Thank you for purchasing a FANUC Robot A.

Unpack and Install your Page 1

7. Fasten the robot securely to the base plate (tightening torque:
Robot 4. Have a qualified electrician connect the FANUC-supplied power cable
READ THIS FIRST
SR-3iA, 23-32 Nm; SR-6iA, 46-66 Nm; SR-12iA, 190-270 Nm).
Use locator pins to secure the robot precisely if it is anticipated (wires marked L, N, and ground) to an appropriate external power
that repeated installations will be necessary in the future for source.
Use this guide to unpack, install, turn on, and START service/maintenance.
jog your new FANUC robot. 1. Cut the yellow shipping straps, then squeeze and pull
HERE

the white tabs so the outer shipping box can be removed.

Removing Shipping Box

8. Remove the transportation hardware (plate for transportation,
transportation equipment, eye bolts, and other hardware).
Store these items and the robot skid in a safe, known location.
These items are needed for future transportation.
! WARNING
Lethal voltage is present in the controller whenever it is
connected to a power source. Be extremely careful to avoid
Required Tools electrical shock. Lock out and tag out the power source at the
Straight-head screwdriver Torque wrench controller according to the policies of your plant.
Remove yellow straps Squeeze Tabs and Pull Robot and large box Plate for
Cross-head screwdriver Metric hex-head wrenches Transportation
9.10P/10 and later)

Required Items
2. Unbox the pallet, cut any shipping straps securing the robot, 5. Connect the other end of the FANUC-supplied power cable to the
and unwrap the robot.
Properly rated transport equipment as specified
Customer-supplied properly rated power source as 3. Open the large box on the pallet. In the large box you will find an Input Power Connection, located on the right-hand side of the front
of the controller. Don’t forget to connect the power cable ground
accessory box, your controller and, possibly, an optional Teach wire (attached to the Robot Connection cable) to the power ground
specified on the Power Requirements Label
9. Connect the ground wire to the location on the robot base
Pendant and Switch Box. connection on the controller.
Multimeter
Loctite #243 4-M8 bolts (SR-3iA) shown below.
Rigid platform to hold robot 4-M8 flat washers (SR-3iA)
External e-stop switch 4-M10 bolts (SR-6iA) Note: The RMP cable is attached to the robot at the factory.
Safety fence/gate switch 4-M10 flat washers (SR-6iA)
Customer-supplied 4-M16 flat washers (SR-12iA,
Ethernet cable SR-20iA) Back Cable Exit Bottom Cable Exit Power cable
SR-3iA/SR-6iA/SR-12iA/SR-20iA

Laptop or PC with IE, ground wire

4-M16 flat washers (SR-12iA,
Chrome, or Safari browser SR-20iA)
Accessory Controller
FANUC-supplied USB drive box 6. Wire an E-stop switch into connector JRM18 on the controller. A
cable
4. In the accessory box you will find a hardware bag (containing fuses, RMP cable
partial pinout and wiring diagram showing the E-stop connections is

Optional Items Single jumper plugs, and labels), an Inspection Data Sheet, ground cable,
and a power cable.
shown below. For more detail see the R-30iB Compact Plus
CONTROLLER MAINTENANCE MANUAL.
Robot locator pins Phase
Auto Confirmation Signal 200-240VAC
switch Store the Inspection Data Sheet in a Battery Box External E-stop/Fence
safe, known location. JRM18 Partial Pinout Connection
R-30iB Compact Plus Controller Ground wire
F Number and Power
Robot Requirements Label
CD38A
(Ethernet
JRT3 USB connection
(RMP cable)
5. Remove the bolts securing the robot to the transportation equipment
Connection) Breaker (shown below).

6. Use properly rated equipment to move the robot to its new location. Robot installation is complete. You are
The robot alone can weigh as much as 70kg. now ready to go to B. Unpack and
Install your Controller.
! WARNING Note: If JRM18 is not being used, make sure the FANUC-supplied
Before moving heavy equipment, check and tighten any loose dummy plug is inserted in JRM18.
bolts. Do not pull eyebolts sideways. Otherwise, you will injure
personnel or damage equipment. Note: If there is no Teach Pendant (TP), make sure the

B. Unpack and Install your

FANUC-supplied dummy plug is placed into the connector labeled
JRM18 TP.
LEDs Power ground Crane capacity: 100kg or more Crane
Input Power
connection Robot ground
connection
Connector
Sling capacity: 100kg or more
Sling
Controller Note: If the TP option is used without a switch box, add an
“Auto Confirmation Signal” switch outside of the safety fence, wiring it
to one of the available digital input signals on the JRM18 connector.
Robot (mechanical unit)
- J2 +
SR-3iA SR-6iA Eye
1. If you have not already done so, remove the controller from the box Note: If there is no switch box, make sure the FANUC-supplied
dummy plug is inserted into the connector labeled JRT3.
Transport posture Transport posture and place it in a safe location outside of the robot work area such
Bolt
J1: -20° J1: -15° that the grounding wire and robot connection cable can reach the
- J1 + robot.
+
J2: 145°
J3: -100 mm
J2: 150°
J3: -100 mm 7. Connect the customer-supplied Ethernet cable between the PC and
connector CD38A on the controller.
2. Attach the RMP cable from the robot to the controller. (Refer to
J3 J4: 0° J4: 0°
-
the controller picture to the left.)
SR-12iA SR-20iA Controller installation is complete. DO NOT TURN ON
Transport posture Transport posture THE CONTROLLER UNTIL YOU ARE INSTRUCTED
Plate for
Y
J1: -25°
J2: 145°
J1: -20°
J2: 145°
transportation 3. Attach the other end of the ground wire that you attached to the TO DO SO. Go to C. Turn on your Controller and
Establish Communication.
J3: -180 mm robot in Step A9 to the controller.
X
- + J3: -180 mm
J4: 0° J4: 0°
Transportation
J4 equipment
Note: all axes are Bolt Go to
Z SR-3iA variant shown Page 2
0 in this position.
www.fanucamerica.com © 2021 FANUC America Corporation. All Rights Reserved. MARGXSR3606181E REV F
 C. Turn on your Controller/ D. Update Software Page 2
3. Connect an Ethernet cable between your laptop/PC and 4. After stepping through the Safety Considerations screen, you will
see the Setup Method screen. Choose Continue with Guidance
the robot controller.
1. From the ROBOT Homepage, select iRProgrammer. and press NEXT STEP.

Note: If you will be using a TP to install software, please

refer to the FANUC Version 8.X, 9.X Series Software
Installation Guide. If you do not have this Guide, please 4. Set the default address of the laptop/PC as a static IP. The
contact FANUC. PC’s address should be chosen to be on the same subnet as
the robot (the robot’s address is 192.168.1.100). Contact your
systems administrator for assistance.

Note: If there is no need to load software (e.g. the software is

the most current version available and contains all necessary
options), you can proceed through the robot Initial Setup
Guide and then skip to E. Jog your Robot.
5. Use a web browser (Internet Explorer (version 11 or greater),
Chrome (latest version), or Safari) to connect to the robot’s default IP
address, 192.168.1.100. The ROBOT Homepage (similar to the one
shown below) should appear. If the screen does not appear, return to
9.10P/10 and later)

the previous step and verify that the laptop/PC and robot are on the
same subnet.

1. Plug the FANUC-supplied USB, loaded with the robot 2. From the iRProgrammer Menu on the left side of the screen, choose
Setup>>Initial Setup Guide to display the Initial Setup Introduction
software, into the USB port of the controller with power off. screen.

3. Once you are in the Inital Setup Introduction screen, press 5. Continue to press NEXT STEP, stepping through the guide
SR-3iA/SR-6iA/SR-12iA

NEXT STEP. and making appropriate selections, until you reach the
Network Access screen shown in Step D6.

6. If you desire to change the network address of the robot from

the default of 192.168.1.100, select Connect to Network,
before pressing NEXT STEP. The Setup Guide will then guide
Note: When using IE or Chrome, make sure to clear browser
you through this process. If you desire to use the robot’s
Breaker cache, or screens might not display properly.
current network address, select No Network Access, and
2. Turn the Breaker ON. When the controller IE
press NEXT STEP.
power-up is in progress, the Power LED
will be ON and the Cycle Start LED will Press the shortcut Ctrl-R
blink. When the Cycle Start LED stops
blinking, the start up is completed. Chrome (shown below) Press the shortcut shift+Ctrl+delete.
Select Cashed images and files and press CLEAR DATA.

Note: The LEDs are shown in

the Reference section of this
Startup Guide.

! WARNING
Lethal voltage is present in the controller whenever it is
connected to a power source. Be extremely careful to avoid
electrical shock. Lock out and tag out the power source at
the controller according to the policies of your plant.
Note: If the laptop/PC will be communicating with multiple robots
over a network, each robot must have a unique IP address.

You have turned on your controller and established communication.

You are now ready to go to D. Update Software.

Go to
Page 3
MARGXSR3606181E REV F
 Page 3
7. Continue to press NEXT STEP, stepping through the guide and 9. If your USB media has more than one personality 10. Once the Boot Monitor Update is complete, an error 12. Turn the controller off and then back on again.
making appropriate selections, until you reach the Software (robot configuration) on it, you will see the screen below. From the message might appear reminding you to cycle power.
Update screen. list, choose the personality you would like to load and press NEXT Once the error message appears, proceed to step 12. If
STEP. If the screen below does not appear, you do not have multiple there are other existing faults, the error message might Note: All previous setup will be saved by the system prior to the
personalities to choose from, and the controller will proceed with the not appear. In this case, proceed to step 11. software update, and automatically restored after the update.
Note: If the USB contains a newer version of software, a robot Boot Monitor update.
personality different from the one in the controller, or multiple
robot personalities, a Software Update screen will display, as
shown in step 8. If the Software Update screen does not show 13. Cycling power will terminate communication between the robot
up, continue though the Initial Setup Guide on the robot, and controller and the Laptop/PC. Therefore, on the Laptop/PC, it is
after finishing, skip to E. Jog your Robot. recommended that you close the iRProgrammer window after
cycling robot power.

8. On the Software Update screen, select Update now and 11. If the Please cycle power message does not appear but 14. About 10 seconds after turning on power, the Cycle Start LED will
the Boot Monitor Update is complete, as indicted in the start blinking. The Cycle Start LED will continue to blink for about
press NEXT STEP. screen shown below, the FINISH button will appear. If this 15 minutes, after which it should stop blinking, indicating that the
occurs, press FINISH and the Please cycle power software has finished loading. During this time, do not attempt to
message will display. remove the USB or turn off the controller.
9.10P/10 and later)

Note: Make sure that the Boot Monitor update is complete as ! WARNING

indicated below. If you turn the robot off before the While the robot is powering up, do not attempt to
remove the USB or turn off the controller.
Boot Monitor has completed its update, serious
damage can occur.
SR-3iA/SR-6iA/SR-12iA

Note: The Boot Monitor will update first. While the Boot Monitor is
updating, Saving Configuration will indicate Saving as shown below.
In addition, Updating Boot Monitor will indicate Updating. During
this update it is important that you not turn the
robot off until the Boot Monitor has completed its
update!

! WARNING
If you turn the robot off before the Boot Monitor has
completed its update, serious damage can occur.

You have updated your software. You are now ready to go to

E. Jog your Robot.

Go to
Page 4
MARGXSR3606181E REV F
 E. Jog your Robot F. Apply DCS Params Reference Page 4
iRProgrammer PC Editor screenTM

! WARNING
When you use the jog panel to execute a jog operation, observe 6. You might have to reset a fault. If so, press the RESET button 1. To get to the DCS screen, from within the iRProgrammer Menu,
the following: at the top of the screen. select Setup>>Others>>DCS.
- The jog operation must be executed from outside the
safeguards.
- Make sure that no one is inside the safety fence.
- An operational Emergency Stop button must be near the
operator.
- Jogging must be executed in the sight of the robot. 2. The screen that you see will indicate that there has been a
change that affects DCS. Press APPLY to apply the change to
DCS, and enter the Code number (default is 1111).
Note: You might see an alarm indicating that DCS has changed. If so,
go to F. Apply DCS Params and follow the steps. Afterwards, return
1. Use a web browser (IE, Chrome, or Safari) to connect to the to Step 7 in this section to continue.
robot’s default IP address, 192.168.1.100. The ROBOT
Homepage shown below should appear.

7. The lower right side of the iRProgrammer PC Editor page

9.10P/10 and later)

(see Reference in this guide) has a jog panel that can be used to jog
the robot. To move each joint axis of the robot, press each joint jog key
(labeled J1 - J4) one at a time and watch the robot joint move. Refer to
the Robot (mechanical unit) with joints indicated diagram on Page 1 of
this guide.

8. If you wish to adjust the jogging speed, press the arrow next
to the current speed (in this case 4%), and use the slider bar to
adjust the speed up or down. 3. Press OK.
SR-3iA/SR-6iA/SR-12iA

2. Make sure HMI iPendant is selected on the left. 4. The changed parameter should now indicate PEND. LEDs
Cycle power to apply the DCS change.
Note: There might be more than one changed parameter.
LEDs
3. From the ROBOT Homepage, select iRProgrammer. Note: In addition to jogging the robot, you can also move the robot by
hand-dragging each axis.

CAUTION: If it is desired to move axis 4 by hand, the brake release switch

4. Select Teaching, and choose Editor. must first be pressed. Be aware that, with this button pressed, gravity may
cause axis 4 to move unexpectedly.

CAUTION: If a person is inside the perimeter guarding to move the robot by

hand, the power to the servo motors must be cut-off and locked out to
prevent automatic operation.
Note: For the purpose of this guide, the Alarm LEDs are not used.

9. To hand-drag the robot, make sure the TP enable key is off and the
fault has not been reset. Then physically grab and move the robot.

For more information

5. Turn the TP enable key to ON. BRAKE RELEASE SWITCH To access controller, robot, or application-specific
manuals, scan the QR Code to the right
5. If you left E. Jog your Robot, Step 6, in order to Apply or go to https://www.fanucamerica.com/qr/edocs.
DCS Params, you may now return to E. Jog your Robot,
Step E7 and continue.
United States: 1-888-326-8287
Canada: 1-905-812-2300
Mexico: + 52 (449) 922-8000
South America: + 55 (11) 3619-0599
You have installed your robot.
You are now ready to add tooling and program your application Or, select your region at https://www.fanuc.com.

© 2021 FANUC America Corporation. All Rights Reserved.

www.fanucamerica.com MARGXSR3606181E REV F