OPCJE SOFT FANUC.pdf

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Functions
Communication
Software
001
Table of Contents
Foreword...........................................................................................................................................009
Robots............................................................................................................................................... 010
Functions............................................................................................................................................................ 011
Basic Functions.....................................................................................................................................................................................012
R-30iB Basic Software.................................................................................................................................................................... 013
R-30iB Mate Basic Software.......................................................................................................................................................... 014
Digital Servo Function.....................................................................................................................................................................015
Motion Functions...................................................................................................................................................................................016
ADV-CP Path Control Package...................................................................................................................................................... 017
ADV-CP Speed Control Package.................................................................................................................................................... 018
Anti-Deflection................................................................................................................................................................................. 019
Basic Positioner...............................................................................................................................................................................020
Basic Remote Tool Center Point (TCP)......................................................................................................................................... 021
Remote Tool Center Point (TCP)....................................................................................................................................................022
CD Dynamic U-Frame.....................................................................................................................................................................023
Constant Path.................................................................................................................................................................................. 024
Continuous Turn.............................................................................................................................................................................. 025
CPRUT.............................................................................................................................................................................................. 026
Cycle Time Priority.......................................................................................................................................................................... 027
Dual Drive........................................................................................................................................................................................ 028
Enhanced Mirror Image.................................................................................................................................................................. 029
Ethernet Encoder............................................................................................................................................................................ 030
Extended Axis Control.....................................................................................................................................................................031
General Positioner...........................................................................................................................................................................032
Gravity Compensation..................................................................................................................................................................... 033
HDI for Line Tracking (High-speed Digital Input)......................................................................................................................... 034
Independent Auxiliary Axes.............................................................................................................................................................035
Line Tracking................................................................................................................................................................................... 036
Servo Conveyor Line Tracking........................................................................................................................................................037
Learning Vibration Control (LVC)................................................................................................................................................... 038
M-1iA - 1 kg Option........................................................................................................................................................................ 039
M-2000iA - 1.350 kg Option............................................................................................................................................................040
M-3iA/6S - High Inertia Option (HiOpt).......................................................................................................................................... 041
M-900iA - 700 kg Option.................................................................................................................................................................042
002
M900iA/400L - High Inertia Option (HiOpt).................................................................................................................................... 043
Motion Interface.............................................................................................................................................................................. 044
Motion Package............................................................................................................................................................................... 045
Minimum Rotation (MROT) Instruction.......................................................................................................................................... 046
Multi-Arm Package (Legacy).......................................................................................................................................................... 047
Multi-Group Motion......................................................................................................................................................................... 048
Path Adjust Function.......................................................................................................................................................................049
Payload Confirm.............................................................................................................................................................................. 050
Payload Identification...................................................................................................................................................................... 051
Position Bump Box..........................................................................................................................................................................052
Rail Unit........................................................................................................................................................................................... 053
Robot Link (Simultaneous Motion).................................................................................................................................................054
Small Circle Accuracy.....................................................................................................................................................................055
Soft Float..........................................................................................................................................................................................056
Torque Limit.................................................................................................................................................................................... 057
Touch Skip....................................................................................................................................................................................... 058
Wash Teaching................................................................................................................................................................................ 059
Handling Functions............................................................................................................................................................................... 060
Handling Tool...................................................................................................................................................................................061
LR Tool............................................................................................................................................................................................. 062
LR Handling Tool.............................................................................................................................................................................063
Palletizing.........................................................................................................................................................................................064
Singularity Avoidance...................................................................................................................................................................... 065
Spot Welding Functions........................................................................................................................................................................066
IWDG (Integrated Welding Controller for Dengensha)................................................................................................................. 067
Nadex DeviceNet Welding Controller............................................................................................................................................ 068
Pressure Profile Control.................................................................................................................................................................069
Servo Gun Axes............................................................................................................................................................................... 070
Servo Gun Change...........................................................................................................................................................................071
Servo Gun Option.............................................................................................................................................................................072
Servo Gun Setup Package.............................................................................................................................................................. 073
Servo Tip Dresser............................................................................................................................................................................074
Servo Gun Diagnosis....................................................................................................................................................................... 075
Spot Program Touch-up Function................................................................................................................................................. 076
SpotTool+..........................................................................................................................................................................................077
003
Welding Tip Inspection....................................................................................................................................................................078
WTC/Medar Integrated Spot Welding Controller.......................................................................................................................... 079
R-2000iB/200R Stud........................................................................................................................................................................ 080
R-2000iB/210F Stud........................................................................................................................................................................ 081
Arc Welding Functions..........................................................................................................................................................................082
ArcTool............................................................................................................................................................................................. 083
Positioner (Arc Positioner, 1-Axis Positioner, ...)..........................................................................................................................084
TAST (Through Arc Seam Tracking).............................................................................................................................................. 085
TAST Multi-Path Pack.....................................................................................................................................................................086
AVC (Automatic Voltage Control)....................................................................................................................................................087
RPMP (Root-Pass Memorization and Multi-Pass Welding)..........................................................................................................088
Weaving............................................................................................................................................................................................ 089
Custom Weaving..............................................................................................................................................................................090
Wrist Axes Weaving.........................................................................................................................................................................091
Touch Sensing................................................................................................................................................................................. 092
Arc Start Height Adjust...................................................................................................................................................................093
Torch Angle......................................................................................................................................................................................094
Torch Guard..................................................................................................................................................................................... 095
Arc Torch Mate................................................................................................................................................................................096
ServoTorch for Steel....................................................................................................................................................................... 097
ServoTorch for Aluminium..............................................................................................................................................................098
Improved Touch Retract................................................................................................................................................................. 099
Multi-Equipment Control................................................................................................................................................................ 100
Welding Speed Output.....................................................................................................................................................................101
Low-Frequency Pulse Welding.......................................................................................................................................................102
Coordinated Motion Package..........................................................................................................................................................103
Arc Override Control....................................................................................................................................................................... 104
Servo Robot......................................................................................................................................................................................105
Servo Robot ROBOCOM Lite...........................................................................................................................................................106
Lincoln Ethernet Default (Arclink-XT)............................................................................................................................................107
Lincoln Electric control parameters for Japan.............................................................................................................................108
Lincoln Electric control parameters for North America.............................................................................................................. 109
Lincoln Electric Welding Equipment Library.................................................................................................................................110
Fronius Welding Equipment Library.............................................................................................................................................. 111
Miller Welding Equipment Library................................................................................................................................................. 112
004
Arc Abnormal Monitor.................................................................................................................................................................... 113
Arc Production Monitor...................................................................................................................................................................114
Arc Welding Analogue Meter..........................................................................................................................................................115
Universal Sensor Interface............................................................................................................................................................. 116
Heat Wave Synchronization............................................................................................................................................................ 117
Tracking Jog.................................................................................................................................................................................... 118
Dispensing Functions............................................................................................................................................................................119
Default Dispense............................................................................................................................................................................. 120
Dispense Tool Application 2nd Analogue Port.............................................................................................................................. 121
Integrated Servo Dispenser (ISD) Gear Meter...............................................................................................................................122
Integrated Servo Dispenser (ISD) Single Acting Meter.................................................................................................................123
NEMO Pump Function.................................................................................................................................................................... 124
Pump Only Motion...........................................................................................................................................................................125
Stitch Function.................................................................................................................................................................................126
Safety Functions....................................................................................................................................................................................127
Enhanced Stopping..........................................................................................................................................................................128
Safety Functions for CE Compliance (CE Mark)........................................................................................................................... 129
Controlled Stop by E-Stop.............................................................................................................................................................. 130
Dual Check Safety (DCS) Position / Speed Check........................................................................................................................ 131
Dual Check Safety (DCS) Safe I/O Connection Function.............................................................................................................. 132
External Mode Select...................................................................................................................................................................... 133
Local Stop........................................................................................................................................................................................ 134
Safety Functions for NRTL Compliance........................................................................................................................................ 135
Vision Functions.................................................................................................................................................................................... 136
iRCalibration Package.....................................................................................................................................................................137
iRCalibration Vision Axis (VAxis).....................................................................................................................................................138
iRCalibration Vision Frame (VFrame)............................................................................................................................................ 139
iRCalibration Vision Mastering (VMaster)...................................................................................................................................... 140
iRCalibration Vision Multi-Group Calibration (VMCal).................................................................................................................. 141
iRCalibration Vision Shift (VShift)................................................................................................................................................... 142
iRCalibration Vision Tool Center Point (VTCP).............................................................................................................................. 143
iRVision 2D (2-Dimensional Vision Bundle)...................................................................................................................................144
iRVision 3D Tri-View........................................................................................................................................................................145
iRVision 3DL (3-Dimentional Laser Vision Bundle).......................................................................................................................146
iRVision AntiDefect.......................................................................................................................................................................... 147

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