordinates, feed rate, and spindle speed are displayed.

Fig. 12.1.2 CNC actual position screen

Display item on the CNC actual position screen

The display items on the CNC actual position screen are as below.
1 Position data as absolute coordinates
• The actual position as absolute coordinates is displayed. The unit of each coordinate value
conforms to the display unit in the CNC; the coordinate value is displayed in one of
"millimeters", "inches", and "degrees".
• Axis data for up to five axes can be displayed at a time. Data for up to 24 axes can be displayed.
• Axis names that are set in the ROBODRILL are acquired by way of communication, and are
displayed.
2. Position data as machine coordinates
• The actual position as absolute coordinates is displayed. The unit of each coordinate value
conforms to the display unit in the CNC; the coordinate value is displayed in one of
"millimeters", "inches", and "degrees".
• Axis data for up to five axes can be displayed at a time. Data for up to 24 axes can be displayed.
• Axis names that are set in the ROBODRILL are acquired by way of communication, and are
displayed.
3. Feed rate
• The feed rate is displayed. The unit conforms to the display unit in the CNC; the rate is
displayed in either of "millimeters/minute" and "inches/minute".
4. Spindle speed
• The spindle speed is displayed. The unit is /minute.

Operation on the CNC actual position screen

On the CNC actual position screen, the following operation is possible:
• If there are axis data for more than five axes, press the "←" and "→" buttons as appropriate to
switch the axis data display.

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12. ROBODRILL SCREEN
OPERATIONS FROM THE ROBOT B-85444EN-4/02

12.1.3 CNC Alarm Screen

On the CNC alarm screen, any alarms that have occurred in the ROBODRILL are displayed.

Fig. 12.1.3 CNC alarm screen

Display items on the CNC alarm screen

The display items on the CNC alarm screen are as below.
• Up to 17 of any alarms that have occurred in the ROBODRILL are displayed.
• Up to eight alarms can be displayed on the screen at a time.

Operation on the CNC alarm screen

On the CNC alarm screen, the following operation is possible:
• If more than eight alarms have occurred in the ROBODRILL, use the "Prev" and "Next" buttons as
appropriate to switch the screen.

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12.1.4 CNC Message Screen

On the CNC message screen, the operator message displayed on the ROBODRILL is displayed.

Fig. 12.1.4 CNC message screen

Display items on the CNC message screen

The display items on the CNC message screen are as below.
• The operator message displayed on the ROBODRILL is displayed.
• If the ROBODRILL are configured so as not to display operator messages, no messages are
displayed on this screen.
• On this screen, up to 254 characters of a message are displayed. If the message exceeds 254 single-
byte characters (127 double-byte characters), the excess part of the message is not displayed.

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12. ROBODRILL SCREEN
OPERATIONS FROM THE ROBOT B-85444EN-4/02

12.1.5 CNC Running Program Screen

On the CNC running program screen, the program running in the ROBODRILL is displayed.

Fig. 12.1.5 CNC running program screen

Display items on the CNC running program screen

The display items on the CNC running program screen are as below.
• The program running in the ROBODRILL is displayed.
• A single block is displayed on each line. Any portion of the block that exceeds 37 characters cannot
be displayed.
• The currently running block is displayed on the first line.
• A line subject to look-ahead execution is displayed in light blue.
• Up to nine blocks (nine lines) can be displayed.

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 12. ROBODRILL SCREEN
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12.1.6 I/O Screen

On the I/O screen, the status of the I/O connected to the ROBODRILL is displayed.

Fig. 12.1.6(a) I/O screen

Display items on the I/O screen

The display items on the I/O screen are as below.

DI signals
• Of the signals between ROBODRILL and robot, the signal statuses of the input signals of the
robot are displayed as well as any comments.
• Any comments that are set on the I/O screen of the robot are displayed.

DO signals
• Of the signals between ROBODRILL and robot, the signal statuses of the output signals of the
robot are displayed as well as any comments.
• Any comments that are set on the I/O screen of the robot are displayed.

Operation on the I/O screen

On the I/O screen, screens can be switched with the arrow keys and by entering an I/O number.
(1) (3)

(2) (4)
Fig. 12.1.6 (b) I/O screen switching

(1) (DI display switching arrows) On the DI display, the next eight items or the previous eight items are
displayed.
(2) (Displayed DI number) Eight items are displayed starting with the one with the input signal number.
(3) (DO display switching arrows) On the DO display, the next eight items or the previous eight items
are displayed.
(4) (Displayed DO number) Eight items are displayed starting with the one with the input signal number.

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12. ROBODRILL SCREEN
OPERATIONS FROM THE ROBOT B-85444EN-4/02

12.2 CNC OPERATION SCREEN

The CNC operation screen contains the following screens:
• Machine tool operation screen
• Tool offset screen

The display language on each screen is the language selected by the robot controller. Note that CNC data
is displayed in the language selected by the CNC, and if the languages selected by the robot controller
and the CNC differ, the screen may not be displayed correctly.

Procedure for displaying the CNC operation screen

1 Press MENU key to display the screen menu.
2 From the screen menu, select "Browser".
3 Press F1 "TYPE".
4 From the menu that appears, select "ROBODRILL OPE".
5 The screen appears.

NOTE
・ If MTCOM communication has not started, the "ROBODRILL MON." screen and
the "ROBODRILL OPE." screen are unavailable. If MTCOM communication has
not started, follow the procedure described in Section 9.2.5, "Client Tag Setting"
to start MTCOM communication.

Fig. 12.2 (a) Machine tool operation screen

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 12. ROBODRILL SCREEN
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Display items on the CNC operation screen

The display items common to both screens of the CNC operation screen are as below.

Fig. 12.2 (b) Screen configuration

(1) Host name, path name

• The name of the CNC for which the data is displayed, as well as the path, is displayed.
• The CNC name displayed is the host name in the client tag used for communication. If no host
name is set as a communication setting, the IP address is displayed.

(2) Screen-switching buttons

• To display another screen of the CNC status display screen, press the button for that screen.
• The button of the currently selected screen is displayed in green.

(3) CNC program name, sequence number

• The program name and the sequence number selected by the ROBODRILL are displayed.

12.2.1 Machine Tool Operation Screen

On the machine tool operation screen, machine tool Jog Feed can be performed from the robot teach
pendant.
• Jog Feed can be performed on up to eight axes per path.
• By switching, up to five paths can be operated with a single machine tool.

NOTE
On the machine tool operation screen, perform the signal processing necessary
for ROBODRILL Jog Feed. To actually perform ROBODRILL Jog Feed, it is
necessary to create a ROBODRILL ladder program according to the signal
specifications on the machine tool operation screen.

To perform ROBODRILL Jog Feed on the machine tool operation screen, it is necessary to enable
"ROBODRILL Jog Feed" on the ROBODRILL setting screen.

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12. ROBODRILL SCREEN
OPERATIONS FROM THE ROBOT B-85444EN-4/02

Fig. 12.2.1 Machine tool operation screen

Contents of the machine tool operation screen

The display items on the machine tool operation screen are as below.
1 The OPR Enable button, the OPR Enable display lamp, response code from the ROBODRILL
• Pressing the "the OPR Enable" button when the conditions for machine tool operations are met
causes an operation enable request signal to be output to the CNC.
• Upon receiving the machine operation request from the robot, the CNC sends back a machine
operation enable status display signal Then, the OPR Enable display lamp to the right of the
"OPR Enable" button turns ON, indicating that the operation of the machine tool is possible.
• If the ROBODRILL rejects the machine operation request, the response code indicating the
cause is displayed in the "Response" field.
2 CNC actual position display
• The position data for the ROBODRILL is displayed as absolute coordinates. The data for up to
five axes can be displayed at a time.
• If the number of axes is more than five, press "→" to change the axis for which the data is
displayed.
• If the selected path contains more than eight axes, the position data for the ninth and
subsequent axes is not displayed.
3 Machine tool operation axis/direction selection buttons
• Use these buttons to specify the axis on which to perform Jog Feed, as well as the direction in
which to perform it. To select the axis/direction for a machine tool operation, use the "+"/"-"
buttons to the right of the actual position display for each axis.
• Only the axes for which the position data is displayed can be selected. For a machine with more
than five axes, use the "→" button to change the axis for which the data is displayed first, and
then select the sixth or subsequent axis.
4 Machine tool operation speed override selection button
• Select the ROBODRILL Jog Feed speed override from "VFine", "Low", "Medium", and
"High".

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 12. ROBODRILL SCREEN
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Operations on the machine tool operation screen

On the machine tool operation screen, the following operations are possible.

Enabling machine tool operations

1 Enable Override Change and Jog Feed operations on the machine tool operation screen.
2 Place the ROBODRILL in system mode.
3 Enable the robot teach pendant. If it is placed in the emergency stop status, cancel the status.
4 Press the "OPR Enable" button on the machine tool operation screen. When the "OPR Enable"
button is pressed, a machine operation request signal is output to the ROBODRILL.
5 If the ROBODRILL sends back machine operation enable in response to the machine operation
request signal, the OPR Enable display lamp to the right of the "OPR Enable" button turns ON. If
ON, this lamp indicates the operation enable status. If the ROBODRILL rejects the operation request,
the cause is displayed with the response code.
6 If, in the machine tool operation enable status, the "OPR Enable" button is pressed again or any of
the following conditions are no longer satisfied, the operation enable status is canceled, the OPR
Enable display lamp turns OFF, and the currently executed operation is interrupted.
• The teach pendant is enabled.
• Not in the emergency stop status.
• The ROBODRILL system mode signal is ON.
• Data communication with the selected ROBODRILL via Ethernet is established.
• On the robot teach pendant, the machine tool operation screen is displayed.

Override Change
In the machine tool operation enable status, the override for performing ROBODRILL Jog Feed can be
selected from "VFine", "Low", "Medium", and "High", by using the "Override selection" button.
With the standard settings, the override value of each choice is as below.

Table 12.2.1 (a) Standard override values

Choice Machine operation speed override
VFine 1%
Low 25%
Medium 50%
High 100%

The value to be output as a signal if each button is pressed can be changed with the system variables
$MTSERV_CFG.$OV_VAL[1] to $MTSERV_CFG.$OV_VAL[4].

Table 12.2.1 (b) System variables for determining the override values for the override selection button
Choice System variable
VFine $MTSERV_CFG.$OV_VAL[1]
Low $MTSERV_CFG.$OV_VAL[2]
Medium $MTSERV_CFG.$OV_VAL[3]
High $MTSERV_CFG.$OV_VAL[4]

When the screen is displayed anew and when the ROBODRILL or the path is changed, VFine is selected
for the override.
If an attempt is made to change the override while a machine tool operation is being executed, the
machine tool operation is interrupted.

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12. ROBODRILL SCREEN
OPERATIONS FROM THE ROBOT B-85444EN-4/02

Jog operation
In the machine tool operation enable status, ROBODRILL Jog Feed can be performed with the following
operation.
1 For the axis for which the position data is displayed, select the axis on which to perform a jog
operation, as well as the direction, by pressing the "+" and "-" buttons on the right. Two directions
cannot be selected at the same time.
2 Press and hold down the shift key on the teach pendant, and press the "M.JOG" (F5) key.

NOTE
For a machine tool operation, pressing the "M.Tool Operation" button on the
screen does not perform the machine operation. Press the F5 key on the teach
pendant.
3 When a machine tool jog operation is to be performed for the first time after the screen is displayed
or if a jog operation is to be performed for the first time after the selection of the ROBODRILL or
the path on which to perform the operation is changed, a popup such as the one below appears,
asking to confirm the ROBODRILL and the path on which to perform the operation.

Popup for confirmation

4 A dialog appears asking to confirm the CNC and the path. Confirm the displayed ROBODRILL and
path, and if they are correct, select "YES". Press and hold down the shift key again, and press the
"M.JOG" (F5) key. If the ROBODRILL or the path on which to perform the operation is different
from the desired one, press "NO", and select the correct ROBODRILL or path.
5 It is possible to suppress the display of the popup for confirmation by setting the appropriate system
variable. When the value of the system variable $MTSERV_CFG.$JOG_CONFIRM is TRUE, the
popup for confirmation appears. If the system variable $MTSERV_CFG.$JOG_CONFIRM is set to
FALSE, the popup for confirmation does not appear, the signal for the machine tool operation is
output.
6 During the execution of a machine tool operation, the axis on which to perform the operation and the
direction in which to perform it cannot be switched. To switch the axis in which to perform the
operation or the direction in which to operate it, stop the operation, switch the axis or direction, and
then perform the operation again.
7 If any of the following is performed during the ROBODRILL Jog Feed operation, the Jog Feed
operation is interrupted.
• Release the shift key or the "M.JOG" (F5) key.
• Enter the emergency stop status.
• Press the OPR Enable button to disable the operation.
• Disable the robot teach pendant.
• Turning OFF of the ROBODRILL system mode signal.
• Switch screens on the robot teach pendant.
• Enter a status in which any axis/direction selection buttons are not selected.
• Press another axis/direction selection button or another override selection button.
• Disconnection of data communication with the selected ROBODRILL via Ethernet.
• Execution of the robot program.
• Operate the robot.

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 12. ROBODRILL SCREEN
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12.2.2 Tool Offset Screen

On the tool offset screen, the tool offset value for use with tool offset in the ROBODRILL can be input
from the robot teach pendant.

Fig. 12.2.2 Tool offset screen

To set a tool offset value on the tool offset screen, it is necessary to enable "Tool offset data change" on
the ROBODRILL setting screen. If "Tool offset data change" is disabled, the background of the tool
offset data on the screen turns to gray, indicating that it cannot be changed. The tool offset data in the
gray background cannot be changed.

Contents of the tool offset screen

The display items on the tool offset screen are as below.
• The present tool offset value in the CNC is displayed.
• The number of tool offset data items to display conforms to the setting of the number of tool offset
data items per path in the ROBODRILL.
• The unit (millimeters/inches) of the tool offset value, as well as the number of decimal places,
conforms to the setting in the ROBODRILL.

On the ROBODRILL, the following tool offset data appears.

• Tool length geometric offset value
• Tool length wear offset value
• Cutter geometric offset value
• Cutter wear offset value
• Virtual tool tip direction (T) (not displayed if the virtual tool tip direction is disabled in the
CNC)

Operations on the tool offset screen

On the tool offset screen, the following operations are possible.

Tool offset value setting

Select the tool offset value to change, and the numeric value input window appears. In this window, enter
the desired tool offset value. After entering the numeric value, press the "Enter" key, and the data is sent
to the CNC.
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12. ROBODRILL SCREEN
OPERATIONS FROM THE ROBOT B-85444EN-4/02

• The unit (millimeters/inches) of the tool offset value, as well as the number of decimal places,
conforms to the setting in the ROBODRILL.
• The setting ranges in accordance with the unit of the tool offset value and the number of decimal
places are as below.

Table 12.2.2 (a) Numbers of decimal places and the setting ranges (metric input)
Number of decimal places Setting range
3 -9999.999mm - +9999.999mm
4 -9999.9999mm - +9999.9999mm

Table 12.2.2 (b) Numbers of decimal places and the setting ranges (inch input)
Number of decimal places Setting range
4 -999.9999inch - +999.9999inch
5 -999.99999inch - +999.99999inch

• If, on the machine tool setting screen, "Tool offset data change" is disabled, the tool offset data
cannot be changed. The background of all displayed tool offset data is displayed in gray.
• In the ROBODRILL, the tool offset data that is prohibited from being changed from the MDI cannot
be changed. The background of such data is displayed in gray.

NOTE
On the tool offset screen, the background of the tool offset data that is prohibited
from being changed is gray. In the following cases, however, the background of
the tool offset data that is prohibited from being changed does not become gray.
If this occurs, press the "REFRESH" button on the tool offset screen to redisplay
the screen; the background of the tool offset data that is prohibited from being
changed becomes gray.
• In the status in which the tool offset screen is displayed, "Tool offset data
change" is changed on the machine tool I/F setting screen.
• In the status in which the tool offset screen is displayed, the setting of
"prohibition of changing the tool offset value from the MDI" in the CNC is
changed.

Page switching
• Press the "NO.SRH" button and enter a number, and the data with the entered offset number is
displayed on the top. Note that only the data with the offset number that exists in the CNC can be
displayed.
• Press the "↑" button, and the page immediately preceding the currently displayed page is displayed.
If the first page is displayed, the last page is displayed.
• Press the "↓"button, and the page immediately following the currently displayed page is displayed. If
the last page is displayed, the first page is displayed. Note that only the data with the offset number
that exists in the CNC can be displayed.

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 13. IN THE CASE OF A SERVO
B-85444EN-4/02 MOTOR DRIVEN SIDE DOOR

13 IN THE CASE OF A SERVO MOTOR

DRIVEN SIDE DOOR
13.1 OVERVIEW
Side doors are available in two types, air cylinder driven side door and servo motor driven side door. By
using a servo motor driven side door, it is possible to shorten the door open/close time and overlap door
opening/closing with robot operation. This chapter mainly explains the differences from the air cylinder
driven side door.

13.2 NOTES
There are several differences between servo motor driven side door and air cylinder driven side door. Pay
attention to the differences when using this function.

Difference Air cylinder driven side door Servo motor driven side door
FL-net (Ethernet) connection, See Chapter 2, "CONNECTION". See Chapter 2, "CONNECTION".
safety fence cable connection,
safety fence switch
connection,
connection inside controller
cabinet
Side door appearance See Appendix D, "APPEARANCE See Appendix D, "APPEARANCE
(dimensions) DIAGRAMS OF ROBODRILLS WITH DIAGRAMS OF ROBODRILLS WITH
SIDE DOOR ATTACHED". SIDE DOOR ATTACHED".
Side door opening/closing Controlled by the ROBODRILL. Controlled by the robot.
(No settings required.) (See Subsection 13.6.1, "Signal
Setting".)
Side door open end signal Acquired by the ROBODRILL. Acquired by the robot.
(No settings required.) (See Subsection 13.6.1, "Signal
Setting".)
Parameter PMC parameter keep relay K58#6=0 PMC parameter keep relay
K58#6=1
Output conditions for The following two are included in the Neither of the following two is included in
service request signal conditions: the conditions:
work-piece setting request ・ The door must be positioned at ・ The door is positioned at the open
signal, the open end. end.
work-piece picking up request ・ The table is at the work-piece ・ The table is at the work-piece
signal change position. change position.

* For information about mounting the servo motor, see Appendix G, "MOUNTING THE SERVO
MOTOR".

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13. IN THE CASE OF A SERVO
MOTOR DRIVEN SIDE DOOR B-85444EN-4/02

13.3 PARAMETERS (ROBODRILL)

No. Setting Description
The robot interface 2 function is
0: Disabled.
K58#4 1 1 : Enabled.
When the robot interface 2 function is enabled, the side door is
0: Air cylinder driven type.
K58#6 1 1: Servo motor type.
System Control not using the robot interface 2 function is
0: Disabled
K58#7 0 1: Enabled (See Appendix A.)

13.4 INTERFACE BETWEEN ROBODRILL AND ROBOT

13.4.1 Signal Setting

ROBODRILL-side control requires the servo motor driven side door open end signal. Also, opening and
closing the servo motor driven side door from a ROBODRILL requires that the servo motor driven side
door be controlled on the robot side, based on the servo motor driven side door open/close request from
the ROBODRILL. On the robot side, set the following signal addresses appropriately.

Signal ROBODRIL Robot-side address Note

L
1st DO[49]
Side door open end 2nd DO[305]
Turn it ON in the side door open end status.
position 3rd DO[561]
4th DO[817]
1st DI[113] Open the side door when this signal is ON. This
2nd DI[369] signal does not turn ON when the system is in an
Side door open 3rd DI[625] emergency stop state, when the safety fence is
request DI[881] open, when the front door is open, or when the side
door is at the open end. This signal turns OFF when
4th the side door close request signal turns ON.
1st DI[114] Close the side door when this signal is ON. This
2nd DI[370] signal does not turn ON when the system is in an
Side door close 3rd DI[626] emergency stop state, when the safety fence is
request DI[882] open, when the front door is open, or when the side
door is at the close end. This signal turns OFF when
4th the side door open request signal turns ON.

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 13. IN THE CASE OF A SERVO
B-85444EN-4/02 MOTOR DRIVEN SIDE DOOR

13.4.2 System Control Time Chart

The following shows a time chart example for the operation of this system.

13.4.2.1 Robot/ROBODRILL operation upon completion of machining

ROBODRILL
operation Completion of machining Next cycle

Service request
ON OFF
signal

Door open Robot entry Door close

OK OK OK
ROBODRILL status
(judged by the robot)
Note) 1
Wait
operation

Robot operation

Entry into machine

Work-piece picking up
and setting operations

Open Close
Side door operation
operation

Service completion
signal ON

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13. IN THE CASE OF A SERVO
MOTOR DRIVEN SIDE DOOR B-85444EN-4/02

13.4.2.2 Robot/ROBODRILL operation during work-piece setting

ROBODRILL
operation Work-piece setting Start of cycle

Work-piece setting
request signal ON OFF

Door open Robot entry Door close

OK OK OK
ROBODRILL status
(judged by the robot)
Note) 1
Wait
operation

Robot operation

Entry into machine

Work-piece setting
operation

Open Close
Side door operation operation

Service completion
signal ON

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 13. IN THE CASE OF A SERVO
B-85444EN-4/02 MOTOR DRIVEN SIDE DOOR

13.4.2.3 Robot/ROBODRILL operation at cycle stop

ROBODRILL
Completion of machining
operation

Work-piece
picking up ON OFF
request signal

Door open Robot entry Door close

OK OK OK
ROBODRILL status
(judged by the robot)
Note) 1
Wait
operation

Robot operation

Entry into machine

Work-piece picking up
operation

Open Close
Side door operation
operation

Cycle stop
completion signal ON

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13. IN THE CASE OF A SERVO
MOTOR DRIVEN SIDE DOOR B-85444EN-4/02

13.4.2.4 Robot/ROBODRILL operation at system stop

ROBODRILL
operation Completion of machining

Service request
ON OFF
signal

Door open Robot entry Door close

OK OK OK
ROBODRILL status
(judged by the robot)
Note) 1
Wait
operation

Robot operation

Entry into machine

Work-piece picking up
operation

Open Close
Side door operation operation

System stop
completion signal ON

13.4.2.5 Robot-ROBODRILL at the advance notice of completion of

machining
ROBODRILL M62
operation execution

Process
ON
completion
notice

Preparatory operation
Robot operation for work-piece change

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 13. IN THE CASE OF A SERVO
B-85444EN-4/02 MOTOR DRIVEN SIDE DOOR
Note 1)
Set the conditions for door opening/closing and the entry of the robot into the machine, using the
information below.

Data to use Description/Use

Service request signal Signal from the ROBODRILL side that requests work-piece change.
Use this as a door opening/closing start condition.
Work-piece picking up Signal from the ROBODRILL that requests work-piece picking up.
request signal Use this as a door opening/closing start condition.
Work-piece setting Signal from the ROBODRILL that requests work-piece setting.
request signal Use this as a door opening/closing start condition.
Safety status signal Turns ON when each axis and the spindle stop (K60#2=0).
Turns ON when only the spindle stops (K60#2=1).
Can be used as a condition for starting door opening and the entry of the robot into the
machine.
Work-piece change Turns ON when the table is at the work-piece change position.
position signal Can be used as a condition for staring door opening and the entry of the robot into the
machine.
Side door position Side door coordinates. (Robot-side information. Cannot be acquired from the ROBODRILL
side.)
Can be used as a condition for starting the entry of the robot into the machine and
retraction.
Robot position Robot coordinates. (Robot-side information. Cannot be acquired from the ROBODRILL
side.)
Can be used as a condition for starting the operation for closing the side door.

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13. IN THE CASE OF A SERVO
MOTOR DRIVEN SIDE DOOR B-85444EN-4/02

13.4.3 Details of System Control

Control for the 1st ROBODRILL is detailed below.

13.4.3.1 Control during normal operation

ROBODRILL Robot

ROBODRILL machining completed

(M02, M30, and M60 execution)
SERVICE REQUEST (DI[1] = ON) ------------> Signal status check
Safety status (FSI[12]=ON) ------------> Signal status check
Work-piece change position (DI[9]=ON) ------------> Signal status check
Side door open
Work-piece install and remove operation
SERVICE OK
DO[1] = ON, OFF after 300 ms)
ROBODRILL machining start <------------ Side door close

13.4.3.2 Work-piece installation (install operation only)

ROBODRILL Robot

ROBODRILL machining completed

(First-time M61 execution in system
mode)
WORK INSTALL.REQ. (DI[2] = ON) ------------> Signal status check
Safety status (FSI[12]=ON) ------------> Signal status check
Work-piece change position (DI[9]=ON) ------------> Signal status check
Side door open
Work-piece install operation
SERVICE OK
DO[1] = ON, OFF after 300 ms)
ROBODRILL machining start <------------ Side door close

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 13. IN THE CASE OF A SERVO
B-85444EN-4/02 MOTOR DRIVEN SIDE DOOR

13.4.3.3 Work-piece removal (cycle stop)

ROBODRILL Robot

ROBODRILL machining completed

(M02, M30, and M60 execution)
Cycle stop request (DI[5]=ON) ------------> Signal status check
WORK REMOV. REQ. (DI[3] = ON) ------------> Signal status check
Safety status (FSI[12]=ON) ------------> Signal status check
Work-piece change position (DI[9]=ON) ------------> Signal status check
Side door open
Work-piece remove operation
CYCLE STOP OK
ROBODRILL stop <------------ (DO[3] = ON, OFF after 300 ms)
Side door close
The program remains in the execution
state.

13.4.3.4 System stop

ROBODRILL Robot

ROBODRILL machining completed

(M02, M30, and M60 execution)
SYSTEM STOP REQ. (DI[6] = ON) ------------> Signal status check
SERVICE REQUEST (DI[1] = ON) ------------> Signal status check
Safety status (FSI[12]=ON) ------------> Signal status check
Work-piece change position (DI[9]=ON) ------------> Signal status check
Side door open
Stop-related operation
SYSTEM STOP OK
ROBODRILL machining stop <------------ (DO[4] = ON, OFF after 300 ms)
Side door close
The program ends.

13.4.3.5 Machining completion notice

ROBODRILL Robot

M62 executed
NOTICE OF M30/M02 (DI[4] = ON) ------------> Signal status check
Preparations for work-piece exchange

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13. IN THE CASE OF A SERVO
MOTOR DRIVEN SIDE DOOR B-85444EN-4/02

13.4.4 M Codes for System Control

Function Command Detailed description
Robot service M60 If the ROBODRILL machining program is in endless loop format, used to request
request work-piece picking up and setting to the robot.
If the System/Stand-alone switch is in the "System" position:
The service request signal or the cycle stop request signal is output from the
robot.
If the service completion signal is output from the robot, the instruction in the
next block is executed.
If the System/Stand-alone switch is in the "Stand-alone" position:
Nothing is performed.
Work setting M61 After the start of system operation, used to cause the robot to service only
request work-piece setting. This is not used if system operation is started after a
work-piece is always set manually.
If the System/Stand-alone switch is in the "System" position:
The side door is opened and a work setting request signal is issued to the
robot first time M61 is issued after any of the events:
• Setting the System/Stand-alone switch to the "Stand-alone" position
• Cycle stop (if bit 1 of PMC K24 parameter =1)
• System stop (if bit 2 of PMC K24 parameter =1)
Later, if M61 is issued for the first time, the work-piece setting request signal
is output to the robot. If the service completion signal is output from the robot,
the instruction in the next block is executed. With the second and subsequent
M61 instructions, nothing is executed.
If the System/Stand-alone switch is in the "Stand-alone" position:
Nothing is performed.

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 13. IN THE CASE OF A SERVO
B-85444EN-4/02 MOTOR DRIVEN SIDE DOOR

13.5 ALARMS AND MESSAGES

13.5.1 Machine Alarms (EX Alarms)

Alarm display
No. Corrective action Remarks
Description
EX1061 ROBOT IS IN SERVICE. In the robot service
Spindle rotation or tool change was specified in the robot state, these operations
service state. are disabled.

13.5.2 Operator Messages

Message display
No. Corrective action Remarks
Description
2016 SAFETY GATE IS OPEN.
If the safety fence is not open, the power to the robot is OFF
or the FL-net communication is in error.
2020 TEACHING MODE.(T1) To perform normal
When bit 0 of K19 is set to 0, the robot is in the T1 mode. operation, cancel the
If the robot is not in the T1 mode, an FL-net communication teach mode.
error occurs. When bit 0 of K19 is set to 1, custom PMC
signal R1367.0 (SO17_0) is set to 1.
2021 SIDE DOOR AND SAFETY DOOR IS OPEN.
The side door is in the open state (X16.7 = 0) and the safety
gate signal input from the robot indicates the open state.
2033 CAN NOT OPEN THE FRONT DOOR.(SIDE DOOR IS Close the side door,
OPEN) then open the front door.
An attempt was made to open the front door when the side
door was open.
2034 CAN NOT OPEN THE SIDE DOOR.(FRONT DOOR IS Close the front door,
OPEN) then open the side door.
An attempt was made to open the side door when the front
door was open.

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APPENDIX
 A. IF NOT USING THE ROBOT
B-85444EN-4/02 APPENDIX INTERFACE 2 FUNCTION

A IF NOT USING THE ROBOT INTERFACE 2

FUNCTION
A.1 OVERVIEW
This chapter describes the case where the robot interface 2 screen is not used (air cylinder-driven
type/servo motor-driven type).

A.2 NOTES
・ It is not possible to open the front door and the side door at the same time.
・ When the front door is open, a side door open request is not accepted.
The message "2034 CAN NOT OPEN THE SIDE DOOR.(FRONT DOOR IS OPEN)" appears.
"2034 CAN NOT OPEN THE SIDE DOOR.(FRONT DOOR IS OPEN)"
・ When the side door is open, a front door open request is not accepted.
The message "2033 CAN NOT OPEN THE FRONT DOOR.(SIDE DOOR IS OPEN)" appears.
"2033 CAN NOT OPEN THE FRONT DOOR.(SIDE DOOR IS OPEN)"
・ If the side door is open, the spindle cannot be rotated (M03, M04, M06, and M19).
If both safety fence and side door are open, the axes cannot be moved, either.
(In automatic operation mode, all axes are interlocked.)
Create a program that closes the side door first and then performs spindle rotation and tool change.
・ This function cannot be used at the same time as front door control.
・ Enter the fence open/close status to the ROBODRILL.
To judge whether external devices (such as robots) can control the side door, use the safety status
signal.
For details, see Appendix A.5, "I/O SIGNALS".
・ The servo motor driven side door must be controlled on the robot side. There is no door switch on the
open end side.
Thus, the robot interface signals related to these (custom PMC signals) are necessary.
Control the custom PMC signals by using the door open/close end signals acquired on the robot side.
Also, open and close the side door on the robot side, by using the side door open/close request signal
output from the ROBODRILL.
For details, see Appendix A.7.2, "For Servo Motor Driven Side Doors".

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A. IF NOT USING THE ROBOT
INTERFACE 2 FUNCTION APPENDIX B-85444EN-4/02

A.3 CONNECTION

A.3.1 WHEN FRONT DOOR IS DRIVEN BY SERVO MOTOR

A.3.1.1 Safety fence cable connection
When the ROBODRILLs are attached with a front auto-door (driven by a servo motor), connect the safety
fence cables as in the figure below.

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 A. IF NOT USING THE ROBOT
B-85444EN-4/02 APPENDIX INTERFACE 2 FUNCTION

NOTE
1 For details of the fence signals, see Appendix A.5, "I/O SIGNALS".
2 For FENCE1, output the statuses of FENCE1-1 and 1-2; for FENCE2, output the
statuses of FENCE2-1 and 2-2; and input them to each ROBODRILL.
3 For FENCE1-1 and 1-2 and for FENCE2-1 and 2-2, use controllers having
electrical specifications of 24 VDC (5 mA to 50 mA).
4 For FENCE1 and FENCE2, use contacts with a contact capacity of 24 VDC and
50 mA or greater and with a minimum load of 5 mA.
5 It is recommended to use cable wires coated with a material with sufficient oil
resistance so that deterioration does not occur due to coolant, lubricant, and so
on.

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A. IF NOT USING THE ROBOT
INTERFACE 2 FUNCTION APPENDIX B-85444EN-4/02

A.3.1.2 Circuit diagrams

Robot Controller 1st ROBODRILL controller cabinet

Safety status Wiring PCB unit

signal input A04B-0103-C210#□□□
XS33-1~3

Fence signal
output
SAFE1
SAFE2 Robot interface unit
FENCE1 A04B-0103-C231#FSS
FEMCE2
Fence signal
input
2nd and subsequent ones ROBODRILL controller cabinet

Wiring PCB unit

A04B-0103-C210#□□□
XS33-1~3

Safety
fence

SAFE1
SAFE2 Robot interface unit
FENCE1 A04B-0103-C231#FSS
FEMCE2
・・・・・

n-th ROBODRILL controller cabinet

Wiring PCB unit

A04B-0103-C210#□□□
XS33-1~3

SAFE1
SAFE2 Robot interface unit
FENCE1 A04B-0103-C231#FSS
FEMCE2

- 192 -
 A. IF NOT USING THE ROBOT
B-85444EN-4/02 APPENDIX INTERFACE 2 FUNCTION

A.3.1.3 Connection inside the controller cabinet

Inside the controller cabinet
<Wiring PCB unit >

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

<Option mounting plate> <Robot interface unit>

A04B-0094-J224 A04B-0103-C231#FSS
(A04B-0103-J223#FSS)

- 193 -
A. IF NOT USING THE ROBOT
INTERFACE 2 FUNCTION APPENDIX B-85444EN-4/02

Robot interface unit

Wired

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

×Safety fence cable ×Safety fence signal cables

(FENCE1, FENCE2) (SAFE1, SAFE2)

For information about the cable and wiring, see Appendix C, "WIRING."

Controller cabinet Cable entrance

To be fastened
with a cable tie

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

×Safety status signal cable (to controller)

×Fence signal cable (to controller)

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 A. IF NOT USING THE ROBOT
B-85444EN-4/02 APPENDIX INTERFACE 2 FUNCTION

A.3.1.4 Circuit diagrams

- 195 -
A. IF NOT USING THE ROBOT
INTERFACE 2 FUNCTION APPENDIX B-85444EN-4/02

A.3.2 WHEN SIDE DOOR IS DRIVEN BY AIR CYLINDER

A.3.2.1 Safety fence cable connection

If the ROBODRILLs are attached with side doors, connect the safety fence cables as in the figure below.

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 A. IF NOT USING THE ROBOT
B-85444EN-4/02 APPENDIX INTERFACE 2 FUNCTION

NOTE
1 If the ROBODRILLs are attached with side doors, be sure to connect the safety
fence cables in series as in the figure above. (Connections on the relay terminal
blocks for safety fences of the ROBODRILL may be in random order.)
2 For details of the fence signals, see Appendix A.5, "I/O SIGNALS".
3 For FENCE1, output the statuses of FENCE1-1 and 1-2; for FENCE2, output the
statuses of FENCE2-1 and 2-2; and input them to each ROBODRILL.
4 For FENCE1-1 and 1-2 and for FENCE2-1 and 2-2, use controllers having
electrical specifications of 5 VDC to 24 VDC (5 mA to 50 mA).
5 For FENCE1 and FENCE2, use contacts with a contact capacity of 24 VDC and
50 mA or greater and with a minimum load of 5 mA.
6 It is recommended to use cable wires coated with a material with sufficient oil
resistance so that deterioration does not occur due to coolant, lubricant, and so
on.

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A. IF NOT USING THE ROBOT
INTERFACE 2 FUNCTION APPENDIX B-85444EN-4/02

A.3.2.2 Circuit diagrams

Robot Controller 1st ROBODRILL controller cabinet

Wiring PCB unit

Safety status XS32-5~7 A04B-0103-C210#□□□
signal input XS33-1,2,4
Side auto-door
lever switch (SQ7)
Front door
Fence signal key switch(SQ11)
output
SAFE1 SDM1,2 SGA1-2,3 Side auto-door cylinder
SAFE2 SGA2-2,3 CLO open switch (SQ8)
FENCE1 Side auto-door cylinder
CLC
FEMCE2 close switch (SQ9)
Fence signal SGA1-1,3 CLOV Air valve of side
output SGA2-1,3 CLCV auto-door cylinder (YV4)
SGA1-1,2 Robot interface unit
SGA2-1,2 A04B-0103-C231#SAS

2nd and subsequent ones ROBODRILL controller cabinet

Wiring PCB unit

XS32-5~7 A04B-0103-C210#□□□
XS33-1,2,4
Side auto-door
lever switch (SQ7)
Front door
key switch(SQ11)
SAFE1 SDM1,2 SGA1-2,3 Side auto-door cylinder
CLO
SAFE2 SGA2-2,3 open switch (SQ8)
FENCE1 Side auto-door cylinder
CLC
FEMCE2 close switch (SQ9)
SGA1-1,3 CLOV Air valve of side
SGA2-1,3 CLCV auto-door cylinder (YV4)
SGA1-1,2 Robot interface unit
SGA2-1,2 A04B-0103-C231#SAS
・・・・・

n-th ROBODRILL controller cabinet

Wiring PCB unit

XS32-5~7 A04B-0103-C210#□□□
XS33-1,2,4
Side auto-door
lever switch (SQ7)
Front door
key switch(SQ11)
SAFE1 SDM1,2 SGA1-2,3 Side auto-door cylinder
CLO
SAFE2 SGA2-2,3 open switch (SQ8)
FENCE1 Side auto-door cylinder
CLC
FEMCE2 close switch (SQ9)
SGA1-1,3 CLOV Air valve of side
SGA2-1,3 CLCV auto-door cylinder (YV4)
SGA1-1,2 Robot interface unit
SGA2-1,2 A04B-0103-C231#SAS

Safety fence

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 A. IF NOT USING THE ROBOT
B-85444EN-4/02 APPENDIX INTERFACE 2 FUNCTION

A.3.2.3 Connection inside the controller cabinet

Inside the controller cabinet
<Wiring PCB unit >

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

<Option mounting plate> <Robot interface unit>

A04B-0094-J224 A04B-0103-C231#SAS
(A04B-0103-J223#SAS)

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A. IF NOT USING THE ROBOT
INTERFACE 2 FUNCTION APPENDIX B-85444EN-4/02

Robot interface unit (1st unit)

Remove the jumper when

connecting to the safety fence or
another ROBODRILL.
Wired

▲Cable [K189]
A660-8018-T794#L15R03A
(SGA1-1,2 SGA-2-1,2)
or
×Safety fence cable
(SGA1-1,2 SGA-2-1,2)

×Safety status signal cables

(SAFE1, SAFE2)
×Safety fence signal cables
(NOTE) ×Fence signal cable
(SGA1-1,3 SGA-2-1,3) (FENCE1, FENCE2)

NOTE
The supplied K189 cable can be used by modifying the destination label. For
details, see Appendix A.3.1.4, "Circuit Diagrams".

Robot interface units (2nd and subsequent ones)

Remove the jumper when

connecting to the safety fence or
another ROBODRILL.
Wired

▲Cable [K189] Cables

A660-8018-T794#L15R03A {: Connected before shipment.
U: Supplied at shipment.
(SGA1-1,2 SGA-2-1,2)
(To be connected during on-site
or adjustment.)
×Safety fence cable ▲: Supplied with another ROBODRILL.
(SGA1-1,2 SGA-2-1,2) ×: Not supplied.
(To be manufactured and connected.)

×Safety status signal cable

(SAFE1, SAFE2)
△Cable [K189]
A660-8018-T794#L15R03A ×Fence signal cable
(SGA1-1,3 SGA-2-1,3) (FENCE1, FENCE2)

For information about the cable and wiring, see Appendix C, "WIRING."

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 A. IF NOT USING THE ROBOT
B-85444EN-4/02 APPENDIX INTERFACE 2 FUNCTION

Controller cabinet Cable entrance (1st unit)

To be fastened
with a cable tie

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

▲Cable [K189]
(from another ROBODRILL) ×Safety status signal cable (to controller)
or ×Fence signal cable (to controller)
×Safety fence cable ×Safety fence signal cable (to controller)

Controller cabinet Cable entrance (2nd and subsequent ones)

To be fastened
with a cable tie

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

▲Cable [K189] ×Safety status signal cable (to controller)

(from another ROBODRILL) ×Fence signal cable (to controller)
or ▲Cable [K189] (to another ROBODRILL)
×Safety fence cable

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A. IF NOT USING THE ROBOT
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A.3.2.4 Circuit diagrams

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A.3.3 WHEN SIDE DOOR IS DRIVEN BY SERVO MOTOR

A.3.3.1 Safety Fence Cable Connection

If the ROBODRILLs are attached with side doors, connect the safety fence cables as in the figure below.

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NOTE
1 If the ROBODRILLs are attached with side doors, be sure to connect the safety
fence cables in series as in the figure above. (Connections on the relay terminal
blocks for safety fences of the ROBODRILL may be in random order.)
2 For details of the fence signals, see Appendix A.5, "I/O SIGNALS".
3 For FENCE1, output the statuses of FENCE1-1 and 1-2; for FENCE2, output the
statuses of FENCE2-1 and 2-2; and input them to each ROBODRILL.
4 For FENCE1-1 and 1-2 and for FENCE2-1 and 2-2, use controllers having
electrical specifications of 5 VDC to 24 VDC (5 mA to 50 mA).
5 For FENCE1 and FENCE2, use contacts with a contact capacity of 24 VDC and
50 mA or greater and with a minimum load of 5 mA.
6 Each ROBODRILL must be supplied with 24 VDC from the controller. The power
supply capacity required per ROBODRILL is 100 mA.
7 It is recommended to use cable wires coated with a material with sufficient oil
resistance so that deterioration does not occur due to coolant, lubricant, and so
on.

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 A. IF NOT USING THE ROBOT
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A.3.3.2 Circuit diagrams

Robot Controller 1st ROBODRILL controller cabinet

Wiring PCB uni

Safety status A04B-0102-C210#□□□
signal input XS32-7
XS33-1,2,4
Side auto-door
open switch (SQ12)
Side auto-door
Fence signal
close switch (SQ13)
output
Front door
key switch(SQ11)
SAFE1 XS 61-1,2 XS61-3,4 SGA1-2,3
SAFE2 SGA2-2,3

FENCE1
FEMCE2
Fence signal
output SGA1-1,3
SGA2-1,3
DC24V,0V SGA1-1,2 Robot interface unit
+24R,0V SGA2-1,2 A04B-0103-C231#SSS

2nd and subsequent ones ROBODRILL controller cabinet

Wiring PCB uni

A04B-0102-C210#□□□
XS32-7
XS33-1,2,4
Side auto-door
open switch (SQ12)
Side auto-door
close switch (SQ13)
Front door
key switch(SQ11)
SAFE1 SGA1-1,3 XS 61-1,2 XS61-3,4 SGA1-2,3
SAFE2 SGA2-1,3 SGA2-2,3

FENCE1
FEMCE2
SGA1-1,2 Robot interface unit
+24R,0V SGA2-1,2 A04B-0103-C231#SSS
・・・・・

n-th ROBODRILL controller cabinet

Wiring PCB uni

A04B-0102-C210#□□□
XS 32-7
XS 33-1,2,4
Side auto-door
open switch (SQ12)
Side auto-door
close switch (SQ13)
Front door
key switch(SQ11)
SAFE1 SGA1-1,3 XS61-1,2 XS61-3,4 SGA1-2,3
SAFE2 SGA2-1,3 SGA2-2,3

FENCE1
FEMCE2
SGA1-1,2 Robot interface unit
+24R,0V SGA2-1,2 A04B-0103-C231#SSS

Safety fence

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A. IF NOT USING THE ROBOT
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A.3.3.3 Connection inside the controller cabinet

Inside the controller cabinet
<Wiring PCB unit >

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

<Option mounting plate> <Robot interface unit>

A04B-0094-J224 A04B-0103-C231#SSS
(A04B-0103-J223#SSS)

Robot interface unit (1st unit)

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL. Wired
×: Not supplied.
(To be manufactured and connected.)

Remove the jumper when

connecting to the safety fence or
another ROBODRILL.
×Safety status signal cables
(SAFE1, SAFE2)

▲Cable [K189] ×Fence signal cable

A660-8018-T794#L15R03A (FENCE1, FENCE2)
(SGA1-1,2 SGA-2-1,2)
or
×Safety fence cable
(SGA1-1,2 SGA-2-1,2)
▲Cable [K193]
A660-8019-T257#L15R03A
(+24R,0V)
×Safety fence signal cables (NOTE) ×24 VDC power cable
(SGA1-1,3 SGA-2-1,3) (+24R,0V)

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NOTE
The supplied K189 cable can be used by modifying the destination label. For
details, see Appendix A.3.1.4, "Circuit Diagrams".

Robot interface units (2nd and subsequent ones)

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL. Wired
×: Not supplied.
(To be manufactured and connected.)

Remove the jumper when

connecting to the safety fence or
another ROBODRILL.
×Safety status signal cables
(SAFE1, SAFE2)

▲Cable [K189] ×Fence signal cable

A660-8018-T794#L15R03A (FENCE1, FENCE2)
(SGA1-1,2 SGA-2-1,2)
or
×Safety fence cable
(SGA1-1,2 SGA-2-1,2)
▲Cable [K193]
A660-8019-T257#L15R03A
(+24R,0V)
△Cable [K189] △Cable [K193]
(SGA1-1,3 SGA-2-1,3) A660-8019-T257#L15R03A
(+24R,0V)

For information about the cable and wiring, see Appendix C, "WIRING."

Controller cabinet Cable entrance (1st unit)

To be fastened
with a cable tie

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

▲Cable [K189] (from another ROBODRILL) ×Safety status signal cable (to controller)
or ×Fence signal cable (to controller)
×Safety fence cable ×Safety fence signal cable (to controller)
▲Cable [K193] (from another ROBODRILL) ×24 VDC power cable (to controller)

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A. IF NOT USING THE ROBOT
INTERFACE 2 FUNCTION APPENDIX B-85444EN-4/02

Controller cabinet Cable entrance (2nd and subsequent ones)

To be fastened
with a cable tie

Cables
{: Connected before shipment.
U: Supplied at shipment.
(To be connected during on-site
adjustment.)
▲: Supplied with another ROBODRILL.
×: Not supplied.
(To be manufactured and connected.)

▲Cable [K189] (from another ROBODRILL) ×Safety status signal cable (to controller)
or ×Fence signal cable (to controller)
×Safety fence cable UCable [K189] (to another ROBODRILL)
▲Cable [K193] (from another ROBODRILL) UCable [K193] (to another ROBODRILL)

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 A. IF NOT USING THE ROBOT
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A.3.3.4 Circuit diagrams

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A. IF NOT USING THE ROBOT
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A.4 SETTING PMC PARAMETERS

No. Setting Description
K58#4 0 Robot interface 2 function
0: Disabled.
1: Enabled.
K58#6 * When the robot interface 2 function is enabled, the side door drive is
0: Air cylinder driven type.
1: Servo motor driven type.
K58#7 1 System control not using the robot interface 2 function is
0: Disabled.
1: Enabled.
K60#2 0 The safety status signal is for monitoring
0: Each axis + spindle.
1: Spindle only.

A.5 I/O SIGNALS

Address Description Use
Fence signal For the side door service type (when bit 0 of K21 is set to 0), input the
(for side door) open/close state of the fence in this address.
X9.4(PMC1) 0: Fence open
X9.4(DCS) 1: Fence closed
Fence signal For the front door service type (when bit 0 of K21 is set to 1), input the
(for front door) open/close state of the fence in this address.
X8.7(PMC1) 0: Fence open
X8.7 (DCS) 1: Fence closed
This signal is for outputting the status of whether the ROBODRILL is
operating below the safety speed.
Safety status signal Use this as needed.
Y6.4(PMC1) 0: Unsafety status For example, this can be used to judge whether an external device
Y8.4(DCS) 1: Safety status (such as a robot) can control the side door.

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A.6 OPENING/CLOSING THE SIDE DOOR

There are two methods of opening/closing the side door: Specifying M codes in the program; and using
external input signals.

A.6.1 If Using M Codes

The door can be opened/closed by specifying the following M codes in the program.
In principle, the M codes are operated when system mode is selected (M52 and M53 are selectable).

M52: Door close command

Specify M52 in an independent block.
When the door is closed, the FIN signal is returned, and processing shifts to the next block.

M53: Door open command

Specify M53 in an independent block.
When the door is opened, the FIN signal is returned, and processing shifts to the next block.

If opening the door with the M02 and M30 commands

By making the following settings, the door opens at the end of the program.
Bit 0 of PMC parameter K21 = 0 and bit 6 of K21 = 0
(By setting bit 5 of PMC parameter K21 to 1, cycle start becomes possible even if the side door is open.)

A.6.2 If Using Input Signals from the Outside

The side door can be opened/closed by connecting the side door open/close request signals to the
following interface signals of the custom PMC function.

If necessary, add a sequence (ladder program) for turning ON the following signals to the custom PMC
(PMC2).

SO18_0 (R1368.0): Door open request signal

Turning ON this signal opens the side door.
When issuing it, turn it ON for 100 ms.

SO18_1 (R1368.1): Door close request signal

Turning ON this signal closes the side door.
When issuing it, turn it ON for 100 ms.

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A. IF NOT USING THE ROBOT
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A.7 PERIPHERALS CONTROL SIGNALS (ROBODRILL

CUSTOM PMC FUNCTION)

A.7.1 Common (to Air Cylinder Driven and Servo Motor Driven Side
Doors)
A.7.1.1 [System ladder → Custom ladder]
Address Symbol Description Remarks
R1309.6 SI9_6 Side door closed status ON when the side door is at the closed end position.
R1309.7 SI9_7 Side door open status ON when the side door is at the open end position.
R1429.3 SI79_3 In teach mode ON in teach mode.
R1429.4 SI79_4 Front door open ON when the front door is being opened.
R1429.5 SI79_5 In system mode ON in system mode.

[Side door closed status: SI9_6]

This signal is ON when the ROBODRILL side door is at the closed end position.

[Side door open status: SI9_7]

This signal is ON when the ROBODRILL side door is at the open end position.

[In teach mode: SI79_3]

This signal is ON when the ROBODRILL is in teach mode.

[Front door open: SI79_4]

This signal is ON when the ROBODRILL front door is being opened.

[In system mode: SI79_5]

This signal is ON when the ROBODRILL is in system mode.

A.7.1.2 [Custom ladder → System ladder]

Address Symbol Description Remarks
R1367.1 SO17_1 System/stand-alone switching Turn it ON to enter system mode.
R1368.0 SO18_0 Side door open When issuing it, turn it ON for 100 ms.
R1368.1 SO18_1 Side door close When issuing it, turn it ON for 100 ms.

[System/stand-alone switching: SO17_1]

This signal provides the same function as the system/stand-alone switching.
Make sure that this signal is not used at the same time as the system/stand-alone switching.

[Side door open: SO18_0]

Turning this signal ON opens the side door.

[Side door close: SO18_1]

Turning this signal ON closes the side door.

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 A. IF NOT USING THE ROBOT
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A.7.2 For Servo Motor Driven Side Doors

Set the following side door open/close request signals in such a way as to control the side door. If the side
door is at the open end position, turn ON the following side door open end signal.

A.7.2.1 [System ladder → Custom ladder]

Address Symbol Description Remarks
R1432.5 SI82_5 Side door open Open the door on the robot side when this signal is ON.
request
R1432.6 SI82_6 Side door close Close the door on the robot side when this signal is ON.
request

[Side door open request: SI82_5]

Open the door on the robot side when this signal is ON.

[Side door close request: SI82_6]

Close the door on the robot side when this signal is ON.

A.7.2.2 [Custom ladder → System ladder]

Address Symbol Description Remarks
R1376.0 SO26_0 Side door open end Set in this address the side door open end signal obtained on
signal the robot side.

[Side door open request: SO26_0]

Turn it ON in the side door open end state.

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A. IF NOT USING THE ROBOT
INTERFACE 2 FUNCTION APPENDIX B-85444EN-4/02

A.8 ALARMS AND MESSAGES

A.8.1 Machine Alarms (EX Alarms)

Alarm display
No. Corrective action Remarks
Description
EX1008 AUTO DOOR TOTAL TIME OVER. Check if the auto-door Standard
The front door or side door (for the robot interface) open/close operations timer values
open/close mechanism is in error. are completed within T20=6000
If the auto-door open/close option is mounted, the time of about 4 seconds for T214=2104
operation from the time the door open/close signal is issued the front auto-door and
until the completion exceeded the setting. Other causes within about 2 seconds This alarm is
include an incorrect setting of the door open/close operation for the side auto-door. not issued
time and the improper adjustment of the door open/close Check the timer setting for a servo
mechanism (air pressure, flow regulator air damper, or of the PMC parameter. motor driven
proximity switch). side door.
EX1054 SIDE DOOR SW IS DEFECTIVE. Turn off the power and This alarm is
The open/close status of the side door is in error. back on. If the alarm not issued
Either of the following applies to the door open/close status recurs, contact for a servo
signal. FANUC. motor driven
(1) 500 ms or greater has passed with the door open status side door.
(X10.3=0 or X10.2=1) and the door closed status
(X16.7=1).
(2) 500 ms or greater has passed with the door open status
(X10.2=1 or X16.7=0) and the door closed status
(X10.3=1).
X10.2: Side door open cylinder switch
X10.3: Side door close cylinder switch
X16.7: Side door switch monitor

A.8.2 Operator Messages

Message display
No. Corrective action Remarks
Description
2016 SAFETY GATE IS OPEN.
The safety fence is open (X16.6=0).
2021 SIDE DOOR AND SAFETY DOOR IS OPEN.
The side door is open (X16.7=0) and the safety fence is
open (X16.6=0).
2033 CAN NOT OPEN THE FRONT DOOR.(SIDE DOOR IS Close the side door
OPEN) first, and then open the
An attempt was made to open the front door when the side front door.
door was open.
2034 CAN NOT OPEN THE SIDE DOOR.(FRONT DOOR IS Close the front door
OPEN) first, and then open the
An attempt was made to open the side door when the front side door.
door was open.

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B-85444EN-4/02 APPENDIX B. ORDERING INFORMATION

B ORDERING INFORMATION
B.1 ROBOT INTERFACE 2 COMBINATIONS
Ordering information for software options, electrical unit options, and mechanical unit options differs
depending on the combination of robot interface 2 control method and auto-door type. For details, see
Appendix B.2.

Robot interface 2 control performed Robot interface 2 control not performed

(Robot interface screen provided) (Robot interface screen not provided)
Air cylinder driven Combination A Combination B
side door
Servo motor driven Combination C Combination D
side door

Robot interface 2 control performed Robot interface 2 control not performed

(Robot interface screen provided) (Robot interface screen not provided)
Servo motor driven Combination E Combination F
front door

B.2 ROBOT INTERFACE 2 OPTIONS

B.2.1 Software Options

Option name Ordering information Combination
A B C D
Robot connection function A02B-0326-R683(DiB5,DiB5ADV) ○ ○
A02B-0327-R683(DiB,DiBADV)
FAST Ethernet function A02B-0326-S707(DiB5,DiB5ADV) ○ ○
A02B-0327-S707(DiB,DiBADV)
FL-net function A02B-0326-J692(DiB5,DiB5ADV) ○ ○
A02B-0327-J692(DiB,DiBADV)
Safety function by FL-net A02B-0326-S851(DiB5,DiB5ADV) ○ ○
A02B-0327-S851(DiB,DiBADV)
ROBODRILL connection function 2 A05B-2600-J561 ○ ○
(robot-side option)

Option name Ordering information Combination

E F
Robot connection function A02B-0326-R683(DiB5,DiB5ADV) ○
A02B-0327-R683(DiB,DiBADV)
FAST Ethernet function A02B-0326-S707(DiB5,DiB5ADV) ○
A02B-0327-S707(DiB,DiBADV)
FL-net function A02B-0326-J692(DiB5,DiB5ADV) ○
A02B-0327-J692(DiB,DiBADV)
Safety function by FL-net A02B-0326-S851(DiB5,DiB5ADV) ○
A02B-0327-S851(DiB,DiBADV)
ROBODRILL connection function 2 A05B-2600-J561 ○
(robot-side option)

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B. ORDERING INFORMATION APPENDIX B-85444EN-4/02

B.2.2 Electrical Unit Options

Option name Ordering information Combination
A B C D
Additional 24/16 I/O ports (for main board) A04B-0103-J210#MAB ○ ○ ○ ○
Option mounting plate (Note 1) A04B-0094-J224
(for other than North America)
○ ○ ○ ○
Option mounting plate (Note 1) A04B-0102-J233
(for North America only)
FAST Ethernet/FL-net shared board A04B-0102-J222#FEF
○ ○
(Note 2)
Robot interface unit (Note 3) A04B-0103-J223#SAM
(Air cylinder driven, master)
○
Robot interface unit (Note 3) A04B-0103-J223#SAS
○
(Air cylinder driven, slave)
Robot interface unit (Note 3) A04B-0103-J223#SSM
(Servo motor driven, master)
○
Robot interface unit (Note 3) A04B-0103-J223#SSS
○
(Servo motor driven, slave)

Option name Ordering information Combination

E F
Option mounting plate (Note 1) A04B-0094-J224 ○
○
(for other than North America) (Note 4)
Option mounting plate (Note 1) A04B-0102-J233
(for North America only)
FAST Ethernet/FL-net shared board A04B-0102-J222#FEF
○
(Note 2)
Robot interface unit (Note 3) A04B-0103-J223#FSM
○
(Master)
Robot interface unit (Note 3) A04B-0103-J223#FSC
(Slave)
Robot interface unit A04B-0103-J223#FSS ○

NOTE
1 Depending on the ROBODRILL destination, the either of the option mounting
plates, A04B-0094-J224 and A04B-0102-J233, is required.
2 Not required if the CNC unit has multi-function Ethernet.
3 For combination A, C, or E, the robot interface unit for the master is required only
on one of the ROBODRILLs. On the other ROBODRILLs, the robot interface unit
for a slave is required. By changing parameters appropriately, the master and
slave settings for each ROBODRILL can be changed. For details, see Chapter 5,
"SETTING OF THE ROBODRILL".
4 Not required for the robot interface unit for a slave.

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B-85444EN-4/02 APPENDIX B. ORDERING INFORMATION

B.2.3 Mechanical Unit Options

Ordering information for mechanical unit options differs depending on the ROBODRILL model name
and front door/side door type.

B.2.3.1 FANUC ROBODRILL α-D14/21MiB5 and α-D14/21MiB (side

auto-door)
Front door Side door Ordering information Combination
A B C D
Single door Right side auto-door A04B-0103-H071#STD ○ ○
for domestic use and Air cylinder driven
export in general Right side auto-door A04B-0103-H071#STDSD ○ ○
Servo motor driven
Left side auto-door A04B-0103-H081#STD ○ ○
Air cylinder driven
Left side auto-door A04B-0103-H081#STDSD ○ ○
Servo motor driven
Single door Right side auto-door A04B-0103-H071#CE ○ ○
for Europe, China, Air cylinder driven
Korea, Australia, and Right side auto-door A04B-0103-H071#CESD ○ ○
Brazil Servo motor driven
(safety Left side auto-door A04B-0103-H081#CE ○ ○
standard-conforming Air cylinder driven
version) Left side auto-door A04B-0103-H081#CESD ○ ○
Servo motor driven
Double door Right side auto-door A04B-0103-H072#STD ○ ○
for domestic use and Air cylinder driven
export in general Right side auto-door A04B-0103-H072#STDSD ○ ○
Servo motor driven
Left side auto-door A04B-0103-H082#STD ○ ○
Air cylinder driven
Left side auto-door A04B-0103-H082#STDSD ○ ○
Servo motor driven
Double door Right side auto-door A04B-0103-H072#CE ○ ○
for Europe, China, Air cylinder driven
Korea, Australia, and Right side auto-door A04B-0103-H072#CESD ○ ○
Brazil Servo motor driven
(safety Left side auto-door A04B-0103-H082#CE ○ ○
standard-conforming Air cylinder driven
version) Left side auto-door A04B-0103-H082#CESD ○ ○
Servo motor driven

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B. ORDERING INFORMATION APPENDIX B-85444EN-4/02

B.2.3.2 FANUC ROBODRILL α-D14/21LiB5 and α-D14/21MiB (side

auto-door)
Front door Side door High-column option Ordering information
A B C D
Single door Right side auto-door A04B-0103-H074#STD ○ ○
for domestic use and Air cylinder driven
export in general Right side auto-door A04B-0103-H074#STDSD ○ ○
Servo motor driven
Left side auto-door A04B-0103-H084#STD ○ ○
Air cylinder driven
Left side auto-door A04B-0103-H084#STDSD ○ ○
Servo motor driven
Single door Right side auto-door A04B-0103-H074#CE ○ ○
for Europe, China, Air cylinder driven
Korea, Australia, and Right side auto-door A04B-0103-H074#CESD ○ ○
Brazil Servo motor driven
(safety Left side auto-door A04B-0103-H084#CE ○ ○
standard-conforming Air cylinder driven
version) Left side auto-door A04B-0103-H084#CESD ○ ○
Servo motor driven
Double door Right side auto-door A04B-0103-H075#STD ○ ○
for domestic use and Air cylinder driven
export in general Right side auto-door A04B-0103-H075#STDSD ○ ○
Servo motor driven
Left side auto-door A04B-0103-H085#STD ○ ○
Air cylinder driven
Left side auto-door A04B-0103-H085#STDSD ○ ○
Servo motor driven
Double door Right side auto-door A04B-0103-H075#CE ○ ○
for Europe, China, Air cylinder driven
Korea, Australia, and Right side auto-door A04B-0103-H075#CESD ○ ○
Brazil Servo motor driven
(safety Left side auto-door A04B-0103-H085#CE ○ ○
standard-conforming Air cylinder driven
version) Left side auto-door A04B-0103-H085#CESD ○ ○
Servo motor driven

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B-85444EN-4/02 APPENDIX B. ORDERING INFORMATION

B.2.3.3 FANUC ROBODRILL α-D14/21SiB5 and α-D14/21MiB (side

auto-door)
Front door Side door High-column option Ordering information
A B C D
Double door Right side auto-door A04B-0103-H077#STD ○ ○
for domestic use and Air cylinder driven
export in general Right side auto-door A04B-0103-H077#STDSD ○ ○
Servo motor driven
Left side auto-door A04B-0103-H087#STD ○ ○
Air cylinder driven
Left side auto-door A04B-0103-H087#STDSD ○ ○
Servo motor driven
Double door Right side auto-door A04B-0103-H077#CE ○ ○
for Europe, China, Air cylinder driven
Korea, Australia, and Right side auto-door A04B-0103-H077#CESD ○ ○
Brazil Servo motor driven
(safety Left side auto-door A04B-0103-H087#CE ○ ○
standard-conforming Air cylinder driven
version) Left side auto-door A04B-0103-H087#CESD ○ ○
Servo motor driven

B.2.3.4 FANUC ROBODRILL α-D14/21MiB5 and α-D14/21MiB (front

auto-door)
Front door Ordering information Combination
E F
Single door-type front auto-door A04B-0103-J023#MS1SD
○ ○
Servo motor driven A04B-0103-J013#STD

B.2.3.5 FANUC ROBODRILL α-D14/21LiB5 and α-D14/21MiB (front

auto-door)
Front door Ordering information Combination
E F
Single door-type front auto-door A04B-0103-J023#LS1SD
○ ○
Servo motor driven A04B-0103-J013#STD

- 223 -
B. ORDERING INFORMATION APPENDIX B-85444EN-4/02

B.2.3.6 FANUC ROBODRILL α-D14/21MiB5ADV and α-D14/21MiBADV

(side auto-door)
Front door Side door Ordering information Combination
A B C D
Single door Right side auto-door A04B-0104-H071#STD ○ ○
for domestic use and Air cylinder driven
export in general Right side auto-door A04B-0104-H071#STDSD ○ ○
Servo motor driven
Left side auto-door A04B-0104-H081#STD ○ ○
Air cylinder driven
Left side auto-door A04B-0104-H081#STDSD ○ ○
Servo motor driven
Single door Right side auto-door A04B-0104-H071#CE ○ ○
for Europe, China, Air cylinder driven
Korea, Australia, and Right side auto-door A04B-0104-H071#CESD ○ ○
Brazil Servo motor driven
(safety Left side auto-door A04B-0104-H081#CE ○ ○
standard-conforming Air cylinder driven
version) Left side auto-door A04B-0104-H081#CESD ○ ○
Servo motor driven
Double door Right side auto-door A04B-0104-H072#STD ○ ○
for domestic use and Air cylinder driven
export in general Right side auto-door A04B-0104-H072#STDSD ○ ○
Servo motor driven
Left side auto-door A04B-0104-H082#STD ○ ○
Air cylinder driven
Left side auto-door A04B-0104-H082#STDSD ○ ○
Servo motor driven
Double door Right side auto-door A04B-0104-H072#CE ○ ○
for Europe, China, Air cylinder driven
Korea, Australia, and Right side auto-door A04B-0104-H072#CESD ○ ○
Brazil Servo motor driven
(safety Left side auto-door A04B-0104-H082#CE ○ ○
standard-conforming Air cylinder driven
version) Left side auto-door A04B-0104-H082#CESD ○ ○
Servo motor driven

- 224 -
B-85444EN-4/02 APPENDIX B. ORDERING INFORMATION

B.2.3.7 FANUC ROBODRILL α-D14/21LiB5ADV and α-D14/21LiBADV

(side auto-door)
Front door Side door Ordering information Combination
A B C D
Single door Right side auto-door A04B-0104-H074#STD ○ ○
for domestic use and Air cylinder driven
export in general Right side auto-door A04B-0104-H074#STDSD ○ ○
Servo motor driven
Left side auto-door A04B-0104-H084#STD ○ ○
Air cylinder driven
Left side auto-door A04B-0104-H084#STDSD ○ ○
Servo motor driven
Single door Right side auto-door A04B-0104-H074#CE ○ ○
for Europe, China, Air cylinder driven
Korea, Australia, and Right side auto-door A04B-0104-H074#CESD ○ ○
Brazil Servo motor driven
(safety Left side auto-door A04B-0104-H084#CE ○ ○
standard-conforming Air cylinder driven
version) Left side auto-door A04B-0104-H084#CESD ○ ○
Servo motor driven
Double door Right side auto-door A04B-0104-H075#STD ○ ○
for domestic use and Air cylinder driven
export in general Right side auto-door A04B-0104-H075#STDSD ○ ○
Servo motor driven
Left side auto-door A04B-0104-H085#STD ○ ○
Air cylinder driven
Left side auto-door A04B-0104-H085#STDSD ○ ○
Servo motor driven
Double door Right side auto-door A04B-0104-H075#CE ○ ○
for Europe, China, Air cylinder driven
Korea, Australia, and Right side auto-door A04B-0104-H075#CESD ○ ○
Brazil Servo motor driven
(safety Left side auto-door A04B-0104-H085#CE ○ ○
standard-conforming Air cylinder driven
version) Left side auto-door A04B-0104-H085#CESD ○ ○
Servo motor driven

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B. ORDERING INFORMATION APPENDIX B-85444EN-4/02

B.2.3.8 FANUC ROBODRILL α-D14/21SiB5ADV and α-D14/21SiBADV

(side auto-door)
Front door Side door Ordering information Combination
A B C D
Double door Right side auto-door A04B-0104-H077#STD ○ ○
for domestic use and Air cylinder driven
export in general Right side auto-door A04B-0104-H077#STDSD ○ ○
Servo motor driven
Left side auto-door A04B-0104-H087#STD ○ ○
Air cylinder driven
Left side auto-door A04B-0104-H087#STDSD ○ ○
Servo motor driven
Double door Right side auto-door A04B-0104-H077#CE ○ ○
for Europe, China, Air cylinder driven
Korea, Australia, and Right side auto-door A04B-0104-H077#CESD ○ ○
Brazil Servo motor driven
(safety Left side auto-door A04B-0104-H087#CE ○ ○
standard-conforming Air cylinder driven
version) Left side auto-door A04B-0104-H087#CESD ○ ○
Servo motor driven

B.2.3.9 FANUC ROBODRILL α-D14/21MiB5ADV and α-D14/21MiBADV

(front auto-door)
Front door Ordering information Combination
E F
Single door-type front auto-door A04B-0103-J023#MS1SD ○ ○
Servo motor driven A04B-0104-J013#STD

B.2.3.10 FANUC ROBODRILL α-D14/21LiB5ADV and α-D14/21LiBADV

(front auto-door)
Front door Ordering information Combination
E F
Single door-type front auto-door A04B-0103-J023#LS1SD ○ ○
Servo motor driven A04B-0104-J013#STD

- 226 -
B-85444EN-4/02 APPENDIX B. ORDERING INFORMATION

B.2.4 FANUC Robot Controller Software Options

As explained in B.2.1, the ROBODRILL connection function 2 (J561) is needed to establish
communication with the R-30iB/R-30iB Mate Robot Controller by using robot interface 2.
Customers may use J561 alone or select the ROBODRILL Interface Package 2 (R836). The
ROBODRILL Interface Package 2 also includes the Machine Tool Easy Setup Function (R835). For
details of the Machine Tool Easy Setup Function (R835), refer to the MACHINE TOOL EASY SETUP
FUNCTION OPERATOR'S MANUAL (B-83634EN).
To control a ROBODRILL side-door with a servo motor, Independent Axes (H895) are needed. If two or
more doors are to be opened and closed, one Independent Axes motion group has to be provided for each
door. For example, when there are three ROBODRILLs, the R-30iB/R-30iB Mate Robot Controller has
to have the Independent Axes second group, the Independent Axes third group, and the Independent Axes
fourth group in addition to the first group of the robot.

FANUC R-30iB/R-30iB Mate

FANUC R-30iB/R-30iB Mate
Robot controller ordering Remarks
Robot controller option name
information
ROBODRILL connection function 2 A05B-2600-J561 This includes FL-net interface
(J759), Safety function by
FL-net (J586), and DCS safe
I/O connection function (J568).
ROBODRILL interface package 2 A05B-2600-R836 This includes ROBODRILL
connection function 2 (J561)
and Machine tool easy setup
function (R835).
Independent axes A05B-2600-H895 Independent axes (H895)

- 227 -
C. WIRING METHOD APPENDIX B-85444EN-4/02

C WIRING METHOD
This Appendix explains how to wire the terminal blocks of robot interface units.
For stranded wires, ferrule terminals are recommended because stranded wires may fray, possibly causing
short-circuits and grounding faults by coming into contact with other live parts.

A04B-0103-C231#FSM A04B-0103-C231#FSS
(A04B-0103-J223#FSM) (A04B-0103-J223#FSS)
Terminal block

A04B-0103-C231#SAM A04B-0103-C231#SAS A04B-0103-J223#SSM A04B-0103-C231#SSS

(A04B-0103-J223#SAM) (A04B-0103-J223#SAS) (A04B-0103-J223#SSM) (A04B-0103-J223#SSS)

Stripping of electric wire

Applicable electric wires: Single wire, stranded wire, ferrule terminal
Conforming electric wire diameter
Single wire, stranded wire: 0.25 mm2 to 3.5 mm2 (AWG22 to AWG12)
Ferrule terminal: 0.25 mm2 to 2.0 mm2 (AWG22 to AWG14)
Stripping length
10 mm to 12 mm

- 228 -
B-85444EN-4/02 APPENDIX C. WIRING METHOD

Connection work (for stranded wires)

(1)Insert the screwdriver into (2)Insert the screwdriver (3)If done correctly, the wire
the driver slot (square hole). firmly all the way, while insertion opening will open.
Driver blade tip (3.5 x 0.5 mm) keeping it straight.

(4)Insert a properly stripped (5)Insert the wire until it hits (6)For a check, pull the wire
wire into the wire insertion the far end. While holding lightly. (Do not pull it
opening (round hole). To insert down the wire, pull out the strongly.)
it smoothly, run the wire along screwdriver.
the edge of the round hole.

Connection work (for a single wire or a ferrule terminal)

(1)Prepare a properly stripped single (2)Insert it into the wire insertion (3)Pull it lightly to check that it is not
wire or a ferrule terminal with a opening firmly all the way. pulled out. (Do not pull it strongly.)
proper length.

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C. WIRING METHOD APPENDIX B-85444EN-4/02

Removal work
To remove a wire, simply insert a screwdriver into the driver slot.

Driver slot

Wire insertion opening

Removing the jumper

Jumper (1) Screwdriver (2) (3)

Terminal
block

(1)Insert a screwdriver (2)Pry and pull up the (3)Remove the jumper at

into the gap between jumper, using the the center.
jumper and slot, and hit screwdriver.
the dent of the jumper.

Mounting a jumper

Insert a jumper into a jumper slot, and press it

in firmly all the way.

Jumper

Jumper slot

- 230 -
 D. APPEARANCE DIAGRAMS OF
ROBODRILLS WITH SIDE
B-85444EN-4/02 APPENDIX AUTO-DOORS ATTACHED

D APPEARANCE DIAGRAMS OF
ROBODRILLS WITH SIDE AUTO-DOORS
ATTACHED
It should be noted that the air cylinder-driven side auto-door and the servo motor-driven side auto-door
slightly differ in horizontal dimensions.

D.1 α-D14/21MiB/B5 AND α-D14/21MiB/B5ADV, RIGHT SIDE

AUTO-DOOR ATTACHED
380 Opening width 705
Opening width 931
894(±10)

932 (air cylinder driven side door)

972(servo motor driven side door) Unit : mm

- 231 -
D. APPEARANCE DIAGRAMS OF
ROBODRILLS WITH SIDE
AUTO-DOORS ATTACHED APPENDIX B-85444EN-4/02

D.2 α-D14/21MiB/B5 AND α-D14/21MiB/B5ADV, LEFT SIDE

AUTO-DOOR ATTACHED

Opening width 705 380

Opening width 931

894(±10)

932 (air cylinder driven side door)

Unit : mm 972(servo motor driven side door)

D.3 α-D14/21LiB/B5 AND α-D14/21LiB/B5ADV, RIGHT SIDE

AUTO-DOOR ATTACHED
380 Opening width 705
Opening width 931
894(±10)

1207 (air cylinder driven side door)

1247(servo motor driven side door) Unit : mm

- 232 -
 D. APPEARANCE DIAGRAMS OF
ROBODRILLS WITH SIDE
B-85444EN-4/02 APPENDIX AUTO-DOORS ATTACHED

D.4 α-D14/21LiB/B5 AND α-D14/21LiB/B5ADV, LEFT SIDE

AUTO-DOOR ATTACHED
Opening width 705 380

Opening width 931

894(±10)

1207 (air cylinder driven side door)

Unit : mm 1247(servo motor driven side door)

D.5 α-D14/21SiB/B5 AND α-D14/21SiB/B5ADV, RIGHT SIDE

AUTO-DOOR ATTACHED

280 Opening width 830

Opening width 864
839(±10)

598 (air cylinder driven side door)

623(servo motor driven side door)

Unit : mm

- 233 -
D. APPEARANCE DIAGRAMS OF
ROBODRILLS WITH SIDE
AUTO-DOORS ATTACHED APPENDIX B-85444EN-4/02

D.6 α-D14/21SiB/B5 AND α-D14/21SiB/B5ADV, LEFT SIDE

AUTO-DOOR ATTACHED
Opening width 830 280

Opening width 864

839(±10)

598 (air cylinder driven side door)

623(servo motor driven side door)
Unit : mm

- 234 -
B-85444EN-4/02 APPENDIX E. GREASING SIDE AUTO-DOORS

E GREASING SIDE AUTO-DOORS

Apply grease (Alvania S2 or equivalent) to the ball screws and the slide pack used in the servo
motor-driven side auto-door periodically (after every 50,000 openings/closings or after every three
months), in accordance with the procedure below.
Note that if the side door is used without greasing, the wear of the rollers will progress in a short period of
time, possibly causing premature damage.
(1) With the side door fully open, place the robot controller in an emergency stop status, and turn off the
power.
(2) Remove the cover from the top of the side door. (If any cables are fastened to the cover with cable
ties, cut off the cable ties.)
(3) Apply grease from the grease nipple of the ball screw nut, using a grease gun.
(Apply grease sufficiently until the grease runs from the ball screw nut, and then wipe off the excess
grease.)

Grease nipple

Cover

Mounting bolts
11 bolits (D14/21MiB/B5, D14/21LiB/B5,
D14/21MiB/B5ADV, D14/21LiB/B5ADV)
13 bolts (D14/21SiB/B5, (D14/21SiB/B5ADV)

- 235 -
E. GREASING SIDE AUTO-DOORS APPENDIX B-85444EN-4/02

(4) Apply grease to the rail rolling grove of the slide pack sufficiently.
(After applying, slide the slider to spread the grease sufficiently, and then wipe off the excess
grease.)

Slide pack rail

(5) Mount the cover removed in step (2). Fasten the cables with cable ties, if cable ties were cut off in
(2).
(6) Turn ON the power to the robot controller, and cancel the emergency stop status.
(7) To spread the grease entirely on the ball screw and the slide rail, move the side door back and forth
full stroke several times.
* During the work, take great care so that your limbs and body are not pinched or caught in rotating
portions or moving portions.
* If planning not to operate the machine for about one week, apply grease to prevent rust to those
portions that may generate rust, such as ball screws and slide packs.

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B-85444EN-4/02 APPENDIX F. SETUP

F SETUP
If using a servo motor driven side door, mount the servo motor driven side door first. (See Appendix G,
"MOUNTING THE SERVO MOTOR".)

First, confirm the specifications.

Set parameters appropriately according to the specifications, and then, start the setup procedure.

・ When using the robot interface 2 function, set bit 4 of K58 to 1 and bit 7 of K58 to 0.
When the side door is driven by a servo motor, set bit 6 of K58 to 1.
When changing work-piece from the front door, set bit 0 of K21 to 1.
After these settings, follow the setup procedure in F.1.

・ When controlling the system without the robot interface 2 function (side door), set bit 4 of K58 to 0
and bit 7 of K58 to 1. Then, follow the setup procedure in F.2.

・ When controlling the system without the robot interface 2 function (front door), set bit 4 of K58 to 0
and bit 7 of K58 to 0. For details of the control of the front door, refer to Section 6.3 "FRONT
AUTO-DOOR CONTROL" in the FANUC ROBODRILL α-D14iB/D21iB5 series CUSTOM PMC
FUNCTION OPERATOR'S MANUAL (B-85444EN-3).

F.1 IF USING THE ROBOT INTERFACE 2 FUNCTION

F.1.1 Setup Procedure

The following is the setup procedure to follow when controlling the auto-door by using the robot
interface 2 function.

1. Wiring
2. Setting ROBODRILL parameters
3. Making various ROBODRILL settings (robot interface 2 screen)
4. Making various settings for the robot controller
5. Setting FL-net (on the robot side and the ROBODRILL side)
6. Preparing system control switches and processing (system/stand-alone switching, system start,
system stop, cycle stop)

<1. Wiring>
・ See Chapter 2, "CONNECTION."
・ If using a data server, see Appendix H, "IF USING THE DATA SERVER FUNCTION
SIMULTANEOUSLY".

<2. Setting ROBODRILL parameters>

・ For an air cylinder driven side door, see Section 5.1, "CNC PARAMETERS" and Section 5.2, "PMC
PARAMETERS", to set appropriate values.
・ CNC parameters related to the safety function by FL-net, contained in Section 5.1, "CNC
PARAMETERS," need not be set. By changing the items, "NUM. OF CONNECTED DRILL" and
"DRILL No.", in "MAINTENANCE-3(SET.)", standard parameters are set automatically.
・ When using a data server, change CNC parameters 970 to 976.
See also to Appendix H, "IF USING THE DATA SERVER FUNCTION SIMULTANEOUSLY".

- 237 -
F. SETUP APPENDIX B-85444EN-4/02

<3. Making various ROBODRILL settings>

・ Settings can be made on the iHMI screen or the QUICK screen.

QUICK screen
・ Press soft key [ROBOT I/F] on the QUICK screen, and the robot interface 2 screen is displayed.
・ On "6. MAINTENANCE-3(SET.)", various settings can be made. See Section 3.1.6,
"MAINTENANCE-3(SET.) SCREEN". The settings to make differ depending on WORK
EXCHANGE POS., ROBOT TYPE, ROBOT AXIS, NUM. OF CONNECTED DRILLS, DRILL
No., and DRILL SPEC. (MASTER/SLAVE).

iHMI screen
・ From the home screen, move to the [ROBOT IF] screen and then press the vertical soft key.
・ On the SET. screen, various settings can be made. See Section 3.2.6, "MAINTENANCE-3 (SET.)
Screen." The settings to make differ depending on WORK EXCHANGE POS., ROBOT TYPE,
ROBOT AXIS, NUM. OF CONNECTED DRILLS, DRILL No., AND DRILL SPEC.
(MASTER/SLAVE).

<4. Making various settings for the robot controller>

・ See Chapter 9, "SETTING OF THE ROBOT".

<5. Setting FL-net>

・ For information about the settings on the ROBODRILL side, see Section 5.3, "SETTING OF
FL-NET". The settings to make differ depending on the ROBODRILL number.
・ For information about the settings on the robot side, see Section 9.4, "FL-NET", and Section 9.5,
"SETTING RELATED TO FL-NET". There are items whose settings differ depending on the
number of ROBODRILLs.

<6. Prepare system control switches and processing>

・ For an air cylinder driven side door or front auto-door, see Chapter 4, "USED SIGNALS" and
Chapter 6, "SYSTEM CONTROL".
・ For a servo motor driven side door, see also Section 13.6, "INTERFACE BETWEEN ROBODRILL
AND ROBOT".
・ Even signals with the same meanings have different addresses depending on the ROBODRILL
number.

- 238 -
B-85444EN-4/02 APPENDIX F. SETUP

F.1.2 Available Signals

<ROBODRILL side>

Address Symbol Description Editing Address

type
X －－－ Input from outside to custom PMC Input only X0.0 to X1.7 (CH1)
X4.0 to X5.7 (CH1)
X200.0 to X327.7 (CH2)
Y －－－ Output from custom PMC to outside Both input Y0.0 to Y3.7 (CH1)
and output Y200.0 to Y327.7 (CH2)
R －－－ Work register Both input R2000.0 to R2999.7
and output
SI**_* Input from system ladder to custom PMC Input only Refer to the "CUSTOM PMC
SO**_* Output from custom PMC to system Both input FUNCTION OPERATOR'S
ladder and output MANUAL (B-85444EN-3)".
－－－ Signal sent from the robot to each Input only R7228.0 to R7239.7
ROBODRILL
－－－ Signal sent from each ROBODRILL to the Both input R7320.0 to R7331.7
robot and output
－－－ Signal sent from the robot to all Input only R7210.0 to R7215.7
ROBODRILLs
A －－－ Alarm/operator message display request Both input A100.0 to A149.7
and output
D －－－ Nonvolatile memory (parameter setting Both input D7000 to D7999
possible) and output D7000.0 ～ D7999.7
K －－－ Nonvolatile register (parameter setting Both input K35#0 to K44#7
possible) and output

<Robot side>

Address Description Editing ROBODRILL Address

type supported
DO Signal sent from the robot to each Both input 1st DO[161] to DO[256]
ROBODRILL and output 2nd DO[417] to DO[512]
3rd DO[673] to DO[768]
4th DO[929] to DO[1024]
Signal sent from the robot to all Common DO[1081] to DO[1128]
ROBODRILLs
DI Signal sent from each ROBODRILL Input only 1st DI[161] to DI[256]
to the robot 2nd DI[417] to DI[512]
3rd DI[673] to DI[768]
4th DI[929] to DI[1024]

- 239 -
F. SETUP APPENDIX B-85444EN-4/02

F.2 IF NOT USING THE ROBOT INTERFACE 2 FUNCTION

F.2.1 Setup Procedure

The following is the setup procedure to follow if controlling the auto side door without using the robot
interface 2 function.

1. Wiring
2. Setting ROBODRILL parameters
3. Creating processing for the interface between robot and peripherals

<1. Wiring>
・ See Appendix A.3, "CONNECTION".

<2. Setting ROBODRILL parameters>

・ See Appendix A.4, "SETTING PMC PARAMETERS".

<3. Creating processing for the interface between robot and peripherals>
・ Referring to Appendix A.5, "I/O SIGNALS", Appendix A.6, "OPENING/CLOSING THE SIDE
DOOR", and Appendix A.7, "PERIPHERALS CONTROL SIGNALS (ROBODRILL CUSTOM
PMC FUNCTION)", create custom PMC and robot control.

F.2.2 Available Signals

Signals in the area allocated to the ROBODRILL custom PMC are available.

Address Symbol Description Editing Address

type
X --- Input from outside to custom PMC Input only X0.0 to X1.7 (CH1)
X4.0 to X5.7 (CH1)
X200.0 to X327.7 (CH2)
Y --- Output from custom PMC to outside Both input Y0.0 to Y3.7 (CH1)
and output Y200.0 to Y327.7 (CH2)
R --- Work register Both input R2000.0 to R2999.7
and output
SI**_* Input from system ladder to custom PMC Input only Refer to the "CUSTOM PMC
SO**_* Output from custom PMC to system Both input FUNCTION OPERATOR'S
ladder and output MANUAL (B-85444EN-3)".
A --- Alarm/operator message display request Both input A100.0 to A149.7
and output
D --- Nonvolatile memory (parameter setting Both input D7000 to D7999
possible) and output D7000.0 to D7999.7
K --- Nonvolatile register (parameter setting Both input K35#0 to K44#7
possible) and output

- 240 -
 G. MOUNTING THE SERVO MOTOR
(SERVO MOTOR DRIVEN SIDE
B-85444EN-4/02 APPENDIX AUTO-DOOR)

G MOUNTING THE SERVO MOTOR (SERVO

MOTOR DRIVEN SIDE AUTO-DOOR)
G.1 NECESSARY PARTS
The following parts are necessary. Check them before starting work.

No. Product name Ordering information Quantity Remarks

1 Coupling A97L-0203-0661#1 1
2 Servo motor A06B-0061-B804 1 βiS2/4000
3 Servo motor mounting bolt A6-BA-6X20 4 Hexagon socket head bolt
M6, threaded portion length: 20
mm
4 Servo motor mounting washer A97L-0001-0823#M6H 4 For M6

G.2 WORK PROCEDURE

The mounting work procedure is as described below.
In the figures in the text, the mounting on the right side (operator's panel side) is illustrated, but the work
procedure also applies to the right side door.

(1) Remove the cover from the top of the side door.
(If any cables are fastened to the cover with cable ties, cut off the cable ties.)

Cover

Mounting bolts
11 bolts (D14/21MiB, D14/21MiB5, D14/21LiB, D14/21LiB5)

13 bolts (D14/21SiB, D14/21SiB5)

- 241 -
G. MOUNTING THE SERVO MOTOR
(SERVO MOTOR DRIVEN SIDE
AUTO-DOOR) APPENDIX B-85444EN-4/02

(2) Close the side door, and mark the position at which it is closed. (See the figure below.)

Marking

(3) Mount the coupling and the servo motor. The coupling is attached with set screws.
When inserting the coupling, take care so that the set screws do not hit against the shaft.
Pay attention to the mounting orientation of the servo motor (connector phase).
Coupling Connector position

Servo motor

Mounting bolt and washer (A6-BA-6X20 and A97L-0001-0823#M6H) (four each)

(4) Tighten the set screws of the coupling.

Set screws (four locations)

(5) Turn off the power to the controller, and mount the additional axis cable connector to the servo
motor.

(6) Mount the cover removed in step (1). Fasten the cables with cable ties, if cable ties were cut off in
(1).

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 G. MOUNTING THE SERVO MOTOR
(SERVO MOTOR DRIVEN SIDE
B-85444EN-4/02 APPENDIX AUTO-DOOR)
(7) Then, turn on the power to the controller, and set the additional axes. (Make the following settings
for Axis 1 of Group 2.)

<1> When setting the Independent Axes for the first time, "FSSB SYSTEM" and "HARDWARE
START AXIS NO." settings are requested. If they have been already set, proceed to the next
step.

Set "FSSB SYSTEM" to 1. Set "HARDWARE START AXIS NO." to 7 when a six-axis robot
is used.
When controlling the second robot by one robot controller or using another control axes,
settings of appropriate FSSB SYSTEM and HARDWARE START AXIS NO. are also needed.
For details, refer to Appendix B.8 "FSSB SYSTEM SETTING" and Appendix B.11
"INDEPENDENT AXES SETUP PROCEDURE" of the "R-30iB/R-30iB MATE
CONTROLLER OPERATOR'S MANUAL (Basic Operation)."

<2> From CTRL START, select "9 MAINTENANCE".

<3> For "Independent Axes" for Group 2, set "MANUAL".

<4> Select "1: Display/Modify Axis 1~4".

- 243 -
G. MOUNTING THE SERVO MOTOR
(SERVO MOTOR DRIVEN SIDE
AUTO-DOOR) APPENDIX B-85444EN-4/02

<5> On the additional axis setting screen, make the settings in the table below.

No. Item Setting

1 Motor Type βiS2/4000 20A
2 Gear Ratio 40
3 Joint Type Linear Axis
4 Joint Max Speed 2000 mm/s
5 Motion sign TRUE
6 Upper limit of moving range 800 mm
7 Lower limit of moving range 0 mm
8 Mastering position 0 mm
9 First time constant 150
Second time constant 75
10 Minimum time constant 24
11 Load ratio 5
12 Amplifier number 2
13 Amplifier type 2
14 Brake number 1
15 Servo off Enabled
16 Time to servo off 20 s

- 244 -
 G. MOUNTING THE SERVO MOTOR
(SERVO MOTOR DRIVEN SIDE
B-85444EN-4/02 APPENDIX AUTO-DOOR)
(8) Perform mastering on the servo motor driven side auto-door (single axis mastering).
The mastering position is the location about 2 mm open from the position marked in (2).
For information about mastering, refer to Appendix B.2.5, "Single Axis Mastering" in the FANUC
Robot series R-30iB/R-30iB Mate CONTROLLER OPERATOR'S MANUAL (Basic Operation)"
(B-83284EN).

Marking

Mastering position

(9) On the teach pendant, move the servo motor driven side door slowly to check that it is operated
smoothly without any abnormal noise.
(10) Set the servo motor driven side auto-door collision detection function to complete the procedure.

- 245 -
H. IF USING THE DATA SERVER
FUNCTION SIMULTANEOUSLY APPENDIX B-85444EN-4/02

H IF USING THE DATA SERVER FUNCTION

SIMULTANEOUSLY
To use the robot interface 2 function (provided with a robot interface screen) and the data server function
simultaneously, make the following connection and make the following parameter settings.

H.1 CONNECTION
When using the robot interface 2 function and the data server function simultaneously, they use one
option board for each. (Multi-function Ethernet needs one option board for data server use.) Since
Ethernet cables need to be connected to each board (multi-function Ethernet needs to connect Ethernet
cables to each of the multi-function Ethernet and the option board), one Ethernet cable must be added to
connect between the option board and the hub.

Port for FL-net : CD38R

Port for data server : CD38R2

CD38R CD38R2

Detailed view A

- 246 -
 H. IF USING THE DATA SERVER
B-85444EN-4/02 APPENDIX FUNCTION SIMULTANEOUSLY

H.2 PARAMETERS
Set the following CNC parameters.
When using PROFINET or EtherNet/IP, see Section 5.1, "CNC PARAMETERS" for the setting values.

Setting
Without
multi-function With multi-function
No. Ethernet Ethernet Description
Selection of the hardware for operating the Ethernet function or
3 3 the data server function
970 3: SLOT1 of the option board
Selection of the hardware for operating the FL-net function
4 1 1: Multi-function Ethernet
971 4: SLOT2 of the option board
Selection of the hardware option for operating the FL-net Port2
-1 function
972 -1: No operation
Selection of the hardware option for operating the PROFINET IO
-1 device function
973 -1: No operation
Selection of the hardware for operating the PROFINET IO
-1 controller function
974 -1: No operation
Selection 1 of EtherNet/IP function operating conditions
-1
975 -1: No operation
Selection 2 of EtherNet/IP function operating conditions
-1
976 -1: No operation

- 247 -
H. IF USING THE DATA SERVER
FUNCTION SIMULTANEOUSLY APPENDIX B-85444EN-4/02

H.3 IP ADDRESSES
When the data server function is not used, only one IP address needs to be set because the same hardware
device serves as FL-net and the Ethernet. When the data server function is used, the FL-net function and
the Ethernet function operate on different hardware devices, which means that two IP addresses must be
set. The following describes how to set IP addresses on the ROBODRILL side and robot side.
The R-30iB/R-30iB Mate controller of the robot has two Ethernet ports: port #1 CD38A and port #2
CD38B, both of which support normal Ethernet communication and FL-net communication.

* The following is an example of connection without the multi-function Ethernet function.

When the data server is not used

* Supported by FOCAS2 communication

and MTCOM communication

ROBODRILL R-30iB/R-30iB Mate

controller

CNC: FS-31iB
Main board

Fast Ethernet board Port #1

Ethernet function
Ethernet function
FOCUS2 MTCOM
communication communication

FL-net function Send/receive alarm FL-net function

information, position
CD38R information, etc.
CD38R CD38A
Send/receive
DI/DO

IP address A IP address α

* The destination’s initial IP address for MTCOM

communication is the same as that for the
FL-net function of the ROBODRILL (A).

- 248 -
 H. IF USING THE DATA SERVER
B-85444EN-4/02 APPENDIX FUNCTION SIMULTANEOUSLY
The following is an example of connection when the network to send/receive DI/DO of FL-net and the
network for data server communication are combined.

When the data server is used

* Supported by FOCAS2 communication
and MTCOM communication.
* IP addresses A, B, and α are in the
same network.

ROBODRILL R-30iB/R-30iB Mate

Controller

CNC: FS-31iB Main board

Fast Ethernet Port #1

Board 1 Ethernet function
IP address B
Ethernet function MTCOM
FOCUS2 communication
communication

FL-net function
Send/receive
Data server function
alarm information,
CD38R2 position CD38A
information, etc.
CD38R

IP address α
Fast Ethernet
Switching hub
Board 2
IP address A
FL-net function

CD38R
CD38R Send/receive DI/DO

* Since the destination’s initial IP address for MTCOM communication is

the same as that for the FL-net function of the ROBODRILL (A), you
need to change the IP address setting from A to B.

- 249 -
H. IF USING THE DATA SERVER
FUNCTION SIMULTANEOUSLY APPENDIX B-85444EN-4/02

Setting of the ROBODRILL-side IP address:

This is the case when FL-net communication and MTCOM (FOCUS2) communication are on the same
network.

1. Setting of FL-net:
Set the IP address according to Section 5.3, "SETTING OF FL-NET."

2. Settings of Ethernet:
・ Press the [SYSTEM] function key on the operator's panel.
・ Press the Continuation key (the rightmost soft key) several times until the [Ethernet] soft key
appears.
・ Press the [Ethernet] soft key and then the [Common] soft key.
・ Enter the following settings on the common screen.

Parameter name Example of setting

ROBODRILL
#1: 192.168.250.006
IP address #2: 192.168.250.007
#3: 192.168.250.008
#4: 192.168.250.009
Subnet mask 255.255.255.0

Setting of the robot side IP address:

On the R-30iB/R-30iB Mate controller, assume that an IP address "192.168.250.001" is allocated to port
#1-CD38A.

1. In the TCP/IP parameter setting, change "Internet address" to the IP address of the Fast Ethernet
board on the ROBODRILL side that uses the data server function. For example, specify
"192.168.250.006" in the setting example above. For this IP address, specify a host name such as
"D6."
2. In the client tag MTCOM communication setting, change the server IP/host name to the host name
set in Step 1, for example, "D6."

- 250 -
 H. IF USING THE DATA SERVER
B-85444EN-4/02 APPENDIX FUNCTION SIMULTANEOUSLY
The following is an example of connection when networks for sending/receiving FL-net's DI/DO and for
data server communication are separated. This communication method eliminates the communication
load of a network that does not support real-time Ethernet when data server communicates with the
destination that does not support real-time Ethernet such as personal computer Ethernet and FL-net.
Port #1 and port #2 of the R-30iB/R-30iB Mate of the robot must belong to different networks. In the
example below, the network address of IP addresses A and α must differ from that of IP addresses B and
β. The network address is obtained by logical multiplying (AND) the IP address and the subnet mask. For
details, refer to Section 2.4.1, "Notes on IP Address Setting" in the R-30iA/R-30iA Mate/R-30iB/R-30iB
Mate CONTROLLER ETHERNET FUNCTION OPERATOR'S MANUAL (B-82974JA).
When the R-30iB/R-30iB Mate controller of the robot is used for FL-net communication, it is
recommended to use port #2 CD38B as shown in the figure below. This is because port #2 CD38B has
been adjusted to send DI/DO signals at substantially high update speed.

When the data server is used

* Supported by FOCAS2 communication and

MTCOM communication.
* The network for IP addresses A and α and
that for IP addresses B and β are separated.

ROBODRILL R-30iB/R-30iB Mate

Controller

CNC: FS-31iB
Main board

Fast Ethernet Port #1

Board 1 IP address B
Ethernet function
MTCOM
Ethernet function Send /receive
communication
FOCUS2 alarm information,
communication position
CD38A
information, etc.
IP address β
Data server function
CD38R2 Port #2

CD38R
FL-net function

Fast Ethernet IP address A CD38B

Board 2
IP address α
FL-net function

CD38R Sned/receive DI/DO

CD38R
* Manually change the destination IP
address for MTCOM communication.

- 251 -
H. IF USING THE DATA SERVER
FUNCTION SIMULTANEOUSLY APPENDIX B-85444EN-4/02

Setting of the ROBODRILL-side IP address:

This is the case when the network for FL-net communication and that for MTCOM (FOCUS2)
communication are separated.
Port #1 and port #2 of the R-30iB/R-30iB Mate controller of the robot must belong to different networks.

1. Setting of FL-net:
Set the IP address according to Section 5.3, "SETTING OF FL-NET."

2. Settings of Ethernet:
・ Press the [SYSTEM] function key on the operator's panel.
・ Press the Continuation key (the rightmost soft key) several times until the [Ethernet] soft key
appears.
・ Press the [Ethernet] soft key and then the [Common] soft key.
・ On the common screen, enter the following settings for Fast Ethernet card 1.

Example of settings: Network 1 for Example of settings: Network 2 for

Parameter name FL-net FOCUS2/MTCOM data server
Robot: Robot:
Port #2 - CD38B Port #1 - CD38A
192.168.250.001 10.20.0.1

ROBODRILL: ROBODRILL:
IP address Fast Ethernet card 2 - CD38R Fast Ethernet card 1 - CD38R2
(Multi-function Ethernet - CD38R) #1: 10.20.0.2
#1: 192.168.250.002 #2: 10.20.0.3
#2: 192.168.250.003 #3: 10.20.0.4
#3: 192.168.250.004 #4: 10.20.0.5
#4: 192.168.250.005
Subnet mask 255.255.255.0 255.255.0.0

Assume that the R-30iB/R-30iB Mate controller's port #1-CD38A has an IP address "10.20.0.1" and is
connected to the Fast Ethernet board of the ROBODRILL that uses the data server function, and port
#2-CD38B has an IP address "192.168.250.001" and is connected to the Fast Ethernet board
(multi-function Ethernet) of the ROBODRILL that uses the FL-net function.
1. In the TCP/IP parameter setting, change "Internet address" to the IP address of the Fast Ethernet
board on the ROBODRILL side that uses the data server function. For example, specify "10.20.0.2"
in the setting example above for the first ROBODRILL. For this IP address, specify a host name
such as "DT1."
2. In the client tag MTCOM communication setting, change the server IP/host name to the host name
set in Step 1, for example, "DT1."

NOTE
When networks are separated, the DHCP server may automatically allocate the
IP addresses of the network (network 2 in the example above) for
FOCUS2/MTCOM communication and data server communication, and the DNS
server may automatically allocate the host name.

- 252 -
B-85444EN-4/02 INDEX

INDEX
<αA> <D>
α-D14/21LiB/B5 AND α-D14/21LiB/B5ADV, LEFT Data input and output................................................47,60
SIDE AUTO-DOOR ATTACHED ..........................233 Details of Background Logic Programs ................ 141,142
α-D14/21LiB/B5 AND α-D14/21LiB/B5ADV, RIGHT DETAILS OF SYSTEM CONTROL.................... 100,182
SIDE AUTO-DOOR ATTACHED ..........................232 DI to DO connection ......................................................75
α-D14/21MiB/B5 AND α-D14/21MiB/B5ADV, LEFT DI/DO signal comments.................................................76
SIDE AUTO-DOOR ATTACHED ..........................232 DISPLAY AND CHANGE OF ROBODRILL TOOL
α-D14/21MiB/B5 AND α-D14/21MiB/B5ADV, LENGTH COMPENSATION ON THE ROBOT
RIGHT SIDE AUTO-DOOR ATTACHED .............231 TEACH PENDANT .................................................110
α-D14/21SiB/B5 AND α-D14/21SiB/B5ADV, LEFT Display Items on the CNC Status Display Screen........161
SIDE AUTO-DOOR ATTACHED ..........................234 DISPLAY OF ROBOT CONTROLLER ALARMS ON
α-D14/21SiB/B5 AND α-D14/21SiB/B5ADV, RIGHT THE ROBODRILL SCREEN ..................................111
SIDE AUTO-DOOR ATTACHED ..........................233
<E>
<A> Electrical Unit Options.................................................220
About the Production Counter........................................61
Addresses Available for the Custom PMC.....................86 <F>
ADVANCED SETTINGS OF THE ROBOT FANUC ROBODRILL α-D14/21LiB5 and
CONTROLLER........................................................122 α-D14/21MiB (front auto-door) ...............................223
Alarm Message Transfer Setting..................................126 FANUC ROBODRILL α-D14/21LiB5 and
ALARMS AND MESSAGES........................106,185,218 α-D14/21MiB (side auto-door) ................................222
APPEARANCE DIAGRAMS OF ROBODRILLS FANUC ROBODRILL α-D14/21LiB5ADV and
WITH SIDE AUTO-DOORS ATTACHED.............231 α-D14/21LiBADV (front auto-door)........................226
Assignment of the FL-net Common Memory Area......133 FANUC ROBODRILL α-D14/21LiB5ADV and
Available Signals ..................................................239,240 α-D14/21LiBADV (side auto-door).........................225
FANUC ROBODRILL α-D14/21MiB5 and
<B> α-D14/21MiB (front auto-door) ...............................223
Background Logic........................................................138 FANUC ROBODRILL α-D14/21MiB5 and
BACKGROUND LOGIC PROGRAMS......................138 α-D14/21MiB (side auto-door) ................................221
FANUC ROBODRILL α-D14/21MiB5ADV and
<C> α-D14/21MiBADV (front auto-door) ......................226
CAUTIONS .....................................................................2 FANUC ROBODRILL α-D14/21MiB5ADV and
Circuit Diagrams ........ 9,12,15,19,24,28,192,195,198,202, α-D14/21MiBADV (side auto-door)........................224
...........................................................................207,211 FANUC ROBODRILL α-D14/21SiB5 and
Client Tag Setting ........................................................125 α-D14/21MiB (side auto-door) ................................223
CNC Actual Position Screen ........................................163 FANUC ROBODRILL α-D14/21SiB5ADV and
CNC Alarm Screen ......................................................164 α-D14/21SiBADV (side auto-door) .........................226
CNC Message Screen...................................................165 FANUC Robot Controller Software Options ...............227
CNC OPERATION SCREEN......................................168 FL-net...........................................................................133
CNC PARAMETERS ....................................................87 FL-net (ETHERNET) CONNECTION............................5
CNC Running Program Screen ....................................166 FL-net Setting ..............................................................123
CNC STATUS DISPLAY SCREEN............................160 FL-net Settings on the Robot Controller ......................135
Common (to Air Cylinder Driven and Servo Motor For Servo Motor Driven Side Doors ............................217
Driven Side Doors)...................................................216 FUNCTIONS OF THE ROBOT CONTROLLER .......108
CONNECTION..................................................5,190,246
Connection Inside the Controller Cabinet ...........10,16,25, <G>
....................................................................193,199,208 GI/GO signal comment ..................................................75
Connection Retry of MTCOM Communication...........128 GREASING SIDE AUTO-DOORS .............................235
Control during Normal Operation .........................100,182
Control flow .................................................................151 <H>
[Custom Ladder → System Ladder]...............................85 Host Communication Setting .......................................132
[Custom ladder → System ladder] ........................216,217 How to Use Signals........................................................62

<I>
I/O Screen ....................................................................167
i-1
INDEX B-85444EN-4/02

I/O SIGNALS...............................................................214 Operation modes ..........................................................150

I/O signals internally used in the robot controller ..........72 Operation of Background Logic programs...................139
IF NOT USING THE ROBOT INTERFACE 2 OPERATOR MESSAGES............................. 107,185,218
FUNCTION.......................................................189,240 ORDERING INFORMATION ....................................219
If Using Input Signals from the Outside.......................215 Other programs ............................................................157
If Using M Codes .........................................................215 Override Step Change ..................................................128
IF USING THE DATA SERVER FUNCTION OVERVIEW ...................................................... 1,175,189
SIMULTANEOUSLY..............................................246 OVERVIEW AND NOTES .............................................1
IF USING THE ROBOT INTERFACE 2 FUNCTION237
iHMI SCREEN...............................................................48 <P>
IN THE CASE OF A SERVO MOTOR DRIVEN PARAMETERS ...........................................................247
SIDE DOOR.............................................................175 PARAMETERS (ROBODRILL) .................................176
INPUT OF THE SETTINGS REQUIRED FOR PERIPHERAL EQUIPMENT CONTROL SIGNALS
CONNECTION WITH THE ROBODRILL AT A (ROBODRILL CUSTOM PMC FUNCTION)...........84
TIME ........................................................................111 PERIPHERALS CONTROL SIGNALS (ROBODRILL
INTERFACE BETWEEN ROBODRILL AND CUSTOM PMC FUNCTION)..................................216
ROBOT ....................................................................176 PMC PARAMETERS....................................................91
INTERFACE SIGNALS BETWEEN THE PNS PROGRAMS .......................................................149
ROBODRILL AND ROBOT .....................................62 PREFACE .................................................................... p-1
IP ADDRESSES ..........................................................248 PRODUCTION COUNTER Screen ..............................39
PROG. Screen ................................................................56
<L> Program configuration .................................................149
List of States and Operation Conditions...........................4 Program D1REQ (, D2REQ, D3REQ, D4REQ) ..........154
List of the items to be set ..........................................45,58 Program D1RET (, D2RET, D3RET, D4RET)............155
Loading the Settings Determined According to the Program for exchanging a work-piece in a
Number of ROBODRILLs at a Time ....................112 ROBODRILL ...........................................................157
Program for Robot Home Position Return ...................147
<M> Program name ..............................................................149
M CODES ....................................................................102
M Codes for System Control........................................184 <Q>
MACHINE ALARMS (EX ALARMS) .........106,185,218 QUICK SCREEN...........................................................31
Machining Completion Notice ..............................101,183
MACRO PROGRAMS ................................................147 <R>
Macro programs for Hand Operation ...........................148 Relationships between ROBODRILL statuses and
Macro programs for manual operations .......................148 robot operations................................................. 141,159
Macros..........................................................................130 Requirements for Background Logic programs ...........141
MAINTENANCE-1 (PROG.) Screen ............................43 Resources used.............................................................158
MAINTENANCE-2 (SIGNAL) Screen .........................44 RESTRICTIONS ON OPERATION ...............................3
MAINTENANCE-3 (SET.) Screen................................44 Restrictions on the Robot Controller............................133
MANUAL OPERATE Screen........................................34 ROBODRILL and Robot Operating States/Modes ..........3
MANUAL ROBOT OPERATION FROM THE ROBODRILL AND ROBOT SYSTEM OPERATION
ROBODRILL (MANUAL ROBOT OPERATION) 109 (MACHINE INTERLOCK OPERATION)..............108
MASTER ROBODRILL CHANGE AND ROBODRILL JOG FEED ON THE ROBOT TEACH
ROBODRILL SEPARATION (DEGRADATION PENDANT ...............................................................111
OPERATION) DURING MACHINE SYSTEM ROBODRILL SCREEN OPERATIONS FROM THE
OPERATION ...........................................................109 ROBOT ....................................................................160
Mechanical Unit Options .............................................221 ROBODRILL STATUS DISPLAY ON THE ROBOT
Mechanism of selecting a master ROBODRILL using TEACH PENDANT .................................................110
Background Logic ....................................................138 Robot flag signal table ...................................................74
MOUNTING THE SERVO MOTOR (SERVO Robot I/O assignment.....................................................74
MOTOR DRIVEN SIDE AUTO-DOOR) ................241 ROBOT INTERFACE 2 COMBINATIONS ...............219
ROBOT INTERFACE 2 OPTIONS.............................219
<N> ROBOT MANUAL OPERATE Screen .........................52
NECESSARY PARTS .................................................241 ROBOT OPERATIONS FROM ROBODRILLS ........159
NOTES..................................................................175,189 Robot PNS Program for System Operation..................149
ROBOT PROGRAMS .................................................138
<O> Robot Programs for Program for Robot Remote
OPENING/CLOSING THE SIDE DOOR ...................215 Operation..................................................................147

i-2
B-85444EN-4/02 INDEX
Robot/ROBODRILL Operation at Cycle Stop........98,179 System Variables .........................................................131
Robot/ROBODRILL Operation at System Stop .....99,180 SYSTEM/STAND-ALONE AND SYSTEM START .103
Robot/ROBODRILL operation during work-piece
setting .......................................................................178 <T>
Robot/ROBODRILL Operation Upon Completion of TCP/IP Parameter Setting ............................................122
Machining............................................................98,177 TIMING CHART...........................................................98
Robot-ROBODRILL at the advance notice of Tool Offset Screen .......................................................173
completion of machining ..........................................180 Transferring I/O Comments of the Robot Controller ...120

<S> <U>
Safety Fence Cable Connection ........ 8,13,22,190,196,205 USED SIGNALS ...........................................................62
Safety Function by FL-net ....................................135,136
SAFETY PRECAUTIONS ...........................................s-1 <W>
Safety Signals Output from the Robot Controller ........137 WHEN FRONT AUTO-DOOR IS DRIVEN BY
Screen.........................................................................169 SERVO MOTOR .........................................................8
SCREEN CONFIGURATION OF ROBOT WHEN FRONT DOOR IS DRIVEN BY SERVO
INTERFACE 2 ...........................................................31 MOTOR ...................................................................190
Selecting and Executing Background Logic Programs 114 WHEN SIDE AUTO-DOOR IS DRIVEN BY AIR
SENDING OF THE I/O COMMENTS OF THE CYLINDER................................................................13
ROBOT CONTROLLER TO THE ROBODRILL WHEN SIDE AUTO-DOOR IS DRIVEN BY SERVO
SCREEN...................................................................111 MOTOR .....................................................................22
SET. Screen....................................................................57 WHEN SIDE DOOR IS DRIVEN BY AIR
Setting Jog Coordinate Systems ...................................118 CYLINDER..............................................................196
SETTING OF ETHERNET............................................97 WHEN SIDE DOOR IS DRIVEN BY SERVO
SETTING OF FL-net .....................................................93 MOTOR ...................................................................205
Setting of Safe I/O Connect .........................................124 WIRING METHOD.....................................................228
SETTING OF THE ROBODRILL.................................87 WORK PROCEDURE.................................................241
SETTING OF THE ROBOT........................................112 Work-Piece Installation (Install Operation Only) . 100,182
Setting of the Safety Function by FL-net .....................123 Work-Piece Removal (Cycle Stop) ....................... 100,183
SETTING ON THE ROBOT CONTROLLER ............112
SETTING PMC PARAMETERS.................................214
Setting Reference Positions..........................................115
SETTING RELATED TO FL-net ................................135
Setting Robot Jog Feed Operation................................117
Setting the Machine Tool Operation Screen ................121
Setting the Tool Offset Screen .....................................120
SETUP .........................................................................237
Setup Procedure ....................................................237,240
Signal Functions.............................................................74
SIGNAL Screen .............................................................57
Signal Setting ...............................................................176
Signals output from each ROBODRILL to the robot
controller ....................................................................67
Signals output from the robot controller to all
ROBODRILLs............................................................62
Signals output from the robot controller to each
ROBODRILL .............................................................65
Signals used with Background Logic programs ...........146
Software Options..........................................................219
Stop mode ....................................................................150
SYSTEM CONTROL ....................................................98
System Control Time Chart..........................................177
[System Ladder → Custom Ladder]...............................84
[System ladder → Custom ladder] ........................216,217
SYSTEM SETTING ....................................................130
SYSTEM START/MONITOR Screen ......................32,50
System Stop...........................................................101,183
SYSTEM STOP AND CYCLE STOP .........................105

i-3
B-85444EN-4/02 REVISION RECORD

REVISION RECORD
Edition Date Contents
02 Dec., 2016 • Addition of High-performance models
01 Nov., 2016

r-1
 B-85444EN-4/02

* B- 8 5 4 4 4 EN- 4 / 0 2 *