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FANUC Robot O Overview i
FANUC Robot - 1
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History sto y o of FANUC UC Robot obot
MECHANISM CONTROLLER SERVO
1956
CNC Development Start
ROBOT CNC
1974
ROBOT Development Start
2006
Nearly 50 years experience of NC Total delivered number of ROBOT CNC
No.1 in the world
: :
150 150,000 000 units 1,500,000 units
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Development e e op e t Policy o cy
Hi h Reliability High R li bilit
FANUC Robot Low Cost High Performance
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High Reliability and Long Life
Hayato (Sensor) Factory Servo Laboratory Robot
Motor Factory Factor Servo Laboratory Robot Controller Robot arm
Robot Factory Robot Laboratory
Amplifier Factory Servo Laboratory Software Electronics Factory CNC Laboratory Robot Laboratory
FAILURE RATE Actual Data： Approx. 0.010 (failure/unit/month)
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FANUC UC Factories acto es
Heavy machining factory Light machining factory
Motor factory y
Robot factory Production capacity 2,500 units/Month
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Electronics factory
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FANUC UC Automated uto ated Factory acto y
ROBOT CELL CNC Assembly Servo Motor Assembly
Die Cast Handling
Sheet Metal Assembly
Mini Robot Assembly
Machine Tool 200 units and Robot 1000 units are installed
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Quality Qua ty Co Control t o Syste System
Element parts Parts machined in FANUC ? Quality control for all parts ? Quality control at assembly stage with assembly check sheet ? Elimination of initial defect by continuous running test Continuous running test Ex-factory y Manufactured in FANUC PCB Controller Unit assembly Burn-in test (16h) Function test 1st reliability test 2nd test final test
Incoming check Manufactured in FANUC Pulse coder Motor Motor
Check in FANUC
Record of quality control Test for all units
? Quality control system in conformity with ISO9001 ? All robots can be monitored by maintaining assembly record for each robot ? Certification for TUV and CE mark
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i Se Series es Robot obot Lineup eup
ARC Mate 100iB M-6iB ARC Mate 120iB M-16iB M710iC/50 M710iC/70 R-2000iB/165F R-2000iB/210F M 900iA/350 M-900 M-900 M 900iA/600
ARC Mate 100iB/6S M-6iB/6S M710iC/20L R-2000iB/165EW R-2000iB/200EW
M-16iB/20T LR Mate 200iB
M-710iC/70T M-410iB/450
R-2000iA/200T LR Mate 100iB A-520iA M-420iA F 200iB F-200
Payload
3
5
6
20
40
50
70
100
165
200
400
(kg) 700
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Intelligence, te ge ce, Networking, et o g, So Solutions ut o s
R-2000iB i Pendant Cell Control PLC R-J3 R J3i C Serial I/O (Slave) Serial I/O (Master)
＋ ＋ － ＋
ROBOGUIDE
Ethernet Host PC Weld Timer I/O device
Intelligence
? 2D vision sensor ? 3D l laser vision i i sensor ? Force sensor ? Servo Sensor ? High Sensitive Collision Detection ? SoftFloat ? ROBOGUIDE ? iPendant
Networking
? Robot Link ? iPendant P d t ? Web server (HTTP) ? FTP (TCP/IP) ? Ethernet I/O ? Serial I/O
Solutions
? Cable integrated arm ? Servo S gun ? Servo torch ? Integrated welder ? Intelligent robot system
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FANUC World World-wide wide Network
London Paris Brussels Toledo Luxembourg Leeds Mi Minneapolis li Sandusky Birmingham Stockholm Toronto Coventry Dayton Detroit Chicago Montreal San Francisco Los Angeles Dallas Houston Monterrey y Queretaro Mexico City .. Dusseldorf Chongping gp g Beijing j g .. Dalian Nuremberg Wuhan Berlin Shanghai Tianjin Changchun Stuttgart Sofia Boston Seoul Bern Istanbul New York Changwon Guangzhou Milan Charlottesville Shenzhen Bologna Cincinnati Headquarters New Delhi Lyon Venice Charlotte Taipei Calcutta Atlanta Madrid Annecy Taichung Tampa Madras Barcelona Pune Tainan Rajkot Manila Hong Kong Bilbao Mumbai Ho Chi Minh Bangalore Mysore Brisbane Coimbatore Sao Paulo Bangkok Jakarta Sydney Buenos Aires Durban Melbourne Singapore g p Adelaide Johannesburg Kuala Lumpur Perth Bandung Auckland
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FANUC Robot U i Unique Functions F ti
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High g Sensitive Collision Detection
Trouble in a robot system
?G Gripped i d part t collides llid with ith fi fixture t by b d deviation i ti of f parts t accuracy ? Robot hand hits an another robot by interlock problem ? At robot jogging, operator hits a robot arm to external material by mistake ? Production is stopped long time ? Shorten lifetime of robot
High g Sensitive Se s t e Co Collision s o Detection etect o ( (HSCD) SC )
? HSCD always checks robot motion. ? If HSCD detects irregular situation, HSCD will stop a robot immediately ? HSCD can minimize damage of robot arm arm, hand hand, fixture and external materials materials. Detect robot illegal motion with high sensitivity without miss-detection Minimize system y damage g and reduce recovery time
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Mechanism of High g Sensitive Collision Detection
Why HSCD detects collision with high sensitivity and without miss-detection ? ? Estimate impact force by using precise robot model
Impact Force (Including gravity, interference torque and centrifugal force) Torque q Command ＋ Estimate impact force by y robot model Estimated impact force N No Impact force > threshold ? Yes D t t Collision Detect C lli i Stop robot immediately － p Motor speed Robot
Precise robot model
? Gravity,friction,coupling force and centrifugal force ? Twist of the arm and reducer Spring
Normal Motion
Damper Payload
Improvement sensitivity
Estimated impact force
Estimated force by Standard CD
Estimated force by HSCD
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Benefit of High g Sensitive Collision Detection
? Minimize damage of robot arm, gun and fixture
Plate
HSCD Disabled
Plate thickness 1.2mm
Detect collision immediately Enabled Disabled
Plate
2mm Steel Plate
HSCD Enabled
Plate thickness 1.2mm
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SoftFloat
? Robot follows an external force. ? Reduce system cost by replacing a mechanical floating device with a software function.
Robot can float following external force Push out Need mechanical floating Push out Eliminate mechanical floating
?
Softness can be adjusted j to Cartesian directions ( (XYZ) )
Chucking centering force Control soft to Z direction only Push out by hydraulic pressure Chucking to machine without mechanical floating Following pushing force by die-cast machine and unloading work
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Control soft to XY direction only
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Robot Link / Simultaneous Motion
? ? ? ? Handling for heavy / large workpiece by multiple robots By handling with multiple robots robots, robot hand can be simple and small Does not need special hardware When one robot is stopped, other robots also stop automatically.
Car Body Lifting Wall Panel Handling
Slave robots follow a motion of master robot
Slave Robot #2 Master Robot Slave Robot
Master robot moves by program or jogging
Ethernet
Move master robot by program or jogging
Slave Robot #1
Slave robot follows a motion of master robot
Master Robot
Ethernet
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Application pp of Robot Link / Simultaneous Motion
? Car Body Transfer
1. 2 2. 3. 4.
Four spot welding robots do spot welding individually Aft welding, After ldi four f robots b t lift up car body b d coordinately di t l by b robot b t link li k Four robot move a car body to next station by extended axis Four robot put down a car body coordinately by robot link
Eliminate a special transfer lifter and reduce system cost drastically
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Networking g / Web Server
? HTTP interface is supported ? Access robot data through Internet or Intranet ? Access robot data through Internet Explorer on PC. Special software is not needed on PC ? Customer C t can l look/modify/save k/ dif / robot b td data t as same manner of f Internet I t t Home Page
PC
R-J3iB
Top menu
Software version / config
Web server
Eth Ethernet t
Programs and variables Alarm history
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Networking g / iPendant
Network Based Internet Robot Teach Pendant
Browse several information connecting by Internet or Intranet ? Other robots data ? ROBOGUIDE ? CIMPLICITY iPendant ? Manual, Figure and several data on server PC Browse data through network
Internet Home Page Public line
Other robots
Customer Host PC
Ethernet
Document server
CIMPLICITY
ROBOGUIDE server
PC on foreign office
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